+ python -m lidar_slam --no-model /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb Lidar SLAM 0.0.9 ===================================================== The recording path: /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb 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 0.004012739 Adjusted end_distance from 9.223372036854776e+18 to 480.864012739 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004012739 meters 0.8526122132155989 Centerline is valid? [0, False] SLAMing on 0.064012739 meters 0.7710180709901981 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999996e-01 -4.66853501e-05 -7.75957678e-05 7.13992567e-04] [ 4.66790421e-05 9.99999996e-01 -8.12931405e-05 5.36418085e-04] [ 7.75995626e-05 8.12895181e-05 9.99999994e-01 -5.87022202e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124012739 meters 0.7945632971716631 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999926e-01 -3.07997250e-04 -2.29302409e-04 2.19841909e-03] [ 3.07874788e-04 9.99999810e-01 -5.33908856e-04 3.54211680e-03] [ 2.29466808e-04 5.33838221e-04 9.99999831e-01 -1.79225310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18401273899999998 meters 0.7766213389012189 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999915e-01 -3.50534129e-04 -2.16821379e-04 2.13170948e-03] [ 3.50401250e-04 9.99999751e-01 -6.12585890e-04 4.03945999e-03] [ 2.17036057e-04 6.12509864e-04 9.99999789e-01 -1.80749505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24401273899999998 meters 0.8076457635563773 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999910e-01 -2.94702097e-04 -3.05475345e-04 3.13702654e-03] [ 2.94552289e-04 9.99999836e-01 -4.90337239e-04 3.33842076e-03] [ 3.05619798e-04 4.90247216e-04 9.99999833e-01 -2.81420587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304012739 meters 0.7821038127631557 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999897e-01 -9.31180811e-05 -4.44953202e-04 4.43042305e-03] [ 9.30562510e-05 9.99999986e-01 -1.38977406e-04 1.22261643e-03] [ 4.44966137e-04 1.38935986e-04 9.99999891e-01 -3.92152440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364012739 meters 0.8020355150274009 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999871e-01 1.97003967e-04 -4.67866872e-04 4.78937756e-03] [-1.96829684e-04 9.99999911e-01 3.72522119e-04 -2.03570589e-03] [ 4.67940219e-04 -3.72429981e-04 9.99999821e-01 -4.36575972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42401273899999997 meters 0.7962111992272446 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999800e-01 7.07592014e-05 -6.28321851e-04 5.90803763e-03] [-7.08314958e-05 9.99999991e-01 -1.15037939e-04 1.36495574e-03] [ 6.28313705e-04 1.15082421e-04 9.99999796e-01 -5.14980431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48401273899999997 meters 0.7723339518680465 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999778e-01 -9.63398166e-05 -6.59683111e-04 6.04050765e-03] [ 9.58178587e-05 9.99999682e-01 -7.91211145e-04 5.71189917e-03] [ 6.59759127e-04 7.91147760e-04 9.99999469e-01 -5.03198845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544012739 meters 0.8068782255427197 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99998729 0.00481815 -0.00148385 0.0145265 ] [-0.00481355 0.99998364 0.00308864 0.01110091] [ 0.00149871 -0.00308145 0.99999413 -0.01178754] [ 0. 0. 0. 1. ]] SLAMing on 0.604012739 meters 0.7902497723515091 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 0.99998797 0.00450343 -0.00194203 0.01744257] [-0.00450058 0.99998879 0.00147105 0.02268649] [ 0.00194863 -0.00146229 0.99999703 -0.01394933] [ 0. 0. 0. 1. ]] SLAMing on 0.6640127389999999 meters 0.7734431794809252 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99989817e-01 4.09166243e-03 -1.90375086e-03 1.67608112e-02] [-4.09009516e-03 9.99991294e-01 8.26420057e-04 2.70223466e-02] [ 1.90711572e-03 -8.18625119e-04 9.99997846e-01 -1.30184382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.724012739 meters 0.7684426365647333 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99989432e-01 4.13095718e-03 -2.01767435e-03 1.73533600e-02] [-4.12913700e-03 9.99991065e-01 9.05450423e-04 2.65493986e-02] [ 2.02139670e-03 -8.97109601e-04 9.99997555e-01 -1.30181475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784012739 meters 0.78249762320205 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.02 [[ 9.99992372e-01 2.61160304e-03 -2.90443232e-03 2.43698351e-02] [-2.61112512e-03 9.99996577e-01 1.68326219e-04 2.73607045e-02] [ 2.90486198e-03 -1.60741099e-04 9.99995768e-01 -1.77271288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844012739 meters 0.7726727425798251 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 9.99990268e-01 1.75758235e-03 -4.04659702e-03 3.43753359e-02] [-1.75680059e-03 9.99998437e-01 1.96735818e-04 2.46672235e-02] [ 4.04693647e-03 -1.89624839e-04 9.99991793e-01 -2.51359530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9040127389999999 meters 0.7603851500403431 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.03 [[ 9.99990616e-01 9.37164360e-04 -4.22965543e-03 3.52394647e-02] [-9.32161695e-04 9.99998864e-01 1.18457574e-03 1.39006858e-02] [ 4.23076077e-03 -1.18062190e-03 9.99990353e-01 -2.56071499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964012739 meters 0.7681097009652399 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 9.99990471e-01 -2.58955876e-04 -4.35777221e-03 3.53084350e-02] [ 2.68688937e-04 9.99997471e-01 2.23305742e-03 -3.50997566e-04] [ 4.35718292e-03 -2.23420703e-03 9.99988012e-01 -2.51952599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024012739 meters 0.7635346776105286 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99992697e-01 -7.55676349e-04 -3.74624318e-03 2.90457728e-02] [ 7.65549042e-04 9.99996236e-01 2.63462523e-03 -6.98430205e-03] [ 3.74423816e-03 -2.63747392e-03 9.99989512e-01 -2.02996365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084012739 meters 0.7474167501387204 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99992846e-01 2.04539926e-04 -3.77714369e-03 2.89225851e-02] [-1.88414322e-04 9.99990870e-01 4.26912111e-03 -1.80599449e-02] [ 3.77798241e-03 -4.26837890e-03 9.99983754e-01 -1.99422654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.144012739 meters 0.7635890321029657 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 0.99999145 0.00142178 -0.00388242 0.03027844] [-0.00139759 0.99997963 0.00622859 -0.03112302] [ 0.00389119 -0.00622312 0.99997307 -0.02109304] [ 0. 0. 0. 1. ]] SLAMing on 1.204012739 meters 0.766996735932226 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 0.99998893 -0.00240541 -0.0040451 0.03154208] [ 0.00241616 0.99999356 0.00265426 -0.03593151] [ 0.00403868 -0.00266401 0.9999883 -0.02183864] [ 0. 0. 0. 1. ]] SLAMing on 1.264012739 meters 0.7402690965834091 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 0.99998946 -0.0019372 -0.0041628 0.03236076] [ 0.00194988 0.99999346 0.00304453 -0.03804416] [ 0.00415688 -0.00305262 0.9999867 -0.02217899] [ 0. 0. 0. 1. ]] SLAMing on 1.3240127389999998 meters 0.7349233841963536 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 0.99998936 -0.00166683 -0.00430079 0.03344456] [ 0.00167899 0.9999946 0.00282666 -0.03609917] [ 0.00429606 -0.00283385 0.99998676 -0.02263564] [ 0. 0. 0. 1. ]] SLAMing on 1.3840127389999999 meters 0.9726009673020243 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 9.99990094e-01 -5.54076742e-04 -4.41645985e-03 3.42912282e-02] [ 5.64978334e-04 9.99996796e-01 2.46753528e-03 -2.95508354e-02] [ 4.41507849e-03 -2.47000604e-03 9.99987203e-01 -2.27521978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.444012739 meters 0.9820097465077675 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 9.99989075e-01 -7.84267212e-04 -4.60805656e-03 3.55187325e-02] [ 7.91811621e-04 9.99998349e-01 1.63562524e-03 -2.34756720e-02] [ 4.60676618e-03 -1.63925609e-03 9.99988045e-01 -2.35281222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.504012739 meters 0.9243854218589752 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 9.99988063e-01 -9.51575436e-04 -4.79246401e-03 3.67973303e-02] [ 9.58340255e-04 9.99998548e-01 1.40945479e-03 -2.19705821e-02] [ 4.79111584e-03 -1.41403078e-03 9.99987523e-01 -2.40989167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564012739 meters 0.6107768543816523 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 9.99987420e-01 -1.23837436e-03 -4.86070149e-03 3.69582454e-02] [ 1.24288608e-03 9.99998800e-01 9.25293936e-04 -1.87379474e-02] [ 4.85954979e-03 -9.31323594e-04 9.99987759e-01 -2.36718669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6240127389999999 meters 1.065621353323976 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99986733e-01 -1.57291521e-03 -4.90503065e-03 3.70521511e-02] [ 1.57457202e-03 9.99998705e-01 3.33933519e-04 -1.47894190e-02] [ 4.90449905e-03 -3.41652413e-04 9.99987915e-01 -2.33344113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684012739 meters 1.0777131852332684 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99985580e-01 -1.79802687e-03 -5.06029814e-03 3.82958073e-02] [ 1.79784039e-03 9.99998383e-01 -4.14001145e-05 -1.23088282e-02] [ 5.06036439e-03 3.23019092e-05 9.99987196e-01 -2.41636027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.744012739 meters SLAMing on 1.8040127389999998 meters 0.6053016111643159 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99997542 -0.00405802 -0.00571683 0.04316561] [ 0.00405116 0.99999106 -0.00121147 -0.01129068] [ 0.00572169 0.00118828 0.99998292 -0.02676753] [ 0. 0. 0. 1. ]] SLAMing on 1.8640127389999999 meters SLAMing on 1.924012739 meters SLAMing on 1.984012739 meters 1.0280499010823658 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.03 [[ 9.99968817e-01 -5.21057929e-03 -5.93426430e-03 4.38996457e-02] [ 5.20628310e-03 9.99986174e-01 -7.39181751e-04 -1.90741671e-02] [ 5.93803381e-03 7.08263241e-04 9.99982119e-01 -2.67162485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0440127390000002 meters 1.1425371324790579 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.03, Z:-0.02 [[ 9.99968982e-01 -5.86224135e-03 -5.26011481e-03 3.89967589e-02] [ 5.86234501e-03 9.99982816e-01 4.28961200e-06 -2.79918209e-02] [ 5.25999928e-03 -3.51260868e-05 9.99986165e-01 -2.33367153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1040127390000003 meters SLAMing on 2.1640127390000004 meters 0.9194813246193051 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.05, Z:-0.02 [[ 0.99997371 -0.00509204 -0.00516324 0.03788759] [ 0.00510569 0.9999835 0.00263396 -0.04711097] [ 0.00514974 -0.00266026 0.9999832 -0.02224913] [ 0. 0. 0. 1. ]] SLAMing on 2.224012739 meters 0.5622203486457054 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.02 [[ 0.99997763 -0.00405451 -0.00532007 0.03913022] [ 0.00407911 0.99998101 0.00462042 -0.06000996] [ 0.00530123 -0.00464201 0.99997517 -0.02311083] [ 0. 0. 0. 1. ]] SLAMing on 2.284012739 meters 0.5544564663526869 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 0.99999823 0.00119969 -0.0014525 0.01314448] [-0.0011928 0.99998809 0.00473166 -0.06997128] [ 0.00145816 -0.00472992 0.99998775 -0.02172586] [ 0. 0. 0. 1. ]] SLAMing on 2.344012739 meters 0.5492380716830496 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99995644e-01 2.88093159e-03 -6.41330624e-04 6.99620790e-03] [-2.87697034e-03 9.99977292e-01 6.09413983e-03 -7.44144896e-02] [ 6.58872861e-04 -6.09226819e-03 9.99981225e-01 -1.71527929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404012739 meters 0.5571161431943372 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999588e-01 5.09637811e-04 -7.50552059e-04 7.57375653e-03] [-5.08007526e-04 9.99997515e-01 2.17070527e-03 -7.01517667e-02] [ 7.51656467e-04 -2.17032309e-03 9.99997362e-01 -1.68899939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464012739 meters 0.5937549977611783 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999448e-01 6.86597714e-04 -7.95329622e-04 7.70986281e-03] [-6.84652860e-04 9.99996781e-01 2.44303941e-03 -7.17589377e-02] [ 7.97004448e-04 -2.44249354e-03 9.99996699e-01 -1.66226052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5240127390000002 meters 0.6116580271679765 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999355e-01 7.76350244e-04 -8.29615916e-04 7.81867375e-03] [-7.74155613e-04 9.99996209e-01 2.64241323e-03 -7.30338456e-02] [ 8.31664209e-04 -2.64176927e-03 9.99996165e-01 -1.65113473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5840127390000003 meters 0.6167725740207863 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999307e-01 7.60192735e-04 -8.98425956e-04 8.10766189e-03] [-7.57846874e-04 9.99996311e-01 2.60854159e-03 -7.28254072e-02] [ 9.00405636e-04 -2.60785892e-03 9.99996194e-01 -1.64583830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.644012739 meters 0.6198533766297564 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999317e-01 6.46357525e-04 -9.73617935e-04 8.31589236e-03] [-6.44037736e-04 9.99996958e-01 2.38108046e-03 -7.14291262e-02] [ 9.75154002e-04 -2.38045179e-03 9.99996691e-01 -1.61935125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.704012739 meters 0.6486158098222635 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999263e-01 6.70928370e-04 -1.01222393e-03 8.01897465e-03] [-6.68450220e-04 9.99996784e-01 2.44657897e-03 -7.18415585e-02] [ 1.01386216e-03 -2.44590055e-03 9.99996495e-01 -1.52076182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.764012739 meters 1.0191859924461857 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999262e-01 6.20970567e-04 -1.04380293e-03 8.22633419e-03] [-6.18505874e-04 9.99997024e-01 2.35992907e-03 -7.13642559e-02] [ 1.04526527e-03 -2.35928173e-03 9.99996671e-01 -1.53703315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824012739 meters 1.0217744409748455 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 9.99999252e-01 5.78050762e-04 -1.07793138e-03 8.42158086e-03] [-5.75596772e-04 9.99997245e-01 2.27549562e-03 -7.08785905e-02] [ 1.07924376e-03 -2.27487346e-03 9.99996830e-01 -1.54372269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884012739 meters Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99999485e-01 -9.24553321e-04 -4.18114893e-04 2.16151954e-03] [ 9.25029221e-04 9.99998923e-01 1.13944653e-03 -6.97507079e-02] [ 4.17060964e-04 -1.13983271e-03 9.99999263e-01 -1.00455914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944012739 meters 1.06450123483064 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99999483e-01 -8.96005228e-04 -4.80555233e-04 2.33098297e-03] [ 8.96580451e-04 9.99998880e-01 1.19811965e-03 -7.00886495e-02] [ 4.79481173e-04 -1.19854989e-03 9.99999167e-01 -9.88059995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004012739 meters 1.0566857668096905 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.06, Z:-0.00 [[ 9.99999778e-01 4.86147078e-04 4.56646929e-04 -4.48906702e-03] [-4.86787266e-04 9.99998898e-01 1.40286674e-03 -6.42855096e-02] [-4.55964426e-04 -1.40308871e-03 9.99998912e-01 -4.53203663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0640127390000003 meters 1.0745490647170337 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.00 [[ 9.99997777e-01 1.74443739e-03 1.18464427e-03 -1.04881076e-02] [-1.74680047e-03 9.99996481e-01 1.99666435e-03 -6.20684900e-02] [-1.18115704e-03 -1.99872925e-03 9.99997305e-01 3.47688680e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1240127390000003 meters 1.0752473963216562 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.00 [[ 9.99998317e-01 1.42203578e-03 1.15951444e-03 -1.05391965e-02] [-1.42347638e-03 9.99998215e-01 1.24253471e-03 -5.77142235e-02] [-1.15774544e-03 -1.24418316e-03 9.99998556e-01 6.52927229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184012739 meters 1.0728628905250985 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.00 [[ 0.99999825 0.0014711 0.00115347 -0.01081746] [-0.0014727 0.99999795 0.00139035 -0.058592 ] [-0.00115142 -0.00139205 0.99999837 0.00132322] [ 0. 0. 0. 1. ]] SLAMing on 3.244012739 meters 0.736661438397538 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.00 [[ 0.99999812 0.00159156 0.00110583 -0.01060252] [-0.00159341 0.99999734 0.00166998 -0.06015277] [-0.00110317 -0.00167174 0.99999799 0.00128175] [ 0. 0. 0. 1. ]] SLAMing on 3.304012739 meters 0.7287254571502768 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.01 [[ 0.99999122 0.00362505 0.00210003 -0.01765319] [-0.00363229 0.99998744 0.0034536 -0.06011731] [-0.00208748 -0.00346119 0.99999183 0.00674921] [ 0. 0. 0. 1. ]] SLAMing on 3.364012739 meters 0.7396848279271128 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:0.01 [[ 0.99999028 0.00369975 0.0023991 -0.01878718] [-0.00370676 0.99998886 0.00292343 -0.05671958] [-0.00238826 -0.00293229 0.99999285 0.00736613] [ 0. 0. 0. 1. ]] SLAMing on 3.424012739 meters 0.738930304336108 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:0.01 [[ 0.99997958 0.0054063 0.00340751 -0.02563169] [-0.00542039 0.99997674 0.00414046 -0.05444457] [-0.00338504 -0.00415884 0.99998562 0.01256071] [ 0. 0. 0. 1. ]] SLAMing on 3.484012739 meters 0.750541061039367 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.01 [[ 9.99992991e-01 2.84806072e-03 2.43042007e-03 -1.91507181e-02] [-2.84945765e-03 9.99995777e-01 5.71502840e-04 -4.89046867e-02] [-2.42878213e-03 -5.78424213e-04 9.99996883e-01 7.40124727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5440127390000002 meters 0.7473765189543037 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:0.01 [[ 0.99998499 0.00433338 0.0033524 -0.02591789] [-0.00433824 0.99998955 0.00144398 -0.04500956] [-0.00334611 -0.0014585 0.99999334 0.01275764] [ 0. 0. 0. 1. ]] SLAMing on 3.604012739 meters 0.740535546532458 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.04, Z:0.02 [[ 0.99997178 0.00600247 0.00451858 -0.03314932] [-0.00601353 0.99997895 0.00243779 -0.0395 ] [-0.00450386 -0.00246489 0.99998682 0.01813407] [ 0. 0. 0. 1. ]] SLAMing on 3.664012739 meters 0.7461880765645198 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.02 [[ 0.99997388 0.00561823 0.00454617 -0.0332082 ] [-0.00562492 0.99998311 0.00146001 -0.03449166] [-0.00453789 -0.00148554 0.9999886 0.01805883] [ 0. 0. 0. 1. ]] SLAMing on 3.724012739 meters 0.7471003726386322 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.02 [[ 0.99997438 0.00552746 0.00454723 -0.03322098] [-0.00553308 0.99998394 0.00122489 -0.03328197] [-0.00454038 -0.00125002 0.99998891 0.01807002] [ 0. 0. 0. 1. ]] SLAMing on 3.784012739 meters 0.7379214602568737 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.02 [[ 0.99997864 0.00303663 0.00578751 -0.04047379] [-0.00302573 0.99999364 -0.0018905 -0.02746798] [-0.00579322 0.00187295 0.99998147 0.02335774] [ 0. 0. 0. 1. ]] SLAMing on 3.844012739 meters 0.7337637615328553 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:0.03 [[ 9.99975069e-01 7.54210759e-04 7.02086157e-03 -4.75308593e-02] [-7.22247146e-04 9.99989369e-01 -4.55408521e-03 -2.35483133e-02] [-7.02422168e-03 4.54890088e-03 9.99964983e-01 2.84729255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904012739 meters 0.6960617707703999 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:0.03 [[ 0.9999627 0.00259327 0.00823892 -0.05462124] [-0.00256885 0.99999228 -0.00297337 -0.02044504] [-0.00824656 0.0029521 0.99996164 0.03336548] [ 0. 0. 0. 1. ]] SLAMing on 3.964012739 meters 0.6581079775525787 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.04 [[ 9.99982437e-01 -2.60413821e-04 5.92096252e-03 -7.81254743e-02] [ 2.34744387e-04 9.99990574e-01 4.33562998e-03 -1.95348204e-02] [-5.92203577e-03 -4.33416392e-03 9.99973072e-01 3.70213472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024012739 meters 0.6648716674295725 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.03 [[ 0.99998533 -0.0027076 0.00469149 -0.07116109] [ 0.00270005 0.99999505 0.00161331 -0.0158921 ] [-0.00469583 -0.00160062 0.99998769 0.03211077] [ 0. 0. 0. 1. ]] SLAMing on 4.084012739 meters 0.6422126729689369 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:0.04 [[ 9.99970896e-01 -4.93102559e-03 5.82171436e-03 -7.77938060e-02] [ 4.93346704e-03 9.99987748e-01 -4.05084407e-04 -1.67955855e-02] [-5.81964555e-03 4.33793853e-04 9.99982972e-01 3.70078197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144012739 meters 0.5873506895797771 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.04 [[ 0.99998325 -0.0047776 0.00326773 -0.09717124] [ 0.00481418 0.9999248 -0.01127947 -0.01436273] [-0.00321359 0.01129501 0.99993105 0.03750524] [ 0. 0. 0. 1. ]] SLAMing on 4.204012739 meters 0.5546254440741046 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.04 [[ 0.99996837 -0.0078877 -0.00101735 -0.11587469] [ 0.00788452 0.99996413 -0.00309304 -0.02429292] [ 0.00104171 0.00308492 0.9999947 0.03861153] [ 0. 0. 0. 1. ]] SLAMing on 4.264012739 meters 0.5520089873587021 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.03, Z:0.04 [[ 0.99997274 -0.00730022 -0.00110411 -0.11546791] [ 0.00729878 0.99997252 -0.00129802 -0.0323919 ] [ 0.00111355 0.00128993 0.99999855 0.03821291] [ 0. 0. 0. 1. ]] SLAMing on 4.3240127390000005 meters 0.0779775179872561 Centerline is valid? [False, True] Translation: X:-0.12, Y:-0.04, Z:0.04 [[ 0.99997927 -0.00634391 -0.00109881 -0.11554862] [ 0.00634535 0.99997901 0.00131184 -0.04425215] [ 0.00109047 -0.00131879 0.99999854 0.03838445] [ 0. 0. 0. 1. ]] SLAMing on 4.384012739 meters 0.061207664726586064 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.05, Z:0.04 [[ 9.99978305e-01 -4.07123747e-03 5.17819569e-03 -5.48449108e-02] [ 4.07165137e-03 9.99991708e-01 -6.93926906e-05 -4.77410784e-02] [-5.17787024e-03 9.04749927e-05 9.99986591e-01 4.29399339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444012739 meters 0.05955323128850709 Centerline is valid? [True, True] Translation: X:0.01, Y:-0.05, Z:0.03 [[ 9.99997567e-01 2.40505715e-04 2.19255870e-03 7.23051113e-03] [-2.40443568e-04 9.99999971e-01 -2.86081197e-05 -4.79013185e-02] [-2.19256552e-03 2.80808635e-05 9.99997596e-01 3.38532433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504012739 meters 0.05081619597360523 Centerline is valid? [True, True] Translation: X:0.07, Y:-0.03, Z:0.05 [[ 9.99944862e-01 7.79710171e-03 7.03400660e-03 6.79427295e-02] [-7.79662945e-03 9.99969601e-01 -9.45575683e-05 -3.42886875e-02] [-7.03453005e-03 3.97108116e-05 9.99975257e-01 4.71506409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564012739 meters 0.04470442727333292 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.03, Z:0.05 [[ 9.99911966e-01 1.00832664e-02 8.62484315e-03 1.29743480e-01] [-1.00826582e-02 9.99949162e-01 -1.13994353e-04 -3.30309769e-02] [-8.62555412e-03 2.70229719e-05 9.99962799e-01 4.75116158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624012739 meters 0.04163862225668254 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.02, Z:0.04 [[ 9.99778227e-01 1.85288568e-02 1.00089007e-02 1.90803843e-01] [-1.85284319e-02 9.99828325e-01 -1.35193776e-04 -1.61232524e-02] [-1.00096874e-02 -5.02854406e-05 9.99949901e-01 4.47368241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684012739 meters 0.040063376849235215 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.01, Z:0.04 [[ 9.99643956e-01 2.31206552e-02 1.33190095e-02 2.53350365e-01] [-2.31202977e-02 9.99732674e-01 -1.80834355e-04 -5.81643028e-03] [-1.33196300e-02 -1.27169495e-04 9.99911282e-01 4.43157993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744012739 meters 0.03887207557351128 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.01, Z:0.05 [[ 9.99630220e-01 2.34387948e-02 1.37857292e-02 3.16717426e-01] [-2.34384110e-02 9.99725265e-01 -1.89427466e-04 -7.21058130e-03] [-1.37863818e-02 -1.33758169e-04 9.99904954e-01 4.58206098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804012739 meters 0.03396483939687466 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.01, Z:0.04 [[ 9.99581498e-01 2.43769537e-02 1.55754078e-02 3.80110482e-01] [-2.43765190e-02 9.99702825e-01 -2.17785669e-04 -5.03580784e-03] [-1.55760881e-02 -1.61979699e-04 9.99878672e-01 3.75487507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864012739 meters 0.03619492582146202 Centerline is valid? [True, True] Translation: X:0.44, Y:0.00, Z:0.04 [[ 9.99526087e-01 2.68074571e-02 1.51315026e-02 4.41025147e-01] [-2.68073079e-02 9.99640597e-01 -2.12727679e-04 3.59246631e-03] [-1.51317670e-02 -1.93007985e-04 9.99885490e-01 3.80287502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924012739 meters 0.03712654915666191 Centerline is valid? [True, True] Translation: X:0.50, Y:0.01, Z:0.03 [[ 9.99440743e-01 2.97312314e-02 1.53053692e-02 5.03039707e-01] [-2.97314090e-02 9.99557901e-01 -2.15984504e-04 9.90585984e-03] [-1.53050242e-02 -2.39186480e-04 9.99882843e-01 3.39142407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984012739 meters 0.035220173392337364 Centerline is valid? [True, True] Translation: X:0.56, Y:0.01, Z:0.03 [[ 9.99419023e-01 2.97244191e-02 1.66755964e-02 5.64686561e-01] [-2.97245817e-02 9.99558099e-01 -2.38161442e-04 1.37669567e-02] [-1.66753066e-02 -2.57652051e-04 9.99860924e-01 2.77999011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044012739 meters 0.03458464139352176 Centerline is valid? [True, True] Translation: X:0.63, Y:0.02, Z:0.03 [[ 9.99355394e-01 3.14460253e-02 1.73188762e-02 6.27212849e-01] [-3.14464118e-02 9.99505408e-01 -2.50076345e-04 1.65123523e-02] [-1.73181744e-02 -2.94701369e-04 9.99849986e-01 2.73041528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104012739 meters 0.03659849266299913 Centerline is valid? [True, True] Translation: X:0.69, Y:0.03, Z:0.02 [[ 9.99289808e-01 3.25097307e-02 1.90524586e-02 6.88612920e-01] [-3.25103269e-02 9.99471361e-01 -2.78521398e-04 2.83967149e-02] [-1.90514414e-02 -3.41078063e-04 9.99818447e-01 2.38923609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164012739 meters 0.032341915026666626 Centerline is valid? [True, True] Translation: X:0.75, Y:0.03, Z:0.03 [[ 9.99263480e-01 3.04310480e-02 2.33762474e-02 7.50534054e-01] [-3.04312796e-02 9.99536802e-01 -3.45906131e-04 2.69316953e-02] [-2.33759458e-02 -3.65717756e-04 9.99726678e-01 2.94624668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224012739 meters 0.02987421085849842 Centerline is valid? [True, True] Translation: X:0.81, Y:0.03, Z:0.03 [[ 9.99327445e-01 2.73847806e-02 2.43871308e-02 8.13288815e-01] [-2.73840380e-02 9.99624920e-01 -3.64472496e-04 2.50469889e-02] [-2.43879647e-02 -3.03590749e-04 9.99702523e-01 2.98082645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284012739 meters 0.027361262608837936 Centerline is valid? [True, True] Translation: X:0.87, Y:0.02, Z:0.02 [[ 9.99480851e-01 2.33552694e-02 2.21936908e-02 8.74098858e-01] [-2.33536320e-02 9.99727211e-01 -3.32996091e-04 2.01515038e-02] [-2.21954138e-02 -1.85480070e-04 9.99753634e-01 2.40982235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344012739 meters 0.02534691868831771 Centerline is valid? [True, True] Translation: X:0.94, Y:0.01, Z:0.02 [[ 9.99582971e-01 1.87980352e-02 2.19207136e-02 9.36445260e-01] [-1.87952727e-02 9.99823298e-01 -3.32064237e-04 1.26882790e-02] [-2.19230823e-02 -8.00800326e-05 9.99759657e-01 2.06955021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404012739 meters 0.024931901255865342 Centerline is valid? [True, True] Translation: X:1.00, Y:0.00, Z:0.02 [[ 9.99672111e-01 1.19106609e-02 2.26672932e-02 9.97924384e-01] [-1.19058517e-02 9.99929063e-01 -3.47113287e-04 5.08429974e-04] [-2.26698196e-02 7.71260410e-05 9.99743004e-01 2.06384521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464012739 meters 0.026965125276849945 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.01, Z:0.02 [[ 9.99742197e-01 4.92055157e-03 2.21659091e-02 1.05971564e+00] [-4.91415394e-03 9.99987867e-01 -3.43085676e-04 -1.32876027e-02] [-2.21673283e-02 2.34070538e-04 9.99754247e-01 1.83719105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524012739 meters 0.030774874569497207 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.03, Z:0.02 [[ 9.99754890e-01 6.58439352e-04 2.21297695e-02 1.12087530e+00] [-6.50939264e-04 9.99999728e-01 -3.46115704e-04 -2.97915217e-02] [-2.21299914e-02 3.31625732e-04 9.99755047e-01 1.76896567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584012739 meters 0.029643286984864996 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.03, Z:0.02 [[ 9.99741267e-01 3.16205381e-04 2.27442283e-02 1.18269864e+00] [-3.08112565e-04 9.99999888e-01 -3.59321896e-04 -3.15032215e-02] [-2.27443394e-02 3.52221145e-04 9.99741252e-01 1.65270826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644012739 meters 0.02808686868408159 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.04, Z:0.01 [[ 9.99744666e-01 1.87833561e-03 2.25183293e-02 1.24463195e+00] [-1.87071617e-03 9.99998186e-01 -3.59426808e-04 -3.51615091e-02] [-2.25189636e-02 3.17209631e-04 9.99746366e-01 1.37685414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704012739 meters 0.02840211460509659 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.04, Z:0.01 [[ 9.99753971e-01 5.72784863e-04 2.21736049e-02 1.30667402e+00] [-5.64993633e-04 9.99999776e-01 -3.57637225e-04 -4.32093550e-02] [-2.21738048e-02 3.45021290e-04 9.99754071e-01 1.26032108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764012739 meters 0.029766274230361225 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.05, Z:0.01 [[ 9.99722490e-01 -1.59003246e-03 2.35034962e-02 1.36727467e+00] [ 1.59947456e-03 9.99998648e-01 -3.82937621e-04 -5.40188079e-02] [-2.35028555e-02 4.20424596e-04 9.99723681e-01 1.36749561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824012739 meters 0.03037399658787001 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.06, Z:0.01 [[ 9.99715859e-01 -1.87849410e-03 2.37628395e-02 1.42803502e+00] [ 1.88825171e-03 9.99998142e-01 -3.88193055e-04 -6.23115866e-02] [-2.37620661e-02 4.32952976e-04 9.99717548e-01 1.34629784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884012739 meters 0.036271544289084474 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.07, Z:0.02 [[ 9.99785741e-01 7.56477281e-04 2.06857381e-02 1.48919493e+00] [-7.49588777e-04 9.99999661e-01 -3.40759136e-04 -6.62689541e-02] [-2.06859888e-02 3.25180329e-04 9.99785969e-01 2.20008507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944012739 meters 0.026421626985967905 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.06, Z:0.01 [[ 9.99747539e-01 5.48857299e-03 2.17883840e-02 1.55067638e+00] [-5.48198011e-03 9.99984908e-01 -3.62304697e-04 -6.36030938e-02] [-2.17900437e-02 2.42769741e-04 9.99762539e-01 6.61713392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004012739 meters 0.024223343753045787 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.06, Z:0.01 [[ 9.99686551e-01 1.19692881e-02 2.19894652e-02 1.61218698e+00] [-1.19641207e-02 9.99928360e-01 -3.66538967e-04 -5.71645706e-02] [-2.19922771e-02 1.03339459e-04 9.99758135e-01 6.21304437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064012739 meters 0.024036559771710344 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.05, Z:0.00 [[ 9.99619225e-01 1.96797578e-02 1.93419601e-02 1.67420811e+00] [-1.96771736e-02 9.99806333e-01 -3.23930889e-04 -4.73061677e-02] [-1.93445891e-02 -5.67875627e-05 9.99812874e-01 8.07422177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124012739 meters 0.026244331108401454 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.04, Z:0.00 [[ 9.99354131e-01 2.78447352e-02 2.27154387e-02 1.73636251e+00] [-2.78431767e-02 9.99612229e-01 -3.84943129e-04 -3.50896243e-02] [-2.27173490e-02 -2.47775468e-04 9.99741897e-01 4.79579509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184012739 meters 0.029143730745058664 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.02, Z:0.00 [[ 9.99214725e-01 3.26289372e-02 2.24785704e-02 1.79709819e+00] [-3.26285476e-02 9.99467473e-01 -3.84196927e-04 -2.40320850e-02] [-2.24791359e-02 -3.49547878e-04 9.99747251e-01 4.51191502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244012739 meters 0.028585976446206567 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.02, Z:0.00 [[ 9.99242788e-01 3.24807502e-02 2.14208385e-02 1.85901839e+00] [-3.24803486e-02 9.99472307e-01 -3.66758493e-04 -2.38363743e-02] [-2.14214475e-02 -3.29275524e-04 9.99770480e-01 1.52008044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304012739 meters 0.027103871699717657 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.02, Z:0.00 [[ 9.99366998e-01 2.88349505e-02 2.08362563e-02 1.92008430e+00] [-2.88337057e-02 9.99584157e-01 -3.60229479e-04 -2.44342376e-02] [-2.08379788e-02 -2.40785027e-04 9.99782837e-01 1.17537075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364012739 meters 0.024488564150121534 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.03, Z:0.00 [[ 9.99495066e-01 2.35742335e-02 2.13042014e-02 1.98241349e+00] [-2.35716635e-02 9.99722081e-01 -3.71773294e-04 -2.97635786e-02] [-2.13070448e-02 -1.30589893e-04 9.99772971e-01 1.27208257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424012739 meters 0.02325685183844683 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.04, Z:0.01 [[ 9.99493617e-01 1.86011192e-02 2.58167975e-02 2.04397913e+00] [-1.85955569e-02 9.99826984e-01 -4.55534785e-04 -3.87059648e-02] [-2.58208042e-02 -2.47736167e-05 9.99666587e-01 8.85649839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484012739 meters 0.02342240406081741 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.04, Z:0.00 [[ 9.99580041e-01 1.63903356e-02 2.38976759e-02 2.10616922e+00] [-1.63848457e-02 9.99865669e-01 -4.25528843e-04 -4.48200922e-02] [-2.39014403e-02 3.37904051e-05 9.99714319e-01 3.62293243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544012739 meters 0.023944431288892856 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.05, Z:-0.00 [[ 9.99698136e-01 1.37449244e-02 2.03645291e-02 2.16906149e+00] [-1.37403327e-02 9.99905530e-01 -3.65389133e-04 -5.25728885e-02] [-2.03676275e-02 8.54634301e-05 9.99792555e-01 -3.74217236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604012739 meters 0.025179141954679515 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.06, Z:-0.01 [[ 9.99730443e-01 1.11650318e-02 2.03564041e-02 2.23043983e+00] [-1.11598289e-02 9.99937659e-01 -3.69174528e-04 -6.23919049e-02] [-2.03592569e-02 1.41901029e-04 9.99792719e-01 -5.11561823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664012739 meters 0.024164533629702733 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.06, Z:-0.00 [[ 9.99713344e-01 1.20468531e-02 2.06906394e-02 2.29311409e+00] [-1.20415996e-02 9.99927426e-01 -3.78476718e-04 -6.31596290e-02] [-2.06936972e-02 1.29219830e-04 9.99785854e-01 -4.67826236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724012739 meters 0.02367904116606735 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.06, Z:-0.01 [[ 9.99650841e-01 1.59777423e-02 2.10453968e-02 2.35423981e+00] [-1.59731489e-02 9.99872346e-01 -3.86350239e-04 -6.28671305e-02] [-2.10488833e-02 5.00540830e-05 9.99778446e-01 -6.38212278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784012739 meters 0.02377923855100436 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.05, Z:-0.01 [[ 9.99583963e-01 2.16991665e-02 1.90012621e-02 2.41708116e+00] [-2.16964047e-02 9.99764544e-01 -3.51505115e-04 -5.42910468e-02] [-1.90044155e-02 -6.09001970e-05 9.99819398e-01 -1.08460786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844012739 meters 0.024423432826234704 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.05, Z:-0.01 [[ 9.99554365e-01 2.40424937e-02 1.76926512e-02 2.47907387e+00] [-2.40404133e-02 9.99710933e-01 -3.30295628e-04 -5.31210746e-02] [-1.76954779e-02 -9.51902098e-05 9.99843418e-01 -1.38553806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904012739 meters 0.026105313558085576 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.05, Z:-0.02 [[ 9.99473690e-01 2.76616245e-02 1.69463321e-02 2.54050681e+00] [-2.76601888e-02 9.99617333e-01 -3.19144022e-04 -4.84412045e-02] [-1.69486753e-02 -1.49762692e-04 9.99856350e-01 -1.70948119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964012739 meters 0.02978878383499316 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.04, Z:-0.02 [[ 9.99314538e-01 3.27486221e-02 1.72621438e-02 2.60144830e+00] [-3.27478393e-02 9.99463592e-01 -3.28094091e-04 -3.77561987e-02] [-1.72636289e-02 -2.37428716e-04 9.99850944e-01 -1.63000471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024012739 meters 0.03265753098361227 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.03, Z:-0.01 [[ 9.99065180e-01 3.85944250e-02 1.94739705e-02 2.66263330e+00] [-3.85945035e-02 9.99254885e-01 -3.71936482e-04 -2.72580900e-02] [-1.94738148e-02 -3.79999433e-04 9.99810295e-01 -1.14487303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084012739 meters 0.042315074678269504 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.00, Z:-0.01 [[ 9.98784218e-01 4.53758215e-02 1.92644888e-02 2.72301653e+00] [-4.53771457e-02 9.98969859e-01 -3.68602294e-04 -3.38007467e-03] [-1.92613693e-02 -5.06013363e-04 9.99814355e-01 -1.28421762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144012739 meters 0.037776111330893765 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.00, Z:-0.01 [[ 9.98764037e-01 4.62832302e-02 1.81179640e-02 2.78561320e+00] [-4.62845605e-02 9.98928235e-01 -3.46114553e-04 -1.97863155e-03] [-1.81145651e-02 -4.92895232e-04 9.99835796e-01 -1.40904966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2040127389999995 meters 0.03731061628061801 Centerline is valid? [True, True] Translation: X:2.85, Y:0.00, Z:-0.01 [[ 9.98902870e-01 4.25853925e-02 1.94817958e-02 2.84665342e+00] [-4.25861564e-02 9.99092727e-01 -3.75844603e-04 1.32411139e-03] [-1.94801260e-02 -4.54222549e-04 9.99810141e-01 -1.38385756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264012739 meters 0.03044324185820573 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.01, Z:-0.02 [[ 9.99204289e-01 3.51832136e-02 1.87864252e-02 2.90716211e+00] [-3.51826073e-02 9.99380835e-01 -3.62882337e-04 -5.78979621e-03] [-1.87875606e-02 -2.98361832e-04 9.99823454e-01 -1.63394378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324012739 meters 0.027190210199283523 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.01, Z:-0.02 [[ 9.99354918e-01 3.10144606e-02 1.81066716e-02 2.96922927e+00] [-3.10132160e-02 9.99518913e-01 -3.49594300e-04 -9.16420956e-03] [-1.81088032e-02 -2.12177336e-04 9.99836000e-01 -1.70511269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384012739 meters 0.025222707726545446 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.01, Z:-0.02 [[ 9.99464792e-01 2.68617531e-02 1.86701592e-02 3.03041331e+00] [-2.68596458e-02 9.99639148e-01 -3.63666794e-04 -1.43890338e-02] [-1.86731908e-02 -1.38001706e-04 9.99825631e-01 -1.80056690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444012739 meters 0.02400755721726321 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.03, Z:-0.02 [[ 9.99597436e-01 2.31512741e-02 1.64007484e-02 3.09248500e+00] [-2.31491150e-02 9.99731972e-01 -3.21499432e-04 -2.55362661e-02] [-1.64037956e-02 -5.82928030e-05 9.99865447e-01 -2.25336084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504012739 meters 0.02378130028159692 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.03, Z:-0.02 [[ 9.99644881e-01 2.13637767e-02 1.59279629e-02 3.15486620e+00] [-2.13614737e-02 9.99771768e-01 -3.14727528e-04 -2.94221849e-02] [-1.59310514e-02 -2.56289986e-05 9.99873092e-01 -2.43540364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564012739 meters 0.02364537939730881 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.03, Z:-0.02 [[ 9.99621736e-01 2.21356630e-02 1.63217089e-02 3.21845188e+00] [-2.21333008e-02 9.99754976e-01 -3.25371010e-04 -2.74514789e-02] [-1.63249120e-02 -3.60053597e-05 9.99866739e-01 -2.38080031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624012739 meters 0.02378074133079224 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.03, Z:-0.03 [[ 9.99670290e-01 2.08691764e-02 1.49595827e-02 3.28074013e+00] [-2.08670101e-02 9.99782215e-01 -3.00902649e-04 -2.57768611e-02] [-1.49626044e-02 -1.13583267e-05 9.99888054e-01 -2.83888589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684012739 meters 0.02410833513566963 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.03, Z:-0.03 [[ 9.99752899e-01 1.59440817e-02 1.54895695e-02 3.34337001e+00] [-1.59411230e-02 9.99872883e-01 -3.14468225e-04 -2.74817437e-02] [-1.54926144e-02 6.74693856e-05 9.99879980e-01 -2.70957744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7440127389999995 meters 0.026118592202777378 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.03, Z:-0.03 [[ 9.99808524e-01 1.06945455e-02 1.63872251e-02 3.40469882e+00] [-1.06904658e-02 9.99942799e-01 -3.36541031e-04 -3.28021174e-02] [-1.63898869e-02 1.61289522e-04 9.99865664e-01 -2.67741080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804012739 meters 0.03367486856069238 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.05, Z:-0.03 [[ 9.99892345e-01 -1.61078124e-03 1.45843789e-02 3.46474493e+00] [ 1.61534438e-03 9.99998650e-01 -3.01103987e-04 -4.70920248e-02] [-1.45838742e-02 3.24630367e-04 9.99893597e-01 -3.04936977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864012739 meters 0.038409236465803666 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.06, Z:-0.03 [[ 9.99853328e-01 -6.32778484e-03 1.59148281e-02 3.52477713e+00] [ 6.33381616e-03 9.99979887e-01 -3.28598716e-04 -5.68435248e-02] [-1.59124287e-02 4.29352115e-04 9.99873297e-01 -2.95207149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924012739 meters 0.04193518681677486 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.07, Z:-0.03 [[ 9.99824582e-01 -1.16810002e-02 1.46409959e-02 3.58507496e+00] [ 1.16866777e-02 9.99931663e-01 -3.02282583e-04 -6.84148691e-02] [-1.46364644e-02 4.73334157e-04 9.99892769e-01 -3.14989444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984012739 meters 0.04138266885550591 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.07, Z:-0.03 [[ 9.99838169e-01 -1.04403319e-02 1.46504500e-02 3.64736305e+00] [ 1.04458806e-02 9.99945395e-01 -3.02261836e-04 -7.34315098e-02] [-1.46464943e-02 4.55249772e-04 9.99892631e-01 -3.24192309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044012739 meters 0.042313405908117316 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.07, Z:-0.01 [[ 9.99894862e-01 -5.51064647e-03 1.34126213e-02 3.70860235e+00] [ 5.51486437e-03 9.99984755e-01 -2.77506180e-04 -7.35211844e-02] [-1.34108876e-02 3.51445790e-04 9.99910008e-01 -1.47731555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104012739 meters 0.030731077655562516 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.07, Z:-0.03 [[ 9.99868599e-01 2.19538645e-03 1.60612838e-02 3.76886032e+00] [-2.19032718e-03 9.99997546e-01 -3.32581587e-04 -6.87996054e-02] [-1.60619746e-02 2.97358419e-04 9.99870954e-01 -3.09275194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164012739 meters 0.025639879139320705 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.06, Z:-0.03 [[ 9.99810593e-01 1.15284837e-02 1.56802813e-02 3.82896253e+00] [-1.15248080e-02 9.99933534e-01 -3.24759141e-04 -6.03561939e-02] [-1.56829831e-02 1.43985398e-04 9.99877004e-01 -3.36430332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224012738999999 meters 0.023903587371420065 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.06, Z:-0.03 [[ 9.99733735e-01 1.72358779e-02 1.53422169e-02 3.88986717e+00] [-1.72330428e-02 9.99851450e-01 -3.16984478e-04 -5.50771385e-02] [-1.53454013e-02 5.25069956e-05 9.99882251e-01 -3.46164180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284012739 meters 0.02406865676705931 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.05, Z:-0.04 [[ 9.99594232e-01 2.45342658e-02 1.44720616e-02 3.95318555e+00] [-2.45324818e-02 9.99698988e-01 -3.00810469e-04 -4.62189593e-02] [-1.44750855e-02 -5.43471788e-05 9.99895229e-01 -3.72701942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344012739 meters 0.026176775693977188 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.04, Z:-0.04 [[ 9.99476223e-01 2.93022717e-02 1.37352531e-02 4.01409956e+00] [-2.93010792e-02 9.99570590e-01 -2.88099825e-04 -3.81819485e-02] [-1.37377970e-02 -1.14508814e-04 9.99905625e-01 -4.10116188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404012739 meters 0.028475713269863295 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.03, Z:-0.04 [[ 9.99275294e-01 3.48566824e-02 1.52937714e-02 4.07675167e+00] [-3.48558146e-02 9.99392299e-01 -3.23375129e-04 -3.09604546e-02] [-1.52957492e-02 -2.09936084e-04 9.99882991e-01 -3.73228110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464012739 meters 0.03650820437592188 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.01, Z:-0.04 [[ 9.98801780e-01 4.58639661e-02 1.70734156e-02 4.13753499e+00] [-4.58644289e-02 9.98947607e-01 -3.64655872e-04 -7.81913374e-03] [-1.70721722e-02 -4.18843521e-04 9.99854172e-01 -3.58633667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524012739 meters 0.04414031068028997 Centerline is valid? [True, True] Translation: X:4.20, Y:0.01, Z:-0.04 [[ 9.98582758e-01 5.07321202e-02 1.60849903e-02 4.19827274e+00] [-5.07331620e-02 9.98712185e-01 -3.43536693e-04 8.43110710e-03] [-1.60817042e-02 -4.72992603e-04 9.99870569e-01 -3.88113078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584012739 meters 0.04689176354658488 Centerline is valid? [True, True] Translation: X:4.26, Y:0.02, Z:-0.04 [[ 9.98494655e-01 5.26657347e-02 1.53213544e-02 4.26017963e+00] [-5.26669100e-02 9.98612082e-01 -3.27051415e-04 1.84047895e-02] [-1.53173140e-02 -4.80369301e-04 9.99882568e-01 -4.08768377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644012739 meters 0.039979651284580496 Centerline is valid? [True, True] Translation: X:4.32, Y:0.01, Z:-0.04 [[ 9.98668824e-01 4.91834695e-02 1.55424016e-02 4.32206887e+00] [-4.91842348e-02 9.98789668e-01 -3.33231679e-04 1.41061835e-02] [-1.55399796e-02 -4.31653043e-04 9.99879154e-01 -4.19473973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704012739 meters 0.0381454989157887 Centerline is valid? [True, True] Translation: X:4.38, Y:0.02, Z:-0.04 [[ 9.98899561e-01 4.39715739e-02 1.63146443e-02 4.38192342e+00] [-4.39717101e-02 9.99032715e-01 -3.50542331e-04 1.62299612e-02] [-1.63142773e-02 -3.67226228e-04 9.99866846e-01 -4.27682421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764012739 meters 0.030501014152181337 Centerline is valid? [True, True] Translation: X:4.44, Y:0.00, Z:-0.05 [[ 9.99219227e-01 3.70957069e-02 1.35957949e-02 4.44282063e+00] [-3.70951662e-02 9.99311695e-01 -2.92033399e-04 3.99727041e-03] [-1.35972701e-02 -2.12532885e-04 9.99907530e-01 -4.85868709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824012739 meters 0.029493584447982377 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:-0.04 [[ 9.99400567e-01 3.25887636e-02 1.16824250e-02 4.50509626e+00] [-3.25880706e-02 9.99468837e-01 -2.49726084e-04 -5.00463267e-03] [-1.16843580e-02 -1.31131302e-04 9.99931727e-01 -4.09035325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884012739 meters 0.024062876948443144 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.02, Z:-0.05 [[ 9.99526405e-01 2.67719913e-02 1.51731878e-02 4.56582108e+00] [-2.67700878e-02 9.99641563e-01 -3.28583212e-04 -1.57216249e-02] [-1.51765460e-02 -7.77599734e-05 9.99884827e-01 -4.75966821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944012739 meters 0.02333695235804515 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.03, Z:-0.05 [[ 9.99659113e-01 2.08026934e-02 1.57767304e-02 4.62634734e+00] [-2.07998952e-02 9.99783600e-01 -3.41448385e-04 -3.16212235e-02] [-1.57804194e-02 1.31776504e-05 9.99875481e-01 -4.89369370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004012739 meters 0.023971670085840738 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.05, Z:-0.05 [[ 9.99734704e-01 1.66987972e-02 1.58641576e-02 4.68822886e+00] [-1.66954132e-02 9.99860562e-01 -3.45729662e-04 -4.64158867e-02] [-1.58677188e-02 8.07792750e-05 9.99874097e-01 -4.95250155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064012739 meters 0.024089687779048744 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.05, Z:-0.05 [[ 9.99760910e-01 1.77525548e-02 1.27659235e-02 4.75010545e+00] [-1.77504309e-02 9.99842410e-01 -2.79671741e-04 -5.09826141e-02] [-1.27688766e-02 5.30042306e-05 9.99918473e-01 -5.43757802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124012739 meters 0.02362045181386373 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.05, Z:-0.05 [[ 9.99638663e-01 2.32877825e-02 1.34246697e-02 4.81172141e+00] [-2.32858988e-02 9.99728803e-01 -2.96630362e-04 -4.91777711e-02] [-1.34279369e-02 -1.60823227e-05 9.99909841e-01 -5.38467370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184012739 meters 0.02449108975721591 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.04, Z:-0.05 [[ 9.99489353e-01 2.87364392e-02 1.39732140e-02 4.87428417e+00] [-2.87348998e-02 9.99587019e-01 -3.10962612e-04 -4.17087517e-02] [-1.39763793e-02 -9.07150853e-05 9.99902322e-01 -5.33308140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244012739 meters 0.02701574646213753 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.03, Z:-0.05 [[ 9.99288933e-01 3.47963616e-02 1.45203620e-02 4.93656445e+00] [-3.47952920e-02 9.99394407e-01 -3.26363861e-04 -3.26578658e-02] [-1.45229249e-02 -1.79108442e-04 9.99894521e-01 -5.46667909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304012739 meters 0.02675907712648356 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.03, Z:-0.05 [[ 9.99274300e-01 3.44436212e-02 1.62637872e-02 4.99787624e+00] [-3.44422253e-02 9.99406624e-01 -3.66001889e-04 -3.20242286e-02] [-1.62667430e-02 -1.94424741e-04 9.99867669e-01 -5.20830167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364012739 meters 0.02719458136469751 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.03, Z:-0.06 [[ 9.99261409e-01 3.50520681e-02 1.57476775e-02 5.06043149e+00] [-3.50508007e-02 9.99385468e-01 -3.56559023e-04 -3.14007468e-02] [-1.57504982e-02 -1.95673034e-04 9.99875934e-01 -5.54450626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424012739 meters 0.02772482088497319 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.03, Z:-0.06 [[ 9.99307184e-01 3.49730434e-02 1.27294401e-02 5.12263856e+00] [-3.49721856e-02 9.99388244e-01 -2.90046863e-04 -3.11698251e-02] [-1.27317967e-02 -1.55330430e-04 9.99918935e-01 -6.21052778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484012739 meters 0.025547036676605534 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.04, Z:-0.06 [[ 9.99337786e-01 3.28287319e-02 1.56927714e-02 5.18461010e+00] [-3.28271125e-02 9.99460980e-01 -3.60847148e-04 -3.85510122e-02] [-1.56961588e-02 -1.54540181e-04 9.99876796e-01 -5.73946814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544012739 meters 0.026424453494914853 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.04, Z:-0.06 [[ 9.99296258e-01 3.43783739e-02 1.50038423e-02 5.24715264e+00] [-3.43770336e-02 9.99408875e-01 -3.47305441e-04 -3.76358054e-02] [-1.50069129e-02 -1.68726563e-04 9.99887376e-01 -5.98894381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604012739 meters 0.027152329695337523 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.04, Z:-0.06 [[ 9.99235809e-01 3.65277071e-02 1.39113475e-02 5.30912987e+00] [-3.65267355e-02 9.99332624e-01 -3.24002425e-04 -3.67910958e-02] [-1.39138984e-02 -1.84381284e-04 9.99903180e-01 -6.22165792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664012739 meters 0.0327692262019705 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.04, Z:-0.05 [[ 9.99274395e-01 3.52415346e-02 1.44470355e-02 5.37096305e+00] [-3.52403137e-02 9.99378810e-01 -3.39147802e-04 -3.88082423e-02] [-1.44500132e-02 -1.70216349e-04 9.99895579e-01 -4.69463468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724012738999999 meters 0.023956107855110754 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.05, Z:-0.06 [[ 9.99447209e-01 2.99315758e-02 1.44699024e-02 5.43308413e+00] [-2.99297537e-02 9.99551946e-01 -3.42511943e-04 -5.24277672e-02] [-1.44736710e-02 -9.07580083e-05 9.99895247e-01 -6.43178808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784012739 meters 0.02248229748575397 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.07, Z:-0.06 [[ 9.99603183e-01 2.27887386e-02 1.65574943e-02 5.49492534e+00] [-2.27853607e-02 9.99740303e-01 -3.92656263e-04 -6.92633904e-02] [-1.65621425e-02 1.52319702e-05 9.99862838e-01 -6.22313066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844012739 meters 0.023438145753428053 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.09, Z:-0.06 [[ 9.99725840e-01 1.79966244e-02 1.49788409e-02 5.55691567e+00] [-1.79932891e-02 9.99838044e-01 -3.57419915e-04 -8.66001652e-02] [-1.49828473e-02 8.78033108e-05 9.99887747e-01 -6.45759241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904012739 meters 0.023175119084412568 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.10, Z:-0.07 [[ 9.99688556e-01 2.00479349e-02 1.48617699e-02 5.61853159e+00] [-2.00448411e-02 9.99799018e-01 -3.57117439e-04 -9.56369407e-02] [-1.48659425e-02 5.91044005e-05 9.99889494e-01 -6.62460465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964012739 meters 0.022715084471302317 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.09, Z:-0.06 [[ 9.99483817e-01 2.72302230e-02 1.70474217e-02 5.68097272e+00] [-2.72271389e-02 9.99629187e-01 -4.13021049e-04 -9.39188616e-02] [-1.70523469e-02 -5.13446645e-05 9.99854597e-01 -6.33826055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024012739 meters 0.02719389097088825 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.08, Z:-0.07 [[ 9.99243285e-01 3.60486592e-02 1.46065571e-02 5.74242636e+00] [-3.60473072e-02 9.99350021e-01 -3.55917433e-04 -8.46797351e-02] [-1.46098934e-02 -1.70878944e-04 9.99893255e-01 -7.05800263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084012739 meters 0.028760653187210928 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.08, Z:-0.07 [[ 9.99095775e-01 3.96090121e-02 1.54518166e-02 5.80445992e+00] [-3.96078858e-02 9.99215228e-01 -3.79028389e-04 -8.27290950e-02] [-1.54547034e-02 -2.33328126e-04 9.99880542e-01 -6.91338740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144012738999999 meters 0.026574940257279373 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.09, Z:-0.07 [[ 9.99188827e-01 3.68466411e-02 1.62484867e-02 5.86638819e+00] [-3.68449845e-02 9.99320912e-01 -4.01399079e-04 -8.80140310e-02] [-1.62522428e-02 -1.97601765e-04 9.99867904e-01 -6.87263715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204012739 meters 0.02378205880477112 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.10, Z:-0.07 [[ 9.99378465e-01 3.12792591e-02 1.62570204e-02 5.92839906e+00] [-3.12768203e-02 9.99510679e-01 -4.04307194e-04 -9.71788567e-02] [-1.62617119e-02 -1.04412001e-04 9.99867764e-01 -6.99495714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264012739 meters 0.02313093337447935 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.10, Z:-0.07 [[ 9.99440655e-01 2.96502788e-02 1.54673145e-02 5.99153046e+00] [-2.96478423e-02 9.99560331e-01 -3.86851799e-04 -1.01671642e-01] [-1.54719843e-02 -7.19370866e-05 9.99880299e-01 -7.21515159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324012739 meters 0.02368717333949388 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.10, Z:-0.08 [[ 9.99427178e-01 3.04807272e-02 1.47051328e-02 6.05383304e+00] [-3.04785740e-02 9.99535352e-01 -3.70562596e-04 -1.03800908e-01] [-1.47095951e-02 -7.78411497e-05 9.99891805e-01 -7.51068516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384012739 meters 0.025170112966787176 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.10, Z:-0.08 [[ 9.99307888e-01 3.42466323e-02 1.45228197e-02 6.11620771e+00] [-3.42448901e-02 9.99413404e-01 -3.68693168e-04 -1.01260208e-01] [-1.45269272e-02 -1.28894374e-04 9.99894470e-01 -7.61327150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444012739 meters 0.026615043265269218 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.10, Z:-0.08 [[ 9.99227974e-01 3.67227691e-02 1.39604852e-02 6.17832870e+00] [-3.67213708e-02 9.99325479e-01 -3.56571353e-04 -1.02566912e-01] [-1.39641629e-02 -1.56352084e-04 9.99902484e-01 -7.89886881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504012739 meters 0.026695016770276872 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.11, Z:-0.08 [[ 9.99180576e-01 3.73665370e-02 1.55537551e-02 6.24154725e+00] [-3.73648356e-02 9.99301611e-01 -4.00068952e-04 -1.06037689e-01] [-1.55578417e-02 -1.81422376e-04 9.99878953e-01 -7.77957070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564012738999999 meters 0.0265064374497372 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.11, Z:-0.08 [[ 9.99166700e-01 3.76302683e-02 1.58072581e-02 6.30415329e+00] [-3.76284966e-02 9.99291713e-01 -4.09589647e-04 -1.09340342e-01] [-1.58114750e-02 -1.85555020e-04 9.99874974e-01 -7.81328382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624012739 meters 0.02770785783494594 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.10, Z:-0.08 [[ 9.99089678e-01 3.94874073e-02 1.61418955e-02 6.36668076e+00] [-3.94857497e-02 9.99220045e-01 -4.21512784e-04 -1.04383687e-01] [-1.61459500e-02 -2.16245776e-04 9.99869622e-01 -7.82991231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684012739 meters 0.027900452759015704 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.10, Z:-0.08 [[ 9.99048099e-01 3.98881327e-02 1.76588148e-02 6.42952780e+00] [-3.98861557e-02 9.99204123e-01 -4.64280365e-04 -1.04401220e-01] [-1.76632798e-02 -2.40503822e-04 9.99843963e-01 -7.65967430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744012739 meters 0.027359741292271842 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.10, Z:-0.08 [[ 9.99132060e-01 3.79754262e-02 1.71170773e-02 6.49094951e+00] [-3.79732335e-02 9.99278654e-01 -4.53222281e-04 -1.03997279e-01] [-1.71219412e-02 -1.97161860e-04 9.99853389e-01 -8.00595228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804012739 meters 0.02637575335176529 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.11, Z:-0.08 [[ 9.99161402e-01 3.71584689e-02 1.71971086e-02 6.55275639e+00] [-3.71560907e-02 9.99309369e-01 -4.57889868e-04 -1.08006052e-01] [-1.72022462e-02 -1.81471443e-04 9.99852014e-01 -8.20435264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864012739 meters 0.026720375024164716 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.11, Z:-0.09 [[ 9.99190044e-01 3.72674839e-02 1.51786367e-02 6.61471631e+00] [-3.72656132e-02 9.99305313e-01 -4.06161705e-04 -1.08127750e-01] [-1.51832289e-02 -1.59808473e-04 9.99884715e-01 -8.62738219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924012739 meters 0.02658555070924318 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.11, Z:-0.09 [[ 9.99180813e-01 3.79707348e-02 1.39973580e-02 6.67695181e+00] [-3.79691864e-02 9.99278840e-01 -3.76446243e-04 -1.11316745e-01] [-1.40015576e-02 -1.55330432e-04 9.99901961e-01 -8.75864574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984012739 meters 0.02704851698622238 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.11, Z:-0.09 [[ 9.99166310e-01 3.91256490e-02 1.16562312e-02 6.73851939e+00] [-3.91246374e-02 9.99234289e-01 -3.14884561e-04 -1.14709389e-01] [-1.16596259e-02 -1.41423772e-04 9.99932014e-01 -9.22286505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044012739 meters 0.028129105589103368 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.11, Z:-0.09 [[ 9.99107544e-01 4.04477985e-02 1.21692915e-02 6.79933529e+00] [-4.04467685e-02 9.99181640e-01 -3.30846573e-04 -1.12028616e-01] [-1.21727146e-02 -1.61657207e-04 9.99925897e-01 -9.31371406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104012739 meters 0.028606675346524293 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.11, Z:-0.09 [[ 9.99034014e-01 4.19154015e-02 1.31961354e-02 6.86153876e+00] [-4.19142881e-02 9.99121145e-01 -3.61047283e-04 -1.12040471e-01] [-1.31996714e-02 -1.92408106e-04 9.99912862e-01 -9.22231771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164012739 meters 0.027716551313737445 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.12, Z:-0.09 [[ 9.99043082e-01 4.09488608e-02 1.53659329e-02 6.92400144e+00] [-4.09471882e-02 9.99161222e-01 -4.23579256e-04 -1.15851903e-01] [-1.53703894e-02 -2.06017822e-04 9.99881847e-01 -8.89769414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224012738999999 meters 0.029171135198745427 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.12, Z:-0.09 [[ 9.99077823e-01 3.97175733e-02 1.63100586e-02 6.98505373e+00] [-3.97154758e-02 9.99210927e-01 -4.52611817e-04 -1.15654440e-01] [-1.63151654e-02 -1.95567309e-04 9.99866880e-01 -8.93590266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284012739 meters 0.027788502713068666 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.12, Z:-0.09 [[ 9.99056031e-01 4.06651714e-02 1.52771015e-02 7.04718428e+00] [-4.06634098e-02 9.99172811e-01 -4.26047630e-04 -1.22480953e-01] [-1.52817897e-02 -1.95573583e-04 9.99883208e-01 -9.00697958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344012739 meters 0.03267813282304553 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.13, Z:-0.08 [[ 9.99014302e-01 4.18775952e-02 1.47204758e-02 7.10965586e+00] [-4.18760580e-02 9.99122728e-01 -4.12780267e-04 -1.26995675e-01] [-1.47248481e-02 -2.04062107e-04 9.99891563e-01 -8.02171825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404012739 meters 0.027419632957316534 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.14, Z:-0.09 [[ 9.99026488e-01 4.14278502e-02 1.51594882e-02 7.17108908e+00] [-4.14261275e-02 9.99141478e-01 -4.27768344e-04 -1.35174927e-01] [-1.51641949e-02 -2.00646983e-04 9.99884997e-01 -9.23433835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464012739 meters 0.027139461512818357 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.14, Z:-0.09 [[ 9.99029985e-01 4.03927770e-02 1.75360181e-02 7.23269327e+00] [-4.03902499e-02 9.99183857e-01 -4.98401744e-04 -1.39386387e-01] [-1.75418380e-02 -2.10365866e-04 9.99846108e-01 -8.93417187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524012739 meters 0.03358652415142777 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.15, Z:-0.08 [[ 9.99171511e-01 3.75706318e-02 1.56441584e-02 7.29511018e+00] [-3.75682386e-02 9.99293965e-01 -4.46929975e-04 -1.49076090e-01] [-1.56499046e-02 -1.41163779e-04 9.99877523e-01 -7.77928304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584012739 meters 0.024982693704728914 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.16, Z:-0.10 [[ 9.99237367e-01 3.59868956e-02 1.51534583e-02 7.35645387e+00] [-3.59844318e-02 9.99352256e-01 -4.35303629e-04 -1.56579328e-01] [-1.51593079e-02 -1.10316933e-04 9.99885085e-01 -9.56359205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644012738999999 meters 0.024101459998576314 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.17, Z:-0.10 [[ 9.99321402e-01 3.36084967e-02 1.50733027e-02 7.41867182e+00] [-3.36057516e-02 9.99435072e-01 -4.35437557e-04 -1.69478229e-01] [-1.50794218e-02 -7.14075979e-05 9.99886297e-01 -9.65122732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704012739 meters 0.023527209478166528 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.18, Z:-0.09 [[ 9.99377241e-01 3.10275630e-02 1.68053641e-02 7.47999802e+00] [-3.10237300e-02 9.99518529e-01 -4.88799281e-04 -1.80713856e-01] [-1.68124390e-02 -3.28702010e-05 9.99858660e-01 -9.48168011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764012739 meters 0.025992357103152293 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.18, Z:-0.09 [[ 9.99319853e-01 3.33200731e-02 1.57988472e-02 7.54175453e+00] [-3.33169364e-02 9.99444730e-01 -4.61771414e-04 -1.84686373e-01] [-1.58054609e-02 -6.49118466e-05 9.99875084e-01 -9.12210742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824012739 meters 0.02631077645616843 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.18, Z:-0.10 [[ 9.99129659e-01 3.92055104e-02 1.42426319e-02 7.60409529e+00] [-3.92035308e-02 9.99231159e-01 -4.18270133e-04 -1.77847633e-01] [-1.42480800e-02 -1.40455362e-04 9.99898481e-01 -1.01448571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884012739 meters 0.028475093869941008 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.17, Z:-0.10 [[ 9.98972906e-01 4.30502401e-02 1.41353889e-02 7.66635357e+00] [-4.30486421e-02 9.99072890e-01 -4.17446894e-04 -1.71729024e-01] [-1.41402550e-02 -1.91491160e-04 9.99900003e-01 -1.02178426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944012739 meters 0.028395363577157547 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.17, Z:-0.10 [[ 9.98949008e-01 4.31991283e-02 1.53204066e-02 7.72876626e+00] [-4.31972252e-02 9.99066460e-01 -4.55271419e-04 -1.72967699e-01] [-1.53257717e-02 -2.07006121e-04 9.99882532e-01 -1.00687175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004012739 meters 0.027882704512077645 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.17, Z:-0.10 [[ 9.98969442e-01 4.24193981e-02 1.61446212e-02 7.79123692e+00] [-4.24171369e-02 9.99099872e-01 -4.82614246e-04 -1.74272097e-01] [-1.61505612e-02 -2.02691724e-04 9.99869551e-01 -1.01067635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064012738999999 meters 0.035745410200437824 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.17, Z:-0.09 [[ 9.98876914e-01 4.54138428e-02 1.35090062e-02 7.85344014e+00] [-4.54125099e-02 9.98968237e-01 -4.05561477e-04 -1.66632975e-01] [-1.35134863e-02 -2.08371883e-04 9.99908667e-01 -9.18533982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124012739 meters 0.03180868596244637 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.16, Z:-0.11 [[ 9.98737631e-01 4.81864806e-02 1.41847677e-02 7.91549464e+00] [-4.81852582e-02 9.98838324e-01 -4.28130503e-04 -1.58833918e-01] [-1.41889197e-02 -2.55906651e-04 9.99899299e-01 -1.06716370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184012739 meters 0.030649126708235875 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.16, Z:-0.11 [[ 9.98717642e-01 4.84751649e-02 1.46024012e-02 7.97823094e+00] [-4.84738666e-02 9.98824353e-01 -4.43041395e-04 -1.60874332e-01] [-1.46067105e-02 -2.65361591e-04 9.99893281e-01 -1.05561215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244012739 meters 0.02958224887419723 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.16, Z:-0.11 [[ 9.98796970e-01 4.66263793e-02 1.51852885e-02 8.04061776e+00] [-4.66247120e-02 9.98912369e-01 -4.64002719e-04 -1.59717251e-01] [-1.51904073e-02 -2.44565193e-04 9.99884589e-01 -1.07007323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304012739 meters 0.027162125224190384 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.16, Z:-0.11 [[ 9.99011329e-01 4.24081277e-02 1.33384944e-02 8.10252835e+00] [-4.24064407e-02 9.99100358e-01 -4.09410367e-04 -1.64843292e-01] [-1.33438569e-02 -1.56632477e-04 9.99910955e-01 -1.10678247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364012739 meters 0.02593289425924678 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.17, Z:-0.11 [[ 9.99059327e-01 4.06360474e-02 1.51384682e-02 8.16490382e+00] [-4.06336247e-02 9.99174004e-01 -4.67709894e-04 -1.67097856e-01] [-1.51449698e-02 -1.47860905e-04 9.99885297e-01 -1.08221444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424012739 meters 0.026436159627657614 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.17, Z:-0.11 [[ 9.99065973e-01 4.05364912e-02 1.49658072e-02 8.22659719e+00] [-4.05340753e-02 9.99178049e-01 -4.64844922e-04 -1.67136190e-01] [-1.49723492e-02 -1.42214411e-04 9.99887898e-01 -1.09830298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484012739 meters 0.0250748647000758 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.17, Z:-0.11 [[ 9.99115456e-01 3.87315843e-02 1.63758941e-02 8.28826224e+00] [-3.87283938e-02 9.99249643e-01 -5.12029169e-04 -1.73507186e-01] [-1.63834380e-02 -1.22635818e-04 9.99865775e-01 -1.08674518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544012739 meters 0.023490320003474424 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.19, Z:-0.11 [[ 9.99330107e-01 3.21629161e-02 1.74609135e-02 8.34866711e+00] [-3.21582299e-02 9.99482640e-01 -5.49167009e-04 -1.88877377e-01] [-1.74695427e-02 -1.27129447e-05 9.99847396e-01 -1.08170264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604012739 meters 0.032613042934874104 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.20, Z:-0.10 [[ 9.99495057e-01 2.72284959e-02 1.63780118e-02 8.41088076e+00] [-2.72236730e-02 9.99629233e-01 -5.17393084e-04 -2.02091633e-01] [-1.63860272e-02 7.12621924e-05 9.99865738e-01 -9.57850505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664012739 meters 0.03097592537047326 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.21, Z:-0.10 [[ 9.99522890e-01 2.60246945e-02 1.66345318e-02 8.47399826e+00] [-2.60195072e-02 9.99661296e-01 -5.28228614e-04 -2.12516469e-01] [-1.66426446e-02 9.51542707e-05 9.99861497e-01 -9.86735926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724012738999999 meters 0.02399647019304831 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.22, Z:-0.11 [[ 9.99457006e-01 2.82655733e-02 1.69337355e-02 8.53463420e+00] [-2.82604603e-02 9.99600447e-01 -5.41205123e-04 -2.18374271e-01] [-1.69422671e-02 6.23560903e-05 9.99856468e-01 -1.11938738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784012739 meters 0.024228986397901157 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.23, Z:-0.12 [[ 9.99466898e-01 2.89105265e-02 1.51690881e-02 8.59717945e+00] [-2.89064699e-02 9.99582002e-01 -4.86657752e-04 -2.26773958e-01] [-1.51768170e-02 4.79135247e-05 9.99884824e-01 -1.16499852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844012739 meters 0.027146791252003703 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.23, Z:-0.11 [[ 9.99426048e-01 3.06447401e-02 1.44386316e-02 8.66008807e+00] [-3.06412092e-02 9.99530339e-01 -4.65755273e-04 -2.29173793e-01] [-1.44461233e-02 2.30708211e-05 9.99895649e-01 -1.08189084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904012739 meters 0.023900704156083086 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.23, Z:-0.12 [[ 9.99395446e-01 3.14534134e-02 1.48129902e-02 8.72285438e+00] [-3.14497418e-02 9.99505219e-01 -4.80805925e-04 -2.32012823e-01] [-1.48207840e-02 1.46505366e-05 9.99890166e-01 -1.18066103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964012739 meters 0.02441235499460787 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.24, Z:-0.12 [[ 9.99498003e-01 2.88646321e-02 1.30604073e-02 8.78473969e+00] [-2.88615275e-02 9.99583328e-01 -4.26163346e-04 -2.36167567e-01] [-1.30672665e-02 4.90061083e-05 9.99914618e-01 -1.22324106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024012739 meters 0.026118123616745603 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.25, Z:-0.13 [[ 9.99621548e-01 2.46457755e-02 1.22207037e-02 8.84527716e+00] [-2.46427182e-02 9.99696242e-01 -4.00714516e-04 -2.48150840e-01] [-1.22268675e-02 9.94115081e-05 9.99925244e-01 -1.26417842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084012739 meters 0.02612123482238115 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.25, Z:-0.12 [[ 9.99603532e-01 2.33638401e-02 1.57133328e-02 8.90774770e+00] [-2.33585750e-02 9.99727017e-01 -5.18545221e-04 -2.51766264e-01] [-1.57211585e-02 1.51298572e-04 9.99876404e-01 -1.20257961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144012738999999 meters 0.024915121863958375 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.25, Z:-0.12 [[ 9.99533732e-01 2.58068341e-02 1.63194749e-02 8.97014488e+00] [-2.58014349e-02 9.99666941e-01 -5.41335463e-04 -2.54862347e-01] [-1.63280097e-02 1.20017186e-04 9.99866682e-01 -1.20259189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204012739 meters 0.02446734719243133 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.26, Z:-0.12 [[ 9.99452963e-01 2.77064340e-02 1.80589943e-02 9.03108555e+00] [-2.77000711e-02 9.99616098e-01 -6.02433614e-04 -2.56306483e-01] [-1.80687527e-02 1.01868637e-04 9.99836742e-01 -1.17999372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264012739 meters 0.024261146946173012 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.26, Z:-0.12 [[ 9.99427671e-01 2.82260123e-02 1.86446365e-02 9.09392559e+00] [-2.82192661e-02 9.99601562e-01 -6.24872446e-04 -2.60602943e-01] [-1.86548455e-02 9.83768535e-05 9.99825978e-01 -1.18120399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324012739 meters 0.025131379885586454 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.27, Z:-0.13 [[ 9.99528040e-01 2.72732609e-02 1.41373803e-02 9.15611011e+00] [-2.72692619e-02 9.99628011e-01 -4.75598380e-04 -2.67489377e-01] [-1.41450924e-02 8.98579920e-05 9.99899949e-01 -1.28472326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384012739 meters 0.024333739406174396 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.27, Z:-0.13 [[ 9.99459070e-01 2.89691100e-02 1.55678376e-02 9.21787672e+00] [-2.89644229e-02 9.99580304e-01 -5.26508743e-04 -2.71292292e-01] [-1.55765563e-02 7.53105066e-05 9.99878675e-01 -1.25328621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444012739 meters 0.024310027328585115 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.27, Z:-0.13 [[ 9.99439311e-01 2.98988382e-02 1.50706215e-02 9.27953456e+00] [-2.98945162e-02 9.99552928e-01 -5.12030920e-04 -2.74646560e-01] [-1.50791930e-02 6.12148910e-05 9.99886301e-01 -1.28776414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504012739 meters 0.024616653361483283 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.28, Z:-0.13 [[ 9.99457943e-01 3.02248028e-02 1.30491656e-02 9.34101013e+00] [-3.02215641e-02 9.99543125e-01 -4.45356935e-04 -2.79782869e-01] [-1.30566646e-02 5.07493323e-05 9.99914757e-01 -1.33577504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564012738999999 meters 0.023995557808846664 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.28, Z:-0.13 [[ 9.99369739e-01 3.24304572e-02 1.44357059e-02 9.40365430e+00] [-3.24266789e-02 9.99473994e-01 -4.95780017e-04 -2.81934035e-01] [-1.44441910e-02 2.73655467e-05 9.99895677e-01 -1.31968043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624012739 meters 0.023914561586118786 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.28, Z:-0.13 [[ 9.99293872e-01 3.46564467e-02 1.45150660e-02 9.46620527e+00] [-3.46528603e-02 9.99399285e-01 -4.98596764e-04 -2.83587368e-01] [-1.45236262e-02 -4.74386263e-06 9.99894527e-01 -1.33436074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684012739 meters 0.024541785169589193 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.28, Z:-0.13 [[ 9.99134655e-01 3.90559434e-02 1.43029535e-02 9.52835781e+00] [-3.90528724e-02 9.99237023e-01 -4.94054916e-04 -2.83521378e-01] [-1.43113364e-02 -6.49440281e-05 9.99897585e-01 -1.34145635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744012739 meters 0.026048546984498957 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.28, Z:-0.13 [[ 9.98917134e-01 4.39756869e-02 1.51887609e-02 9.59080278e+00] [-4.39727507e-02 9.99032592e-01 -5.27388946e-04 -2.81744665e-01] [-1.51972594e-02 -1.41073740e-04 9.99884505e-01 -1.32700257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804012739 meters 0.02755051758381827 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.28, Z:-0.13 [[ 9.98742827e-01 4.75648642e-02 1.58223975e-02 9.65328294e+00] [-4.75620846e-02 9.98868131e-01 -5.52136710e-04 -2.79236177e-01] [-1.58307509e-02 -2.01103630e-04 9.99874666e-01 -1.33360973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864012739 meters 0.028653852066677577 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.28, Z:-0.13 [[ 9.98662469e-01 4.90463957e-02 1.63622563e-02 9.71399240e+00] [-4.90435728e-02 9.98796475e-01 -5.73985222e-04 -2.79799116e-01] [-1.63707158e-02 -2.29246006e-04 9.99865965e-01 -1.33136787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924012739 meters 0.02953525279843051 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.28, Z:-0.13 [[ 9.98610041e-01 4.96195915e-02 1.77730861e-02 9.77644452e+00] [-4.96163083e-02 9.98768156e-01 -6.25903958e-04 -2.81036930e-01] [-1.77822496e-02 -2.56800944e-04 9.99841850e-01 -1.31871774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984012738999999 meters 0.02857084573265141 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.29, Z:-0.13 [[ 9.98707270e-01 4.76219023e-02 1.77747981e-02 9.83721688e+00] [-4.76182431e-02 9.98865410e-01 -6.29284603e-04 -2.86172093e-01] [-1.77845987e-02 -2.17933548e-04 9.99841818e-01 -1.33952555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044012739 meters 0.02642951510755756 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.30, Z:-0.14 [[ 9.98806080e-01 4.59683843e-02 1.65324537e-02 9.89895082e+00] [-4.59649749e-02 9.98942880e-01 -5.86352962e-04 -2.95314948e-01] [-1.65419306e-02 -1.74260914e-04 9.99863158e-01 -1.36277656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104012739 meters 0.027893463987249605 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.30, Z:-0.14 [[ 9.98804098e-01 4.63722839e-02 1.54914480e-02 9.96133890e+00] [-4.63693029e-02 9.98924213e-01 -5.51750813e-04 -2.95353950e-01] [-1.55003684e-02 -1.67236670e-04 9.99879848e-01 -1.41094152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164012739 meters 0.02814113143560189 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.30, Z:-0.14 [[ 9.98656220e-01 4.87828184e-02 1.74925847e-02 1.00235208e+01] [-4.87793244e-02 9.98809384e-01 -6.26611099e-04 -2.96629814e-01] [-1.75023256e-02 -2.27507391e-04 9.99846797e-01 -1.36874916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224012738999999 meters 0.03157765285290988 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.29, Z:-0.14 [[ 9.98416829e-01 5.34900083e-02 1.73969696e-02 1.00854461e+01] [-5.34872170e-02 9.98568338e-01 -6.26033499e-04 -2.87964807e-01] [-1.74055496e-02 -3.05473110e-04 9.99848465e-01 -1.38086401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284012739 meters 0.03358488792290994 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.28, Z:-0.14 [[ 9.98296390e-01 5.61296592e-02 1.59304605e-02 1.01476704e+01] [-5.61276133e-02 9.98423437e-01 -5.75846091e-04 -2.83080471e-01] [-1.59376672e-02 -3.19273656e-04 9.99872936e-01 -1.41097046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344012739 meters 0.03509012543525162 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.28, Z:-0.14 [[ 9.98222955e-01 5.76344579e-02 1.51393711e-02 1.02104193e+01] [-5.76327824e-02 9.98337700e-01 -5.47297563e-04 -2.75108411e-01] [-1.51457482e-02 -3.26199091e-04 9.99885243e-01 -1.44334182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404012738999999 meters 0.03507250876645264 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.27, Z:-0.14 [[ 9.98145101e-01 5.86294917e-02 1.63994052e-02 1.02724258e+01] [-5.86276123e-02 9.98279744e-01 -5.95756067e-04 -2.70494857e-01] [-1.64061229e-02 -3.66806972e-04 9.99865343e-01 -1.43270022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464012739 meters 0.034715841388895226 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.27, Z:-0.14 [[ 9.98232463e-01 5.70839146e-02 1.65341009e-02 1.03342676e+01] [-5.70817469e-02 9.98369325e-01 -6.03387516e-04 -2.68604562e-01] [-1.65415828e-02 -3.41474355e-04 9.99863120e-01 -1.43131766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524012739 meters 0.03156120386134881 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.28, Z:-0.14 [[ 9.98543685e-01 5.15817984e-02 1.58059050e-02 1.03956177e+01] [-5.15790820e-02 9.98668745e-01 -5.79731850e-04 -2.80324681e-01] [-1.58147669e-02 -2.36366494e-04 9.99874911e-01 -1.35865210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584012739 meters 0.033347902213872405 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.29, Z:-0.13 [[ 9.98683907e-01 4.90132950e-02 1.51046684e-02 1.04573566e+01] [-4.90105185e-02 9.98798109e-01 -5.54150903e-04 -2.86140459e-01] [-1.51136750e-02 -1.86866042e-04 9.99885764e-01 -1.33995098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644012738999999 meters 0.02821236977033264 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.29, Z:-0.15 [[ 9.98657788e-01 4.90993794e-02 1.64885565e-02 1.05182153e+01] [-4.90960309e-02 9.98793878e-01 -6.08053835e-04 -2.86951948e-01] [-1.64985244e-02 -2.02284983e-04 9.99863870e-01 -1.46773871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704012739 meters 0.028586239439752477 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.29, Z:-0.15 [[ 9.98601762e-01 5.02931641e-02 1.62824656e-02 1.05797265e+01] [-5.02900172e-02 9.98734475e-01 -6.02924093e-04 -2.93135898e-01] [-1.62921827e-02 -2.16764412e-04 9.99867250e-01 -1.47045519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764012739 meters 0.027523529750579475 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.30, Z:-0.15 [[ 9.98619288e-01 4.93985197e-02 1.78690716e-02 1.06420515e+01] [-4.93945328e-02 9.98779124e-01 -6.64668600e-04 -2.99565041e-01] [-1.78800894e-02 -2.18883561e-04 9.99840114e-01 -1.45601519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824012739 meters 0.027217210947429623 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.31, Z:-0.15 [[ 9.98674753e-01 4.81086773e-02 1.82836666e-02 1.07029188e+01] [-4.81042287e-02 9.98842088e-01 -6.83279329e-04 -3.06228788e-01] [-1.82953674e-02 -1.97147864e-04 9.99832606e-01 -1.45186431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884012739 meters 0.026397550677433705 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.32, Z:-0.15 [[ 9.98738005e-01 4.71925458e-02 1.71831604e-02 1.07648385e+01] [-4.71884394e-02 9.98885797e-01 -6.44576610e-04 -3.17483301e-01] [-1.71944341e-02 -1.67083366e-04 9.99852151e-01 -1.48339193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944012739 meters 0.032521234355170986 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.32, Z:-0.14 [[ 9.98627100e-01 4.98902739e-02 1.59648489e-02 1.08264621e+01] [-4.98870341e-02 9.98754686e-01 -6.01364522e-04 -3.22246878e-01] [-1.59749699e-02 -1.95900052e-04 9.99872373e-01 -1.39282392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004012739 meters 0.03282379577787731 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.32, Z:-0.15 [[ 9.98335868e-01 5.52530676e-02 1.65103772e-02 1.08874826e+01] [-5.52502869e-02 9.98472341e-01 -6.24857165e-04 -3.16007470e-01] [-1.65196802e-02 -2.88385754e-04 9.99863499e-01 -1.52746923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064012738999999 meters 0.03692938331835348 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.31, Z:-0.15 [[ 9.97898073e-01 6.22795542e-02 1.79079302e-02 1.09483722e+01] [-6.22773840e-02 9.98058649e-01 -6.79375628e-04 -3.10972231e-01] [-1.79154758e-02 -4.37311415e-04 9.99839409e-01 -1.50221960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124012739 meters 0.04062949741756302 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.31, Z:-0.14 [[ 9.97590923e-01 6.57457895e-02 2.21323653e-02 1.10091871e+01] [-6.57433135e-02 9.97836214e-01 -8.40256263e-04 -3.05352460e-01] [-2.21397189e-02 -6.16823006e-04 9.99754696e-01 -1.44912597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184012739 meters 0.0424233111494706 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.31, Z:-0.15 [[ 9.97517311e-01 6.68226032e-02 2.22250942e-02 1.10704503e+01] [-6.68203623e-02 9.97764665e-01 -8.44276341e-04 -3.05768294e-01] [-2.22318304e-02 -6.42908581e-04 9.99752636e-01 -1.46683888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244012739 meters 0.04341266976261616 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.30, Z:-0.15 [[ 9.97335315e-01 7.01071046e-02 2.01807795e-02 1.11314771e+01] [-7.01058733e-02 9.97539260e-01 -7.69345985e-04 -3.02245195e-01] [-2.01850564e-02 -6.47495247e-04 9.99796051e-01 -1.51786762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304012739 meters 0.04509271066433635 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.30, Z:-0.15 [[ 9.97237882e-01 7.16801016e-02 1.94568617e-02 1.11939861e+01] [-7.16792452e-02 9.97427458e-01 -7.42301724e-04 -2.98384543e-01] [-1.94600164e-02 -6.54401761e-04 9.99810422e-01 -1.54891791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364012739 meters 0.04196567062235953 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.30, Z:-0.15 [[ 9.97406880e-01 6.85786268e-02 2.18286072e-02 1.12556533e+01] [-6.85767828e-02 9.97645493e-01 -8.33903579e-04 -3.04877122e-01] [-2.18343995e-02 -6.65194486e-04 9.99761380e-01 -1.50917728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424012739 meters 0.038853098942936926 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.31, Z:-0.15 [[ 9.97581955e-01 6.58174383e-02 2.23228022e-02 1.13173387e+01] [-6.58148012e-02 9.97831490e-01 -8.53585797e-04 -3.09867591e-01] [-2.23305758e-02 -6.17649000e-04 9.99750451e-01 -1.53058934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484012738999999 meters 0.037074295646809655 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.31, Z:-0.15 [[ 9.97723258e-01 6.35834263e-02 2.24821639e-02 1.13783430e+01] [-6.35801671e-02 9.97976363e-01 -8.60460740e-04 -3.13623423e-01] [-2.24913792e-02 -5.70918046e-04 9.99746874e-01 -1.54187662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544012739 meters 0.03648045102424593 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.32, Z:-0.16 [[ 9.97836937e-01 6.22999326e-02 2.09801057e-02 1.14408196e+01] [-6.22968006e-02 9.98057345e-01 -8.03454624e-04 -3.16789498e-01] [-2.09894037e-02 -5.05276758e-04 9.99779571e-01 -1.58249098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604012739 meters 0.03463761352827672 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.32, Z:-0.16 [[ 9.97929253e-01 6.07553334e-02 2.11186270e-02 1.15027054e+01] [-6.07517864e-02 9.98152576e-01 -8.10075102e-04 -3.24148814e-01] [-2.11288283e-02 -4.74596673e-04 9.99776649e-01 -1.61142933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664012739 meters 0.03368530415022254 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.33, Z:-0.16 [[ 9.98015003e-01 5.86376920e-02 2.29711628e-02 1.15637688e+01] [-5.86328414e-02 9.98279223e-01 -8.85205155e-04 -3.28356294e-01] [-2.29835410e-02 -4.63416522e-04 9.99735736e-01 -1.58306863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724012738999999 meters 0.0335536691857082 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.33, Z:-0.16 [[ 9.97994687e-01 5.93181785e-02 2.20897679e-02 1.16262024e+01] [-5.93137874e-02 9.98239022e-01 -8.54499649e-04 -3.33377305e-01] [-2.21015556e-02 -4.57441685e-04 9.99755626e-01 -1.62031196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784012739 meters 0.035113923963996756 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.33, Z:-0.16 [[ 9.97884879e-01 6.12893392e-02 2.16652979e-02 1.16880798e+01] [-6.12855034e-02 9.98119922e-01 -8.41591687e-04 -3.33257276e-01] [-2.16761460e-02 -4.87957068e-04 9.99764926e-01 -1.63850793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844012739 meters 0.03292361780144977 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.34, Z:-0.16 [[ 9.97838465e-01 6.15999774e-02 2.28875784e-02 1.17511238e+01] [-6.15956856e-02 9.98100783e-01 -8.93120447e-04 -3.41269000e-01] [-2.28991261e-02 -5.18586146e-04 9.99737646e-01 -1.63235997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904012738999999 meters 0.04094583044848798 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.33, Z:-0.16 [[ 9.97341364e-01 6.84836767e-02 2.49036245e-02 1.18110924e+01] [-6.84806263e-02 9.97651969e-01 -9.76310443e-04 -3.26241843e-01] [-2.49120113e-02 -7.31701014e-04 9.99689380e-01 -1.60099063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964012739 meters 0.04276671853366974 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.32, Z:-0.16 [[ 9.97174835e-01 7.09122277e-02 2.47750601e-02 1.18733734e+01] [-7.09099457e-02 9.97482248e-01 -9.71740062e-04 -3.24185181e-01] [-2.47815909e-02 -7.87803427e-04 9.99692579e-01 -1.61588977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024012739 meters 0.04990245057964705 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.31, Z:-0.16 [[ 9.96827905e-01 7.57351293e-02 2.44605537e-02 1.19338558e+01] [-7.57343320e-02 9.97127569e-01 -9.60317598e-04 -3.12191814e-01] [-2.44630222e-02 -8.95232313e-04 9.99700335e-01 -1.63175502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084012739 meters 0.0497429849105497 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.30, Z:-0.17 [[ 9.96595176e-01 7.90640707e-02 2.33864881e-02 1.19956067e+01] [-7.90642591e-02 9.96869099e-01 -9.18039401e-04 -3.04979934e-01] [-2.33858512e-02 -9.34121715e-04 9.99726077e-01 -1.68087104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144012739 meters 0.05175080264973632 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.30, Z:-0.17 [[ 9.96699000e-01 7.75300314e-02 2.40872995e-02 1.20563721e+01] [-7.75297711e-02 9.96989588e-01 -9.46090572e-04 -2.99121514e-01] [-2.40881372e-02 -9.24515287e-04 9.99709411e-01 -1.67786813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204012739 meters 0.04648896686852455 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.30, Z:-0.17 [[ 9.96946341e-01 7.44435631e-02 2.35828039e-02 1.21170997e+01] [-7.44424447e-02 9.97224881e-01 -9.26545831e-04 -3.04875706e-01] [-2.35863342e-02 -8.31845098e-04 9.99721458e-01 -1.71387065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264012738999998 meters 0.04002542162787875 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.31, Z:-0.18 [[ 9.97337347e-01 6.97734384e-02 2.12104364e-02 1.21776269e+01] [-6.97714733e-02 9.97562653e-01 -8.33562489e-04 -3.11791264e-01] [-2.12168997e-02 -6.48540393e-04 9.99774686e-01 -1.76778584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324012739 meters 0.04012764511591169 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.31, Z:-0.18 [[ 9.97467458e-01 6.81094527e-02 2.04883672e-02 1.22389196e+01] [-6.81072632e-02 9.97677679e-01 -8.05434584e-04 -3.14199700e-01] [-2.04956443e-02 -5.92011830e-04 9.99789767e-01 -1.79225578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384012739 meters 0.041573057654765315 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.31, Z:-0.18 [[ 9.97334141e-01 6.94408885e-02 2.24181887e-02 1.23014765e+01] [-6.94385167e-02 9.97585840e-01 -8.85164175e-04 -3.10025872e-01] [-2.24255342e-02 -6.73881316e-04 9.99748289e-01 -1.76595112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444012738999998 meters 0.04466342607007673 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.30, Z:-0.18 [[ 9.97284829e-01 6.99487903e-02 2.30246911e-02 1.23624268e+01] [-6.99463361e-02 9.97550338e-01 -9.12912585e-04 -3.04417247e-01] [-2.30321455e-02 -7.00058909e-04 9.99734480e-01 -1.77980022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504012739 meters 0.03903281783629538 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.31, Z:-0.18 [[ 9.97547222e-01 6.60322649e-02 2.32223821e-02 1.24232774e+01] [-6.60286455e-02 9.97817301e-01 -9.23436809e-04 -3.11638284e-01] [-2.32326713e-02 -6.12170614e-04 9.99729898e-01 -1.78024065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564012739 meters 0.03625080641881266 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.32, Z:-0.18 [[ 9.97692770e-01 6.33409010e-02 2.44349405e-02 1.24844691e+01] [-6.33360788e-02 9.97991782e-01 -9.71999439e-04 -3.15494085e-01] [-2.44474371e-02 -5.77856502e-04 9.99700950e-01 -1.75691877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624012739 meters 0.0344592218048242 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.32, Z:-0.18 [[ 9.97846894e-01 6.04344993e-02 2.54803187e-02 1.25452522e+01] [-6.04282929e-02 9.98172026e-01 -1.01420488e-03 -3.16040274e-01] [-2.54950343e-02 -5.27710970e-04 9.99674809e-01 -1.75563568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684012739 meters 0.032632505340552884 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.32, Z:-0.18 [[ 9.97915367e-01 5.97152034e-02 2.44747917e-02 1.26070358e+01] [-5.97092330e-02 9.98215336e-01 -9.75317675e-04 -3.18833230e-01] [-2.44893538e-02 -4.88086547e-04 9.99699972e-01 -1.78189324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744012739 meters 0.033549359562752484 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.32, Z:-0.18 [[ 9.97899102e-01 6.06478705e-02 2.27863458e-02 1.26690726e+01] [-6.06428564e-02 9.98159112e-01 -9.11625210e-04 -3.16668431e-01] [-2.27996868e-02 -4.72119117e-04 9.99739942e-01 -1.83116678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804012739 meters 0.03269872273983335 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.32, Z:-0.19 [[ 9.98004319e-01 5.91855124e-02 2.20103027e-02 1.27298323e+01] [-5.91804005e-02 9.98246913e-01 -8.84114533e-04 -3.17961278e-01] [-2.20240435e-02 -4.20228409e-04 9.99757353e-01 -1.85354217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864012739 meters 0.03159248420582956 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.32, Z:-0.19 [[ 9.98051190e-01 5.79861200e-02 2.30528103e-02 1.27920645e+01] [-5.79801069e-02 9.98317306e-01 -9.29709165e-04 -3.21772274e-01] [-2.30679297e-02 -4.08707068e-04 9.99733816e-01 -1.85011044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924012739 meters 0.03052300828610011 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.33, Z:-0.18 [[ 9.98104836e-01 5.63114410e-02 2.48144584e-02 1.28532473e+01] [-5.63038496e-02 9.98413174e-01 -1.00505775e-03 -3.25900116e-01] [-2.48316785e-02 -3.93996531e-04 9.99691569e-01 -1.81691202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984012739 meters 0.030023444108749554 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.33, Z:-0.19 [[ 9.98196337e-01 5.56769335e-02 2.24533200e-02 1.29157003e+01] [-5.56704870e-02 9.98448779e-01 -9.12563965e-04 -3.27691025e-01] [-2.24692987e-02 -3.39069248e-04 9.99747476e-01 -1.87974584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044012739 meters 0.029695166997726865 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.33, Z:-0.19 [[ 9.98236445e-01 5.53709737e-02 2.14022145e-02 1.29779320e+01] [-5.53649751e-02 9.98465802e-01 -8.73168789e-04 -3.29694594e-01] [-2.14177274e-02 -3.13304164e-04 9.99770565e-01 -1.89302822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104012738999998 meters 0.031084430581581363 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.33, Z:-0.19 [[ 9.98159386e-01 5.64630543e-02 2.21306126e-02 1.30390206e+01] [-5.64568263e-02 9.98404630e-01 -9.06604221e-04 -3.25504649e-01] [-2.21464958e-02 -3.44488642e-04 9.99754677e-01 -1.89369908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164012739 meters 0.028113580921700715 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.33, Z:-0.19 [[ 9.98368421e-01 5.26295876e-02 2.21500117e-02 1.31007216e+01] [-5.26223309e-02 9.98614070e-01 -9.10756232e-04 -3.34517388e-01] [-2.21672460e-02 -2.56314983e-04 9.99754244e-01 -1.91018315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224012739 meters 0.024136871197968417 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.36, Z:-0.19 [[ 9.98956298e-01 3.89628683e-02 2.38371567e-02 1.31616374e+01] [-3.89504747e-02 9.99240658e-01 -9.84181918e-04 -3.61193767e-01] [-2.38574027e-02 5.46861541e-05 9.99715370e-01 -1.88155518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284012739 meters 0.025889129460574496 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.38, Z:-0.19 [[ 9.99227523e-01 3.19082569e-02 2.29395152e-02 1.32232895e+01] [-3.18948373e-02 9.99490778e-01 -9.50731252e-04 -3.75915270e-01] [-2.29581700e-02 2.18344730e-04 9.99736403e-01 -1.91496398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344012739 meters 0.028798410232442635 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.39, Z:-0.19 [[ 9.99368128e-01 2.79393363e-02 2.19713205e-02 1.32836208e+01] [-2.79259884e-02 9.99609576e-01 -9.14164926e-04 -3.89687578e-01] [-2.19882836e-02 3.00016449e-04 9.99758183e-01 -1.93404135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404012739 meters 0.026816821617199473 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.39, Z:-0.20 [[ 9.99316891e-01 3.01554356e-02 2.13635608e-02 1.33462114e+01] [-3.01432548e-02 9.99545191e-01 -8.92034643e-04 -3.90989736e-01] [-2.13807441e-02 2.47458031e-04 9.99771375e-01 -1.95315925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464012739 meters 0.025599827251769413 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.39, Z:-0.20 [[ 9.99204143e-01 3.41611598e-02 2.05936076e-02 1.34078318e+01] [-3.41506667e-02 9.99416325e-01 -8.61101643e-04 -3.91965884e-01] [-2.06110038e-02 1.57130902e-04 9.99787558e-01 -1.97092417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524012739 meters 0.02482115455621682 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.39, Z:-0.20 [[ 9.99091740e-01 3.64113701e-02 2.21338380e-02 1.34696160e+01] [-3.63997128e-02 9.99336879e-01 -9.29461422e-04 -3.93309491e-01] [-2.21530036e-02 1.22951884e-04 9.99754585e-01 -1.95788939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584012739 meters 0.029034732545502064 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.40, Z:-0.19 [[ 9.99091395e-01 3.60548202e-02 2.27252036e-02 1.35314182e+01] [-3.60423513e-02 9.99349804e-01 -9.58162795e-04 -3.99049040e-01] [-2.27449741e-02 1.38222433e-04 9.99741290e-01 -1.86028797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644012739 meters 0.024895146827941018 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.40, Z:-0.20 [[ 9.99110029e-01 3.67829779e-02 2.06436848e-02 1.35936109e+01] [-3.67727763e-02 9.99323271e-01 -8.73692356e-04 -4.02304039e-01] [-2.06618516e-02 1.13789192e-04 9.99786515e-01 -2.00395250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704012739 meters 0.02444649005586542 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.40, Z:-0.20 [[ 9.99004925e-01 3.99051588e-02 1.99182694e-02 1.36547614e+01] [-3.98962061e-02 9.99203471e-01 -8.46802589e-04 -4.01769907e-01] [-1.99361957e-02 5.12965767e-05 9.99801253e-01 -2.02064834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764012738999998 meters 0.029383297789900165 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.40, Z:-0.19 [[ 9.98824240e-01 4.38133852e-02 2.07490975e-02 1.37179610e+01] [-4.38044689e-02 9.99039732e-01 -8.84240626e-04 -3.99795177e-01] [-2.07679143e-02 -2.57022239e-05 9.99784323e-01 -1.88989951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824012739 meters 0.025940366852214507 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.38, Z:-0.20 [[ 9.98445297e-01 5.07013703e-02 2.31594587e-02 1.37799820e+01] [-5.06919997e-02 9.98713842e-01 -9.91886472e-04 -3.83813894e-01] [-2.31799619e-02 -1.83654889e-04 9.99731292e-01 -1.98598438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884012739 meters 0.026812557830204215 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.39, Z:-0.20 [[ 9.98454602e-01 5.04097270e-02 2.33937398e-02 1.38435175e+01] [-5.03999962e-02 9.98728606e-01 -1.00575215e-03 -3.85871117e-01] [-2.34146968e-02 -1.74846533e-04 9.99725823e-01 -1.96129014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944012738999998 meters 0.025132575939071512 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.39, Z:-0.21 [[ 9.98610138e-01 4.85877935e-02 2.04210481e-02 1.39054892e+01] [-4.85799284e-02 9.98818909e-01 -8.81338676e-04 -3.89254119e-01] [-2.04397513e-02 -1.11939318e-04 9.99791080e-01 -2.06759232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004012739 meters 0.024637814137871902 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.39, Z:-0.21 [[ 9.98897147e-01 4.32455249e-02 1.82842782e-02 1.39663150e+01] [-4.32382711e-02 9.99064475e-01 -7.92049192e-04 -3.91073195e-01] [-1.83014254e-02 5.95098962e-07 9.99832515e-01 -2.10634074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064012739 meters 0.031705822881771706 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.40, Z:-0.20 [[ 9.98925140e-01 4.25457884e-02 1.83962307e-02 1.40296653e+01] [-4.25382975e-02 9.99094518e-01 -7.98488744e-04 -3.96903870e-01] [-1.84135456e-02 1.50861432e-05 9.99830456e-01 -1.96923921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124012739 meters 0.024627437398040866 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.39, Z:-0.21 [[ 9.98918052e-01 4.28163341e-02 1.81517537e-02 1.40911089e+01] [-4.28090223e-02 9.99082960e-01 -7.91364271e-04 -3.93121867e-01] [-1.81689912e-02 1.34492255e-05 9.99834930e-01 -2.13060612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184012739 meters 0.024566144431913184 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.40, Z:-0.21 [[ 9.98902924e-01 4.29278735e-02 1.87122137e-02 1.41539007e+01] [-4.29200581e-02 9.99078174e-01 -8.19246203e-04 -3.97844702e-01] [-1.87301327e-02 1.52181294e-05 9.99824576e-01 -2.12971375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244012739 meters 0.024811251679009792 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.40, Z:-0.21 [[ 9.99007845e-01 4.00456613e-02 1.94851310e-02 1.42149656e+01] [-4.00365592e-02 9.99197848e-01 -8.57161659e-04 -4.02002315e-01] [-1.95038265e-02 7.61936220e-05 9.99809779e-01 -2.13474803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304012739 meters 0.024995788082666805 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.41, Z:-0.21 [[ 9.99037360e-01 3.86869431e-02 2.06802649e-02 1.42772053e+01] [-3.86763561e-02 9.99251374e-01 -9.11803749e-04 -4.07848764e-01] [-2.07000580e-02 1.11088721e-04 9.99785725e-01 -2.10809010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364012739 meters 0.025092614130867368 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.41, Z:-0.22 [[ 9.99042959e-01 3.91810091e-02 1.94426180e-02 1.43395968e+01] [-3.91716816e-02 9.99232125e-01 -8.60495234e-04 -4.08111607e-01] [-1.94614036e-02 9.80716638e-05 9.99810604e-01 -2.15257894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424012739 meters 0.024687562042369823 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.41, Z:-0.22 [[ 9.98962219e-01 4.10402740e-02 1.97530046e-02 1.44020495e+01] [-4.10309404e-02 9.99157491e-01 -8.77734788e-04 -4.06910697e-01] [-1.97723850e-02 6.63395352e-05 9.99804505e-01 -2.16337417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484012739 meters 0.024615877992850428 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.40, Z:-0.22 [[ 9.98888780e-01 4.32641018e-02 1.86928418e-02 1.44643589e+01] [-4.32560772e-02 9.99063670e-01 -8.33587412e-04 -4.02076858e-01] [-1.87114035e-02 2.40821054e-05 9.99824926e-01 -2.20263281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544012739 meters 0.025029296253816478 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.41, Z:-0.22 [[ 9.99004785e-01 4.07547763e-02 1.81242519e-02 1.45266619e+01] [-4.07467622e-02 9.99169176e-01 -8.11391450e-04 -4.08743107e-01] [-1.81422619e-02 7.20793580e-05 9.99835413e-01 -2.22126194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604012738999998 meters 0.026438698561281216 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.42, Z:-0.22 [[ 9.99129693e-01 3.66744590e-02 1.98705835e-02 1.45874119e+01] [-3.66639450e-02 9.99327252e-01 -8.93291119e-04 -4.20513327e-01] [-1.98899766e-02 1.63979701e-04 9.99802161e-01 -2.20222364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664012739 meters 0.026915507861041552 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.43, Z:-0.22 [[ 9.99208269e-01 3.49124276e-02 1.90776670e-02 1.46494559e+01] [-3.49023609e-02 9.99390357e-01 -8.60474233e-04 -4.28103239e-01] [-1.90960777e-02 1.93937349e-04 9.99817634e-01 -2.22786519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724012739 meters 0.026281122215575426 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.43, Z:-0.22 [[ 9.99163093e-01 3.62482351e-02 1.89520249e-02 1.47115456e+01] [-3.62384824e-02 9.99342802e-01 -8.57884932e-04 -4.30816124e-01] [-1.89706665e-02 1.70374340e-04 9.99820026e-01 -2.23528723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784012738999998 meters 0.02551535051432499 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.43, Z:-0.22 [[ 9.99062430e-01 3.90614590e-02 1.86671898e-02 1.47730378e+01] [-3.90524309e-02 9.99236803e-01 -8.48060956e-04 -4.32640400e-01] [-1.86860696e-02 1.18266699e-04 9.99825393e-01 -2.24085170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844012739 meters 0.025251649142234888 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.44, Z:-0.22 [[ 9.99001665e-01 3.96941995e-02 2.04949687e-02 1.48361741e+01] [-3.96833793e-02 9.99211867e-01 -9.34532546e-04 -4.35905800e-01] [-2.05159114e-02 1.20289955e-04 9.99789519e-01 -2.22703331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904012739 meters 0.025194052320705245 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.44, Z:-0.22 [[ 9.98972121e-01 4.02399041e-02 2.08674577e-02 1.48985566e+01] [-4.02287232e-02 9.99190040e-01 -9.55481930e-04 -4.40015440e-01] [-2.08890044e-02 1.15028632e-04 9.99781794e-01 -2.22494010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964012739 meters 0.024890676316588627 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.44, Z:-0.23 [[ 9.98914290e-01 4.22828052e-02 1.95551865e-02 1.49610273e+01] [-4.22733158e-02 9.99105680e-01 -8.98561690e-04 -4.38659302e-01] [-1.95756916e-02 7.09235368e-05 9.99808375e-01 -2.26438279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024012739 meters 0.024582313252211104 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.44, Z:-0.23 [[ 9.98797431e-01 4.51510662e-02 1.91068878e-02 1.50228932e+01] [-4.51424722e-02 9.98980170e-01 -8.81073503e-04 -4.35337506e-01] [-1.91271835e-02 1.74817983e-05 9.99817059e-01 -2.29176717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084012739 meters 0.024362502354481622 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.43, Z:-0.23 [[ 9.98681547e-01 4.68867934e-02 2.08996567e-02 1.50858023e+01] [-4.68768115e-02 9.98900209e-01 -9.67532862e-04 -4.34033118e-01] [-2.09220360e-02 -1.34520546e-05 9.99781110e-01 -2.26560830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144012739 meters 0.024448144678021706 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.44, Z:-0.23 [[ 9.98747589e-01 4.56693481e-02 2.04343622e-02 1.51472144e+01] [-4.56594736e-02 9.98956611e-01 -9.49772175e-04 -4.37248323e-01] [-2.04564167e-02 1.55604499e-05 9.99790745e-01 -2.29164203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204012739 meters 0.024751505635233952 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.44, Z:-0.23 [[ 9.98877592e-01 4.32700286e-02 1.92681137e-02 1.52098509e+01] [-4.32607415e-02 9.99063412e-01 -8.98742822e-04 -4.40398060e-01] [-1.92889560e-02 6.41811811e-05 9.99813949e-01 -2.33581277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264012738999998 meters 0.025015691539784973 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.44, Z:-0.23 [[ 9.98928383e-01 4.21814088e-02 1.90476777e-02 1.52715200e+01] [-4.21720677e-02 9.99109964e-01 -8.91995678e-04 -4.44544211e-01] [-1.90683502e-02 8.77598485e-05 9.99818179e-01 -2.34946075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324012739 meters 0.025616504768841256 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.45, Z:-0.24 [[ 9.99043701e-01 3.95252917e-02 1.86931600e-02 1.53334600e+01] [-3.95157706e-02 9.99218561e-01 -8.78574278e-04 -4.52094850e-01] [-1.87132784e-02 1.39059474e-04 9.99824882e-01 -2.37278678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384012739 meters 0.028394724337582288 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.47, Z:-0.24 [[ 9.99238279e-01 3.52400338e-02 1.67631272e-02 1.53935137e+01] [-3.52317272e-02 9.99378857e-01 -7.90680248e-04 -4.67280331e-01] [-1.67805785e-02 1.99484046e-04 9.99859176e-01 -2.43353996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444012738999998 meters 0.029867582540508853 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.48, Z:-0.24 [[ 9.99319209e-01 3.24833294e-02 1.74914777e-02 1.54551373e+01] [-3.24738399e-02 9.99472244e-01 -8.26352632e-04 -4.81273191e-01] [-1.75090891e-02 2.57774613e-04 9.99846671e-01 -2.40831530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504012739 meters 0.029996080314787732 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.49, Z:-0.24 [[ 9.99341912e-01 3.10897751e-02 1.86860646e-02 1.55171962e+01] [-3.10786413e-02 9.99516550e-01 -8.86003341e-04 -4.92244711e-01] [-1.87045764e-02 3.04682776e-04 9.99825008e-01 -2.40439202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564012739 meters 0.030450984215937827 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.51, Z:-0.24 [[ 9.99321305e-01 3.08035243e-02 2.02008017e-02 1.55794055e+01] [-3.07903807e-02 9.99525401e-01 -9.61424406e-04 -5.07674619e-01] [-2.02208297e-02 3.38781518e-04 9.99795481e-01 -2.39745464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624012739 meters 0.030621055768925615 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.52, Z:-0.24 [[ 9.99336827e-01 3.14874807e-02 1.82878047e-02 1.56405749e+01] [-3.14767663e-02 9.99504102e-01 -8.73500270e-04 -5.16614148e-01] [-1.83062401e-02 2.97280034e-04 9.99832383e-01 -2.44996419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684012739 meters 0.029612952168269292 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.52, Z:-0.25 [[ 9.99314875e-01 3.23644722e-02 1.79533188e-02 1.57024629e+01] [-3.23542410e-02 9.99476094e-01 -8.60116773e-04 -5.23608177e-01] [-1.79717502e-02 2.78661480e-04 9.99838456e-01 -2.47471714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744012739 meters 0.03013374633407034 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.53, Z:-0.24 [[ 9.99293538e-01 3.11878559e-02 2.09700436e-02 1.57639692e+01] [-3.11735532e-02 9.99513478e-01 -1.00867772e-03 -5.34957839e-01] [-2.09912997e-02 3.54254361e-04 9.99779596e-01 -2.44014968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804012739 meters 0.030728857496763847 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.54, Z:-0.25 [[ 9.99292591e-01 3.11901123e-02 2.10117672e-02 1.58255625e+01] [-3.11756796e-02 9.99513406e-01 -1.01417876e-03 -5.44868829e-01] [-2.10331754e-02 3.58405196e-04 9.99778714e-01 -2.45966586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864012739 meters 0.031131973000028654 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.55, Z:-0.25 [[ 9.99269114e-01 3.25205502e-02 2.00910897e-02 1.58858759e+01] [-3.25075780e-02 9.99471016e-01 -9.72010306e-04 -5.54344606e-01] [-2.01120721e-02 3.18187213e-04 9.99797681e-01 -2.49539181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924012739 meters 0.028220865466088447 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.56, Z:-0.25 [[ 9.99256092e-01 3.45460430e-02 1.71415711e-02 1.59481502e+01] [-3.45368636e-02 9.99403079e-01 -8.31334171e-04 -5.57447383e-01] [-1.71600582e-02 2.38699632e-04 9.99852727e-01 -2.54595794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984012739 meters 0.027373639931200594 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.56, Z:-0.26 [[ 9.99192596e-01 3.64202080e-02 1.69624728e-02 1.60097756e+01] [-3.64114408e-02 9.99336543e-01 -8.25511895e-04 -5.61202874e-01] [-1.69812842e-02 2.07217299e-04 9.99855786e-01 -2.56208843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044012739 meters 0.03415356300899125 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.57, Z:-0.24 [[ 9.99119156e-01 3.69905540e-02 1.98144180e-02 1.60713415e+01] [-3.69786228e-02 9.99315588e-01 -9.68327569e-04 -5.71020851e-01] [-1.98366758e-02 2.34764733e-04 9.99803206e-01 -2.36991011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104012738999998 meters 0.02701821277735784 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.58, Z:-0.25 [[ 9.99067462e-01 3.74241577e-02 2.15322790e-02 1.61340222e+01] [-3.74101177e-02 9.99299440e-01 -1.05462364e-03 -5.75012874e-01] [-2.15566628e-02 2.48115068e-04 9.99767597e-01 -2.50151444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164012739 meters 0.029006629540326522 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.59, Z:-0.25 [[ 9.99100855e-01 3.62997360e-02 2.19045724e-02 1.61946641e+01] [-3.62848437e-02 9.99340908e-01 -1.07706915e-03 -5.86467448e-01] [-2.19292325e-02 2.81296726e-04 9.99759486e-01 -2.49414821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224012739 meters 0.027336741370606304 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.59, Z:-0.25 [[ 9.99082903e-01 3.69753570e-02 2.15911279e-02 1.62568833e+01] [-3.69609743e-02 9.99316142e-01 -1.06495989e-03 -5.88493246e-01] [-2.16157399e-02 2.65954094e-04 9.99766317e-01 -2.51480183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284012738999998 meters 0.027242274803650175 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.60, Z:-0.26 [[ 9.99076893e-01 3.78196303e-02 2.03724517e-02 1.63189020e+01] [-3.78069362e-02 9.99284554e-01 -1.00802578e-03 -5.95086970e-01] [-2.03959995e-02 2.36875286e-04 9.99791952e-01 -2.55018136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344012739 meters 0.02785696506238335 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.60, Z:-0.25 [[ 9.99083192e-01 3.69260581e-02 2.16619677e-02 1.63794325e+01] [-3.69114150e-02 9.99317963e-01 -1.07556227e-03 -6.01580441e-01] [-2.16869097e-02 2.75002302e-04 9.99764773e-01 -2.53616141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404012739 meters 0.030343685318323637 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.62, Z:-0.26 [[ 9.99247867e-01 3.27123270e-02 2.08231796e-02 1.64406303e+01] [-3.26978181e-02 9.99464745e-01 -1.03694738e-03 -6.15204001e-01] [-2.08459549e-02 3.55294921e-04 9.99782636e-01 -2.57375606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464012739 meters 0.032866761156769404 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.63, Z:-0.26 [[ 9.99390426e-01 2.90004214e-02 1.94358232e-02 1.65018936e+01] [-2.89870237e-02 9.99579317e-01 -9.70755944e-04 -6.31713016e-01] [-1.94557992e-02 4.06777529e-04 9.99810635e-01 -2.59595513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524012739 meters 0.03284902724148753 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.64, Z:-0.26 [[ 9.99372728e-01 2.94403547e-02 1.96828628e-02 1.65643113e+01] [-2.94266809e-02 9.99566457e-01 -9.84038062e-04 -6.37516986e-01] [-1.97032998e-02 4.04219481e-04 9.99805789e-01 -2.61085148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584012739 meters 0.032442233963031517 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.65, Z:-0.26 [[ 9.99298405e-01 3.18972442e-02 1.96281413e-02 1.66249064e+01] [-3.18840988e-02 9.99491090e-01 -9.82383136e-04 -6.48291255e-01] [-1.96494877e-02 3.55868305e-04 9.99806867e-01 -2.61809196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644012739 meters 0.029270757784274955 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.65, Z:-0.26 [[ 9.99242529e-01 3.38355810e-02 1.92229247e-02 1.66868070e+01] [-3.38232768e-02 9.99427363e-01 -9.64934962e-04 -6.49295715e-01] [-1.92445661e-02 3.14021748e-04 9.99814757e-01 -2.63242718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704012739 meters 0.029724756370400982 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.66, Z:-0.27 [[ 9.99188237e-01 3.54820698e-02 1.90758773e-02 1.67476540e+01] [-3.54701905e-02 9.99370273e-01 -9.60829858e-04 -6.60536163e-01] [-1.90979569e-02 2.83424893e-04 9.99817577e-01 -2.65919343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764012738999998 meters 0.027423910012577334 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.66, Z:-0.27 [[ 9.99048663e-01 3.89728974e-02 1.95673819e-02 1.68099047e+01] [-3.89610048e-02 9.99240243e-01 -9.88769856e-04 -6.57569278e-01] [-1.95910507e-02 2.25464340e-04 9.99808052e-01 -2.66581298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824012739 meters 0.026574728405519794 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.66, Z:-0.27 [[ 9.99004480e-01 3.98275765e-02 2.00951197e-02 1.68715996e+01] [-3.98151387e-02 9.99206544e-01 -1.01881193e-03 -6.61648750e-01] [-2.01197519e-02 2.17707706e-04 9.99797554e-01 -2.66907337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884012739 meters 0.026442047379416724 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.66, Z:-0.27 [[ 9.98972661e-01 4.07233593e-02 1.98804128e-02 1.69327320e+01] [-4.07112964e-02 9.99170440e-01 -1.01128523e-03 -6.64357696e-01] [-1.99051038e-02 2.00888914e-04 9.99801854e-01 -2.68277392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944012738999998 meters 0.02658083548859911 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.67, Z:-0.27 [[ 9.98956717e-01 4.15157116e-02 1.90242799e-02 1.69949986e+01] [-4.15047557e-02 9.99137835e-01 -9.70536274e-04 -6.70082333e-01] [-1.90481704e-02 1.79925639e-04 9.99818551e-01 -2.69997698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004012739 meters 0.02585278906056689 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.67, Z:-0.27 [[ 9.98935724e-01 4.18191779e-02 1.94570326e-02 1.70580694e+01] [-4.18077020e-02 9.99125179e-01 -9.96379475e-04 -6.71089121e-01] [-1.94816789e-02 1.81865233e-04 9.99810198e-01 -2.70369702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064012739 meters 0.02594385103898634 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.68, Z:-0.27 [[ 9.98889204e-01 4.35189748e-02 1.80681393e-02 1.71194596e+01] [-4.35092971e-02 9.99052591e-01 -9.28561877e-04 -6.76488087e-01] [-1.80914314e-02 1.41398395e-04 9.99836327e-01 -2.74703094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124012738999998 meters 0.024946044673786555 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.67, Z:-0.28 [[ 9.98804207e-01 4.56180656e-02 1.75826146e-02 1.71819611e+01] [-4.56091757e-02 9.98958949e-01 -9.06480147e-04 -6.74846908e-01] [-1.76056621e-02 1.03467626e-04 9.99845003e-01 -2.75824801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184012739 meters 0.024612037258307528 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.68, Z:-0.28 [[ 9.98699227e-01 4.74956919e-02 1.85475966e-02 1.72432289e+01] [-4.74860613e-02 9.98871440e-01 -9.59557258e-04 -6.76155034e-01] [-1.85722393e-02 7.75567843e-05 9.99827518e-01 -2.76091464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244012739 meters 0.02460229570034477 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.68, Z:-0.28 [[ 9.98734049e-01 4.72888068e-02 1.71484069e-02 1.73062768e+01] [-4.72805047e-02 9.98881256e-01 -8.89460144e-04 -6.77076778e-01] [-1.71712837e-02 7.75487981e-05 9.99852560e-01 -2.79307268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304012739 meters 0.02503350755741319 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.69, Z:-0.28 [[ 9.98788842e-01 4.57122858e-02 1.81999112e-02 1.73679224e+01] [-4.57026035e-02 9.98954640e-01 -9.47785416e-04 -6.85602718e-01] [-1.82242112e-02 1.14854171e-04 9.99833919e-01 -2.79642538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364012739 meters 0.02543201393872201 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.69, Z:-0.28 [[ 9.98837844e-01 4.43561900e-02 1.88544436e-02 1.74300733e+01] [-4.43454905e-02 9.99015769e-01 -9.85398274e-04 -6.92177358e-01] [-1.88795949e-02 1.48143541e-04 9.99821754e-01 -2.79198608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424012739 meters 0.0245642667981928 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.70, Z:-0.28 [[ 9.98712198e-01 4.72295197e-02 1.85288337e-02 1.74912982e+01] [-4.72196221e-02 9.98884059e-01 -9.71555992e-04 -6.95976398e-01] [-1.85540427e-02 9.53802972e-05 9.99827854e-01 -2.81205024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484012739 meters 0.02781656129500327 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.70, Z:-0.27 [[ 9.98494215e-01 5.08891677e-02 2.04840207e-02 1.75538166e+01] [-5.08777965e-02 9.98704306e-01 -1.07622410e-03 -6.98791972e-01] [-2.05122479e-02 3.24216954e-05 9.99789601e-01 -2.69349951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544012739 meters 0.023954057024284443 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.70, Z:-0.28 [[ 9.98296267e-01 5.48802237e-02 1.98172708e-02 1.76169257e+01] [-5.48703035e-02 9.98492944e-01 -1.04438771e-03 -6.98794212e-01] [-1.98447213e-02 -4.47713122e-05 9.99803073e-01 -2.81611791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604012738999998 meters 0.02552706081803375 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.69, Z:-0.29 [[ 9.97983184e-01 6.05639849e-02 1.90149656e-02 1.76789184e+01] [-6.05558160e-02 9.98164306e-01 -1.00562186e-03 -6.92655987e-01] [-1.90409644e-02 -1.47873054e-04 9.99818693e-01 -2.85599582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664012739 meters 0.027713833144145193 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.69, Z:-0.29 [[ 9.97692610e-01 6.49948676e-02 1.96245711e-02 1.77408199e+01] [-6.49869622e-02 9.97885570e-01 -1.04097114e-03 -6.88940373e-01] [-1.96507341e-02 -2.36772041e-04 9.99806878e-01 -2.85643039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724012739 meters 0.02828546000184294 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.69, Z:-0.29 [[ 9.97630951e-01 6.58510418e-02 1.99029227e-02 1.78026139e+01] [-6.58430202e-02 9.97829432e-01 -1.05878013e-03 -6.88531250e-01] [-1.99294438e-02 -2.54196714e-04 9.99801357e-01 -2.86790238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784012738999998 meters 0.02931824446621339 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.68, Z:-0.29 [[ 9.97491709e-01 6.80563822e-02 1.94581614e-02 1.78655301e+01] [-6.80490791e-02 9.97681435e-01 -1.03796527e-03 -6.83853398e-01] [-1.94836865e-02 -2.88748209e-04 9.99810133e-01 -2.88261021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844012739 meters 0.03452424718274082 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.67, Z:-0.29 [[ 9.97143323e-01 7.33337398e-02 1.80929664e-02 1.79267477e+01] [-7.33282376e-02 9.97307391e-01 -9.68232343e-04 -6.68666762e-01] [-1.81152532e-02 -3.61258924e-04 9.99835840e-01 -2.91397783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904012739 meters 0.03769957946616554 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.66, Z:-0.29 [[ 9.96794063e-01 7.78116100e-02 1.86265543e-02 1.79885244e+01] [-7.78065554e-02 9.96967976e-01 -9.97009296e-04 -6.58413448e-01] [-1.86476571e-02 -4.55455083e-04 9.99826014e-01 -2.91871572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964012739 meters 0.04018959622170534 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.65, Z:-0.29 [[ 9.96632347e-01 7.98046687e-02 1.88462281e-02 1.80504113e+01] [-7.97998480e-02 9.96810396e-01 -1.00888187e-03 -6.50803712e-01] [-1.88666295e-02 -4.98441834e-04 9.99821885e-01 -2.92574963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024012739 meters 0.044644780023806604 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.63, Z:-0.29 [[ 9.96263650e-01 8.37878300e-02 2.09365306e-02 1.81118779e+01] [-8.37827221e-02 9.96483414e-01 -1.12255583e-03 -6.34136690e-01] [-2.09569620e-02 -6.35757957e-04 9.99780177e-01 -2.90415206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084012739 meters 0.04947902826150044 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.61, Z:-0.29 [[ 9.95772142e-01 8.95386553e-02 2.05102746e-02 1.81732487e+01] [-8.95349664e-02 9.95983072e-01 -1.09992554e-03 -6.14305357e-01] [-2.05263722e-02 -7.41111533e-04 9.99789037e-01 -2.91633061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144012739 meters 0.050781357626271506 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.60, Z:-0.29 [[ 9.95655167e-01 9.05118983e-02 2.18720154e-02 1.82367281e+01] [-9.05079320e-02 9.95895044e-01 -1.17322248e-03 -6.00153458e-01] [-2.18884223e-02 -8.11465859e-04 9.99760090e-01 -2.90924517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204012739 meters 0.04476772033639232 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.60, Z:-0.29 [[ 9.95842395e-01 8.80118753e-02 2.34911659e-02 1.82984258e+01] [-8.80065218e-02 9.96119097e-01 -1.26363836e-03 -6.00995175e-01] [-2.35112142e-02 -8.08991153e-04 9.99723246e-01 -2.90030947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264012738999998 meters 0.0406856929562673 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.60, Z:-0.30 [[ 9.96455289e-01 8.18071931e-02 1.96071585e-02 1.83575835e+01] [-8.18022505e-02 9.96648021e-01 -1.05532757e-03 -6.00572255e-01] [-1.96277691e-02 -5.52322955e-04 9.99807204e-01 -2.98305869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324012739 meters 0.037118467321090115 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.60, Z:-0.30 [[ 9.97082174e-01 7.42139079e-02 1.78727415e-02 1.84171501e+01] [-7.42085845e-02 9.97242278e-01 -9.61790551e-04 -6.00930154e-01] [-1.78948316e-02 -3.67326632e-04 9.99839807e-01 -3.03423576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384012739 meters 0.03313630898899715 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.61, Z:-0.30 [[ 9.97328066e-01 7.01956212e-02 2.02312689e-02 1.84785305e+01] [-7.01879785e-02 9.97533189e-01 -1.08846624e-03 -6.06692967e-01] [-2.02577677e-02 -3.34433939e-04 9.99794734e-01 -3.00355968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444012738999998 meters 0.029568229542227827 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.61, Z:-0.31 [[ 9.97498338e-01 6.83425280e-02 1.80655543e-02 1.85401841e+01] [-6.83361300e-02 9.97661881e-01 -9.71952641e-04 -6.12866282e-01] [-1.80897406e-02 -2.65008924e-04 9.99836332e-01 -3.05049265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504012739 meters 0.027663060333203055 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.62, Z:-0.31 [[ 9.97727874e-01 6.49758008e-02 1.78110859e-02 1.86018945e+01] [-6.49689934e-02 9.97886820e-01 -9.61180824e-04 -6.17450529e-01] [-1.78359013e-02 -1.98171420e-04 9.99840908e-01 -3.07993078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564012739 meters 0.025063597524605814 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.63, Z:-0.31 [[ 9.98130209e-01 5.84427259e-02 1.79034487e-02 1.86627022e+01] [-5.84347424e-02 9.98290760e-01 -9.69176351e-04 -6.29375618e-01] [-1.79294887e-02 -7.88192196e-05 9.99839251e-01 -3.09835550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624012738999998 meters 0.024558386530534118 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.63, Z:-0.31 [[ 9.98284553e-01 5.55416157e-02 1.85224278e-02 1.87244807e+01] [-5.55325174e-02 9.98456373e-01 -1.00558163e-03 -6.33257704e-01] [-1.85496877e-02 -2.47404413e-05 9.99827939e-01 -3.09428277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684012739 meters 0.02445619380896542 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.63, Z:-0.31 [[ 9.98209122e-01 5.62534589e-02 2.03493743e-02 1.87871407e+01] [-5.62425503e-02 9.98416520e-01 -1.10843441e-03 -6.30475501e-01] [-2.03795047e-02 -3.80513708e-05 9.99792316e-01 -3.07177867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744012739 meters 0.024501393163807214 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.63, Z:-0.31 [[ 9.98174944e-01 5.72567622e-02 1.91948977e-02 1.88504761e+01] [-5.72471818e-02 9.98359485e-01 -1.04867178e-03 -6.29570051e-01] [-1.92234518e-02 -5.20959014e-05 9.99815211e-01 -3.10873872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804012739 meters 0.024331026082238312 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.63, Z:-0.31 [[ 9.98276704e-01 5.53063322e-02 1.96171365e-02 1.89126079e+01] [-5.52958753e-02 9.98469433e-01 -1.07548849e-03 -6.28711543e-01] [-1.96465925e-02 -1.11116321e-05 9.99806987e-01 -3.09707190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864012739 meters 0.024946534653841813 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.64, Z:-0.31 [[ 9.98554389e-01 5.00422009e-02 1.96191226e-02 1.89728041e+01] [-5.00306823e-02 9.98747100e-01 -1.07780597e-03 -6.40871922e-01] [-1.96484776e-02 9.46897944e-05 9.99806946e-01 -3.12020382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924012739 meters 0.028493828296507765 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.65, Z:-0.31 [[ 9.98876345e-01 4.31470878e-02 1.96054921e-02 1.90335100e+01] [-4.31342008e-02 9.99068704e-01 -1.07991448e-03 -6.53866880e-01] [-1.96338288e-02 2.33033795e-04 9.99807211e-01 -3.12353915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984012739 meters 0.0290739637277343 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.66, Z:-0.31 [[ 9.98904202e-01 4.26738822e-02 1.92180787e-02 1.90951237e+01] [-4.26613603e-02 9.99089026e-01 -1.06125510e-03 -6.61496760e-01] [-1.92458594e-02 2.40222804e-04 9.99814752e-01 -3.13151017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044012739 meters 0.03374545694768463 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.66, Z:-0.30 [[ 9.98843118e-01 4.38238774e-02 1.97962950e-02 1.91576498e+01] [-4.38107550e-02 9.99039246e-01 -1.09627816e-03 -6.62631567e-01] [-1.98253188e-02 2.27719264e-04 9.99803433e-01 -2.99817646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104012738999998 meters 0.031223177885387806 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.67, Z:-0.31 [[ 9.98981143e-01 3.99769034e-02 2.09409544e-02 1.92176954e+01] [-3.99613040e-02 9.99200551e-01 -1.16302404e-03 -6.73626930e-01] [-2.09707072e-02 3.25011239e-04 9.99780038e-01 -3.13248646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164012739 meters 0.03574366552668783 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.69, Z:-0.32 [[ 9.99315688e-01 3.08019582e-02 2.04791521e-02 1.92771131e+01] [-3.07851041e-02 9.99525379e-01 -1.13781665e-03 -6.93002847e-01] [-2.05044792e-02 5.06585195e-04 9.99789633e-01 -3.15132694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224012739 meters 0.040172499095868563 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.72, Z:-0.31 [[ 9.99482855e-01 2.29944460e-02 2.24784070e-02 1.93370205e+01] [-2.29721654e-02 9.99735325e-01 -1.24895412e-03 -7.15644042e-01] [-2.25011765e-02 7.31930549e-04 9.99746549e-01 -3.12276219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284012738999998 meters 0.05103213138429869 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.73, Z:-0.30 [[ 9.99563109e-01 2.22258251e-02 1.94834237e-02 1.93978907e+01] [-2.22089430e-02 9.99752765e-01 -1.08245541e-03 -7.28253309e-01] [-1.95026652e-02 6.49276243e-04 9.99809594e-01 -2.98642279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344012739 meters 0.03965886041403094 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.73, Z:-0.32 [[ 9.99388720e-01 2.75566505e-02 2.15131900e-02 1.94574130e+01] [-2.75372254e-02 9.99620060e-01 -1.19871475e-03 -7.33112936e-01] [-2.15380488e-02 6.05568435e-04 9.99767846e-01 -3.16780875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404012739 meters 0.03553720158814835 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.74, Z:-0.32 [[ 9.99245035e-01 3.21198425e-02 2.18557841e-02 1.95183094e+01] [-3.21008866e-02 9.99483892e-01 -1.21769331e-03 -7.37171921e-01] [-2.18836163e-02 5.15183944e-04 9.99760392e-01 -3.17211528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464012739 meters 0.03497559568668936 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.75, Z:-0.33 [[ 9.99306192e-01 3.28102093e-02 1.76245394e-02 1.95802005e+01] [-3.27979954e-02 9.99461519e-01 -9.81680805e-04 -7.45116715e-01] [-1.76472581e-02 4.02950143e-04 9.99844194e-01 -3.26744313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524012739 meters 0.03513269805261258 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.75, Z:-0.32 [[ 9.99230437e-01 3.40990870e-02 1.93851762e-02 1.96412172e+01] [-3.40844846e-02 9.99418368e-01 -1.08327245e-03 -7.51156939e-01] [-1.94108398e-02 4.21705067e-04 9.99811503e-01 -3.23987460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584012739 meters 0.030844226243839045 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.75, Z:-0.32 [[ 9.99044262e-01 3.84454836e-02 2.07968120e-02 1.97031348e+01] [-3.84295484e-02 9.99260632e-01 -1.16548549e-03 -7.47397415e-01] [-2.08262432e-02 3.65159495e-04 9.99783044e-01 -3.23029800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644012739 meters 0.025527450471821984 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.74, Z:-0.33 [[ 9.98618259e-01 4.86781281e-02 1.97993233e-02 1.97639336e+01] [-4.86656813e-02 9.98814507e-01 -1.11026892e-03 -7.36457702e-01] [-1.98298971e-02 1.45187261e-04 9.99803358e-01 -3.25394632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704012739 meters 0.024195037454615414 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.73, Z:-0.33 [[ 9.98351949e-01 5.38252301e-02 1.99055430e-02 1.98265293e+01] [-5.38136737e-02 9.98550371e-01 -1.11614078e-03 -7.29406568e-01] [-1.99367639e-02 4.31109301e-05 9.99801242e-01 -3.26666044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764012738999998 meters 0.024015412229311462 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.72, Z:-0.33 [[ 9.98157507e-01 5.70625636e-02 2.06265688e-02 1.98897383e+01] [-5.70507742e-02 9.98370604e-01 -1.16003717e-03 -7.23420592e-01] [-2.06591546e-02 -1.88619017e-05 9.99786577e-01 -3.26436672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824012739 meters 0.024299530530591768 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.73, Z:-0.33 [[ 9.98341883e-01 5.34938717e-02 2.12577032e-02 1.99531292e+01] [-5.34804542e-02 9.98568176e-01 -1.19959182e-03 -7.27740422e-01] [-2.12914367e-02 6.07311380e-05 9.99773310e-01 -3.25908242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884012739 meters 0.02522187200568408 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.73, Z:-0.33 [[ 9.98503855e-01 5.01723098e-02 2.17437732e-02 2.00148999e+01] [-5.01573942e-02 9.98740567e-01 -1.23113970e-03 -7.33549876e-01] [-2.17781575e-02 1.38686729e-04 9.99762818e-01 -3.26653355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944012738999998 meters 0.027158369415409615 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.74, Z:-0.33 [[ 9.98656653e-01 4.69069787e-02 2.20141846e-02 2.00757125e+01] [-4.68908168e-02 9.98899238e-01 -1.25006565e-03 -7.40882050e-01] [-2.20485890e-02 2.16123278e-04 9.99756877e-01 -3.26816705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004012739 meters 0.026650459083509003 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.74, Z:-0.33 [[ 9.98662303e-01 4.63571959e-02 2.29044742e-02 2.01375387e+01] [-4.63394772e-02 9.98924898e-01 -1.30403419e-03 -7.39498250e-01] [-2.29403009e-02 2.40908429e-04 9.99736808e-01 -3.28430099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064012739 meters 0.02631231801812472 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.74, Z:-0.33 [[ 9.98647624e-01 4.72266801e-02 2.17385506e-02 2.02004613e+01] [-4.72108847e-02 9.98884175e-01 -1.23953159e-03 -7.36790252e-01] [-2.17728332e-02 2.11559068e-04 9.99762921e-01 -3.30524363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124012738999998 meters 0.02657862865573492 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.74, Z:-0.33 [[ 9.98655605e-01 4.70962370e-02 2.16547446e-02 2.02624130e+01] [-4.70805028e-02 9.98890333e-01 -1.23612233e-03 -7.41020867e-01] [-2.16889318e-02 2.14944229e-04 9.99764744e-01 -3.32420109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184012739 meters 0.026603422070503608 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.74, Z:-0.33 [[ 9.98632795e-01 4.72586455e-02 2.23419095e-02 2.03249558e+01] [-4.72418731e-02 9.98882662e-01 -1.27821642e-03 -7.43891606e-01] [-2.23773528e-02 2.20995184e-04 9.99749571e-01 -3.31956435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244012739 meters 0.027161921129182594 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.75, Z:-0.34 [[ 9.98709299e-01 4.64458749e-02 2.05552114e-02 2.03871788e+01] [-4.64314332e-02 9.98920783e-01 -1.17953206e-03 -7.48958202e-01] [-2.05878122e-02 2.23601709e-04 9.99788024e-01 -3.36854923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304012739 meters 0.027026657860693373 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.75, Z:-0.34 [[ 9.98681194e-01 4.67891207e-02 2.11341399e-02 2.04492533e+01] [-4.67738561e-02 9.98904764e-01 -1.21628513e-03 -7.54589066e-01] [-2.11679020e-02 2.26155864e-04 9.99775909e-01 -3.35353205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364012739 meters 0.025961547927176778 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.75, Z:-0.34 [[ 9.98525861e-01 4.97658646e-02 2.16671274e-02 2.05101751e+01] [-4.97504636e-02 9.98760897e-01 -1.24958966e-03 -7.54506971e-01] [-2.17024665e-02 1.69797958e-04 9.99764459e-01 -3.35726213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424012739 meters 0.02613297587017836 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.75, Z:-0.33 [[ 9.98319838e-01 5.33314126e-02 2.26552532e-02 2.05719699e+01] [-5.33154129e-02 9.98576863e-01 -1.31008624e-03 -7.52318722e-01] [-2.26928805e-02 1.00010899e-04 9.99742478e-01 -3.31231565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484012739 meters 0.024168454153838483 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.74, Z:-0.33 [[ 9.97947796e-01 5.95633464e-02 2.35032620e-02 2.06349064e+01] [-5.95477695e-02 9.98224527e-01 -1.36270274e-03 -7.43281483e-01] [-2.35426997e-02 -3.96606355e-05 9.99722831e-01 -3.33698586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544012739 meters 0.0254794672474012 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.74, Z:-0.33 [[ 9.97626920e-01 6.45627161e-02 2.39203540e-02 2.06973032e+01] [-6.45479268e-02 9.97913639e-01 -1.39067720e-03 -7.37689724e-01] [-2.39602334e-02 -1.56632251e-04 9.99712900e-01 -3.33551655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604012738999998 meters 0.026738033320191635 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.73, Z:-0.33 [[ 9.97433568e-01 6.71859966e-02 2.47450877e-02 2.07591974e+01] [-6.71708788e-02 9.97740443e-01 -1.44258020e-03 -7.34010669e-01] [-2.47860960e-02 -2.23271368e-04 9.99692753e-01 -3.33704128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664012739 meters 0.025157369356421513 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.75, Z:-0.34 [[ 9.97698901e-01 6.36285167e-02 2.34161393e-02 2.08208479e+01] [-6.36139231e-02 9.97973645e-01 -1.36835606e-03 -7.45765486e-01] [-2.34557564e-02 -1.24385145e-04 9.99724868e-01 -3.38555219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724012739 meters 0.02486767419031525 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.75, Z:-0.34 [[ 9.97803094e-01 6.25836669e-02 2.17317780e-02 2.08817905e+01] [-6.25707826e-02 9.98039717e-01 -1.27300673e-03 -7.51200607e-01] [-2.17688470e-02 -8.95643005e-05 9.99763027e-01 -3.43101668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784012738999998 meters 0.02607844693948272 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.75, Z:-0.34 [[ 9.97588329e-01 6.56474931e-02 2.25373459e-02 2.09441610e+01] [-6.56343431e-02 9.97842864e-01 -1.32348631e-03 -7.51283723e-01] [-2.25756134e-02 -1.58929401e-04 9.99745126e-01 -3.43717530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844012739 meters 0.027465882277701074 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.75, Z:-0.34 [[ 9.97407092e-01 6.82883440e-02 2.27111006e-02 2.10068864e+01] [-6.82755968e-02 9.97665603e-01 -1.33711836e-03 -7.50118548e-01] [-2.27493935e-02 -2.16962616e-04 9.99741176e-01 -3.44440987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904012739 meters 0.03125573380442071 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.75, Z:-0.34 [[ 9.97255802e-01 7.11179854e-02 2.05693167e-02 2.10691151e+01] [-7.11080731e-02 9.97467878e-01 -1.21382392e-03 -7.52106911e-01] [-2.06035574e-02 -2.52151522e-04 9.99787692e-01 -3.41261317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964012739 meters 0.031225663003708774 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.74, Z:-0.35 [[ 9.97032025e-01 7.43719758e-02 1.98985220e-02 2.11307198e+01] [-7.43632848e-02 9.97230523e-01 -1.17737058e-03 -7.44593651e-01] [-1.99309769e-02 -3.05843288e-04 9.99801312e-01 -3.52203703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024012739 meters 0.03173270451359922 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.74, Z:-0.35 [[ 9.96790982e-01 7.71297718e-02 2.14181382e-02 2.11925125e+01] [-7.71202648e-02 9.97020988e-01 -1.27073481e-03 -7.43913427e-01] [-2.14523448e-02 -3.85115492e-04 9.99769798e-01 -3.50971448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084012739 meters 0.035152891056913535 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.73, Z:-0.35 [[ 9.96624408e-01 7.92498780e-02 2.14300448e-02 2.12541192e+01] [-7.92407786e-02 9.96854690e-01 -1.27477586e-03 -7.32293205e-01] [-2.14636665e-02 -4.27660701e-04 9.99769538e-01 -3.52442548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144012739 meters 0.03217334494616598 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.74, Z:-0.35 [[ 9.96776078e-01 7.69190539e-02 2.28234444e-02 2.13166268e+01] [-7.69080367e-02 9.97037261e-01 -1.36139240e-03 -7.35513688e-01] [-2.28605415e-02 -3.98302923e-04 9.99738584e-01 -3.51349763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204012739 meters 0.030879682143130836 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.73, Z:-0.35 [[ 9.96842440e-01 7.57718994e-02 2.37438351e-02 2.13790651e+01] [-7.57595559e-02 9.97125104e-01 -1.42026521e-03 -7.34483713e-01] [-2.37831902e-02 -3.83041767e-04 9.99717067e-01 -3.50540677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264012738999998 meters 0.029150621466019957 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.74, Z:-0.36 [[ 9.97121764e-01 7.30392221e-02 2.03337198e-02 2.14410649e+01] [-7.30295434e-02 9.97329033e-01 -1.21913683e-03 -7.39583281e-01] [-2.03684539e-02 -2.69334404e-04 9.99792505e-01 -3.59253628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324012739 meters 0.02680084343992677 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.75, Z:-0.36 [[ 9.97385218e-01 6.92591471e-02 2.06373069e-02 2.15026293e+01] [-6.92482975e-02 9.97598684e-01 -1.24075124e-03 -7.48043075e-01] [-2.06736835e-02 -1.91591420e-04 9.99786258e-01 -3.59390838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384012739 meters 0.026349211577389568 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.75, Z:-0.36 [[ 9.97458663e-01 6.78460077e-02 2.17516789e-02 2.15634559e+01] [-6.78335364e-02 9.97695791e-01 -1.31152089e-03 -7.52076070e-01] [-2.17905399e-02 -1.67305431e-04 9.99762544e-01 -3.57980505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444012738999998 meters 0.025579448462384982 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.76, Z:-0.36 [[ 9.97564610e-01 6.61905030e-02 2.19923925e-02 2.16251384e+01] [-6.61772773e-02 9.97806996e-01 -1.32942006e-03 -7.56444733e-01] [-2.20321581e-02 -1.29214254e-04 9.99757254e-01 -3.59642101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504012739 meters 0.02511296525520274 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.76, Z:-0.37 [[ 9.97755012e-01 6.39203467e-02 1.99781224e-02 2.16871647e+01] [-6.39089192e-02 9.97955001e-01 -1.21058873e-03 -7.62876106e-01] [-2.00146484e-02 -6.89092384e-05 9.99799684e-01 -3.65025219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564012739 meters 0.024891828087903137 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.77, Z:-0.37 [[ 9.97943972e-01 6.13501424e-02 1.85469456e-02 2.17487953e+01] [-6.13397983e-02 9.98116306e-01 -1.12662566e-03 -7.67930533e-01] [-1.85811274e-02 -1.33566161e-05 9.99827356e-01 -3.69398498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624012738999998 meters 0.02500881481563149 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.78, Z:-0.37 [[ 9.98132520e-01 5.76717771e-02 2.01355127e-02 2.18116529e+01] [-5.76587603e-02 9.98335596e-01 -1.22689967e-03 -7.76867146e-01] [-2.01727565e-02 6.36197629e-05 9.99796507e-01 -3.66754585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684012739 meters 0.026326767228850356 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.79, Z:-0.37 [[ 9.98384939e-01 5.38533166e-02 1.80923460e-02 2.18734499e+01] [-5.38421272e-02 9.98548849e-01 -1.10535150e-03 -7.87801951e-01] [-1.81256182e-02 1.29435891e-04 9.99835709e-01 -3.71865761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744012739 meters 0.027054776761194874 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.80, Z:-0.37 [[ 9.98422374e-01 5.21778644e-02 2.07420791e-02 2.19348821e+01] [-5.21627183e-02 9.98637790e-01 -1.27095044e-03 -7.97897034e-01] [-2.07801395e-02 1.86982125e-04 9.99784052e-01 -3.66972435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804012739 meters 0.027459061340336148 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.81, Z:-0.36 [[ 9.98436328e-01 5.04301319e-02 2.41184887e-02 2.19970355e+01] [-5.04090394e-02 9.98727556e-01 -1.48211069e-03 -8.06143388e-01] [-2.41625423e-02 2.64003308e-04 9.99708008e-01 -3.61899105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864012739 meters 0.03060017288390464 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.82, Z:-0.37 [[ 9.98733002e-01 4.55449767e-02 2.14019855e-02 2.20577945e+01] [-4.55271819e-02 9.98962231e-01 -1.31821501e-03 -8.24171672e-01] [-2.14398132e-02 3.42172748e-04 9.99770082e-01 -3.67449596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924012739 meters 0.03198502995980376 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.84, Z:-0.37 [[ 9.98847959e-01 4.25361849e-02 2.22132412e-02 2.21194691e+01] [-4.25161996e-02 9.99094836e-01 -1.37141195e-03 -8.38008555e-01] [-2.22514692e-02 4.25409429e-04 9.99752315e-01 -3.66482714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984012739 meters 0.034203420707109376 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.85, Z:-0.37 [[ 9.98844394e-01 4.33339991e-02 2.07855784e-02 2.21804178e+01] [-4.33166534e-02 9.99060568e-01 -1.28422473e-03 -8.49551463e-01] [-2.08217024e-02 3.82378981e-04 9.99783132e-01 -3.69907059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044012739 meters 0.03014750724803125 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.85, Z:-0.38 [[ 9.98792532e-01 4.58932025e-02 1.75297518e-02 2.22428337e+01] [-4.58812170e-02 9.98946313e-01 -1.08549986e-03 -8.52078627e-01] [-1.75610980e-02 2.79902811e-04 9.99845753e-01 -3.78537170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104012738999998 meters 0.030020482655877947 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.86, Z:-0.38 [[ 9.98693528e-01 4.80963000e-02 1.72621726e-02 2.23033607e+01] [-4.80849946e-02 9.98842675e-01 -1.06962594e-03 -8.60558303e-01] [-1.72936397e-02 2.38177031e-04 9.99850425e-01 -3.80513262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164012739 meters 0.028730708896140923 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.87, Z:-0.38 [[ 9.98659198e-01 4.84052499e-02 1.83504118e-02 2.23656414e+01] [-4.83924731e-02 9.98827747e-01 -1.13994095e-03 -8.67624416e-01] [-1.83840796e-02 2.50390710e-04 9.99830967e-01 -3.79564141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224012739 meters 0.03095277840128303 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.88, Z:-0.38 [[ 9.98610136e-01 4.86872714e-02 2.01828144e-02 2.24264631e+01] [-4.86717883e-02 9.98814034e-01 -1.25793973e-03 -8.84558106e-01] [-2.02201239e-02 2.73857690e-04 9.99795515e-01 -3.78209360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284012738999998 meters 0.026974304731899903 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.88, Z:-0.38 [[ 9.98488014e-01 5.16608253e-02 1.87841648e-02 2.24883146e+01] [-5.16478829e-02 9.98664668e-01 -1.17380311e-03 -8.84430947e-01] [-1.88197213e-02 2.01865990e-04 9.99822873e-01 -3.82187668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344012739 meters 0.030444239998275734 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.89, Z:-0.38 [[ 9.98315065e-01 5.54516174e-02 1.70923719e-02 2.25490010e+01] [-5.54414126e-02 9.98461368e-01 -1.07066939e-03 -8.91952914e-01] [-1.71254434e-02 1.21240142e-04 9.99853341e-01 -3.75172871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404012739 meters 0.02532297804451782 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.90, Z:-0.38 [[ 9.98217358e-01 5.56823065e-02 2.14845809e-02 2.26116607e+01] [-5.56661467e-02 9.98448525e-01 -1.34993961e-03 -9.02096322e-01] [-2.15264158e-02 1.51569325e-04 9.99768268e-01 -3.80816277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464012738999998 meters 0.02560702281211719 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.91, Z:-0.38 [[ 9.98267947e-01 5.53741554e-02 1.98698128e-02 2.26735756e+01] [-5.53602028e-02 9.98465663e-01 -1.25199264e-03 -9.12149222e-01] [-1.99086539e-02 1.49827254e-04 9.99801792e-01 -3.84329018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524012739 meters 0.025744244693680647 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.92, Z:-0.38 [[ 9.98267832e-01 5.49657247e-02 2.09786597e-02 2.27359950e+01] [-5.49499984e-02 9.98488227e-01 -1.32578727e-03 -9.22621177e-01] [-2.10198176e-02 1.70713467e-04 9.99779045e-01 -3.82869672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584012739 meters 0.02678568918702627 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.93, Z:-0.39 [[ 9.98372521e-01 5.33309814e-02 2.02018710e-02 2.27960112e+01] [-5.33159876e-02 9.98576870e-01 -1.28045159e-03 -9.33858587e-01] [-2.02414089e-02 2.01284978e-04 9.99795101e-01 -3.85690100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644012739 meters 0.027240639226556843 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.95, Z:-0.38 [[ 9.98397011e-01 5.18710119e-02 2.26452497e-02 2.28575349e+01] [-5.18517443e-02 9.98653759e-01 -1.43758809e-03 -9.45970886e-01] [-2.26893329e-02 2.61087951e-04 9.99742530e-01 -3.82723888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704012739 meters 0.025597971194428342 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.95, Z:-0.39 [[ 9.98233146e-01 5.58473919e-02 2.02892686e-02 2.29196347e+01] [-5.58326855e-02 9.98439304e-01 -1.29101999e-03 -9.47547255e-01] [-2.03297033e-02 1.55934599e-04 9.99793318e-01 -3.87715106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764012738999998 meters 0.024154385167245915 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.94, Z:-0.39 [[ 9.97784876e-01 6.38696692e-02 1.86012258e-02 2.29819505e+01] [-6.38586500e-02 9.97958248e-01 -1.18637436e-03 -9.39159966e-01] [-1.86390201e-02 -4.10277680e-06 9.99826278e-01 -3.91935446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824012739 meters 0.024207221630692236 Centerline is valid? [True, True] Translation: X:23.05, Y:-0.94, Z:-0.39 [[ 9.97697876e-01 6.52626159e-02 1.84320353e-02 2.30453392e+01] [-6.52519801e-02 9.97868123e-01 -1.17849499e-03 -9.38973914e-01] [-1.84696521e-02 -2.69448525e-05 9.99829421e-01 -3.94479534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884012739 meters 0.02607710566808019 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.96, Z:-0.40 [[ 9.98244682e-01 5.60864152e-02 1.90228382e-02 2.31049649e+01] [-5.60733462e-02 9.98425907e-01 -1.22012990e-03 -9.57775403e-01] [-1.90613272e-02 1.51313991e-04 9.99818305e-01 -3.95409689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944012738999998 meters 0.040562413675495734 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.98, Z:-0.38 [[ 9.98791167e-01 4.53964599e-02 1.88511364e-02 2.31648846e+01] [-4.53817129e-02 9.98968987e-01 -1.20956033e-03 -9.79462994e-01] [-1.88866104e-02 3.52601320e-04 9.99821570e-01 -3.79094452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004012739 meters 0.03460260131105033 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.99, Z:-0.39 [[ 9.98904592e-01 4.20552536e-02 2.05176174e-02 2.32250213e+01] [-4.20370733e-02 9.99115184e-01 -1.31676919e-03 -9.92060476e-01] [-2.05548401e-02 4.52826203e-04 9.99788624e-01 -3.94680279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064012739 meters 0.03616345010145517 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.00, Z:-0.40 [[ 9.98993882e-01 4.01390061e-02 2.00021131e-02 2.32865687e+01] [-4.01212844e-02 9.99193989e-01 -1.28666406e-03 -1.00389312e+00] [-2.00376366e-02 4.82859055e-04 9.99799110e-01 -3.96649379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124012738999998 meters 0.03585477423498933 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.01, Z:-0.40 [[ 9.98978736e-01 4.11701640e-02 1.86145911e-02 2.33486286e+01] [-4.11549392e-02 9.99152056e-01 -1.20039308e-03 -1.01473647e+00] [-1.86482274e-02 4.33084797e-04 9.99826013e-01 -3.98338566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184012739 meters 0.0379541575517596 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.03, Z:-0.39 [[ 9.98857988e-01 4.34092891e-02 1.99587762e-02 2.34105964e+01] [-4.33922087e-02 9.99057284e-01 -1.28826684e-03 -1.02631970e+00] [-1.99958835e-02 4.20740238e-04 9.99799974e-01 -3.85615273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244012739 meters 0.03184671381180754 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.04, Z:-0.40 [[ 9.98708766e-01 4.63944414e-02 2.06967553e-02 2.34709803e+01] [-4.63766440e-02 9.98923127e-01 -1.33932101e-03 -1.03555409e+00] [-2.07366045e-02 3.77745583e-04 9.99784902e-01 -3.97203296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304012739 meters 0.03606648941652957 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.04, Z:-0.38 [[ 9.98481387e-01 5.13071911e-02 2.00621974e-02 2.35322470e+01] [-5.12914504e-02 9.98682883e-01 -1.29870831e-03 -1.04233121e+00] [-2.01024062e-02 2.67716872e-04 9.99797890e-01 -3.84354191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364012739 meters 0.02433268821813546 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.03, Z:-0.40 [[ 9.97918097e-01 6.09941695e-02 2.09566880e-02 2.35942481e+01] [-6.09791174e-02 9.98138119e-01 -1.35712384e-03 -1.03297680e+00] [-2.10004458e-02 7.63781009e-05 9.99779463e-01 -3.99595522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424012739 meters 0.023987947683436664 Centerline is valid? [True, True] Translation: X:23.66, Y:-1.03, Z:-0.40 [[ 9.97734292e-01 6.36641833e-02 2.17521035e-02 2.36577478e+01] [-6.36485796e-02 9.97971378e-01 -1.40962231e-03 -1.03361502e+00] [-2.17977192e-02 2.19380289e-05 9.99762401e-01 -3.99476327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484012739 meters 0.025141448718606324 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.02, Z:-0.40 [[ 9.97139854e-01 7.17417180e-02 2.37747187e-02 2.37207892e+01] [-7.17252586e-02 9.97423230e-01 -1.54542937e-03 -1.02145530e+00] [-2.38243284e-02 -1.64238626e-04 9.99716147e-01 -3.97890638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544012739 meters 0.02731136385390048 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.01, Z:-0.40 [[ 9.96865858e-01 7.57947343e-02 2.26631875e-02 2.37820094e+01] [-7.57807462e-02 9.97123412e-01 -1.47664665e-03 -1.01337836e+00] [-2.27099169e-02 -2.45414631e-04 9.99742066e-01 -4.02482671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604012738999998 meters 0.026610643715203004 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.01, Z:-0.41 [[ 9.97003301e-01 7.44744502e-02 2.09278322e-02 2.38439685e+01] [-7.44621969e-02 9.97222903e-01 -1.36523045e-03 -1.01076996e+00] [-2.09713883e-02 -1.97193094e-04 9.99780057e-01 -4.07753058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664012739 meters 0.025672134012876612 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.02, Z:-0.41 [[ 9.97220695e-01 7.22285867e-02 1.82733871e-02 2.39056462e+01] [-7.22188215e-02 9.97388096e-01 -1.19459364e-03 -1.01585301e+00] [-1.83119426e-02 -1.28408978e-04 9.99832314e-01 -4.14360749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724012739 meters 0.02443065987424591 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.03, Z:-0.41 [[ 9.97758113e-01 6.37032819e-02 2.05094895e-02 2.39670925e+01] [-6.36891015e-02 9.97968883e-01 -1.34451658e-03 -1.02980370e+00] [-2.05534824e-02 3.52713655e-05 9.99788754e-01 -4.11299063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784012738999998 meters 0.025916051210682422 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.04, Z:-0.41 [[ 9.98136533e-01 5.69749378e-02 2.18476109e-02 2.40284017e+01] [-5.69571520e-02 9.98375591e-01 -1.43599416e-03 -1.03904131e+00] [-2.18939371e-02 1.88940539e-04 9.99760281e-01 -4.10263051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844012739 meters 0.02698401369148722 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.04, Z:-0.41 [[ 9.98224744e-01 5.56579902e-02 2.12025652e-02 2.40889009e+01] [-5.56409026e-02 9.98449870e-01 -1.39545899e-03 -1.04494603e+00] [-2.12473669e-02 2.13251825e-04 9.99774226e-01 -4.12998877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904012739 meters 0.027856937180251982 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.05, Z:-0.41 [[ 9.98316995e-01 5.40878128e-02 2.09209226e-02 2.41502176e+01] [-5.40707648e-02 9.98536152e-01 -1.38010516e-03 -1.05283896e+00] [-2.09649444e-02 2.46572153e-04 9.99780181e-01 -4.14449961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964012738999998 meters 0.027953659241240082 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.06, Z:-0.41 [[ 9.98215020e-01 5.40622320e-02 2.53781158e-02 2.42122619e+01] [-5.40370203e-02 9.98537522e-01 -1.67868519e-03 -1.05657812e+00] [-2.54317543e-02 3.04331016e-04 9.99676514e-01 -4.06580695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024012739 meters 0.026993443614053977 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.06, Z:-0.40 [[ 9.98039356e-01 5.61731378e-02 2.76047396e-02 2.42748592e+01] [-5.61439824e-02 9.98421004e-01 -1.83071927e-03 -1.05777205e+00] [-2.76639891e-02 2.77289862e-04 9.99617240e-01 -4.04905898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084012739 meters 0.026270217729205146 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.06, Z:-0.41 [[ 9.97999798e-01 5.82953913e-02 2.44550663e-02 2.43358786e+01] [-5.82730614e-02 9.98299358e-01 -1.62535499e-03 -1.06043486e+00] [-2.45082277e-02 1.97032366e-04 9.99699609e-01 -4.11470976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144012739 meters 0.025427866981677705 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.06, Z:-0.42 [[ 9.97902378e-01 6.05558782e-02 2.28873382e-02 2.43975307e+01] [-6.05368404e-02 9.98164800e-01 -1.52438006e-03 -1.06120268e+00] [-2.29376456e-02 1.35655338e-04 9.99736888e-01 -4.15735452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204012739 meters 0.025329829748669912 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.07, Z:-0.42 [[ 9.97872501e-01 6.15528370e-02 2.14876657e-02 2.44596328e+01] [-6.15362193e-02 9.98103820e-01 -1.43434354e-03 -1.06559355e+00] [-2.15352091e-02 1.09022265e-04 9.99768085e-01 -4.21087190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264012738999998 meters 0.024479089129827082 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.06, Z:-0.42 [[ 9.97585896e-01 6.59267588e-02 2.18184086e-02 2.45221714e+01] [-6.59105951e-02 9.97824465e-01 -1.45990247e-03 -1.06350432e+00] [-2.18671885e-02 1.83138231e-05 9.99760884e-01 -4.21586266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324012739 meters 0.02486978345576868 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.06, Z:-0.42 [[ 9.97098358e-01 7.18354099e-02 2.51900353e-02 2.45838647e+01] [-7.18156275e-02 9.97416492e-01 -1.69028231e-03 -1.05774459e+00] [-2.52463787e-02 -1.23660478e-04 9.99681252e-01 -4.16760302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384012739 meters 0.025461771966848897 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.06, Z:-0.42 [[ 9.97004827e-01 7.39060777e-02 2.27874070e-02 2.46474058e+01] [-7.38903533e-02 9.97265194e-01 -1.53242318e-03 -1.05711109e+00] [-2.28383432e-02 -1.55936250e-04 9.99739159e-01 -4.23125734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444012738999998 meters 0.026353316818064822 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.06, Z:-0.42 [[ 9.96878439e-01 7.54621609e-02 2.32129229e-02 2.47083773e+01] [-7.54461609e-02 9.97148648e-01 -1.56553009e-03 -1.05961691e+00] [-2.32648730e-02 -1.90682729e-04 9.99729318e-01 -4.21867888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504012739 meters 0.026115241325599867 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.06, Z:-0.42 [[ 9.96771267e-01 7.62319580e-02 2.52136966e-02 2.47704499e+01] [-7.62132181e-02 9.97090086e-01 -1.70476948e-03 -1.06172853e+00] [-2.52702848e-02 -2.22351729e-04 9.99680631e-01 -4.19530036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564012739 meters 0.027117205629056385 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.06, Z:-0.42 [[ 9.96622476e-01 7.83086139e-02 2.47265141e-02 2.48315493e+01] [-7.82911284e-02 9.96929130e-01 -1.67593955e-03 -1.06381030e+00] [-2.47818227e-02 -2.65587666e-04 9.99692848e-01 -4.21472196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624012738999998 meters 0.027467576829681747 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.07, Z:-0.42 [[ 9.96605876e-01 7.84580975e-02 2.49209710e-02 2.48940130e+01] [-7.84402818e-02 9.96917376e-01 -1.69315005e-03 -1.06543804e+00] [-2.49769904e-02 -2.67404697e-04 9.99687991e-01 -4.22484644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684012739 meters 0.02637167471996825 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.07, Z:-0.42 [[ 9.96711040e-01 7.71179574e-02 2.48982505e-02 2.49554451e+01] [-7.70996471e-02 9.97021950e-01 -1.69597028e-03 -1.07137071e+00] [-2.49548920e-02 -2.29254020e-04 9.99688552e-01 -4.24542977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744012739 meters 0.02639477162062299 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.07, Z:-0.43 [[ 9.96771628e-01 7.66751371e-02 2.38169143e-02 2.50171007e+01] [-7.66581706e-02 9.97056107e-01 -1.62591546e-03 -1.07190939e+00] [-2.38714671e-02 -2.05094678e-04 9.99715015e-01 -4.27727386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804012738999997 meters 0.02642429354564382 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.08, Z:-0.43 [[ 9.96724610e-01 7.69000676e-02 2.50286038e-02 2.50800814e+01] [-7.68813291e-02 9.97038782e-01 -1.71151833e-03 -1.07527006e+00] [-2.50861045e-02 -2.18319883e-04 9.99685270e-01 -4.28057058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864012739 meters 0.026795579597985023 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.08, Z:-0.43 [[ 9.96710344e-01 7.74942106e-02 2.37305301e-02 2.51415714e+01] [-7.74774339e-02 9.96992778e-01 -1.62695866e-03 -1.07676136e+00] [-2.37852471e-02 -2.16974060e-04 9.99717067e-01 -4.32603978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924012739 meters 0.026575996084192043 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.08, Z:-0.43 [[ 9.96760651e-01 7.68872387e-02 2.35914551e-02 2.52027137e+01] [-7.68703934e-02 9.97039775e-01 -1.62142641e-03 -1.07708220e+00] [-2.36462861e-02 -1.97310399e-04 9.99720368e-01 -4.34515621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984012739 meters 0.02494811448888413 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.09, Z:-0.43 [[ 9.97018334e-01 7.26964637e-02 2.58779172e-02 2.52645439e+01] [-7.26746728e-02 9.97354106e-01 -1.78281297e-03 -1.09023106e+00] [-2.59390512e-02 -1.03171945e-04 9.99663521e-01 -4.31651401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044012739 meters 0.024487996960822524 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.10, Z:-0.44 [[ 9.97229789e-01 7.02032931e-02 2.45814034e-02 2.53247988e+01] [-7.01827789e-02 9.97532705e-01 -1.69734356e-03 -1.09934001e+00] [-2.46399129e-02 -3.25496377e-05 9.99696391e-01 -4.35680660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104012738999998 meters 0.024457355609827477 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.11, Z:-0.44 [[ 9.97280046e-01 6.98807505e-02 2.34348328e-02 2.53870289e+01] [-6.98619342e-02 9.97555352e-01 -1.62167489e-03 -1.10597907e+00] [-2.34908668e-02 -1.99387376e-05 9.99724051e-01 -4.39016400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164012739 meters 0.024412571312114627 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.11, Z:-0.44 [[ 9.97305852e-01 6.95227530e-02 2.34013798e-02 2.54500847e+01] [-6.95037912e-02 9.97580366e-01 -1.62365310e-03 -1.11279016e+00] [-2.34576378e-02 -7.20587698e-06 9.99724832e-01 -4.39141790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224012739 meters 0.02459701839814518 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.12, Z:-0.44 [[ 9.97091802e-01 7.22929152e-02 2.41179130e-02 2.55130831e+01] [-7.22734741e-02 9.97383442e-01 -1.67792440e-03 -1.11556519e+00] [-2.41761091e-02 -7.00406933e-05 9.99707713e-01 -4.40317704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284012738999998 meters 0.024845633073328363 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.12, Z:-0.44 [[ 9.96948513e-01 7.37397380e-02 2.56146950e-02 2.55747295e+01] [-7.37181578e-02 9.97277514e-01 -1.78705338e-03 -1.11575106e+00] [-2.56767362e-02 -1.06667922e-04 9.99670293e-01 -4.40204229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344012739 meters 0.024681958012765202 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.12, Z:-0.44 [[ 9.97023051e-01 7.30394992e-02 2.47035912e-02 2.56364266e+01] [-7.30191186e-02 9.97329045e-01 -1.72726294e-03 -1.12034868e+00] [-2.47637674e-02 -8.17134841e-05 9.99693328e-01 -4.43266949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404012739 meters 0.024541859580020874 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.13, Z:-0.45 [[ 9.97285820e-01 6.95019118e-02 2.42997568e-02 2.56971575e+01] [-6.94810456e-02 9.97581818e-01 -1.70298416e-03 -1.12843948e+00] [-2.43593562e-02 9.98944505e-06 9.99703267e-01 -4.45647178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464012738999998 meters 0.0257978216437344 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.14, Z:-0.45 [[ 9.97697203e-01 6.34011556e-02 2.40953388e-02 2.57583185e+01] [-6.33787698e-02 9.97988110e-01 -1.69236403e-03 -1.14025055e+00] [-2.41541595e-02 1.61333923e-04 9.99708233e-01 -4.47382628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524012739 meters 0.02782900858395885 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.15, Z:-0.45 [[ 9.98041482e-01 5.84232986e-02 2.23588532e-02 2.58192918e+01] [-5.84026983e-02 9.98291865e-01 -1.57378681e-03 -1.15217202e+00] [-2.24126071e-02 2.64887158e-04 9.99748771e-01 -4.52831484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584012739 meters 0.028684424881550496 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.16, Z:-0.45 [[ 9.98053398e-01 5.75853280e-02 2.39446191e-02 2.58804352e+01] [-5.75613661e-02 9.98340541e-01 -1.68933217e-03 -1.15935716e+00] [-2.40021647e-02 3.07758723e-04 9.99711859e-01 -4.50309745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644012739 meters 0.02727548956196961 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.16, Z:-0.45 [[ 9.97941200e-01 5.96283756e-02 2.36181926e-02 2.59427589e+01] [-5.96055489e-02 9.98220612e-01 -1.66992440e-03 -1.16043589e+00] [-2.36757415e-02 2.58711025e-04 9.99719657e-01 -4.52650786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704012739 meters 0.02572036699127061 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.16, Z:-0.46 [[ 9.97695644e-01 6.41451775e-02 2.21087643e-02 2.60044097e+01] [-6.41262072e-02 9.97940567e-01 -1.56666876e-03 -1.15732663e+00] [-2.21637270e-02 1.45307396e-04 9.99754344e-01 -4.55500340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764012738999998 meters 0.024904910652010538 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.16, Z:-0.45 [[ 9.97418389e-01 6.72795109e-02 2.51002825e-02 2.60674390e+01] [-6.72559372e-02 9.97734163e-01 -1.78316399e-03 -1.15501803e+00] [-2.51633798e-02 9.04175354e-05 9.99683348e-01 -4.52908077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824012739 meters 0.025534318191200063 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.16, Z:-0.45 [[ 9.97549104e-01 6.48032887e-02 2.63878575e-02 2.61288401e+01] [-6.47762321e-02 9.97898044e-01 -1.87975894e-03 -1.16095262e+00] [-2.64542059e-02 1.65845863e-04 9.99650012e-01 -4.51348403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884012739 meters 0.025676708110687254 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.17, Z:-0.45 [[ 9.97553822e-01 6.47305239e-02 2.63880773e-02 2.61914229e+01] [-6.47033270e-02 9.97902766e-01 -1.88409763e-03 -1.16699297e+00] [-2.64546939e-02 1.72092397e-04 9.99649999e-01 -4.52244743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944012738999998 meters 0.024929763767027942 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.17, Z:-0.46 [[ 9.97321667e-01 6.84353152e-02 2.58089037e-02 2.62542450e+01] [-6.84104184e-02 9.97655553e-01 -1.84740927e-03 -1.16567841e+00] [-2.58748241e-02 7.68633915e-05 9.99665188e-01 -4.55315405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004012739 meters 0.024799962975020393 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.16, Z:-0.46 [[ 9.96944571e-01 7.41026057e-02 2.47047724e-02 2.63160851e+01] [-7.40814346e-02 9.97250620e-01 -1.77234781e-03 -1.16186830e+00] [-2.47681852e-02 -6.32324555e-05 9.99693219e-01 -4.58475774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064012739 meters 0.025157238349880377 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.16, Z:-0.46 [[ 9.96781235e-01 7.62404979e-02 2.47902249e-02 2.63784079e+01] [-7.62197426e-02 9.97089451e-01 -1.78243565e-03 -1.16319146e+00] [-2.48539655e-02 -1.12806155e-04 9.99691086e-01 -4.61013658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124012738999998 meters 0.024738617045546654 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.18, Z:-0.46 [[ 9.97077229e-01 7.13339431e-02 2.73581541e-02 2.64410266e+01] [-7.13066734e-02 9.97452489e-01 -1.97231094e-03 -1.17836566e+00] [-2.74291516e-02 1.57273676e-05 9.99623750e-01 -4.56883010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184012739 meters 0.02527255729638949 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.19, Z:-0.46 [[ 9.97314803e-01 6.76567306e-02 2.80312501e-02 2.65026237e+01] [-6.76265039e-02 9.97708650e-01 -2.02602251e-03 -1.18937597e+00] [-2.81040948e-02 1.24926794e-04 9.99604994e-01 -4.58049388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244012739 meters 0.025586116889728252 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.20, Z:-0.46 [[ 9.97377420e-01 6.67881249e-02 2.78859767e-02 2.65644504e+01] [-6.67577409e-02 9.97767169e-01 -2.02018482e-03 -1.19769656e+00] [-2.79586364e-02 1.53281913e-04 9.99609069e-01 -4.59197953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304012738999997 meters 0.02469191735806162 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.20, Z:-0.46 [[ 9.97156991e-01 7.05263837e-02 2.65323141e-02 2.66269740e+01] [-7.05000841e-02 9.97509913e-01 -1.92652596e-03 -1.19757944e+00] [-2.66021173e-02 5.05184542e-05 9.99646100e-01 -4.63675077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364012739 meters 0.025043395071784817 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.20, Z:-0.47 [[ 9.96758080e-01 7.62852157e-02 2.55714019e-02 2.66901107e+01] [-7.62625727e-02 9.97086033e-01 -1.86096815e-03 -1.19717932e+00] [-2.56388520e-02 -9.52058546e-05 9.99671266e-01 -4.66826034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424012739 meters 0.027662879655633025 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.19, Z:-0.47 [[ 9.96224890e-01 8.33047733e-02 2.44189087e-02 2.67524886e+01] [-8.32861269e-02 9.96524083e-01 -1.78141423e-03 -1.19004185e+00] [-2.44824309e-02 -2.59067140e-04 9.99700227e-01 -4.70044793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484012739 meters 0.03217505556788842 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.18, Z:-0.47 [[ 9.95498290e-01 9.13386038e-02 2.53063841e-02 2.68140294e+01] [-9.13210862e-02 9.95819782e-01 -1.84946919e-03 -1.18043633e+00] [-2.53695258e-02 -4.69863066e-04 9.99678031e-01 -4.70777675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544012739 meters 0.03582782446662241 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.17, Z:-0.47 [[ 9.95113604e-01 9.55335289e-02 2.49451380e-02 2.68750491e+01] [-9.55178172e-02 9.95426050e-01 -1.82336464e-03 -1.17358274e+00] [-2.50052326e-02 -5.68250167e-04 9.99687159e-01 -4.73429609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604012738999998 meters 0.03759179902671058 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.17, Z:-0.47 [[ 9.94993403e-01 9.66134199e-02 2.55729476e-02 2.69368144e+01] [-9.65972372e-02 9.95321795e-01 -1.87028950e-03 -1.16736578e+00] [-2.56340071e-02 -6.09350369e-04 9.99671209e-01 -4.71925116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664012739 meters 0.03077748036219028 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.18, Z:-0.47 [[ 9.95738751e-01 8.84156398e-02 2.62109647e-02 2.69967714e+01] [-8.83957137e-02 9.96083586e-01 -1.92018943e-03 -1.18101883e+00] [-2.62780864e-02 -4.04929909e-04 9.99654589e-01 -4.73852734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724012739 meters 0.02610898616346958 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.20, Z:-0.48 [[ 9.96495906e-01 7.96300175e-02 2.55923737e-02 2.70572837e+01] [-7.96081103e-02 9.96824474e-01 -1.87533813e-03 -1.20004712e+00] [-2.56604376e-02 -1.68593741e-04 9.99670703e-01 -4.77746231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784012738999998 meters 0.024957943193979808 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.22, Z:-0.48 [[ 9.96855052e-01 7.48112325e-02 2.61397016e-02 2.71185111e+01] [-7.47866692e-02 9.97197712e-01 -1.91742422e-03 -1.21642514e+00] [-2.62098955e-02 -4.35071905e-05 9.99656461e-01 -4.76303643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844012739 meters 0.026368011469459315 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.22, Z:-0.47 [[ 9.96375062e-01 8.03741373e-02 2.78699476e-02 2.71801330e+01] [-8.03482604e-02 9.96764746e-01 -2.04893275e-03 -1.21501974e+00] [-2.79444624e-02 -1.97796308e-04 9.99609458e-01 -4.74446766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904012739 meters 0.02994452084636701 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.21, Z:-0.47 [[ 9.95733416e-01 8.75215692e-02 2.92393393e-02 2.72416882e+01] [-8.74960666e-02 9.96162538e-01 -2.15296578e-03 -1.21276251e+00] [-2.93155654e-02 -4.14547205e-04 9.99570120e-01 -4.74088532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964012738999998 meters 0.031188670135893794 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.22, Z:-0.48 [[ 9.95538148e-01 8.98347075e-02 2.88707558e-02 2.73037125e+01] [-8.98107616e-02 9.95956575e-01 -2.12769902e-03 -1.21606289e+00] [-2.89451603e-02 -4.74699020e-04 9.99580888e-01 -4.78953645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024012739 meters 0.029485718629078582 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.22, Z:-0.48 [[ 9.95780957e-01 8.76987600e-02 2.70039489e-02 2.73658713e+01] [-8.76769296e-02 9.96146968e-01 -1.99367207e-03 -1.22364890e+00] [-2.70747444e-02 -3.82362650e-04 9.99633339e-01 -4.84333612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084012739 meters 0.02928354162906888 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.22, Z:-0.49 [[ 9.95800967e-01 8.79381813e-02 2.54422955e-02 2.74278539e+01] [-8.79188299e-02 9.96125867e-01 -1.88038337e-03 -1.22484481e+00] [-2.55090861e-02 -3.64369266e-04 9.99674524e-01 -4.88495963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144012739 meters 0.030089830269063967 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.22, Z:-0.49 [[ 9.95613274e-01 8.96874708e-02 2.66526826e-02 2.74904003e+01] [-8.96667346e-02 9.95969868e-01 -1.97455685e-03 -1.22017589e+00] [-2.67223618e-02 -4.23964001e-04 9.99642804e-01 -4.89214519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204012739 meters 0.03026875320338781 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.22, Z:-0.49 [[ 9.95654828e-01 8.89487937e-02 2.75603852e-02 2.75514396e+01] [-8.89262063e-02 9.96036115e-01 -2.04656895e-03 -1.22093569e+00] [-2.76331788e-02 -4.13164244e-04 9.99618045e-01 -4.87014311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264012738999998 meters 0.029037624010534502 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.23, Z:-0.49 [[ 9.95888112e-01 8.66517697e-02 2.64260895e-02 2.76122147e+01] [-8.66300886e-02 9.96238607e-01 -1.96635011e-03 -1.22652744e+00] [-2.64970783e-02 -3.31029777e-04 9.99648836e-01 -4.90663356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324012739 meters 0.026509972137678178 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.24, Z:-0.49 [[ 9.96314699e-01 8.20156854e-02 2.51087207e-02 2.76734671e+01] [-8.19945468e-02 9.96631020e-01 -1.87202027e-03 -1.23724207e+00] [-2.51776650e-02 -1.93656866e-04 9.99682974e-01 -4.94983710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384012739 meters 0.02518188805834038 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.25, Z:-0.49 [[ 9.96649543e-01 7.71926369e-02 2.70367365e-02 2.77345994e+01] [-7.71662268e-02 9.97016194e-01 -2.02037397e-03 -1.24948046e+00] [-2.71120221e-02 -7.27181483e-05 9.99632399e-01 -4.91845974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444012738999998 meters 0.024993112999645104 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.26, Z:-0.50 [[ 9.96829832e-01 7.58268586e-02 2.40950753e-02 2.77959679e+01] [-7.58053980e-02 9.97120999e-01 -1.80413575e-03 -1.25675910e+00] [-2.41625075e-02 -2.81204355e-05 9.99708044e-01 -5.00733204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504012739 meters 0.024934543989670717 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.27, Z:-0.50 [[ 9.96795367e-01 7.57839012e-02 2.56085313e-02 2.78573042e+01] [-7.57595285e-02 9.97124265e-01 -1.92200542e-03 -1.26544054e+00] [-2.56805450e-02 -2.42441557e-05 9.99670200e-01 -4.98601972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564012739 meters 0.024954287588205747 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.27, Z:-0.50 [[ 9.96871573e-01 7.45521773e-02 2.62495589e-02 2.79200024e+01] [-7.45260154e-02 9.97217114e-01 -1.97492232e-03 -1.27293673e+00] [-2.63237441e-02 1.24688876e-05 9.99653470e-01 -4.97898735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624012738999998 meters 0.02501121127416574 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.28, Z:-0.50 [[ 9.96879224e-01 7.38896912e-02 2.77871551e-02 2.79820817e+01] [-7.38599711e-02 9.97266420e-01 -2.09582636e-03 -1.28096020e+00] [-2.78660566e-02 3.69272793e-05 9.99611665e-01 -4.96997878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684012739 meters 0.025202250450530005 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.28, Z:-0.49 [[ 9.96670331e-01 7.57785430e-02 3.00975796e-02 2.80441966e+01] [-7.57443786e-02 9.97124672e-01 -2.27526735e-03 -1.28006204e+00] [-3.01834557e-02 -1.20310039e-05 9.99544376e-01 -4.93932169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744012739 meters 0.02506865535765292 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.28, Z:-0.50 [[ 9.96571406e-01 7.73504182e-02 2.93657145e-02 2.81069823e+01] [-7.73184666e-02 9.97003967e-01 -2.22370873e-03 -1.28032862e+00] [-2.94497386e-02 -5.44274807e-05 9.99566261e-01 -4.96695002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804012738999997 meters 0.02507241737834326 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.28, Z:-0.50 [[ 9.96595044e-01 7.76959633e-02 2.75981042e-02 2.81688411e+01] [-7.76678130e-02 9.96977098e-01 -2.09211796e-03 -1.28022105e+00] [-2.76772269e-02 -5.84900075e-05 9.99616910e-01 -5.01675165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864012739 meters 0.02523742270116019 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.28, Z:-0.50 [[ 9.96529151e-01 7.87160738e-02 2.70819291e-02 2.82322057e+01] [-7.86892232e-02 9.96897073e-01 -2.05741456e-03 -1.28281554e+00] [-2.71598475e-02 -8.07823802e-05 9.99631100e-01 -5.04137539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924012739 meters 0.0253309806362139 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.28, Z:-0.51 [[ 9.96400781e-01 8.06732846e-02 2.60250818e-02 2.82958585e+01] [-8.06490345e-02 9.96740591e-01 -1.98179582e-03 -1.27983596e+00] [-2.61001334e-02 -1.24234824e-04 9.99659326e-01 -5.08148113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984012739 meters 0.02644113680018256 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.28, Z:-0.51 [[ 9.96136670e-01 8.34516398e-02 2.73415090e-02 2.83574236e+01] [-8.34257890e-02 9.96511808e-01 -2.08682161e-03 -1.27551566e+00] [-2.74202852e-02 -2.02227429e-04 9.99623973e-01 -5.06618403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044012738999996 meters 0.026510771172962237 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.27, Z:-0.52 [[ 9.96152907e-01 8.42004056e-02 2.42832980e-02 2.84198612e+01] [-8.41801817e-02 9.96448821e-01 -1.85569060e-03 -1.27153778e+00] [-2.43533136e-02 -1.95620855e-04 9.99703395e-01 -5.15557991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104012739 meters 0.026314066116890335 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.27, Z:-0.52 [[ 9.96252674e-01 8.35268947e-02 2.24469931e-02 2.84808532e+01] [-8.35093656e-02 9.96505510e-01 -1.71880648e-03 -1.27308629e+00] [-2.25121188e-02 -1.62168602e-04 9.99746557e-01 -5.20331697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16401273899999 meters 0.025312263484939413 Centerline is valid? [True, True] Translation: X:28.54, Y:-1.28, Z:-0.52 [[ 9.96567108e-01 7.96846220e-02 2.24579562e-02 2.85431079e+01] [-7.96660222e-02 9.96820122e-01 -1.72309598e-03 -1.27659731e+00] [-2.25238469e-02 -7.19552650e-05 9.99746303e-01 -5.21517280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224012738999996 meters 0.025362031758251014 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.29, Z:-0.52 [[ 9.97021406e-01 7.32015921e-02 2.42866697e-02 2.86054771e+01] [-7.31778077e-02 9.97317161e-01 -1.86782682e-03 -1.28522079e+00] [-2.43582404e-02 8.50180704e-05 9.99703290e-01 -5.20376952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284012739 meters 0.02689091445693986 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.29, Z:-0.52 [[ 9.97409453e-01 6.79738636e-02 2.35358507e-02 2.86671204e+01] [-6.79499691e-02 9.97687080e-01 -1.81442117e-03 -1.29277105e+00] [-2.36047473e-02 2.10460503e-04 9.99721347e-01 -5.23501711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34401273899999 meters 0.028769832400609156 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.30, Z:-0.52 [[ 9.97615371e-01 6.41431718e-02 2.54798782e-02 2.87275160e+01] [-6.41138123e-02 9.97940652e-01 -1.96837717e-03 -1.30179682e+00] [-2.55536642e-02 3.30071193e-04 9.99673397e-01 -5.19470797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404012738999995 meters 0.028638142470865522 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.30, Z:-0.52 [[ 9.97514571e-01 6.48097086e-02 2.76474613e-02 2.87902034e+01] [-6.47753108e-02 9.97897582e-01 -2.13889998e-03 -1.30332684e+00] [-2.77279563e-02 3.42710997e-04 9.99615448e-01 -5.15575029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464012739 meters 0.02871709608444066 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.30, Z:-0.51 [[ 9.97423566e-01 6.52895933e-02 2.97236965e-02 2.88513117e+01] [-6.52499105e-02 9.97866294e-01 -2.30409054e-03 -1.30135291e+00] [-2.98107080e-02 3.58685666e-04 9.99555498e-01 -5.13533669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52401273899999 meters 0.030095089670967176 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.31, Z:-0.51 [[ 9.97519097e-01 6.35887576e-02 3.02013328e-02 2.89136030e+01] [-6.35469116e-02 9.97976099e-01 -2.34434324e-03 -1.30614006e+00] [-3.02892821e-02 4.19325731e-04 9.99541086e-01 -5.13706439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584012738999995 meters 0.034270584640119665 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.32, Z:-0.52 [[ 9.97963510e-01 5.79758214e-02 2.66014499e-02 2.89735317e+01] [-5.79412849e-02 9.98317851e-01 -2.06790607e-03 -1.31561224e+00] [-2.66765909e-02 5.22372612e-04 9.99643980e-01 -5.22432151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644012739 meters 0.03942637852872637 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.33, Z:-0.52 [[ 9.98236070e-01 5.26490890e-02 2.74375960e-02 2.90328396e+01] [-5.26103143e-02 9.98612839e-01 -2.13367368e-03 -1.32836700e+00] [-2.75118716e-02 6.86409482e-04 9.99621241e-01 -5.20261462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70401273899999 meters 0.038158049717788446 Centerline is valid? [True, True] Translation: X:29.09, Y:-1.33, Z:-0.53 [[ 9.98221277e-01 5.42797779e-02 2.46574224e-02 2.90945290e+01] [-5.42489393e-02 9.98525599e-01 -1.91838019e-03 -1.33088740e+00] [-2.47251967e-02 5.77328909e-04 9.99694119e-01 -5.28755011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764012738999995 meters 0.036075929736021764 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.33, Z:-0.53 [[ 9.98134468e-01 5.66556716e-02 2.27534194e-02 2.91555003e+01] [-5.66300142e-02 9.98393663e-01 -1.77091738e-03 -1.33270225e+00] [-2.28172023e-02 4.79087212e-04 9.99739539e-01 -5.33769927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824012739 meters 0.03409360709367033 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.33, Z:-0.53 [[ 9.97944210e-01 5.95801211e-02 2.36127763e-02 2.92175623e+01] [-5.95532841e-02 9.98223435e-01 -1.83875409e-03 -1.33164715e+00] [-2.36803799e-02 4.28755619e-04 9.99719489e-01 -5.33475022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88401273899999 meters 0.03173764962022995 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.33, Z:-0.53 [[ 9.97803734e-01 6.16484871e-02 2.42316431e-02 2.92799612e+01] [-6.16207425e-02 9.98097846e-01 -1.89071631e-03 -1.33405897e+00] [-2.43021106e-02 3.93391951e-04 9.99704583e-01 -5.33727098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944012738999994 meters 0.03348936932220883 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.34, Z:-0.53 [[ 9.98000364e-01 5.82170039e-02 2.46181651e-02 2.93415383e+01] [-5.81872384e-02 9.98303833e-01 -1.92431085e-03 -1.34276695e+00] [-2.46884362e-02 4.87999886e-04 9.99695075e-01 -5.34077875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004012739 meters 0.03487528843693592 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.35, Z:-0.53 [[ 9.97927230e-01 5.90834436e-02 2.55027512e-02 2.94026157e+01] [-5.90517463e-02 9.98252930e-01 -1.99488602e-03 -1.35251553e+00] [-2.55760609e-02 4.84769081e-04 9.99672762e-01 -5.32595113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064012739 meters 0.031899394086560846 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.35, Z:-0.53 [[ 9.97796879e-01 6.14064100e-02 2.51125745e-02 2.94653806e+01] [-6.13763583e-02 9.98112757e-01 -1.96644119e-03 -1.35377889e+00] [-2.51859330e-02 4.20790516e-04 9.99682696e-01 -5.34035933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124012738999994 meters 0.03168287694105093 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.36, Z:-0.54 [[ 9.97767428e-01 6.20923779e-02 2.45905523e-02 2.95273087e+01] [-6.20637274e-02 9.98070328e-01 -1.92733662e-03 -1.35888608e+00] [-2.46627735e-02 3.96852364e-04 9.99695749e-01 -5.36522917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184012738999996 meters 0.03097356443403725 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.37, Z:-0.54 [[ 9.97694866e-01 6.34278780e-02 2.41217628e-02 2.95894894e+01] [-6.34006105e-02 9.97986360e-01 -1.89428336e-03 -1.36585040e+00] [-2.41933407e-02 3.60582287e-04 9.99707233e-01 -5.39067351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244012739 meters 0.02910829867598873 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.37, Z:-0.54 [[ 9.97635425e-01 6.41047703e-02 2.47817829e-02 2.96524039e+01] [-6.40760973e-02 9.97943110e-01 -1.95018900e-03 -1.37011614e+00] [-2.48558259e-02 3.57657705e-04 9.99690982e-01 -5.39462376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304012738999994 meters 0.02832431423553378 Centerline is valid? [True, True] Translation: X:29.71, Y:-1.38, Z:-0.54 [[ 9.97455971e-01 6.60086056e-02 2.69156120e-02 2.97137094e+01] [-6.59753298e-02 9.97818995e-01 -2.12344743e-03 -1.38013120e+00] [-2.69970747e-02 3.42278944e-04 9.99635454e-01 -5.36833178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364012738999996 meters 0.027518081286678205 Centerline is valid? [True, True] Translation: X:29.77, Y:-1.39, Z:-0.54 [[ 9.97333941e-01 6.80475731e-02 2.63540940e-02 2.97749395e+01] [-6.80162686e-02 9.97682037e-01 -2.08347615e-03 -1.38799360e+00] [-2.64347817e-02 2.85414341e-04 9.99650499e-01 -5.38511112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424012739 meters 0.027948329269844516 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.40, Z:-0.54 [[ 9.97181932e-01 7.01198478e-02 2.66721075e-02 2.98359804e+01] [-7.00884072e-02 9.97538546e-01 -2.11298508e-03 -1.39671602e+00] [-2.67546175e-02 2.37625015e-04 9.99642003e-01 -5.37231771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48401273899999 meters 0.025131780831668133 Centerline is valid? [True, True] Translation: X:29.90, Y:-1.40, Z:-0.54 [[ 9.96876861e-01 7.47439509e-02 2.54924483e-02 2.98983411e+01] [-7.47166448e-02 9.97202752e-01 -2.02331271e-03 -1.39866498e+00] [-2.55723700e-02 1.12283418e-04 9.99672967e-01 -5.42819091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544012738999996 meters 0.024663064569523784 Centerline is valid? [True, True] Translation: X:29.96, Y:-1.40, Z:-0.54 [[ 9.96536581e-01 7.89301680e-02 2.61700290e-02 2.99609507e+01] [-7.89027190e-02 9.96880148e-01 -2.08145385e-03 -1.40174414e+00] [-2.62526719e-02 9.35845875e-06 9.99655339e-01 -5.44215477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604012739 meters 0.024866318114663923 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.40, Z:-0.55 [[ 9.96262764e-01 8.26597526e-02 2.50573510e-02 3.00232620e+01] [-8.26356710e-02 9.96577824e-01 -1.99679671e-03 -1.40464542e+00] [-2.51366550e-02 -8.12968040e-05 9.99684021e-01 -5.48235157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66401273899999 meters 0.02682832301931829 Centerline is valid? [True, True] Translation: X:30.09, Y:-1.40, Z:-0.55 [[ 9.95710252e-01 8.95006227e-02 2.34676855e-02 3.00857225e+01] [-8.94813326e-02 9.95986739e-01 -1.87291850e-03 -1.39804788e+00] [-2.35411309e-02 -2.35035618e-04 9.99722842e-01 -5.53401738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724012738999996 meters 0.029051764454053275 Centerline is valid? [True, True] Translation: X:30.15, Y:-1.40, Z:-0.55 [[ 9.95424334e-01 9.22051045e-02 2.50721711e-02 3.01474539e+01] [-9.21838407e-02 9.95739986e-01 -2.00506124e-03 -1.39718193e+00] [-2.51502402e-02 -3.15362280e-04 9.99683633e-01 -5.51062538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784012739 meters 0.025648680349134506 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.41, Z:-0.55 [[ 9.95962162e-01 8.57390689e-02 2.66117307e-02 3.02082009e+01] [-8.57127271e-02 9.96317613e-01 -2.13107481e-03 -1.41334617e+00] [-2.66964524e-02 -1.58494143e-04 9.99643574e-01 -5.49412088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84401273899999 meters 0.024690023838980175 Centerline is valid? [True, True] Translation: X:30.27, Y:-1.43, Z:-0.55 [[ 9.96367504e-01 8.10739921e-02 2.60538937e-02 3.02689349e+01] [-8.10470413e-02 9.96708085e-01 -2.09048232e-03 -1.43366771e+00] [-2.61376102e-02 -2.87023479e-05 9.99658354e-01 -5.54047113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904012738999995 meters 0.024738759676157268 Centerline is valid? [True, True] Translation: X:30.33, Y:-1.45, Z:-0.55 [[ 9.96571858e-01 7.86244038e-02 2.57436423e-02 3.03297309e+01] [-7.85971617e-02 9.96904309e-01 -2.06992871e-03 -1.44993976e+00] [-2.58266949e-02 3.94554865e-05 9.99666435e-01 -5.54282125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964012739 meters 0.02463919420526653 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.46, Z:-0.56 [[ 9.96464870e-01 7.98838099e-02 2.60065308e-02 3.03924403e+01] [-7.98563141e-02 9.96804182e-01 -2.09578539e-03 -1.46059349e+00] [-2.60908380e-02 1.15908215e-05 9.99659576e-01 -5.56814263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02401273899999 meters 0.029782640338796993 Centerline is valid? [True, True] Translation: X:30.46, Y:-1.46, Z:-0.55 [[ 9.95902230e-01 8.68618886e-02 2.51745873e-02 3.04551194e+01] [-8.68382393e-02 9.96220350e-01 -2.03319773e-03 -1.45986875e+00] [-2.52560436e-02 -1.61250682e-04 9.99681002e-01 -5.47971860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084012738999995 meters 0.029268458025588705 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.46, Z:-0.56 [[ 9.95278483e-01 9.37889489e-02 2.49874761e-02 3.05160989e+01] [-9.37677402e-02 9.95592047e-01 -2.02170745e-03 -1.45783732e+00] [-2.50669463e-02 -3.30857242e-04 9.99685720e-01 -5.62491829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144012739 meters 0.032176932760599845 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.45, Z:-0.56 [[ 9.94863914e-01 9.80502557e-02 2.51384319e-02 3.05790320e+01] [-9.80301034e-02 9.95181368e-01 -2.03573577e-03 -1.45442336e+00] [-2.52169034e-02 -4.39043020e-04 9.99681907e-01 -5.64437776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20401273899999 meters 0.033209815877835495 Centerline is valid? [True, True] Translation: X:30.64, Y:-1.46, Z:-0.57 [[ 9.94852020e-01 9.84465381e-02 2.40361724e-02 3.06408866e+01] [-9.84281982e-02 9.95142249e-01 -1.94779183e-03 -1.45587904e+00] [-2.41111641e-02 -4.28072509e-04 9.99709192e-01 -5.67722930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264012738999995 meters 0.030429009439098723 Centerline is valid? [True, True] Translation: X:30.70, Y:-1.46, Z:-0.57 [[ 9.95144896e-01 9.54664651e-02 2.39330377e-02 3.07031397e+01] [-9.54473600e-02 9.95432584e-01 -1.94195751e-03 -1.46315256e+00] [-2.40091173e-02 -3.51816155e-04 9.99711678e-01 -5.70363814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324012739 meters 0.026012429537262266 Centerline is valid? [True, True] Translation: X:30.76, Y:-1.48, Z:-0.57 [[ 9.95838755e-01 8.69377403e-02 2.73313544e-02 3.07625122e+01] [-8.69095715e-02 9.96213733e-01 -2.21910883e-03 -1.48029811e+00] [-2.74207949e-02 -1.65481722e-04 9.99623966e-01 -5.65015718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38401273899999 meters 0.024812878267784024 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.49, Z:-0.57 [[ 9.96275585e-01 8.21744911e-02 2.61210859e-02 3.08241608e+01] [-8.21471100e-02 9.96617957e-01 -2.12140225e-03 -1.49433118e+00] [-2.62070684e-02 -3.22704537e-05 9.99656535e-01 -5.70404558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444012738999994 meters 0.02481647963994861 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.50, Z:-0.58 [[ 9.96388540e-01 8.17091200e-02 2.30975557e-02 3.08849178e+01] [-8.16875525e-02 9.96656219e-01 -1.87731730e-03 -1.50249692e+00] [-2.31737164e-02 -1.62453462e-05 9.99731453e-01 -5.76423856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504012739 meters 0.025096827386468075 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.50, Z:-0.58 [[ 9.96134403e-01 8.48417075e-02 2.27625762e-02 3.09478887e+01] [-8.48214992e-02 9.96394439e-01 -1.85357069e-03 -1.50083833e+00] [-2.28377644e-02 -8.43503017e-05 9.99739181e-01 -5.78880501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564012739 meters 0.025578708545740913 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.50, Z:-0.58 [[ 9.95902301e-01 8.70667349e-02 2.44538392e-02 3.10100254e+01] [-8.70439645e-02 9.96202471e-01 -1.99608610e-03 -1.50096788e+00] [-2.45347677e-02 -1.40652371e-04 9.99698967e-01 -5.76661389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624012738999994 meters 0.025010911922825913 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.51, Z:-0.58 [[ 9.96078817e-01 8.52428830e-02 2.36778834e-02 3.10714668e+01] [-8.52209298e-02 9.96360197e-01 -1.93652362e-03 -1.51179927e+00] [-2.37567755e-02 -8.89210869e-05 9.99717764e-01 -5.82103619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684012738999996 meters 0.024936775148413255 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.53, Z:-0.58 [[ 9.96482384e-01 7.97327370e-02 2.57982194e-02 3.11326467e+01] [-7.97047075e-02 9.96816276e-01 -2.11460191e-03 -1.53097250e+00] [-2.58846880e-02 5.09240181e-05 9.99664934e-01 -5.78207701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744012739 meters 0.025449671338000378 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.54, Z:-0.58 [[ 9.96679804e-01 7.72313370e-02 2.57815505e-02 3.11938901e+01] [-7.72023911e-02 9.97013193e-01 -2.11770682e-03 -1.54491095e+00] [-2.58680993e-02 1.20278275e-04 9.99665357e-01 -5.81160020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804012738999994 meters 0.025423385321435007 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.56, Z:-0.59 [[ 9.96723301e-01 7.80241817e-02 2.13280936e-02 3.12553705e+01] [-7.80044929e-02 9.96951463e-01 -1.75479362e-03 -1.55849183e+00] [-2.13999905e-02 8.53565587e-05 9.99770990e-01 -5.92165148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864012738999996 meters 0.02511916347596344 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.57, Z:-0.60 [[ 9.96560839e-01 8.03460394e-02 2.02733350e-02 3.13155518e+01] [-8.03286655e-02 9.96767030e-01 -1.67119876e-03 -1.56787003e+00] [-2.03420661e-02 3.69212933e-05 9.99793078e-01 -5.95446967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924012739 meters 0.025007459613745744 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.57, Z:-0.60 [[ 9.96294628e-01 8.35579694e-02 2.03735271e-02 3.13777142e+01] [-8.35410308e-02 9.96502918e-01 -1.68258380e-03 -1.57401522e+00] [-2.04428725e-02 -2.56762520e-05 9.99791022e-01 -5.96534797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98401273899999 meters 0.02570445851936839 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.58, Z:-0.60 [[ 9.95957288e-01 8.75507482e-02 2.00984551e-02 3.14385952e+01] [-8.75350072e-02 9.96160055e-01 -1.66330627e-03 -1.57571660e+00] [-2.01669018e-02 -1.02736411e-04 9.99796622e-01 -5.97884684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044012738999996 meters 0.025971240911208796 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.58, Z:-0.60 [[ 9.95851911e-01 8.87366320e-02 2.01191815e-02 3.15016888e+01] [-8.87210408e-02 9.96055116e-01 -1.66797458e-03 -1.58071970e+00] [-2.01878242e-02 -1.23939053e-04 9.99796197e-01 -5.99113449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104012739 meters 0.027012720076769293 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.59, Z:-0.60 [[ 9.95565099e-01 9.17069498e-02 2.09754557e-02 3.15635752e+01] [-9.16905796e-02 9.95786021e-01 -1.74287915e-03 -1.58550433e+00] [-2.10468997e-02 -1.88102043e-04 9.99778472e-01 -5.98532289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16401273899999 meters 0.0278555549570074 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.59, Z:-0.59 [[ 9.95351790e-01 9.32563341e-02 2.40430983e-02 3.16248570e+01] [-9.32351733e-02 9.95642101e-01 -2.00206399e-03 -1.58839028e+00] [-2.41250261e-02 -2.48904461e-04 9.99708918e-01 -5.94723795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224012738999996 meters 0.0295224608652788 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.59, Z:-0.60 [[ 9.95143145e-01 9.56409332e-02 2.33009199e-02 3.16869552e+01] [-9.56216335e-02 9.95415856e-01 -1.94362464e-03 -1.59210635e+00] [-2.33799951e-02 -2.93887282e-04 9.99726607e-01 -5.97750012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284012739 meters 0.030272415056515106 Centerline is valid? [True, True] Translation: X:31.75, Y:-1.60, Z:-0.61 [[ 9.95155213e-01 9.64728964e-02 1.89494740e-02 3.17500556e+01] [-9.64602393e-02 9.95335580e-01 -1.58296340e-03 -1.59638761e+00] [-1.90137987e-02 -2.52576508e-04 9.99819189e-01 -6.09221870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34401273899999 meters 0.028842320769951857 Centerline is valid? [True, True] Translation: X:31.81, Y:-1.61, Z:-0.61 [[ 9.95404941e-01 9.42037406e-02 1.71656476e-02 3.18112970e+01] [-9.41929692e-02 9.95552922e-01 -1.43672770e-03 -1.60797792e+00] [-1.72246558e-02 -1.86757464e-04 9.99851627e-01 -6.12899190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404012738999995 meters 0.028881913655195657 Centerline is valid? [True, True] Translation: X:31.87, Y:-1.61, Z:-0.62 [[ 9.95443636e-01 9.40102113e-02 1.59389011e-02 3.18736906e+01] [-9.40008655e-02 9.95571219e-01 -1.33618666e-03 -1.61219027e+00] [-1.59939264e-02 -1.68171988e-04 9.99872075e-01 -6.16610157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464012739 meters 0.035201789706040355 Centerline is valid? [True, True] Translation: X:31.94, Y:-1.62, Z:-0.60 [[ 9.95263545e-01 9.58506885e-02 1.62210038e-02 3.19360501e+01] [-9.58412057e-02 9.95395703e-01 -1.36276312e-03 -1.61511154e+00] [-1.62769393e-02 -1.98332110e-04 9.99867502e-01 -5.98005849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52401273899999 meters 0.028349274618312534 Centerline is valid? [True, True] Translation: X:32.00, Y:-1.62, Z:-0.61 [[ 9.95296804e-01 9.52807433e-02 1.74886043e-02 3.19963570e+01] [-9.52695756e-02 9.95450421e-01 -1.47249421e-03 -1.61969217e+00] [-1.75493389e-02 -2.00563132e-04 9.99845978e-01 -6.13628161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584012738999995 meters 0.028462609214175705 Centerline is valid? [True, True] Translation: X:32.06, Y:-1.62, Z:-0.62 [[ 9.95239138e-01 9.58224330e-02 1.78078279e-02 3.20596090e+01] [-9.58108922e-02 9.95398421e-01 -1.50207776e-03 -1.62162457e+00] [-1.78698166e-02 -2.11257303e-04 9.99840300e-01 -6.16163919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644012739 meters 0.026277406716937207 Centerline is valid? [True, True] Translation: X:32.12, Y:-1.63, Z:-0.62 [[ 9.95594519e-01 9.19913798e-02 1.81421875e-02 3.21210370e+01] [-9.19787007e-02 9.95759793e-01 -1.53382835e-03 -1.63102426e+00] [-1.82063599e-02 -1.41623734e-04 9.99834240e-01 -6.16576996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70401273899999 meters 0.02578175463156629 Centerline is valid? [True, True] Translation: X:32.18, Y:-1.64, Z:-0.62 [[ 9.95722582e-01 9.02342193e-02 1.98576383e-02 3.21820466e+01] [-9.02186059e-02 9.95920565e-01 -1.68254947e-03 -1.63907279e+00] [-1.99284539e-02 -1.16175942e-04 9.99801402e-01 -6.15070553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764012738999995 meters 0.025831958029504287 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.65, Z:-0.62 [[ 9.95701890e-01 9.06712212e-02 1.88805805e-02 3.22449625e+01] [-9.06571336e-02 9.95880874e-01 -1.60248510e-03 -1.64732917e+00] [-1.89481083e-02 -1.16061867e-04 9.99820462e-01 -6.16988731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824012739 meters 0.025707226837895194 Centerline is valid? [True, True] Translation: X:32.31, Y:-1.66, Z:-0.62 [[ 9.95858591e-01 8.93044791e-02 1.70404464e-02 3.23065725e+01] [-8.92927544e-02 9.96004369e-01 -1.44918773e-03 -1.65819223e+00] [-1.71017781e-02 -7.84023469e-05 9.99853751e-01 -6.22856181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88401273899999 meters 0.025220880692564264 Centerline is valid? [True, True] Translation: X:32.37, Y:-1.67, Z:-0.63 [[ 9.96142299e-01 8.62851564e-02 1.59809774e-02 3.23688429e+01] [-8.62744150e-02 9.96270481e-01 -1.36162778e-03 -1.67317185e+00] [-1.60388643e-02 -2.23744462e-05 9.99871369e-01 -6.26724613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944012738999994 meters 0.024949259493598795 Centerline is valid? [True, True] Translation: X:32.43, Y:-1.69, Z:-0.62 [[ 9.96384997e-01 8.27951320e-02 1.90237773e-02 3.24294586e+01] [-8.27791933e-02 9.96566588e-01 -1.62512048e-03 -1.69144403e+00] [-1.90930129e-02 4.44727259e-05 9.99817711e-01 -6.20645904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004012739 meters 0.024939749779138105 Centerline is valid? [True, True] Translation: X:32.49, Y:-1.70, Z:-0.62 [[ 9.96318334e-01 8.35196138e-02 1.93455862e-02 3.24905389e+01] [-8.35032029e-02 9.96506133e-01 -1.65595185e-03 -1.70415832e+00] [-1.94162998e-02 3.44367792e-05 9.99811485e-01 -6.22298304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06401273899999 meters 0.025161983086337717 Centerline is valid? [True, True] Translation: X:32.55, Y:-1.71, Z:-0.62 [[ 9.95848818e-01 8.89779110e-02 1.91849767e-02 3.25531948e+01] [-8.89627183e-02 9.96033597e-01 -1.64561048e-03 -1.71005070e+00] [-1.92553044e-02 -6.79684250e-05 9.99814597e-01 -6.23337853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124012738999994 meters 0.029126363570517136 Centerline is valid? [True, True] Translation: X:32.62, Y:-1.70, Z:-0.62 [[ 9.94947079e-01 9.86236959e-02 1.88063028e-02 3.26151770e+01] [-9.86107494e-02 9.95124769e-01 -1.61677827e-03 -1.70459205e+00] [-1.88740704e-02 -2.45894792e-04 9.99821839e-01 -6.23812573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184012738999996 meters 0.03789304439181717 Centerline is valid? [True, True] Translation: X:32.68, Y:-1.69, Z:-0.63 [[ 9.93871904e-01 1.09542826e-01 1.47989107e-02 3.26770620e+01] [-1.09536012e-01 9.93982013e-01 -1.27262645e-03 -1.69342597e+00] [-1.48492581e-02 -3.56185987e-04 9.99889680e-01 -6.34706107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244012739 meters 0.04679731138024693 Centerline is valid? [True, True] Translation: X:32.74, Y:-1.68, Z:-0.63 [[ 9.92768830e-01 1.18845942e-01 1.69024114e-02 3.27394247e+01] [-1.18838400e-01 9.92912545e-01 -1.45346320e-03 -1.68056209e+00] [-1.69553546e-02 -5.65702570e-04 9.99856088e-01 -6.30378114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304012738999994 meters 0.047019678769654155 Centerline is valid? [True, True] Translation: X:32.80, Y:-1.68, Z:-0.63 [[ 9.92437096e-01 1.21534089e-01 1.72648774e-02 3.28003091e+01] [-1.21526617e-01 9.92587062e-01 -1.48517157e-03 -1.68048965e+00] [-1.73173929e-02 -6.24202782e-04 9.99849848e-01 -6.30072588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364012738999996 meters 0.04616055461561454 Centerline is valid? [True, True] Translation: X:32.86, Y:-1.68, Z:-0.64 [[ 9.92770475e-01 1.19217383e-01 1.39283778e-02 3.28614973e+01] [-1.19212292e-01 9.92868065e-01 -1.19820003e-03 -1.67797846e+00] [-1.39718878e-02 -4.70896228e-04 9.99902278e-01 -6.38693614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424012739 meters 0.0443324534124596 Centerline is valid? [True, True] Translation: X:32.92, Y:-1.68, Z:-0.64 [[ 9.92893590e-01 1.18105285e-01 1.46103097e-02 3.29218901e+01] [-1.18099555e-01 9.93000964e-01 -1.25743581e-03 -1.67703940e+00] [-1.46565614e-02 -4.76971117e-04 9.99892473e-01 -6.37891559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48401273899999 meters 0.04437694540099786 Centerline is valid? [True, True] Translation: X:32.98, Y:-1.67, Z:-0.64 [[ 9.92962038e-01 1.17496690e-01 1.48633319e-02 3.29818632e+01] [-1.17490693e-01 9.93073160e-01 -1.27909589e-03 -1.67218829e+00] [-1.49106655e-02 -4.76209510e-04 9.99888716e-01 -6.40362918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544012738999996 meters 0.04296802028041277 Centerline is valid? [True, True] Translation: X:33.04, Y:-1.67, Z:-0.64 [[ 9.93189900e-01 1.15591475e-01 1.45751144e-02 3.30422056e+01] [-1.15585508e-01 9.93296742e-01 -1.25395986e-03 -1.67003157e+00] [-1.46223607e-02 -4.39251733e-04 9.99892991e-01 -6.42179772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604012739 meters 0.03994119234666386 Centerline is valid? [True, True] Translation: X:33.10, Y:-1.67, Z:-0.65 [[ 9.93413968e-01 1.13872087e-01 1.27215107e-02 3.31023210e+01] [-1.13867403e-01 9.93495353e-01 -1.09425560e-03 -1.67108225e+00] [-1.27633669e-02 -3.61516582e-04 9.99918480e-01 -6.45227713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66401273899999 meters 0.033999317811357385 Centerline is valid? [True, True] Translation: X:33.16, Y:-1.68, Z:-0.64 [[ 9.94153593e-01 1.07025345e-01 1.42902052e-02 3.31622718e+01] [-1.07018735e-01 9.94256245e-01 -1.22864819e-03 -1.67869680e+00] [-1.43396222e-02 -3.07854669e-04 9.99897135e-01 -6.44434448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724012738999996 meters 0.030507357929569195 Centerline is valid? [True, True] Translation: X:33.22, Y:-1.69, Z:-0.64 [[ 9.94915103e-01 9.96230584e-02 1.48048427e-02 3.32220559e+01] [-9.96151447e-02 9.95025227e-01 -1.27284774e-03 -1.68737571e+00] [-1.48579970e-02 -2.08411109e-04 9.99889592e-01 -6.44454723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784012739 meters 0.029374663100587086 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.69, Z:-0.65 [[ 9.95120863e-01 9.76076000e-02 1.43953102e-02 3.32824987e+01] [-9.75999092e-02 9.95224963e-01 -1.23750084e-03 -1.69348250e+00] [-1.44473615e-02 -1.73518062e-04 9.99895616e-01 -6.45948045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84401273899999 meters 0.028108383070875837 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.70, Z:-0.64 [[ 9.95129178e-01 9.71568713e-02 1.66871554e-02 3.33431288e+01] [-9.71464642e-02 9.95269062e-01 -1.43506235e-03 -1.69795162e+00] [-1.67476356e-02 -1.93025721e-04 9.99859730e-01 -6.41198014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904012738999995 meters 0.02807756919438382 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.70, Z:-0.64 [[ 9.94941269e-01 9.86547684e-02 1.89501608e-02 3.34044896e+01] [-9.86416192e-02 9.95121689e-01 -1.62964054e-03 -1.70134086e+00] [-1.90184878e-02 -2.47877914e-04 9.99819101e-01 -6.39165521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964012739 meters 0.029786264118878764 Centerline is valid? [True, True] Translation: X:33.47, Y:-1.70, Z:-0.64 [[ 9.94807284e-01 1.00102626e-01 1.83829017e-02 3.34657555e+01] [-1.00090496e-01 9.94977082e-01 -1.58103162e-03 -1.70310275e+00] [-1.84488313e-02 -2.67131978e-04 9.99829770e-01 -6.41755897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02401273899999 meters 0.030400335877275548 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.71, Z:-0.66 [[ 9.94908943e-01 1.00271425e-01 1.00913904e-02 3.35271103e+01] [-1.00267778e-01 9.94960109e-01 -8.68000984e-04 -1.71084098e+00] [-1.01275666e-02 -1.48259350e-04 9.99948704e-01 -6.58120071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084012738999995 meters 0.02933361614338928 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.72, Z:-0.66 [[ 9.95192039e-01 9.74641593e-02 9.67176268e-03 3.35849022e+01] [-9.74606411e-02 9.95239029e-01 -8.35536904e-04 -1.72378059e+00] [-9.70715060e-03 -1.11096516e-04 9.99952878e-01 -6.61628507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144012739 meters 0.027081506743464868 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.74, Z:-0.65 [[ 9.95422833e-01 9.46539927e-02 1.31910964e-02 3.36443036e+01] [-9.46472137e-02 9.95510225e-01 -1.13864836e-03 -1.73670737e+00] [-1.32396490e-02 -1.15063939e-04 9.99912345e-01 -6.54638762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20401273899999 meters 0.026856327675166273 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.75, Z:-0.66 [[ 9.95611481e-01 9.27626588e-02 1.23639940e-02 3.37049861e+01] [-9.27565761e-02 9.95688245e-01 -1.06574708e-03 -1.74660088e+00] [-1.24095450e-02 -8.57717143e-05 9.99922995e-01 -6.58423688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264012738999995 meters 0.027306715844247778 Centerline is valid? [True, True] Translation: X:33.77, Y:-1.76, Z:-0.66 [[ 9.95614414e-01 9.30423082e-02 9.75029220e-03 3.37656408e+01] [-9.30385164e-02 9.95662154e-01 -8.42745912e-04 -1.75528497e+00] [-9.78640795e-03 -6.81027436e-05 9.99952110e-01 -6.64277947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324012739 meters 0.02836254586759636 Centerline is valid? [True, True] Translation: X:33.83, Y:-1.75, Z:-0.67 [[ 9.95397491e-01 9.53285754e-02 9.81313152e-03 3.38257143e+01] [-9.53248415e-02 9.95445857e-01 -8.48598355e-04 -1.75479346e+00] [-9.84933679e-03 -9.07425336e-05 9.99951490e-01 -6.65204608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38401273899999 meters 0.02780225993690562 Centerline is valid? [True, True] Translation: X:33.89, Y:-1.76, Z:-0.66 [[ 9.95326225e-01 9.57288251e-02 1.27160526e-02 3.38860069e+01] [-9.57225856e-02 9.95407443e-01 -1.09980931e-03 -1.75873142e+00] [-1.27629369e-02 -1.22544390e-04 9.99918543e-01 -6.60430064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444012738999994 meters 0.028722602371034547 Centerline is valid? [True, True] Translation: X:33.95, Y:-1.76, Z:-0.66 [[ 9.95172689e-01 9.73253659e-02 1.26131477e-02 3.39465931e+01] [-9.73193563e-02 9.95252608e-01 -1.09081757e-03 -1.75990981e+00] [-1.26594324e-02 -1.41951562e-04 9.99919856e-01 -6.62478417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504012739 meters 0.02952805727357955 Centerline is valid? [True, True] Translation: X:34.01, Y:-1.76, Z:-0.66 [[ 9.95066329e-01 9.83520656e-02 1.30334792e-02 3.40074734e+01] [-9.83457347e-02 9.95151670e-01 -1.12733183e-03 -1.75870391e+00] [-1.30811640e-02 -1.60017142e-04 9.99914425e-01 -6.61439469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56401273899999 meters 0.029501027104193698 Centerline is valid? [True, True] Translation: X:34.07, Y:-1.76, Z:-0.66 [[ 9.95100843e-01 9.80882478e-02 1.23696762e-02 3.40677314e+01] [-9.80825222e-02 9.95177710e-01 -1.07014030e-03 -1.76128317e+00] [-1.24149942e-02 -1.48351527e-04 9.99922920e-01 -6.64236529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624012738999994 meters 0.02920436916559416 Centerline is valid? [True, True] Translation: X:34.13, Y:-1.76, Z:-0.67 [[ 9.95166952e-01 9.75570451e-02 1.11964493e-02 3.41277250e+01] [-9.75523182e-02 9.95229926e-01 -9.68852720e-04 -1.76200923e+00] [-1.12375598e-02 -1.28069372e-04 9.99936848e-01 -6.66090659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684012738999996 meters 0.028215989369190578 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.76, Z:-0.67 [[ 9.95221216e-01 9.70010863e-02 1.12035948e-02 3.41876890e+01] [-9.69963209e-02 9.95284268e-01 -9.69224961e-04 -1.76321938e+00] [-1.12447775e-02 -1.22114231e-04 9.99936768e-01 -6.66661482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744012739 meters 0.027058749848327436 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.77, Z:-0.66 [[ 9.95401012e-01 9.48627452e-02 1.33373257e-02 3.42475461e+01] [-9.48558053e-02 9.95490354e-01 -1.15339116e-03 -1.76506923e+00] [-1.33865930e-02 -1.17036050e-04 9.99910389e-01 -6.64710915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804012738999994 meters 0.025431280736786507 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.78, Z:-0.67 [[ 9.95923371e-01 8.91306680e-02 1.38694792e-02 3.43064718e+01] [-8.91226205e-02 9.96019941e-01 -1.19846063e-03 -1.77998860e+00] [-1.39210974e-02 -4.25093744e-05 9.99903096e-01 -6.65629363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864012738999996 meters 0.02515696863768364 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.79, Z:-0.67 [[ 9.96201795e-01 8.60050317e-02 1.36057838e-02 3.43672877e+01] [-8.59969924e-02 9.96294703e-01 -1.17592163e-03 -1.79377135e+00] [-1.36565055e-02 1.39875801e-06 9.99906746e-01 -6.67290663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924012739 meters 0.025446746418629214 Centerline is valid? [True, True] Translation: X:34.43, Y:-1.80, Z:-0.67 [[ 9.95912218e-01 8.93276866e-02 1.33947462e-02 3.44288647e+01] [-8.93201538e-02 9.96002291e-01 -1.16075303e-03 -1.79654746e+00] [-1.34448853e-02 -4.04126683e-05 9.99909613e-01 -6.67696608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98401273899999 meters 0.026907280490278955 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.80, Z:-0.67 [[ 9.95454484e-01 9.44288891e-02 1.23917274e-02 3.44906010e+01] [-9.44228341e-02 9.95531604e-01 -1.07408736e-03 -1.79622842e+00] [-1.24377811e-02 -1.00856934e-04 9.99922643e-01 -6.71263731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044012738999996 meters 0.031284681488248096 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.79, Z:-0.68 [[ 9.94887340e-01 1.00483104e-01 1.01156595e-02 3.45502224e+01] [-1.00479375e-01 9.94938754e-01 -8.77450576e-04 -1.79045073e+00] [-1.01526306e-02 -1.43450681e-04 9.99948450e-01 -6.80363948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104012739 meters 0.030545602341110988 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.80, Z:-0.68 [[ 9.95024463e-01 9.91631994e-02 9.64246481e-03 3.46096067e+01] [-9.91597514e-02 9.95071176e-01 -8.36189484e-04 -1.79934253e+00] [-9.67785802e-03 -1.24115421e-04 9.99953161e-01 -6.82425110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16401273899999 meters 0.029668665888279662 Centerline is valid? [True, True] Translation: X:34.67, Y:-1.81, Z:-0.68 [[ 9.95311047e-01 9.63769071e-02 8.21042144e-03 3.46671831e+01] [-9.63743123e-02 9.95344908e-01 -7.12019581e-04 -1.80900848e+00] [-8.24082342e-03 -8.25927663e-05 9.99966040e-01 -6.84826112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224012738999996 meters 0.02737874184816078 Centerline is valid? [True, True] Translation: X:34.73, Y:-1.82, Z:-0.68 [[ 9.95504394e-01 9.41476717e-02 1.03545578e-02 3.47265218e+01] [-9.41434308e-02 9.95558240e-01 -8.97315351e-04 -1.82022909e+00] [-1.03930455e-02 -8.15322189e-05 9.99945988e-01 -6.81444840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284012739 meters 0.025391769333824397 Centerline is valid? [True, True] Translation: X:34.79, Y:-1.83, Z:-0.68 [[ 9.95970538e-01 8.86350884e-02 1.36567889e-02 3.47857706e+01] [-8.86272024e-02 9.96064165e-01 -1.18276303e-03 -1.83394365e+00] [-1.37078724e-02 -3.23658705e-05 9.99906042e-01 -6.76197786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34401273899999 meters 0.02508045685860669 Centerline is valid? [True, True] Translation: X:34.85, Y:-1.85, Z:-0.67 [[ 9.96280513e-01 8.49843994e-02 1.42404801e-02 3.48478435e+01] [-8.49754652e-02 9.96382282e-01 -1.23238449e-03 -1.84789829e+00] [-1.42936955e-02 1.77092301e-05 9.99897840e-01 -6.74650074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404012738999995 meters 0.025232628516930672 Centerline is valid? [True, True] Translation: X:34.91, Y:-1.86, Z:-0.68 [[ 9.96333516e-01 8.44719536e-02 1.35651732e-02 3.49093323e+01] [-8.44637648e-02 9.96425857e-01 -1.17646339e-03 -1.85770941e+00] [-1.36160675e-02 2.63843012e-05 9.99907297e-01 -6.78013654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464012739 meters 0.025089691581219476 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.87, Z:-0.68 [[ 9.96292900e-01 8.48348375e-02 1.42656234e-02 3.49712808e+01] [-8.48257793e-02 9.96395027e-01 -1.23994543e-03 -1.86535882e+00] [-1.43193868e-02 2.52562039e-05 9.99897472e-01 -6.77145707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52401273899999 meters 0.025636090910984285 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.86, Z:-0.68 [[ 9.95714353e-01 9.14151432e-02 1.40071170e-02 3.50340238e+01] [-9.14070260e-02 9.95812868e-01 -1.21996109e-03 -1.86251583e+00] [-1.40599903e-02 -6.56161461e-05 9.99901151e-01 -6.77831669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584012738999995 meters 0.03053463297887772 Centerline is valid? [True, True] Translation: X:35.10, Y:-1.85, Z:-0.68 [[ 9.94720309e-01 1.01846775e-01 1.25992252e-02 3.50954219e+01] [-1.01841005e-01 9.94800080e-01 -1.10039774e-03 -1.84763623e+00] [-1.26457822e-02 -1.88529769e-04 9.99920021e-01 -6.80693854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644012739 meters 0.03480442125458694 Centerline is valid? [True, True] Translation: X:35.16, Y:-1.84, Z:-0.68 [[ 9.93976393e-01 1.08626251e-01 1.45350455e-02 3.51565669e+01] [-1.08619298e-01 9.94082611e-01 -1.26925979e-03 -1.83692950e+00] [-1.45869109e-02 -3.17172177e-04 9.99893555e-01 -6.78198267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70401273899999 meters 0.034999571417421556 Centerline is valid? [True, True] Translation: X:35.22, Y:-1.83, Z:-0.68 [[ 9.93644243e-01 1.11765630e-01 1.34000659e-02 3.52163996e+01] [-1.11760005e-01 9.93734538e-01 -1.17021684e-03 -1.83190380e+00] [-1.34468983e-02 -3.34812203e-04 9.99909530e-01 -6.80350974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764012738999995 meters 0.03675324349307339 Centerline is valid? [True, True] Translation: X:35.28, Y:-1.83, Z:-0.68 [[ 9.94054370e-01 1.08076652e-01 1.32418255e-02 3.52762273e+01] [-1.08070841e-01 9.94142524e-01 -1.15572721e-03 -1.82796920e+00] [-1.32891689e-02 -2.82199532e-04 9.99911655e-01 -6.84345801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824012739 meters 0.032942609171717666 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.84, Z:-0.69 [[ 9.94420317e-01 1.04688451e-01 1.29831539e-02 3.53344336e+01] [-1.04682578e-01 9.94505040e-01 -1.13298998e-03 -1.83848362e+00] [-1.30304229e-02 -2.32441765e-04 9.99915073e-01 -6.85388142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88401273899999 meters 0.025828276622507716 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.87, Z:-0.69 [[ 9.95798940e-01 9.07633109e-02 1.21033808e-02 3.53927848e+01] [-9.07571880e-02 9.95872491e-01 -1.05531912e-03 -1.86520489e+00] [-1.21492082e-02 -4.75831460e-05 9.99926195e-01 -6.88771392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944012738999994 meters 0.025736544924927055 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.89, Z:-0.69 [[ 9.96553851e-01 8.19702365e-02 1.27005165e-02 3.54531831e+01] [-8.19627964e-02 9.96634776e-01 -1.10609327e-03 -1.88822788e+00] [-1.27484432e-02 6.13116567e-05 9.99918733e-01 -6.87370732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004012739 meters 0.02587418579131079 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.90, Z:-0.69 [[ 9.96475187e-01 8.29909073e-02 1.22356482e-02 3.55140939e+01] [-8.29840560e-02 9.96550303e-01 -1.06746773e-03 -1.89883944e+00] [-1.22820290e-02 4.83413966e-05 9.99924572e-01 -6.90656510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06401273899999 meters 0.025547252320177755 Centerline is valid? [True, True] Translation: X:35.58, Y:-1.91, Z:-0.69 [[ 9.96360304e-01 8.44586931e-02 1.15271287e-02 3.55757717e+01] [-8.44526882e-02 9.96426981e-01 -1.00757723e-03 -1.90743418e+00] [-1.15710407e-02 3.04129470e-05 9.99933053e-01 -6.91214820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124012738999994 meters 0.025505625462247807 Centerline is valid? [True, True] Translation: X:35.64, Y:-1.91, Z:-0.69 [[ 9.96205757e-01 8.63304232e-02 1.10067407e-02 3.56366417e+01] [-8.63250291e-02 9.96266560e-01 -9.65109247e-04 -1.91179629e+00] [-1.10489660e-02 1.12901774e-05 9.99938958e-01 -6.93619619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184012738999996 meters 0.025231263474032803 Centerline is valid? [True, True] Translation: X:35.70, Y:-1.93, Z:-0.69 [[ 9.96254824e-01 8.55041218e-02 1.28596424e-02 3.56967407e+01] [-8.54966975e-02 9.96337817e-01 -1.12698801e-03 -1.92684045e+00] [-1.29089101e-02 2.33102915e-05 9.99916676e-01 -6.92132367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244012739 meters 0.025294884755946937 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.93, Z:-0.69 [[ 9.96282948e-01 8.52150198e-02 1.25971131e-02 3.57596593e+01] [-8.52078519e-02 9.96362584e-01 -1.10560559e-03 -1.93446945e+00] [-1.26455063e-02 2.81230562e-05 9.99920042e-01 -6.93591690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304012738999994 meters 0.024674004075442225 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.94, Z:-0.69 [[ 9.96150019e-01 8.62717906e-02 1.55665324e-02 3.58212592e+01] [-8.62609128e-02 9.96271638e-01 -1.37012852e-03 -1.94294722e+00] [-1.56266982e-02 2.20702532e-05 9.99877895e-01 -6.87848769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364012738999996 meters 0.024588137282346618 Centerline is valid? [True, True] Translation: X:35.88, Y:-1.94, Z:-0.69 [[ 9.95780696e-01 9.01231229e-02 1.72808905e-02 3.58835948e+01] [-9.01102422e-02 9.95930631e-01 -1.52417025e-03 -1.94153415e+00] [-1.73479312e-02 -3.94459142e-05 9.99849513e-01 -6.86076004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424012739 meters 0.026825949041689758 Centerline is valid? [True, True] Translation: X:35.95, Y:-1.93, Z:-0.69 [[ 9.95081072e-01 9.78443370e-02 1.54966520e-02 3.59465493e+01] [-9.78348811e-02 9.95201719e-01 -1.36894623e-03 -1.93454674e+00] [-1.55562384e-02 -1.53900620e-04 9.99878983e-01 -6.90247082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48401273899999 meters 0.02958519268094551 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.92, Z:-0.69 [[ 9.94519538e-01 1.03332458e-01 1.59151182e-02 3.60078893e+01] [-1.03323131e-01 9.94646844e-01 -1.40941602e-03 -1.92472626e+00] [-1.59755605e-02 -2.42708071e-04 9.99872353e-01 -6.90361207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544012738999996 meters 0.029994322264002102 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.92, Z:-0.69 [[ 9.94489646e-01 1.03386775e-01 1.73642975e-02 3.60676595e+01] [-1.03375679e-01 9.94641194e-01 -1.53778973e-03 -1.92168981e+00] [-1.74302327e-02 -2.65730089e-04 9.99848047e-01 -6.88582821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604012739 meters 0.03064650903173617 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.91, Z:-0.70 [[ 9.94552578e-01 1.03305198e-01 1.38998110e-02 3.61282353e+01] [-1.03298084e-01 9.94649683e-01 -1.23072636e-03 -1.91432487e+00] [-1.39525831e-02 -2.11801772e-04 9.99902636e-01 -6.96646107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66401273899999 meters 0.030746160597528664 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.91, Z:-0.69 [[ 9.94609357e-01 1.02042074e-01 1.84293774e-02 3.61881872e+01] [-1.02029346e-01 9.94780051e-01 -1.63203107e-03 -1.90882999e+00] [-1.84997129e-02 -2.57103964e-04 9.99828833e-01 -6.89841020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724012738999996 meters 0.02699121852335071 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.92, Z:-0.69 [[ 9.95087754e-01 9.76193356e-02 1.64568523e-02 3.62479380e+01] [-9.76085886e-02 9.95223814e-01 -1.45692233e-03 -1.91675326e+00] [-1.65204752e-02 -1.56564557e-04 9.99863515e-01 -6.94633798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784012739 meters 0.025680242469120054 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.93, Z:-0.70 [[ 9.95595824e-01 9.27707531e-02 1.35108016e-02 3.63080463e+01] [-9.27630653e-02 9.95687493e-01 -1.19594137e-03 -1.92784044e+00] [-1.35634845e-02 -6.26291404e-05 9.99908010e-01 -7.02153151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84401273899999 meters 0.02504910058481632 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.93, Z:-0.70 [[ 9.95824695e-01 9.00523990e-02 1.49579842e-02 3.63679373e+01] [-9.00426610e-02 9.95937028e-01 -1.32459280e-03 -1.93306932e+00] [-1.50164931e-02 -2.77944813e-05 9.99887246e-01 -6.99462000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904012738999995 meters 0.025293978439304046 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.94, Z:-0.70 [[ 9.95814823e-01 9.02537414e-02 1.43910108e-02 3.64276540e+01] [-9.02447476e-02 9.95918803e-01 -1.27445735e-03 -1.93703565e+00] [-1.44473028e-02 -2.95896252e-05 9.99895632e-01 -7.02355737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964012739 meters 0.02482089734320057 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.94, Z:-0.70 [[ 9.95989141e-01 8.79641911e-02 1.63686444e-02 3.64875671e+01] [-8.79522508e-02 9.96123637e-01 -1.44931471e-03 -1.94267810e+00] [-1.64326814e-02 3.84260035e-06 9.99864974e-01 -6.99337278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02401273899999 meters 0.027153551871885215 Centerline is valid? [True, True] Translation: X:36.55, Y:-1.97, Z:-0.70 [[ 9.96764949e-01 7.82123030e-02 1.85059767e-02 3.65463885e+01] [-7.81953595e-02 9.96936709e-01 -1.63851473e-03 -1.96752182e+00] [-1.85774395e-02 1.86132554e-04 9.99827407e-01 -6.97932647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084012738999995 meters 0.0346031486083669 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.00, Z:-0.70 [[ 9.97647750e-01 6.65177858e-02 1.65635301e-02 3.66042168e+01] [-6.65025933e-02 9.97785174e-01 -1.46694919e-03 -1.99579246e+00] [-1.66244230e-02 3.61980854e-04 9.99861739e-01 -7.01678348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144012739 meters 0.040420346838111125 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.02, Z:-0.70 [[ 9.98088958e-01 5.88790955e-02 1.87532504e-02 3.66627878e+01] [-5.88582710e-02 9.98264967e-01 -1.66093687e-03 -2.02115083e+00] [-1.88185074e-02 5.53978856e-04 9.99822763e-01 -6.97690977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20401273899999 meters 0.043895718749801874 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.05, Z:-0.70 [[ 9.98254860e-01 5.57166817e-02 1.95674742e-02 3.67213731e+01] [-5.56934018e-02 9.98446414e-01 -1.73308433e-03 -2.04505497e+00] [-1.96336362e-02 6.40280647e-04 9.99807037e-01 -6.98621559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264012738999995 meters 0.04440513493686783 Centerline is valid? [True, True] Translation: X:36.78, Y:-2.07, Z:-0.70 [[ 9.98252440e-01 5.61580017e-02 1.83941785e-02 3.67811343e+01] [-5.61375068e-02 9.98421718e-01 -1.62907016e-03 -2.07058721e+00] [-1.84566326e-02 5.93619941e-04 9.99829486e-01 -7.03059166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324012739 meters 0.03868812394055902 Centerline is valid? [True, True] Translation: X:36.84, Y:-2.08, Z:-0.71 [[ 9.97920588e-01 6.27967393e-02 1.45282409e-02 3.68410461e+01] [-6.27846199e-02 9.98026267e-01 -1.28924675e-03 -2.07849097e+00] [-1.45805265e-02 3.74415793e-04 9.99893628e-01 -7.10323756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38401273899999 meters 0.03350688209763627 Centerline is valid? [True, True] Translation: X:36.90, Y:-2.08, Z:-0.71 [[ 9.97450742e-01 6.97242321e-02 1.51838441e-02 3.69006258e+01] [-6.97117951e-02 9.97566263e-01 -1.34748483e-03 -2.08243819e+00] [-1.52408430e-02 2.85556710e-04 9.99883811e-01 -7.10419804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444012738999994 meters 0.02689231726124666 Centerline is valid? [True, True] Translation: X:36.96, Y:-2.08, Z:-0.71 [[ 9.96673494e-01 7.93706560e-02 1.84998584e-02 3.69616012e+01] [-7.93538555e-02 9.96845159e-01 -1.64161794e-03 -2.08371126e+00] [-1.85717906e-02 1.68121998e-04 9.99827515e-01 -7.06287302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504012739 meters 0.029632196826802376 Centerline is valid? [True, True] Translation: X:37.02, Y:-2.11, Z:-0.71 [[ 9.97067623e-01 7.51223864e-02 1.45870750e-02 3.70219569e+01] [-7.51114879e-02 9.97174302e-01 -1.29432965e-03 -2.10815928e+00] [-1.46430894e-02 1.94877281e-04 9.99892765e-01 -7.14458449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56401273899999 meters 0.03364901297882751 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.14, Z:-0.71 [[ 9.97433026e-01 6.91728490e-02 1.85060889e-02 3.70806277e+01] [-6.91542613e-02 9.97604625e-01 -1.64324074e-03 -2.13696486e+00] [-1.85754275e-02 3.59247678e-04 9.99827397e-01 -7.08420808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624012738999994 meters 0.03339433005287907 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.15, Z:-0.71 [[ 9.97394204e-01 6.93619734e-02 1.98423652e-02 3.71425813e+01] [-6.93406385e-02 9.97591485e-01 -1.76204679e-03 -2.14925939e+00] [-1.99167936e-02 3.81572991e-04 9.99801568e-01 -7.06936619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684012738999996 meters 0.03027948910249844 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.16, Z:-0.71 [[ 9.97066951e-01 7.40739939e-02 1.92493873e-02 3.72023415e+01] [-7.40547226e-02 9.97252708e-01 -1.71302188e-03 -2.16092710e+00] [-1.93233940e-02 2.82489461e-04 9.99813246e-01 -7.09176572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744012739 meters 0.02724315415415452 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.17, Z:-0.71 [[ 9.96706389e-01 7.89387990e-02 1.85752757e-02 3.72645912e+01] [-7.89216954e-02 9.96879448e-01 -1.65318660e-03 -2.16580822e+00] [-1.86478112e-02 1.81749392e-04 9.99826098e-01 -7.11471193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804012738999994 meters 0.02491388919175793 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.17, Z:-0.71 [[ 9.96018870e-01 8.70384861e-02 1.92539070e-02 3.73257646e+01] [-8.70215581e-02 9.96204949e-01 -1.71687924e-03 -2.16842882e+00] [-1.93302720e-02 3.45391320e-05 9.99813152e-01 -7.11198020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864012738999996 meters 0.024888089442058742 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.17, Z:-0.71 [[ 9.95614517e-01 9.14903020e-02 1.95258550e-02 3.73879760e+01] [-9.14736897e-02 9.95805966e-01 -1.74410766e-03 -2.17454300e+00] [-1.96035318e-02 -4.96431008e-05 9.99807831e-01 -7.12361250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924012739 meters 0.025529260925942307 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.18, Z:-0.72 [[ 9.95348726e-01 9.44587284e-02 1.89330975e-02 3.74496366e+01] [-9.44435817e-02 9.95528773e-01 -1.69456179e-03 -2.18370226e+00] [-1.90085094e-02 -1.01429614e-04 9.99819317e-01 -7.15234325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98401273899999 meters 0.02737423225072831 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.18, Z:-0.72 [[ 9.95020453e-01 9.79915483e-02 1.82196268e-02 3.75104590e+01] [-9.79780565e-02 9.95187234e-01 -1.63382758e-03 -2.18396233e+00] [-1.82920413e-02 -1.59431763e-04 9.99832674e-01 -7.18579952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044012738999996 meters 0.02969184774661829 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.18, Z:-0.72 [[ 9.94694534e-01 1.01322257e-01 1.77928316e-02 3.75718257e+01] [-1.01309899e-01 9.94853635e-01 -1.59684585e-03 -2.18299028e+00] [-1.78630592e-02 -2.14216141e-04 9.99840420e-01 -7.20969534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104012739 meters 0.02806287288555583 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.19, Z:-0.72 [[ 9.94821715e-01 1.00117197e-01 1.75014688e-02 3.76338108e+01] [-1.00105013e-01 9.94975634e-01 -1.57307526e-03 -2.19199688e+00] [-1.75710269e-02 -1.87055333e-04 9.99845600e-01 -7.22352651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16401273899999 meters 0.02650763282350026 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.20, Z:-0.72 [[ 9.95120887e-01 9.65011672e-02 2.05413074e-02 3.76945371e+01] [-9.64835331e-02 9.95332861e-01 -1.85011862e-03 -2.20151662e+00] [-2.06239769e-02 -1.40806233e-04 9.99787293e-01 -7.17363098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224012738999996 meters 0.02513232471465994 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.21, Z:-0.72 [[ 9.95493719e-01 9.28938479e-02 1.90522727e-02 3.77555040e+01] [-9.28779682e-02 9.95676016e-01 -1.71856264e-03 -2.21336889e+00] [-1.91295349e-02 -5.87180670e-05 9.99817012e-01 -7.21785861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284012739 meters 0.02497863708873327 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.23, Z:-0.73 [[ 9.95653868e-01 9.15790258e-02 1.69309792e-02 3.78174990e+01] [-9.15662602e-02 9.95797811e-01 -1.52929050e-03 -2.22616906e+00] [-1.69998829e-02 -2.76624463e-05 9.99855491e-01 -7.26909786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34401273899999 meters 0.024994398899023735 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.24, Z:-0.73 [[ 9.95699001e-01 9.10294912e-02 1.72375082e-02 3.78796410e+01] [-9.10161186e-02 9.95848197e-01 -1.56034016e-03 -2.23791569e+00] [-1.73079784e-02 -1.52619482e-05 9.99850206e-01 -7.27085715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404012738999995 meters 0.030448811138665734 Centerline is valid? [True, True] Translation: X:37.94, Y:-2.25, Z:-0.71 [[ 9.95654401e-01 9.13550042e-02 1.80714265e-02 3.79421509e+01] [-9.13402937e-02 9.95818389e-01 -1.63947544e-03 -2.24908372e+00] [-1.81456331e-02 -1.82984669e-05 9.99835354e-01 -7.14908236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464012739 meters 0.02492186435722428 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.26, Z:-0.73 [[ 9.95500337e-01 9.28289306e-02 1.90228525e-02 3.80040199e+01] [-9.28128263e-02 9.95682072e-01 -1.72960442e-03 -2.25555978e+00] [-1.91012705e-02 -4.37429226e-05 9.99817553e-01 -7.25977036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52401273899999 meters 0.025723253111866098 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.26, Z:-0.73 [[ 9.95182476e-01 9.61345316e-02 1.92351473e-02 3.80667473e+01] [-9.61186170e-02 9.95368344e-01 -1.75232333e-03 -2.25700849e+00] [-1.93145155e-02 -1.04974286e-04 9.99813452e-01 -7.28621912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584012738999995 meters 0.02780823923302252 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.25, Z:-0.73 [[ 9.94688742e-01 1.01040649e-01 1.96238227e-02 3.81289952e+01] [-1.01024974e-01 9.94882278e-01 -1.79102613e-03 -2.25492114e+00] [-1.97043599e-02 -2.00982653e-04 9.99805830e-01 -7.28345327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644012739 meters 0.028657565096227904 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.26, Z:-0.73 [[ 9.94397422e-01 1.03925749e-01 1.93185522e-02 3.81914276e+01] [-1.03911073e-01 9.94585026e-01 -1.76465157e-03 -2.25911837e+00] [-1.93973355e-02 -2.52646520e-04 9.99811822e-01 -7.29086477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70401273899999 meters 0.031802175953006946 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.26, Z:-0.73 [[ 9.93922975e-01 1.08018964e-01 2.11901741e-02 3.82523791e+01] [-1.08002155e-01 9.94148768e-01 -1.93941231e-03 -2.26298655e+00] [-2.12756788e-02 -3.60958025e-04 9.99773582e-01 -7.29116675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764012738999995 meters 0.03364261021080969 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.27, Z:-0.73 [[ 9.93752109e-01 1.09848073e-01 1.97521127e-02 3.83134743e+01] [-1.09833801e-01 9.93948320e-01 -1.80921856e-03 -2.26676502e+00] [-1.98313184e-02 -3.71534860e-04 9.99803271e-01 -7.33274827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824012739 meters 0.039192676976860484 Centerline is valid? [True, True] Translation: X:38.37, Y:-2.26, Z:-0.74 [[ 9.93115704e-01 1.15898418e-01 1.69927835e-02 3.83737226e+01] [-1.15888698e-01 9.93260983e-01 -1.55894843e-03 -2.26438292e+00] [-1.70589485e-02 -4.21055384e-04 9.99854397e-01 -7.39817403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88401273899999 meters 0.04807516415618906 Centerline is valid? [True, True] Translation: X:38.43, Y:-2.25, Z:-0.74 [[ 9.92048500e-01 1.24456686e-01 1.87164783e-02 3.84344259e+01] [-1.24446397e-01 9.92224845e-01 -1.71799339e-03 -2.25472296e+00] [-1.87847705e-02 -6.24865513e-04 9.99823355e-01 -7.37949878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944012738999994 meters 0.05175609183941633 Centerline is valid? [True, True] Translation: X:38.50, Y:-2.25, Z:-0.74 [[ 9.91028308e-01 1.32249442e-01 1.93126100e-02 3.84953263e+01] [-1.32239965e-01 9.91216147e-01 -1.77261405e-03 -2.25179491e+00] [-1.93773980e-02 -7.97188168e-04 9.99811923e-01 -7.38375353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004012739 meters 0.05484989543624732 Centerline is valid? [True, True] Translation: X:38.56, Y:-2.25, Z:-0.74 [[ 9.90630862e-01 1.35314628e-01 1.84511701e-02 3.85566396e+01] [-1.35306505e-01 9.90802342e-01 -1.69369848e-03 -2.24899581e+00] [-1.85106447e-02 -8.18733352e-04 9.99828328e-01 -7.40666401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06401273899999 meters 0.05641393871813311 Centerline is valid? [True, True] Translation: X:38.62, Y:-2.24, Z:-0.74 [[ 9.90458070e-01 1.36275903e-01 2.05350776e-02 3.86193814e+01] [-1.36266041e-01 9.90670486e-01 -1.88527755e-03 -2.24456214e+00] [-2.06004132e-02 -9.30945364e-04 9.99787356e-01 -7.37570447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124012738999994 meters 0.05346835002706485 Centerline is valid? [True, True] Translation: X:38.68, Y:-2.25, Z:-0.73 [[ 9.90585477e-01 1.34896247e-01 2.33112528e-02 3.86809441e+01] [-1.34883069e-01 9.90859203e-01 -2.14395469e-03 -2.24614748e+00] [-2.33873808e-02 -1.02052294e-03 9.99725957e-01 -7.34143997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184012738999996 meters 0.05137654361849384 Centerline is valid? [True, True] Translation: X:38.74, Y:-2.25, Z:-0.74 [[ 9.91366626e-01 1.29484522e-01 2.06390751e-02 3.87397740e+01] [-1.29473012e-01 9.91581129e-01 -1.89861156e-03 -2.25104480e+00] [-2.07111581e-02 -7.89983079e-04 9.99785189e-01 -7.39873852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24401273899999 meters 0.04436048874982632 Centerline is valid? [True, True] Translation: X:38.80, Y:-2.26, Z:-0.74 [[ 9.92243464e-01 1.22285176e-01 2.23437634e-02 3.87997715e+01] [-1.22269867e-01 9.92494764e-01 -2.05517978e-03 -2.26362030e+00] [-2.24273862e-02 -6.92730279e-04 9.99748235e-01 -7.37217681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304012738999994 meters 0.03568205567405652 Centerline is valid? [True, True] Translation: X:38.86, Y:-2.28, Z:-0.74 [[ 9.93228984e-01 1.13974254e-01 2.24956768e-02 3.88588557e+01] [-1.13956599e-01 9.93483574e-01 -2.06936376e-03 -2.28309231e+00] [-2.25849396e-02 -5.08178769e-04 9.99744799e-01 -7.38648918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364012738999996 meters 0.03225118855876929 Centerline is valid? [True, True] Translation: X:38.92, Y:-2.29, Z:-0.74 [[ 9.93728483e-01 1.09957164e-01 2.03254629e-02 3.89193508e+01] [-1.09941912e-01 9.93936256e-01 -1.86971676e-03 -2.29486637e+00] [-2.04078032e-02 -3.76629442e-04 9.99791668e-01 -7.43387632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424012739 meters 0.03350346699227958 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.30, Z:-0.75 [[ 9.93812982e-01 1.09842992e-01 1.64400360e-02 3.89814946e+01] [-1.09832999e-01 9.93948905e-01 -1.51223039e-03 -2.29916192e+00] [-1.65066637e-02 -3.02784268e-04 9.99863710e-01 -7.53155531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48401273899999 meters 0.03216800054098251 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.31, Z:-0.75 [[ 9.94090832e-01 1.07112536e-01 1.76159860e-02 3.90420437e+01] [-1.07100596e-01 9.94246866e-01 -1.62255157e-03 -2.30816791e+00] [-1.76884345e-02 -2.73718958e-04 9.99843510e-01 -7.52218813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544012738999996 meters 0.026844655085358802 Centerline is valid? [True, True] Translation: X:39.10, Y:-2.33, Z:-0.75 [[ 9.94754376e-01 1.00623612e-01 1.84016409e-02 3.91021982e+01] [-1.00609417e-01 9.94924551e-01 -1.69793311e-03 -2.32699271e+00] [-1.84790965e-02 -1.62351966e-04 9.99829234e-01 -7.50210925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604012739 meters 0.024993348584462085 Centerline is valid? [True, True] Translation: X:39.16, Y:-2.34, Z:-0.75 [[ 9.95306520e-01 9.47881559e-02 1.94970735e-02 3.91623483e+01] [-9.47710807e-02 9.95497465e-01 -1.79998000e-03 -2.33973881e+00] [-1.95799041e-02 -5.62269024e-05 9.99808294e-01 -7.50118543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66401273899999 meters 0.024607310505736783 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.35, Z:-0.75 [[ 9.95466411e-01 9.29277886e-02 2.02743997e-02 3.92249147e+01] [-9.29088729e-02 9.95672851e-01 -1.87497549e-03 -2.34848562e+00] [-2.03609067e-02 -1.71965064e-05 9.99792695e-01 -7.49284938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724012738999996 meters 0.02544676845276008 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.36, Z:-0.75 [[ 9.95999574e-01 8.70431720e-02 2.02073169e-02 3.92857995e+01] [-8.70230920e-02 9.96204535e-01 -1.87259590e-03 -2.36413774e+00] [-2.02936174e-02 1.06601518e-04 9.99794058e-01 -7.51235826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784012739 meters 0.027261701616434483 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.38, Z:-0.75 [[ 9.96430417e-01 8.21629235e-02 1.93824136e-02 3.93464170e+01] [-8.21434664e-02 9.96618891e-01 -1.79921844e-03 -2.37721967e+00] [-1.94647086e-02 2.00657344e-04 9.99810524e-01 -7.53449025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84401273899999 meters 0.028921571657369943 Centerline is valid? [True, True] Translation: X:39.41, Y:-2.39, Z:-0.75 [[ 9.96713504e-01 7.85007995e-02 1.99953641e-02 3.94075248e+01] [-7.84792910e-02 9.96914010e-01 -1.85931400e-03 -2.39083806e+00] [-2.00796163e-02 2.83981374e-04 9.99798344e-01 -7.54808471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904012738999995 meters 0.03279949204108306 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.41, Z:-0.75 [[ 9.97100525e-01 7.31283122e-02 2.10426272e-02 3.94664282e+01] [-7.31032174e-02 9.97322454e-01 -1.96036457e-03 -2.40899723e+00] [-2.11296428e-02 4.16396788e-04 9.99776657e-01 -7.54202599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964012739 meters 0.03343488293426344 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.42, Z:-0.76 [[ 9.97111611e-01 7.36537358e-02 1.85354397e-02 3.95265846e+01] [-7.36343573e-02 9.97283811e-01 -1.72672598e-03 -2.42320850e+00] [-1.86122738e-02 3.56893334e-04 9.99826713e-01 -7.59492354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02401273899999 meters 0.02974653307818368 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.42, Z:-0.76 [[ 9.96714071e-01 7.89460444e-02 1.81268259e-02 3.95882473e+01] [-7.89283310e-02 9.96878858e-01 -1.69165662e-03 -2.42309376e+00] [-1.82037991e-02 2.55377845e-04 9.99834265e-01 -7.62072232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084012738999995 meters 0.026953526376558977 Centerline is valid? [True, True] Translation: X:39.65, Y:-2.42, Z:-0.76 [[ 9.96326940e-01 8.29588647e-02 2.12239341e-02 3.96507789e+01] [-8.29354752e-02 9.96552949e-01 -1.98139609e-03 -2.42444755e+00] [-2.13151485e-02 2.13901248e-04 9.99772784e-01 -7.57629982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144012739 meters 0.029677107206783696 Centerline is valid? [True, True] Translation: X:39.71, Y:-2.44, Z:-0.75 [[ 9.96257864e-01 8.40710918e-02 2.00579116e-02 3.97110082e+01] [-8.40503615e-02 9.96459742e-01 -1.87581140e-03 -2.43536974e+00] [-2.01446029e-02 1.82917144e-04 9.99797060e-01 -7.54285438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20401273899999 meters 0.02635782473225043 Centerline is valid? [True, True] Translation: X:39.77, Y:-2.43, Z:-0.76 [[ 9.96083816e-01 8.57373330e-02 2.15902920e-02 3.97735739e+01] [-8.57136251e-02 9.96317762e-01 -2.02280411e-03 -2.43315974e+00] [-2.16842212e-02 1.64300241e-04 9.99764856e-01 -7.59747725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264012738999995 meters 0.025860174289990434 Centerline is valid? [True, True] Translation: X:39.83, Y:-2.44, Z:-0.76 [[ 9.95910564e-01 8.78309758e-02 2.11629061e-02 3.98349756e+01] [-8.78085978e-02 9.96135385e-01 -1.98615472e-03 -2.43507073e+00] [-2.12555655e-02 1.19747356e-04 9.99774068e-01 -7.61950517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324012739 meters 0.026398410643506023 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.44, Z:-0.76 [[ 9.96076242e-01 8.59869019e-02 2.09373649e-02 3.98965374e+01] [-8.59645249e-02 9.96296255e-01 -1.96812501e-03 -2.43892336e+00] [-2.10290512e-02 1.60531937e-04 9.99778852e-01 -7.62954125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38401273899999 meters 0.02859718872428072 Centerline is valid? [True, True] Translation: X:39.96, Y:-2.45, Z:-0.76 [[ 9.96449399e-01 8.14886520e-02 2.11705927e-02 3.99575266e+01] [-8.14646878e-02 9.96674235e-01 -1.99336437e-03 -2.45112320e+00] [-2.12626208e-02 2.61631010e-04 9.99773891e-01 -7.62586783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444012738999994 meters 0.0313115464585551 Centerline is valid? [True, True] Translation: X:40.02, Y:-2.46, Z:-0.77 [[ 9.96793697e-01 7.75404810e-02 1.97433250e-02 4.00173179e+01] [-7.75188025e-02 9.96989151e-01 -1.86212479e-03 -2.46139369e+00] [-1.98282709e-02 3.25675337e-04 9.99803347e-01 -7.66049902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504012739 meters 0.030738337520651384 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.47, Z:-0.77 [[ 9.96693866e-01 7.87538230e-02 1.99793052e-02 4.00795011e+01] [-7.87318583e-02 9.96894048e-01 -1.88480488e-03 -2.46843534e+00] [-2.00656860e-02 3.05565640e-04 9.99798617e-01 -7.66676294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56401273899999 meters 0.02905064623782978 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.47, Z:-0.77 [[ 9.96440332e-01 8.21546781e-02 1.89016789e-02 4.01404321e+01] [-8.21355755e-02 9.96619565e-01 -1.78605920e-03 -2.46986490e+00] [-1.89845161e-02 2.27201154e-04 9.99819752e-01 -7.71205367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624012738999994 meters 0.026570300640614646 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.47, Z:-0.77 [[ 9.95999089e-01 8.75967574e-02 1.76811367e-02 4.02031675e+01] [-8.75808561e-02 9.96156009e-01 -1.67315768e-03 -2.46759619e+00] [-1.77597337e-02 1.17934444e-04 9.99842277e-01 -7.73749456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684012738999996 meters 0.025140361733505104 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.47, Z:-0.77 [[ 9.95267480e-01 9.48820754e-02 2.09770100e-02 4.02661411e+01] [-9.48612256e-02 9.95488519e-01 -1.98902735e-03 -2.46651686e+00] [-2.10710957e-02 -1.02906368e-05 9.99777980e-01 -7.70241052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74401273899999 meters 0.02544250821207795 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.47, Z:-0.77 [[ 9.95089247e-01 9.69728941e-02 1.98405561e-02 4.03273328e+01] [-9.69545961e-02 9.95287022e-01 -1.88437029e-03 -2.47342290e+00] [-1.99297808e-02 -4.85164916e-05 9.99801381e-01 -7.73221909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804012738999994 meters 0.02921082795145528 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.46, Z:-0.78 [[ 9.94266584e-01 1.05238629e-01 1.89417670e-02 4.03898998e+01] [-1.05223411e-01 9.94446977e-01 -1.80104678e-03 -2.46410642e+00] [-1.90261226e-02 -2.02396701e-04 9.99818966e-01 -7.76617242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864012738999996 meters 0.040726602896283305 Centerline is valid? [True, True] Translation: X:40.45, Y:-2.44, Z:-0.78 [[ 9.92739810e-01 1.18517013e-01 2.05277410e-02 4.04535109e+01] [-1.18501905e-01 9.92951900e-01 -1.95513577e-03 -2.44144060e+00] [-2.06147763e-02 -4.91635310e-04 9.99787372e-01 -7.75082192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924012739 meters 0.047515804711545484 Centerline is valid? [True, True] Translation: X:40.52, Y:-2.43, Z:-0.78 [[ 9.91415364e-01 1.29228996e-01 1.98857222e-02 4.05154461e+01] [-1.29216961e-01 9.91614536e-01 -1.89432408e-03 -2.42739758e+00] [-1.99637728e-02 -6.91510603e-04 9.99800465e-01 -7.79469448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98401273899999 meters 0.04907103663624613 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.42, Z:-0.78 [[ 9.91239549e-01 1.30736688e-01 1.87636586e-02 4.05778327e+01] [-1.30726246e-01 9.91416892e-01 -1.78728794e-03 -2.42398312e+00] [-1.88362722e-02 -6.81272157e-04 9.99822350e-01 -7.82247705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044012738999996 meters 0.04587829868575753 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.42, Z:-0.78 [[ 9.91613166e-01 1.27712352e-01 1.98213032e-02 4.06398180e+01] [-1.27700032e-01 9.91811033e-01 -1.89123420e-03 -2.41603772e+00] [-1.99005211e-02 -6.55808318e-04 9.99801750e-01 -7.81217192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104012739 meters 0.04126666505812451 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.42, Z:-0.78 [[ 9.92132598e-01 1.23406410e-01 2.10657412e-02 4.07007370e+01] [-1.23391519e-01 9.92356031e-01 -2.01023023e-03 -2.41914997e+00] [-2.11527906e-02 -6.04918856e-04 9.99776072e-01 -7.80821611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16401273899999 meters 0.028341201420106828 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.44, Z:-0.78 [[ 9.94197721e-01 1.05532688e-01 2.08265137e-02 4.07601076e+01] [-1.05514201e-01 9.94415810e-01 -1.98764135e-03 -2.43566698e+00] [-2.09199756e-02 -2.21384455e-04 9.99781129e-01 -7.83690296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224012738999996 meters 0.025638775228911444 Centerline is valid? [True, True] Translation: X:40.82, Y:-2.45, Z:-0.79 [[ 9.95226754e-01 9.57336771e-02 1.89412690e-02 4.08208398e+01] [-9.57166126e-02 9.95406984e-01 -1.80754073e-03 -2.45401082e+00] [-1.90273139e-02 -1.40812152e-05 9.99818964e-01 -7.86904424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284012739 meters 0.03025646282540896 Centerline is valid? [True, True] Translation: X:40.88, Y:-2.48, Z:-0.79 [[ 9.96583232e-01 8.03841864e-02 1.89801034e-02 4.08781607e+01] [-8.03642008e-02 9.96763915e-01 -1.81460779e-03 -2.48273462e+00] [-1.90645479e-02 2.83086856e-04 9.99818215e-01 -7.87197622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34401273899999 meters 0.03774354873123742 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.50, Z:-0.78 [[ 9.96803570e-01 7.78773211e-02 1.78259580e-02 4.09392082e+01] [-7.78592801e-02 9.96962901e-01 -1.70490444e-03 -2.49577414e+00] [-1.79045922e-02 3.11538572e-04 9.99839651e-01 -7.75979349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404012738999995 meters 0.02978740621103706 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.50, Z:-0.79 [[ 9.96494250e-01 8.20360857e-02 1.64100506e-02 4.09999748e+01] [-8.20213222e-02 9.96629335e-01 -1.57181504e-03 -2.50157910e+00] [-1.64836834e-02 2.20330600e-04 9.99864111e-01 -7.94625392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464012739 meters 0.025699188173825948 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.49, Z:-0.79 [[ 9.95427613e-01 9.39260003e-02 1.73716220e-02 4.10622222e+01] [-9.39112071e-02 9.95579181e-01 -1.66718492e-03 -2.49341370e+00] [-1.74514172e-02 2.81719170e-05 9.99847712e-01 -7.93556808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52401273899999 meters 0.026473349527937697 Centerline is valid? [True, True] Translation: X:41.12, Y:-2.49, Z:-0.79 [[ 9.94752238e-01 1.00700561e-01 1.80936795e-02 4.11241606e+01] [-1.00685629e-01 9.94916775e-01 -1.73663777e-03 -2.49273381e+00] [-1.81765856e-02 -9.42491877e-05 9.99834788e-01 -7.94909365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584012738999995 meters 0.026897432016691935 Centerline is valid? [True, True] Translation: X:41.19, Y:-2.50, Z:-0.80 [[ 9.94611931e-01 1.02151063e-01 1.76710613e-02 4.11859583e+01] [-1.02137004e-01 9.94768891e-01 -1.69866120e-03 -2.49751644e+00] [-1.77521421e-02 -1.15360569e-04 9.99842412e-01 -7.96325617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644012739 meters 0.02887468360035862 Centerline is valid? [True, True] Translation: X:41.25, Y:-2.50, Z:-0.80 [[ 9.93992072e-01 1.07936951e-01 1.81486797e-02 4.12487397e+01] [-1.07923030e-01 9.94157717e-01 -1.74761993e-03 -2.49573932e+00] [-1.82312827e-02 -2.21540140e-04 9.99833772e-01 -7.95803668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70401273899999 meters 0.03187167099899035 Centerline is valid? [True, True] Translation: X:41.31, Y:-2.49, Z:-0.80 [[ 9.93585890e-01 1.11712687e-01 1.75315550e-02 4.13110786e+01] [-1.11700231e-01 9.93740509e-01 -1.69112754e-03 -2.48814430e+00] [-1.76107368e-02 -2.77998297e-04 9.99844880e-01 -7.99249942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764012738999995 meters 0.02742482275657183 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.50, Z:-0.79 [[ 9.94244686e-01 1.04883966e-01 2.18370908e-02 4.13715596e+01] [-1.04862905e-01 9.94484448e-01 -2.11052289e-03 -2.50039976e+00] [-2.19380072e-02 -1.91524597e-04 9.99759315e-01 -7.94213514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824012739 meters 0.025861695474322405 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.53, Z:-0.80 [[ 9.95523084e-01 9.24278008e-02 1.97709376e-02 4.14303464e+01] [-9.24080702e-02 9.95719386e-01 -1.91118647e-03 -2.52990813e+00] [-1.98629526e-02 7.56360579e-05 9.99802709e-01 -7.98560553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88401273899999 meters 0.028745813343559648 Centerline is valid? [True, True] Translation: X:41.49, Y:-2.55, Z:-0.80 [[ 9.96275418e-01 8.38406504e-02 2.01503318e-02 4.14905540e+01] [-8.38183327e-02 9.96479142e-01 -1.95107836e-03 -2.55303879e+00] [-2.02429650e-02 2.54844197e-04 9.99795058e-01 -7.99328629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944012738999994 meters 0.0288995738806768 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.57, Z:-0.81 [[ 9.96262392e-01 8.46306665e-02 1.72886135e-02 4.15511099e+01] [-8.46143489e-02 9.96412369e-01 -1.67446548e-03 -2.57039654e+00] [-1.73682995e-02 2.05342206e-04 9.99849139e-01 -8.06068935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004012739 meters 0.026204276417631577 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.57, Z:-0.80 [[ 9.95651976e-01 9.11921405e-02 1.90035723e-02 4.16123814e+01] [-9.11735688e-02 9.95833311e-01 -1.84319415e-03 -2.57449702e+00] [-1.90924752e-02 1.02556386e-04 9.99817717e-01 -8.02911781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06401273899999 meters 0.025792138434918142 Centerline is valid? [True, True] Translation: X:41.68, Y:-2.57, Z:-0.81 [[ 9.95102119e-01 9.72135724e-02 1.79246981e-02 4.16750596e+01] [-9.71980251e-02 9.95263544e-01 -1.73859469e-03 -2.57359252e+00] [-1.80088136e-02 -1.21659941e-05 9.99837828e-01 -8.07211173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124012738999994 meters 0.026241833337848852 Centerline is valid? [True, True] Translation: X:41.74, Y:-2.58, Z:-0.81 [[ 9.94890155e-01 9.95834067e-02 1.66350394e-02 4.17356005e+01] [-9.95703000e-02 9.95029217e-01 -1.61634716e-03 -2.57930457e+00] [-1.67133116e-02 -4.82679816e-05 9.99860322e-01 -8.10236121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184012738999996 meters 0.02961124727962897 Centerline is valid? [True, True] Translation: X:41.80, Y:-2.57, Z:-0.81 [[ 9.93979038e-01 1.08195852e-01 1.73011584e-02 4.17983640e+01] [-1.08182948e-01 9.94129578e-01 -1.68277751e-03 -2.56848437e+00] [-1.73816629e-02 -1.99044743e-04 9.99848908e-01 -8.10948030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24401273899999 meters 0.03804148945604168 Centerline is valid? [True, True] Translation: X:41.86, Y:-2.55, Z:-0.81 [[ 9.92604111e-01 1.20122058e-01 1.75433710e-02 4.18608733e+01] [-1.20110621e-01 9.92759045e-01 -1.70799504e-03 -2.55329209e+00] [-1.76215082e-02 -4.11782285e-04 9.99844644e-01 -8.09729628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304012738999994 meters 0.046711487920236536 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.53, Z:-0.81 [[ 9.91128693e-01 1.31640637e-01 1.82936141e-02 4.19239321e+01] [-1.31630156e-01 9.91297296e-01 -1.78107967e-03 -2.53360872e+00] [-1.83688727e-02 -6.42712122e-04 9.99831071e-01 -8.09606684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364012738999996 meters 0.053236500695839004 Centerline is valid? [True, True] Translation: X:41.99, Y:-2.52, Z:-0.81 [[ 9.90671860e-01 1.34859589e-01 1.95488567e-02 4.19856729e+01] [-1.34848246e-01 9.90864435e-01 -1.90331065e-03 -2.52239895e+00] [-1.96269465e-02 -7.50572735e-04 9.99807091e-01 -8.08682657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424012739 meters 0.04363897033619279 Centerline is valid? [True, True] Translation: X:42.05, Y:-2.53, Z:-0.81 [[ 9.91493714e-01 1.28516772e-01 2.05828854e-02 4.20460052e+01] [-1.28502826e-01 9.91707117e-01 -2.00423721e-03 -2.52809200e+00] [-2.06697720e-02 -6.57770339e-04 9.99786141e-01 -8.08408881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48401273899999 meters 0.04028884478321193 Centerline is valid? [True, True] Translation: X:42.11, Y:-2.53, Z:-0.81 [[ 9.92222066e-01 1.22886485e-01 1.98565991e-02 4.21051102e+01] [-1.22872377e-01 9.92420596e-01 -1.93359733e-03 -2.53469464e+00] [-1.99437109e-02 -5.21269604e-04 9.99800969e-01 -8.11121358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544012738999996 meters 0.03276488942434525 Centerline is valid? [True, True] Translation: X:42.16, Y:-2.55, Z:-0.81 [[ 9.93139234e-01 1.14746539e-01 2.25320702e-02 4.21645341e+01] [-1.14726280e-01 9.93394719e-01 -2.19401068e-03 -2.54556390e+00] [-2.26349946e-02 -4.06062504e-04 9.99743713e-01 -8.07423565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604012739 meters 0.0286847509397564 Centerline is valid? [True, True] Translation: X:42.22, Y:-2.56, Z:-0.81 [[ 9.93837895e-01 1.08630584e-01 2.20371188e-02 4.22245983e+01] [-1.08609699e-01 9.94082154e-01 -2.14593237e-03 -2.55905440e+00] [-2.21398204e-02 -2.60735924e-04 9.99754850e-01 -8.10329824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66401273899999 meters 0.03133046919199617 Centerline is valid? [True, True] Translation: X:42.29, Y:-2.57, Z:-0.80 [[ 9.94107491e-01 1.06586587e-01 1.97381979e-02 4.22861771e+01] [-1.06569423e-01 9.94303406e-01 -1.92239960e-03 -2.57025520e+00] [-1.98306594e-02 -1.92416522e-04 9.99803335e-01 -8.03960251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724012738999996 meters 0.029550397680873162 Centerline is valid? [True, True] Translation: X:42.35, Y:-2.57, Z:-0.82 [[ 9.93912698e-01 1.08304351e-01 2.01919653e-02 4.23477338e+01] [-1.08286673e-01 9.94117757e-01 -1.97003492e-03 -2.57024133e+00] [-2.02865547e-02 -2.28478032e-04 9.99794181e-01 -8.17537185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784012739 meters 0.028083776980857546 Centerline is valid? [True, True] Translation: X:42.41, Y:-2.58, Z:-0.82 [[ 9.94170845e-01 1.06231187e-01 1.84191805e-02 4.24088445e+01] [-1.06216074e-01 9.94341444e-01 -1.79960173e-03 -2.58196526e+00] [-1.85061284e-02 -1.67301474e-04 9.99828733e-01 -8.22655372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84401273899999 meters 0.026162960742952438 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.60, Z:-0.83 [[ 9.94843867e-01 1.00124105e-01 1.61506405e-02 4.24698256e+01] [-1.00111645e-01 9.94974955e-01 -1.58014933e-03 -2.59930570e+00] [-1.62276938e-02 -4.48653180e-05 9.99868321e-01 -8.28287670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904012738999995 meters 0.025514703344053362 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.62, Z:-0.82 [[ 9.95259776e-01 9.51989441e-02 1.98781216e-02 4.25292521e+01] [-9.51790055e-02 9.95458266e-01 -1.94888118e-03 -2.61945689e+00] [-1.99733719e-02 4.76631972e-05 9.99800511e-01 -8.22403023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964012739 meters 0.026397987102138948 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.63, Z:-0.83 [[ 9.95540551e-01 9.26082427e-02 1.79645585e-02 4.25891412e+01] [-9.25914927e-02 9.95702619e-01 -1.76370388e-03 -2.63162425e+00] [-1.80506915e-02 9.24734440e-05 9.99837069e-01 -8.28239392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02401273899999 meters 0.02617306350634404 Centerline is valid? [True, True] Translation: X:42.65, Y:-2.63, Z:-0.83 [[ 9.95273489e-01 9.59246146e-02 1.51377244e-02 4.26523473e+01] [-9.59130812e-02 9.95388601e-01 -1.48774011e-03 -2.63458656e+00] [-1.52106292e-02 2.88025034e-05 9.99884311e-01 -8.33522944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084012738999995 meters 0.026666675274830586 Centerline is valid? [True, True] Translation: X:42.72, Y:-2.63, Z:-0.83 [[ 9.94426644e-01 1.03879194e-01 1.80211649e-02 4.27165200e+01] [-1.03864079e-01 9.94589916e-01 -1.77516654e-03 -2.62687901e+00] [-1.81080718e-02 -1.06478802e-04 9.99836030e-01 -8.28582375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144012739 meters 0.03031635585664166 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.62, Z:-0.83 [[ 9.93815419e-01 1.09649162e-01 1.75492102e-02 4.27793848e+01] [-1.09635665e-01 9.93970332e-01 -1.73225488e-03 -2.61598282e+00] [-1.76333346e-02 -2.02477726e-04 9.99844500e-01 -8.32199333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20401273899999 meters 0.029231367187426836 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.62, Z:-0.83 [[ 9.93961704e-01 1.08166398e-01 1.84434636e-02 4.28417213e+01] [-1.08151206e-01 9.94132786e-01 -1.82208756e-03 -2.62063574e+00] [-1.85323405e-02 -1.83597584e-04 9.99828245e-01 -8.32663758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264012738999995 meters 0.02586235946893055 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.64, Z:-0.83 [[ 9.94668708e-01 1.01281233e-01 1.93977452e-02 4.29027451e+01] [-1.01263056e-01 9.94857833e-01 -1.91959140e-03 -2.63933649e+00] [-1.94924173e-02 -5.49174489e-05 9.99810003e-01 -8.31339678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324012739 meters 0.025634339174526545 Centerline is valid? [True, True] Translation: X:42.96, Y:-2.65, Z:-0.83 [[ 9.94985951e-01 9.82992519e-02 1.84449169e-02 4.29642274e+01] [-9.82822892e-02 9.95156901e-01 -1.82607790e-03 -2.65282620e+00] [-1.85350884e-02 4.11319698e-06 9.99828210e-01 -8.33247994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38401273899999 meters 0.025824826276663906 Centerline is valid? [True, True] Translation: X:43.03, Y:-2.66, Z:-0.83 [[ 9.94561787e-01 1.02064390e-01 2.07294749e-02 4.30261400e+01] [-1.02043693e-01 9.94777792e-01 -2.05654628e-03 -2.65560760e+00] [-2.08311214e-02 -6.99498261e-05 9.99783006e-01 -8.30181021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444012738999994 meters 0.026294385119347702 Centerline is valid? [True, True] Translation: X:43.09, Y:-2.66, Z:-0.83 [[ 9.94335294e-01 1.04194696e-01 2.09949760e-02 4.30884691e+01] [-1.04173863e-01 9.94556913e-01 -2.08652408e-03 -2.66005577e+00] [-2.10981033e-02 -1.12423229e-04 9.99777404e-01 -8.30870082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504012739 meters 0.028938410725009005 Centerline is valid? [True, True] Translation: X:43.15, Y:-2.66, Z:-0.84 [[ 9.93817179e-01 1.09293523e-01 1.95535489e-02 4.31505071e+01] [-1.09276382e-01 9.94009499e-01 -1.94616629e-03 -2.65988385e+00] [-1.96491167e-02 -2.02607587e-04 9.99806917e-01 -8.36439184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56401273899999 meters 0.03316173492220698 Centerline is valid? [True, True] Translation: X:43.21, Y:-2.66, Z:-0.84 [[ 9.93259731e-01 1.14655019e-01 1.70098028e-02 4.32122680e+01] [-1.14642794e-01 9.93405333e-01 -1.69530419e-03 -2.65715763e+00] [-1.70920040e-02 -2.66173935e-04 9.99853886e-01 -8.43402161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624012738999994 meters 0.0342615915634667 Centerline is valid? [True, True] Translation: X:43.27, Y:-2.66, Z:-0.84 [[ 9.93098290e-01 1.15866180e-01 1.81882971e-02 4.32736310e+01] [-1.15852353e-01 9.93264786e-01 -1.81563453e-03 -2.66241202e+00] [-1.82761657e-02 -3.04053472e-04 9.99832931e-01 -8.42426057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684012738999996 meters 0.030225922956560625 Centerline is valid? [True, True] Translation: X:43.33, Y:-2.68, Z:-0.84 [[ 9.93414788e-01 1.13037347e-01 1.86980754e-02 4.33341831e+01] [-1.13022181e-01 9.93590707e-01 -1.86925358e-03 -2.67935037e+00] [-1.87895294e-02 -2.56353119e-04 9.99823428e-01 -8.42694410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74401273899999 meters 0.028561129438046933 Centerline is valid? [True, True] Translation: X:43.39, Y:-2.69, Z:-0.85 [[ 9.93992646e-01 1.07988342e-01 1.78083846e-02 4.33939204e+01] [-1.07973721e-01 9.94152149e-01 -1.78332008e-03 -2.69301772e+00] [-1.78968216e-02 -1.50230506e-04 9.99839828e-01 -8.46906712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804012738999994 meters 0.026959920680202743 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.71, Z:-0.85 [[ 9.94279238e-01 1.05380638e-01 1.74274811e-02 4.34551119e+01] [-1.05366210e-01 9.94431954e-01 -1.74658474e-03 -2.70867863e+00] [-1.75145003e-02 -9.96746893e-05 9.99846604e-01 -8.47693970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864012738999996 meters 0.02896303111316687 Centerline is valid? [True, True] Translation: X:43.52, Y:-2.71, Z:-0.85 [[ 9.93907017e-01 1.08748667e-01 1.79602306e-02 4.35169356e+01] [-1.08733837e-01 9.94069264e-01 -1.80305797e-03 -2.70521856e+00] [-1.80497934e-02 -1.60812817e-04 9.99837076e-01 -8.47065829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924012739 meters 0.030221435199765084 Centerline is valid? [True, True] Translation: X:43.58, Y:-2.70, Z:-0.85 [[ 9.93496056e-01 1.12202686e-01 1.93944120e-02 4.35798518e+01] [-1.12185990e-01 9.93685313e-01 -1.95018815e-03 -2.70273978e+00] [-1.94907587e-02 -2.38277072e-04 9.99810009e-01 -8.46794962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98401273899999 meters 0.028201017022946227 Centerline is valid? [True, True] Translation: X:43.64, Y:-2.71, Z:-0.85 [[ 9.93829765e-01 1.08955717e-01 2.07617387e-02 4.36409823e+01] [-1.08935800e-01 9.94046588e-01 -2.09124963e-03 -2.71292770e+00] [-2.08659891e-02 -1.83350470e-04 9.99782265e-01 -8.46414565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044012738999996 meters 0.025796243429366126 Centerline is valid? [True, True] Translation: X:43.70, Y:-2.73, Z:-0.85 [[ 9.94736890e-01 1.00418095e-01 2.03648284e-02 4.37017279e+01] [-1.00397077e-01 9.94945328e-01 -2.05445757e-03 -2.72929245e+00] [-2.04681956e-02 -9.24513413e-07 9.99790505e-01 -8.47985471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104012739 meters 0.027807910059692482 Centerline is valid? [True, True] Translation: X:43.76, Y:-2.75, Z:-0.85 [[ 9.95577237e-01 9.21286166e-02 1.83924978e-02 4.37614145e+01] [-9.21100051e-02 9.95747103e-01 -1.85830213e-03 -2.74914904e+00] [-1.84854792e-02 1.55950229e-04 9.99829117e-01 -8.54500706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16401273899999 meters 0.03172426106848508 Centerline is valid? [True, True] Translation: X:43.82, Y:-2.77, Z:-0.86 [[ 9.96178038e-01 8.57537628e-02 1.66014491e-02 4.38210042e+01] [-8.57376903e-02 9.96316330e-01 -1.67877729e-03 -2.76906045e+00] [-1.66842563e-02 2.48991166e-04 9.99860777e-01 -8.56943555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224012738999996 meters 0.03190764422671269 Centerline is valid? [True, True] Translation: X:43.88, Y:-2.78, Z:-0.85 [[ 9.95912799e-01 8.80710987e-02 2.00294224e-02 4.38812673e+01] [-8.80481604e-02 9.96114159e-01 -2.02594516e-03 -2.77981564e+00] [-2.01300184e-02 2.54110917e-04 9.99797338e-01 -8.52533974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284012739 meters 0.026774482235796374 Centerline is valid? [True, True] Translation: X:43.94, Y:-2.77, Z:-0.86 [[ 9.95291437e-01 9.50557131e-02 1.89569727e-02 4.39435221e+01] [-9.50363995e-02 9.95471948e-01 -1.91915087e-03 -2.77097792e+00] [-1.90535608e-02 1.08511994e-04 9.99818459e-01 -8.55987126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34401273899999 meters 0.02616981203047682 Centerline is valid? [True, True] Translation: X:44.01, Y:-2.77, Z:-0.86 [[ 9.94894458e-01 9.92877695e-02 1.80819069e-02 4.40057496e+01] [-9.92708951e-02 9.95058761e-01 -1.83064074e-03 -2.77180027e+00] [-1.81743201e-02 2.62872455e-05 9.99834833e-01 -8.59185952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404012738999995 meters 0.026412420983551014 Centerline is valid? [True, True] Translation: X:44.07, Y:-2.78, Z:-0.86 [[ 9.95097241e-01 9.67822426e-02 2.03636641e-02 4.40667436e+01] [-9.67602433e-02 9.95305576e-01 -2.06517705e-03 -2.78283240e+00] [-2.04679409e-02 8.46588955e-05 9.99790506e-01 -8.55756959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464012739 meters 0.03476782785574751 Centerline is valid? [True, True] Translation: X:44.13, Y:-2.80, Z:-0.84 [[ 9.95447977e-01 9.27018941e-02 2.21288094e-02 4.41280210e+01] [-9.26748203e-02 9.95693891e-01 -2.24807688e-03 -2.80229563e+00] [-2.22419213e-02 1.87060147e-04 9.99752600e-01 -8.38419777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52401273899999 meters 0.030585478047023922 Centerline is valid? [True, True] Translation: X:44.19, Y:-2.81, Z:-0.86 [[ 9.95837664e-01 8.89614239e-02 1.98295579e-02 4.41877184e+01] [-8.89388883e-02 9.96035042e-01 -2.01723415e-03 -2.81134307e+00] [-1.99303906e-02 2.45218909e-04 9.99801340e-01 -8.60584935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584012738999995 meters 0.029095390566215216 Centerline is valid? [True, True] Translation: X:44.25, Y:-2.82, Z:-0.86 [[ 9.95793355e-01 8.97989556e-02 1.82137927e-02 4.42507304e+01] [-8.97800833e-02 9.95959891e-01 -1.85286369e-03 -2.81544625e+00] [-1.83065922e-02 2.09833524e-04 9.99832398e-01 -8.63059758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644012739 meters 0.02956077966259244 Centerline is valid? [True, True] Translation: X:44.31, Y:-2.83, Z:-0.87 [[ 9.95899080e-01 8.86743388e-02 1.79411394e-02 4.43123959e+01] [-8.86557844e-02 9.96060645e-01 -1.82848033e-03 -2.82610945e+00] [-1.80326021e-02 2.30396096e-04 9.99837373e-01 -8.65139293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70401273899999 meters 0.03542223808950681 Centerline is valid? [True, True] Translation: X:44.37, Y:-2.85, Z:-0.87 [[ 9.96250600e-01 8.45946096e-02 1.81244215e-02 4.43711044e+01] [-8.45749379e-02 9.96415403e-01 -1.85050984e-03 -2.84832495e+00] [-1.82159959e-02 3.10699709e-04 9.99834027e-01 -8.68802086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764012738999995 meters 0.03393161434582105 Centerline is valid? [True, True] Translation: X:44.43, Y:-2.86, Z:-0.87 [[ 9.96510042e-01 8.14575153e-02 1.82320736e-02 4.44321271e+01] [-8.14370814e-02 9.96676746e-01 -1.86165438e-03 -2.85797774e+00] [-1.83231296e-02 3.70390426e-04 9.99832049e-01 -8.67495918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824012739 meters 0.04158713132343963 Centerline is valid? [True, True] Translation: X:44.49, Y:-2.88, Z:-0.86 [[ 9.96977904e-01 7.58233800e-02 1.69077888e-02 4.44913925e+01] [-7.58049480e-02 9.97121166e-01 -1.72930982e-03 -2.88175303e+00] [-1.69902362e-02 4.42389626e-04 9.99855558e-01 -8.62448953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88401273899999 meters 0.04550903355531562 Centerline is valid? [True, True] Translation: X:44.55, Y:-2.91, Z:-0.87 [[ 9.97499697e-01 6.84282095e-02 1.76616777e-02 4.45481829e+01] [-6.84069330e-02 9.97655866e-01 -1.80671810e-03 -2.90538782e+00] [-1.77439069e-02 5.94019557e-04 9.99842388e-01 -8.71705198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944012738999994 meters 0.045202804730171596 Centerline is valid? [True, True] Translation: X:44.61, Y:-2.92, Z:-0.87 [[ 9.97619667e-01 6.66696956e-02 1.76111352e-02 4.46084160e+01] [-6.66482777e-02 9.97774906e-01 -1.80094389e-03 -2.92205091e+00] [-1.76920171e-02 6.22905217e-04 9.99843290e-01 -8.73783792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004012739 meters 0.044300657235163514 Centerline is valid? [True, True] Translation: X:44.67, Y:-2.94, Z:-0.87 [[ 9.97342253e-01 7.07819483e-02 1.72727013e-02 4.46670193e+01] [-7.07619334e-02 9.97491666e-01 -1.76795857e-03 -2.93761351e+00] [-1.73545151e-02 5.41010048e-04 9.99849253e-01 -8.73939707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06401273899999 meters 0.03603000318462171 Centerline is valid? [True, True] Translation: X:44.73, Y:-2.94, Z:-0.88 [[ 9.96537214e-01 8.13819760e-02 1.70456590e-02 4.47265121e+01] [-8.13640314e-02 9.96682924e-01 -1.74476053e-03 -2.93814025e+00] [-1.71311093e-02 3.51815266e-04 9.99853190e-01 -8.75198067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124012738999994 meters 0.028734854411016343 Centerline is valid? [True, True] Translation: X:44.79, Y:-2.93, Z:-0.88 [[ 9.95551315e-01 9.26984525e-02 1.68694013e-02 4.47869688e+01] [-9.26825034e-02 9.95694217e-01 -1.72649972e-03 -2.92907633e+00] [-1.69568092e-02 1.55320724e-04 9.99856211e-01 -8.77971413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184012738999996 meters 0.026467537142275063 Centerline is valid? [True, True] Translation: X:44.85, Y:-2.93, Z:-0.88 [[ 9.94813692e-01 1.00022487e-01 1.84721327e-02 4.48493308e+01] [-1.00004633e-01 9.94985176e-01 -1.89003958e-03 -2.92817494e+00] [-1.85685447e-02 3.29384016e-05 9.99827589e-01 -8.75673789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24401273899999 meters 0.026857262343610827 Centerline is valid? [True, True] Translation: X:44.91, Y:-2.93, Z:-0.88 [[ 9.94292193e-01 1.05091710e-01 1.84056528e-02 4.49121980e+01] [-1.05074799e-01 9.94462533e-01 -1.88611476e-03 -2.92503748e+00] [-1.85019471e-02 -5.86210868e-05 9.99828823e-01 -8.77722612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304012738999994 meters 0.027378868431317933 Centerline is valid? [True, True] Translation: X:44.97, Y:-2.93, Z:-0.88 [[ 9.94004432e-01 1.07577224e-01 1.95532850e-02 4.49743575e+01] [-1.07558551e-01 9.94196726e-01 -2.00721234e-03 -2.92875815e+00] [-1.96557423e-02 -1.07945033e-04 9.99806801e-01 -8.76629978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364012738999996 meters 0.02808738270082385 Centerline is valid? [True, True] Translation: X:45.04, Y:-2.93, Z:-0.88 [[ 9.93735563e-01 1.09802623e-01 2.08089887e-02 4.50369290e+01] [-1.09781888e-01 9.93953399e-01 -2.13967429e-03 -2.93077086e+00] [-2.09181069e-02 -1.58179632e-04 9.99781180e-01 -8.75249022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424012739 meters 0.029514624268612018 Centerline is valid? [True, True] Translation: X:45.10, Y:-2.93, Z:-0.88 [[ 9.93304007e-01 1.13371501e-01 2.22272895e-02 4.50993778e+01] [-1.13348651e-01 9.93552637e-01 -2.28929229e-03 -2.92885362e+00] [-2.23435226e-02 -2.45470064e-04 9.99750322e-01 -8.75086790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48401273899999 meters 0.03034485089289601 Centerline is valid? [True, True] Translation: X:45.16, Y:-2.93, Z:-0.88 [[ 9.93364860e-01 1.13385492e-01 1.92349750e-02 4.51616987e+01] [-1.13368330e-01 9.93551049e-01 -1.98387634e-03 -2.93132081e+00] [-1.93358723e-02 -2.09923946e-04 9.99813023e-01 -8.82890234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544012738999996 meters 0.030820927688282197 Centerline is valid? [True, True] Translation: X:45.22, Y:-2.94, Z:-0.89 [[ 9.93282716e-01 1.14468836e-01 1.69213281e-02 4.52231027e+01] [-1.14455684e-01 9.93426819e-01 -1.74681396e-03 -2.93599422e+00] [-1.70100569e-02 -2.01662069e-04 9.99855298e-01 -8.87264003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604012739 meters 0.03612122700364392 Centerline is valid? [True, True] Translation: X:45.29, Y:-2.92, Z:-0.88 [[ 9.92352765e-01 1.21987573e-01 1.88420059e-02 4.52859257e+01] [-1.21972557e-01 9.92531561e-01 -1.94842711e-03 -2.92323407e+00] [-1.89389694e-02 -3.64680600e-04 9.99820575e-01 -8.83240450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66401273899999 meters 0.050187058572682644 Centerline is valid? [True, True] Translation: X:45.35, Y:-2.90, Z:-0.89 [[ 9.90842822e-01 1.33756736e-01 1.84292590e-02 4.53481903e+01] [-1.33744392e-01 9.91014028e-01 -1.90627937e-03 -2.89526782e+00] [-1.85186319e-02 -5.75986805e-04 9.99828350e-01 -8.85405773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724012738999996 meters 0.052249893624410765 Centerline is valid? [True, True] Translation: X:45.41, Y:-2.88, Z:-0.89 [[ 9.89981467e-01 1.40253325e-01 1.63002994e-02 4.54100431e+01] [-1.40244543e-01 9.90115460e-01 -1.68633194e-03 -2.88432116e+00] [-1.63756921e-02 -6.16590661e-04 9.99865719e-01 -8.90593179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784012739 meters 0.0503002425426729 Centerline is valid? [True, True] Translation: X:45.47, Y:-2.88, Z:-0.89 [[ 9.90324824e-01 1.37911058e-01 1.54040032e-02 4.54707137e+01] [-1.37902928e-01 9.90444467e-01 -1.59384065e-03 -2.88360171e+00] [-1.54766180e-02 -5.45837172e-04 9.99880081e-01 -8.93481182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84401273899999 meters 0.046254846438772174 Centerline is valid? [True, True] Translation: X:45.53, Y:-2.88, Z:-0.89 [[ 9.90951311e-01 1.32943442e-01 1.84807979e-02 4.55302716e+01] [-1.32930888e-01 9.91123466e-01 -1.91160337e-03 -2.88403153e+00] [-1.85708876e-02 -5.62362998e-04 9.99827388e-01 -8.88424074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904012738999995 meters 0.042580710955179256 Centerline is valid? [True, True] Translation: X:45.59, Y:-2.89, Z:-0.89 [[ 9.91328496e-01 1.30317390e-01 1.68876071e-02 4.55913929e+01] [-1.30306531e-01 9.91472217e-01 -1.74648628e-03 -2.88899375e+00] [-1.69711908e-02 -4.69223893e-04 9.99855869e-01 -8.92970065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964012739 meters 0.04070415945598929 Centerline is valid? [True, True] Translation: X:45.65, Y:-2.89, Z:-0.89 [[ 9.91580493e-01 1.28259832e-01 1.78196737e-02 4.56524607e+01] [-1.28247400e-01 9.91740493e-01 -1.84338323e-03 -2.88971029e+00] [-1.79089240e-02 -4.57463963e-04 9.99839518e-01 -8.93230612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02401273899999 meters 0.03735610702653441 Centerline is valid? [True, True] Translation: X:45.71, Y:-2.90, Z:-0.89 [[ 9.92094656e-01 1.24134798e-01 1.84050496e-02 4.57124716e+01] [-1.24120827e-01 9.92265285e-01 -1.90391539e-03 -2.89662112e+00] [-1.84990339e-02 -3.95585694e-04 9.99828800e-01 -8.92206873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084012738999995 meters 0.03530930047409794 Centerline is valid? [True, True] Translation: X:45.77, Y:-2.91, Z:-0.89 [[ 9.92466550e-01 1.21192286e-01 1.79604137e-02 4.57737664e+01] [-1.21178498e-01 9.92628994e-01 -1.85803648e-03 -2.90531073e+00] [-1.80532070e-02 -3.32376895e-04 9.99836972e-01 -8.93524287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144012739 meters 0.033925116768057255 Centerline is valid? [True, True] Translation: X:45.83, Y:-2.91, Z:-0.90 [[ 9.92562331e-01 1.20515152e-01 1.72080734e-02 4.58348826e+01] [-1.20502378e-01 9.92711441e-01 -1.78108952e-03 -2.91098472e+00] [-1.72972996e-02 -3.05771411e-04 9.99850344e-01 -8.95042242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20401273899999 meters 0.03920022686681035 Centerline is valid? [True, True] Translation: X:45.90, Y:-2.90, Z:-0.90 [[ 9.92016464e-01 1.24975234e-01 1.68678859e-02 4.58954118e+01] [-1.24963596e-01 9.92159791e-01 -1.74636698e-03 -2.90325282e+00] [-1.69538908e-02 -3.75446876e-04 9.99856202e-01 -8.95893713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264012738999995 meters 0.035572907499093205 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.91, Z:-0.89 [[ 9.91995132e-01 1.24723555e-01 1.97406599e-02 4.59550236e+01] [-1.24707566e-01 9.92191436e-01 -2.04376419e-03 -2.90902112e+00] [-1.98414192e-02 -4.34405511e-04 9.99803045e-01 -8.93039751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324012739 meters 0.03054036208770565 Centerline is valid? [True, True] Translation: X:46.01, Y:-2.93, Z:-0.90 [[ 9.93302360e-01 1.14431041e-01 1.59987151e-02 4.60133954e+01] [-1.14419209e-01 9.93431176e-01 -1.65595198e-03 -2.92690919e+00] [-1.60831146e-02 -1.85699320e-04 9.99870641e-01 -9.00838428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38401273899999 meters 0.027225604043985763 Centerline is valid? [True, True] Translation: X:46.07, Y:-2.94, Z:-0.90 [[ 9.93926727e-01 1.08434291e-01 1.87527762e-02 4.60734946e+01] [-1.08416967e-01 9.94103613e-01 -1.94096294e-03 -2.94144141e+00] [-1.88526695e-02 -1.03944187e-04 9.99822267e-01 -8.95724939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444012738999994 meters 0.027311443824291706 Centerline is valid? [True, True] Translation: X:46.14, Y:-2.95, Z:-0.89 [[ 9.93710782e-01 1.10182085e-01 1.99697270e-02 4.61356198e+01] [-1.10162784e-01 9.93911408e-01 -2.06736397e-03 -2.94606846e+00] [-2.00759260e-02 -1.45558862e-04 9.99798448e-01 -8.93517783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504012739 meters 0.029539881992738423 Centerline is valid? [True, True] Translation: X:46.20, Y:-2.94, Z:-0.90 [[ 9.93328326e-01 1.13867774e-01 1.82473670e-02 4.61974687e+01] [-1.13852224e-01 9.93495894e-01 -1.89214103e-03 -2.94059266e+00] [-1.83441381e-02 -1.97986046e-04 9.99831713e-01 -8.98726898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56401273899999 meters 0.030793346429327042 Centerline is valid? [True, True] Translation: X:46.26, Y:-2.94, Z:-0.90 [[ 9.93054774e-01 1.16124060e-01 1.89055025e-02 4.62590005e+01] [-1.16107740e-01 9.93234686e-01 -1.96232596e-03 -2.93636112e+00] [-1.90054741e-02 -2.46378003e-04 9.99819349e-01 -8.97657843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624012738999994 meters 0.030641710648990895 Centerline is valid? [True, True] Translation: X:46.32, Y:-2.94, Z:-0.90 [[ 9.92884089e-01 1.17413263e-01 1.98824396e-02 4.63206672e+01] [-1.17395467e-01 9.93083100e-01 -2.06396942e-03 -2.93505278e+00] [-1.99872521e-02 -2.84825875e-04 9.99800194e-01 -8.97144438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684012738999996 meters 0.029625016889650985 Centerline is valid? [True, True] Translation: X:46.38, Y:-2.94, Z:-0.90 [[ 9.93247283e-01 1.14600337e-01 1.80720039e-02 4.63814084e+01] [-1.14585161e-01 9.93411657e-01 -1.87643125e-03 -2.93768869e+00] [-1.81679790e-02 -2.07023231e-04 9.99834927e-01 -9.02039108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74401273899999 meters 0.02800807566242553 Centerline is valid? [True, True] Translation: X:46.44, Y:-2.95, Z:-0.91 [[ 9.93876275e-01 1.09474533e-01 1.50092345e-02 4.64406409e+01] [-1.09463475e-01 9.93989596e-01 -1.55877077e-03 -2.94951429e+00] [-1.50896686e-02 -9.37376744e-05 9.99886140e-01 -9.09894786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804012738999994 meters 0.026721402336151792 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.96, Z:-0.91 [[ 9.94399230e-01 1.04624173e-01 1.49650761e-02 4.65011294e+01] [-1.04612629e-01 9.94511831e-01 -1.55429694e-03 -2.96204405e+00] [-1.50455622e-02 -1.99442638e-05 9.99886809e-01 -9.10656372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864012738999996 meters 0.026463213143410148 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.97, Z:-0.91 [[ 9.94346922e-01 1.04909266e-01 1.63781549e-02 4.65621603e+01] [-1.04895470e-01 9.94481797e-01 -1.70149720e-03 -2.96864430e+00] [-1.64662798e-02 -2.61157499e-05 9.99864421e-01 -9.08303282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924012739 meters 0.027685803629331165 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.97, Z:-0.91 [[ 9.93929765e-01 1.09092624e-01 1.42274666e-02 4.66242314e+01] [-1.09082638e-01 9.94031585e-01 -1.47833712e-03 -2.96782576e+00] [-1.43038269e-02 -8.26063264e-05 9.99897692e-01 -9.14229558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98401273899999 meters 0.028981177372614658 Centerline is valid? [True, True] Translation: X:46.68, Y:-2.97, Z:-0.92 [[ 9.93570591e-01 1.12443817e-01 1.31859049e-02 4.66840842e+01] [-1.12435527e-01 9.93658077e-01 -1.37073497e-03 -2.96645611e+00] [-1.32564116e-02 -1.20642217e-04 9.99912123e-01 -9.16166197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044012738999996 meters 0.028088684686143266 Centerline is valid? [True, True] Translation: X:46.74, Y:-2.97, Z:-0.91 [[ 9.93636958e-01 1.11430532e-01 1.63960954e-02 4.67419694e+01] [-1.11417583e-01 9.93772217e-01 -1.70396935e-03 -2.97380235e+00] [-1.64838583e-02 -1.33686401e-04 9.99864123e-01 -9.12092781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104012739 meters 0.027873995277198877 Centerline is valid? [True, True] Translation: X:46.80, Y:-2.97, Z:-0.91 [[ 9.93633912e-01 1.11238729e-01 1.78211830e-02 4.68021454e+01] [-1.11223414e-01 9.93793703e-01 -1.85131863e-03 -2.97497243e+00] [-1.79165178e-02 -1.42599840e-04 9.99839476e-01 -9.08889551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16401273899999 meters 0.028808715454630124 Centerline is valid? [True, True] Translation: X:46.86, Y:-2.97, Z:-0.91 [[ 9.93396570e-01 1.13285228e-01 1.81579431e-02 4.68618362e+01] [-1.13269679e-01 9.93562491e-01 -1.88585740e-03 -2.97484717e+00] [-1.82546910e-02 -1.83340105e-04 9.99833352e-01 -9.09326648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224012738999996 meters 0.030421694490699182 Centerline is valid? [True, True] Translation: X:46.92, Y:-2.97, Z:-0.91 [[ 9.93031881e-01 1.16523571e-01 1.76051425e-02 4.69225022e+01] [-1.16509470e-01 9.93187899e-01 -1.82804134e-03 -2.96969172e+00] [-1.76982243e-02 -2.35862474e-04 9.99843346e-01 -9.11568959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284012739 meters 0.031062765172247018 Centerline is valid? [True, True] Translation: X:46.98, Y:-2.97, Z:-0.91 [[ 9.92861351e-01 1.17578345e-01 2.00417078e-02 4.69816364e+01] [-1.17560296e-01 9.93063567e-01 -2.08049913e-03 -2.97015863e+00] [-2.01473115e-02 -2.90461922e-04 9.99796980e-01 -9.09321986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34401273899999 meters 0.03003111097400137 Centerline is valid? [True, True] Translation: X:47.04, Y:-2.98, Z:-0.91 [[ 9.93042282e-01 1.16007609e-01 2.02301923e-02 4.70414735e+01] [-1.15988913e-01 9.93248290e-01 -2.09908212e-03 -2.97663722e+00] [-2.03371134e-02 -2.62000717e-04 9.99793145e-01 -9.10570558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404012738999995 meters 0.02989445178773136 Centerline is valid? [True, True] Translation: X:47.10, Y:-2.98, Z:-0.92 [[ 9.93327059e-01 1.14181441e-01 1.62466299e-02 4.71003668e+01] [-1.14169141e-01 9.93459897e-01 -1.68560127e-03 -2.98237797e+00] [-1.63328396e-02 -1.80510423e-04 9.99866594e-01 -9.17646610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464012739 meters 0.031070885513599534 Centerline is valid? [True, True] Translation: X:47.16, Y:-2.98, Z:-0.92 [[ 9.92993276e-01 1.16761989e-01 1.81931643e-02 4.71594885e+01] [-1.16747001e-01 9.93159894e-01 -1.88738747e-03 -2.98107030e+00] [-1.82890962e-02 -2.49834301e-04 9.99832709e-01 -9.15793207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52401273899999 meters 0.0322978759358718 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.98, Z:-0.92 [[ 9.92899509e-01 1.17861118e-01 1.61035044e-02 4.72185275e+01] [-1.17849530e-01 9.93030060e-01 -1.66995993e-03 -2.98032118e+00] [-1.61880873e-02 -2.39688035e-04 9.99868936e-01 -9.20253578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584012738999995 meters 0.02928441795448277 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.99, Z:-0.92 [[ 9.93339740e-01 1.14021458e-01 1.65912015e-02 4.72762140e+01] [-1.14008636e-01 9.93478270e-01 -1.71973996e-03 -2.99295917e+00] [-1.66790854e-02 -1.83254207e-04 9.99860878e-01 -9.21399023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644012739 meters 0.02635311717597827 Centerline is valid? [True, True] Translation: X:47.33, Y:-3.01, Z:-0.92 [[ 9.94336246e-01 1.05024556e-01 1.62872091e-02 4.73338430e+01] [-1.05011006e-01 9.94469628e-01 -1.68732053e-03 -3.01306676e+00] [-1.63743449e-02 -3.25722599e-05 9.99865931e-01 -9.22807337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70401273899999 meters 0.02601303139309824 Centerline is valid? [True, True] Translation: X:47.39, Y:-3.03, Z:-0.92 [[ 9.94803672e-01 1.00396617e-01 1.69166525e-02 4.73932927e+01] [-1.00381335e-01 9.94947495e-01 -1.75227997e-03 -3.03027826e+00] [-1.70071040e-02 4.50584016e-05 9.99855368e-01 -9.21468317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764012738999995 meters 0.027727830538124425 Centerline is valid? [True, True] Translation: X:47.45, Y:-3.05, Z:-0.93 [[ 9.95393782e-01 9.46003144e-02 1.55563557e-02 4.74524257e+01] [-9.45866938e-02 9.95515325e-01 -1.61065306e-03 -3.04992312e+00] [-1.56389588e-02 1.31809789e-04 9.99877695e-01 -9.25846156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824012739 meters 0.029473885431259082 Centerline is valid? [True, True] Translation: X:47.51, Y:-3.07, Z:-0.93 [[ 9.95718638e-01 9.11997197e-02 1.50667123e-02 4.75116794e+01] [-9.11865154e-02 9.95832605e-01 -1.56248592e-03 -3.07024843e+00] [-1.51464217e-02 1.81915352e-04 9.99885270e-01 -9.27383776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88401273899999 meters 0.030739705485845016 Centerline is valid? [True, True] Translation: X:47.57, Y:-3.09, Z:-0.92 [[ 9.95809752e-01 8.97998230e-02 1.72895859e-02 4.75717921e+01] [-8.97821974e-02 9.95959807e-01 -1.79452301e-03 -3.08776016e+00] [-1.73808805e-02 2.34706502e-04 9.99848914e-01 -9.23741353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944012738999994 meters 0.027759458835885226 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.09, Z:-0.92 [[ 9.95346243e-01 9.46325776e-02 1.81805459e-02 4.76335328e+01] [-9.46138382e-02 9.95512255e-01 -1.89006092e-03 -3.09121202e+00] [-1.82778175e-02 1.61133807e-04 9.99832934e-01 -9.21688383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004012739 meters 0.02563166019782906 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.09, Z:-0.92 [[ 9.94721630e-01 1.00928729e-01 1.85005692e-02 4.76947553e+01] [-1.00910404e-01 9.94893657e-01 -1.92375046e-03 -3.09239688e+00] [-1.86002606e-02 4.66962765e-05 9.99826999e-01 -9.21976165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06401273899999 meters 0.025327344035815498 Centerline is valid? [True, True] Translation: X:47.76, Y:-3.09, Z:-0.92 [[ 9.94417027e-01 1.03350054e-01 2.12965502e-02 4.77571301e+01] [-1.03326252e-01 9.94645045e-01 -2.21794618e-03 -3.09442993e+00] [-2.14117329e-02 5.07072621e-06 9.99770743e-01 -9.17398868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124012738999994 meters 0.025444425094868592 Centerline is valid? [True, True] Translation: X:47.82, Y:-3.10, Z:-0.92 [[ 9.94573714e-01 1.02147119e-01 1.97254385e-02 4.78196050e+01] [-1.02126403e-01 9.94769302e-01 -2.05736656e-03 -3.10364568e+00] [-1.98324148e-02 3.17146143e-05 9.99803318e-01 -9.21032934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184012738999996 meters 0.025821412400016234 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.11, Z:-0.93 [[ 9.94797503e-01 1.00305503e-01 1.77970119e-02 4.78811510e+01] [-1.00288290e-01 9.94956683e-01 -1.85931265e-03 -3.11120430e+00] [-1.78937552e-02 6.48076949e-05 9.99839892e-01 -9.25290486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24401273899999 meters 0.026521666071318912 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.12, Z:-0.92 [[ 9.95080115e-01 9.70926491e-02 1.97125070e-02 4.79412477e+01] [-9.70708272e-02 9.95275338e-01 -2.06311887e-03 -3.12447068e+00] [-1.98196857e-02 1.39459205e-04 9.99803561e-01 -9.23473147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304012738999994 meters 0.02850244617077289 Centerline is valid? [True, True] Translation: X:48.00, Y:-3.14, Z:-0.93 [[ 9.95532646e-01 9.26749180e-02 1.80585029e-02 4.80016591e+01] [-9.26558327e-02 9.95696397e-01 -1.89249830e-03 -3.14379417e+00] [-1.81561734e-02 2.10818219e-04 9.99835141e-01 -9.28439281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364012738999996 meters 0.027587999304754147 Centerline is valid? [True, True] Translation: X:48.06, Y:-3.15, Z:-0.93 [[ 9.95318573e-01 9.53808614e-02 1.56022231e-02 4.80636679e+01] [-9.53669144e-02 9.95440843e-01 -1.63719523e-03 -3.14962296e+00] [-1.56872472e-02 1.41594941e-04 9.99876938e-01 -9.33763320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42401273899999 meters 0.02586239239079467 Centerline is valid? [True, True] Translation: X:48.13, Y:-3.15, Z:-0.93 [[ 9.94730276e-01 1.01040058e-01 1.73949906e-02 4.81255382e+01] [-1.01023529e-01 9.94882356e-01 -1.82857261e-03 -3.15370114e+00] [-1.74907284e-02 6.16331937e-05 9.99847024e-01 -9.31643708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48401273899999 meters 0.02582718416711965 Centerline is valid? [True, True] Translation: X:48.19, Y:-3.16, Z:-0.94 [[ 9.94380802e-01 1.04762424e-01 1.52202485e-02 4.81878590e+01] [-1.04750169e-01 9.94497277e-01 -1.60235157e-03 -3.15693822e+00] [-1.53043619e-02 -9.75953663e-07 9.99882881e-01 -9.36041545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544012738999996 meters 0.02592585634610617 Centerline is valid? [True, True] Translation: X:48.25, Y:-3.16, Z:-0.93 [[ 9.93965837e-01 1.08362457e-01 1.70144885e-02 4.82490797e+01] [-1.08347624e-01 9.94111450e-01 -1.79388976e-03 -3.15934276e+00] [-1.71086881e-02 -6.04142714e-05 9.99853634e-01 -9.32184189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604012739 meters 0.026461735027011844 Centerline is valid? [True, True] Translation: X:48.31, Y:-3.16, Z:-0.93 [[ 9.93677147e-01 1.10936017e-01 1.72895438e-02 4.83111746e+01] [-1.10921083e-01 9.93827545e-01 -1.82331627e-03 -3.15885644e+00] [-1.73850963e-02 -1.05987201e-04 9.99848862e-01 -9.33819634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66401273899999 meters 0.026793365156354963 Centerline is valid? [True, True] Translation: X:48.37, Y:-3.16, Z:-0.93 [[ 9.93541164e-01 1.11987288e-01 1.82976338e-02 4.83721533e+01] [-1.11970730e-01 9.93709631e-01 -1.93012002e-03 -3.16092697e+00] [-1.83986839e-02 -1.31145728e-04 9.99830721e-01 -9.32075578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724012738999996 meters 0.02585631985075038 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.17, Z:-0.93 [[ 9.93844115e-01 1.09141171e-01 1.90284109e-02 4.84337692e+01] [-1.09122742e-01 9.94026256e-01 -2.00723470e-03 -3.16955255e+00] [-1.91338119e-02 -8.15539814e-05 9.99816929e-01 -9.31682603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784012739 meters 0.025431738874001415 Centerline is valid? [True, True] Translation: X:48.49, Y:-3.19, Z:-0.93 [[ 9.94486938e-01 1.02943423e-01 1.99594816e-02 4.84936000e+01] [-1.02921827e-01 9.94687212e-01 -2.10898579e-03 -3.18524088e+00] [-2.00705474e-02 4.30925071e-05 9.99798565e-01 -9.31615209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84401273899999 meters 0.026048793756617904 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.20, Z:-0.93 [[ 9.94831598e-01 9.93236701e-02 2.10926401e-02 4.85544269e+01] [-9.92986644e-02 9.95055171e-01 -2.23217765e-03 -3.19816200e+00] [-2.12100486e-02 1.26169868e-04 9.99775034e-01 -9.29879075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904012738999995 meters 0.02548051130361011 Centerline is valid? [True, True] Translation: X:48.62, Y:-3.20, Z:-0.93 [[ 9.94612134e-01 1.01691292e-01 2.01391369e-02 4.86167457e+01] [-1.01668916e-01 9.94816001e-01 -2.13450503e-03 -3.20294773e+00] [-2.02517962e-02 7.54803961e-05 9.99794908e-01 -9.31991201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964012739 meters 0.0251818350524211 Centerline is valid? [True, True] Translation: X:48.68, Y:-3.20, Z:-0.93 [[ 9.94139749e-01 1.06205730e-01 2.01618879e-02 4.86778707e+01] [-1.06184162e-01 9.94344177e-01 -2.14032019e-03 -3.20310737e+00] [-2.02751701e-02 -1.30957993e-05 9.99794438e-01 -9.33034726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02401273899999 meters 0.025532312607961995 Centerline is valid? [True, True] Translation: X:48.74, Y:-3.20, Z:-0.94 [[ 9.93822130e-01 1.09457381e-01 1.83481977e-02 4.87407725e+01] [-1.09440026e-01 9.93991487e-01 -1.95032578e-03 -3.20105724e+00] [-1.84514299e-02 -6.97503250e-05 9.99829755e-01 -9.37706572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084012738999995 meters 0.02633242498042466 Centerline is valid? [True, True] Translation: X:48.80, Y:-3.20, Z:-0.94 [[ 9.93469472e-01 1.12625140e-01 1.82753144e-02 4.88024214e+01] [-1.12608398e-01 9.93637541e-01 -1.94585928e-03 -3.19849743e+00] [-1.83781911e-02 -1.24802085e-04 9.99831099e-01 -9.38150913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144012739 meters 0.026975886639840428 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.20, Z:-0.94 [[ 9.93200428e-01 1.15046046e-01 1.78133957e-02 4.88634469e+01] [-1.15030521e-01 9.93360146e-01 -1.89714515e-03 -3.19573844e+00] [-1.79133764e-02 -1.64838816e-04 9.99839529e-01 -9.40385815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20401273899999 meters 0.02838079273825976 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.19, Z:-0.94 [[ 9.93017026e-01 1.16618803e-01 1.78112789e-02 4.89225341e+01] [-1.16603533e-01 9.93176730e-01 -1.89701276e-03 -3.19265088e+00] [-1.79109751e-02 -1.93092068e-04 9.99839567e-01 -9.42154836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264012738999995 meters 0.027528574920054318 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.19, Z:-0.94 [[ 9.92987905e-01 1.16449460e-01 2.03603671e-02 4.89827107e+01] [-1.16429488e-01 9.93196595e-01 -2.16765179e-03 -3.19079120e+00] [-2.04742691e-02 -2.18095104e-04 9.99790356e-01 -9.39532943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324012739 meters 0.025839705125918315 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.19, Z:-0.94 [[ 9.93529720e-01 1.11564942e-01 2.12593372e-02 4.90421141e+01] [-1.11542060e-01 9.93757138e-01 -2.26283202e-03 -3.19341221e+00] [-2.13790708e-02 -1.23119404e-04 9.99771434e-01 -9.39322728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38401273899999 meters 0.025034962290502987 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.20, Z:-0.94 [[ 9.94149703e-01 1.06249091e-01 1.94293500e-02 4.91024045e+01] [-1.06228967e-01 9.94339545e-01 -2.06780266e-03 -3.20333548e+00] [-1.95390732e-02 -8.25438247e-06 9.99809094e-01 -9.44721444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444012738999994 meters 0.025971040262801556 Centerline is valid? [True, True] Translation: X:49.16, Y:-3.22, Z:-0.94 [[ 9.94861922e-01 9.87309723e-02 2.24042472e-02 4.91629653e+01] [-9.87022858e-02 9.95114149e-01 -2.38533790e-03 -3.22178437e+00] [-2.25302902e-02 1.61731432e-04 9.99746148e-01 -9.39994043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504012739 meters 0.029577857676847084 Centerline is valid? [True, True] Translation: X:49.22, Y:-3.25, Z:-0.94 [[ 9.95503456e-01 9.16920835e-02 2.37787899e-02 4.92202330e+01] [-9.16576696e-02 9.95787348e-01 -2.53544655e-03 -3.24860506e+00] [-2.39110985e-02 3.44537336e-04 9.99714029e-01 -9.39397366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56401273899999 meters 0.030277711548996587 Centerline is valid? [True, True] Translation: X:49.28, Y:-3.27, Z:-0.94 [[ 9.95653895e-01 9.02682351e-02 2.29121702e-02 4.92803168e+01] [-9.02358975e-02 9.95917422e-01 -2.44346987e-03 -3.26778483e+00] [-2.30391972e-02 3.65350057e-04 9.99734496e-01 -9.42792673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624012738999994 meters 0.028150065534547738 Centerline is valid? [True, True] Translation: X:49.34, Y:-3.28, Z:-0.95 [[ 9.95379410e-01 9.40388651e-02 1.94041903e-02 4.93407744e+01] [-9.40163334e-02 9.95568498e-01 -2.07219732e-03 -3.28246622e+00] [-1.95130677e-02 2.38311723e-04 9.99809574e-01 -9.49444023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684012738999996 meters 0.026753975043224413 Centerline is valid? [True, True] Translation: X:49.40, Y:-3.29, Z:-0.95 [[ 9.95043244e-01 9.75416378e-02 1.93538477e-02 4.94025001e+01] [-9.75198740e-02 9.95231430e-01 -2.06738831e-03 -3.29120853e+00] [-1.94632139e-02 1.69755981e-04 9.99810559e-01 -9.49887749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74401273899999 meters 0.02506993881692601 Centerline is valid? [True, True] Translation: X:49.46, Y:-3.29, Z:-0.95 [[ 9.93840851e-01 1.09050679e-01 1.97056403e-02 4.94640162e+01] [-1.09030309e-01 9.94036190e-01 -2.10833407e-03 -3.28974226e+00] [-1.98180349e-02 -5.31635212e-05 9.99803602e-01 -9.51009338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804012738999994 meters 0.02704079356759709 Centerline is valid? [True, True] Translation: X:49.53, Y:-3.29, Z:-0.96 [[ 9.93155059e-01 1.15402185e-01 1.80378795e-02 4.95265646e+01] [-1.15386119e-01 9.93318836e-01 -1.93238607e-03 -3.28934232e+00] [-1.81403671e-02 -1.62161919e-04 9.99835437e-01 -9.55861935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864012738999996 meters 0.027757405845844633 Centerline is valid? [True, True] Translation: X:49.59, Y:-3.29, Z:-0.96 [[ 9.92946106e-01 1.17009152e-01 1.91543487e-02 4.95865058e+01] [-1.16991266e-01 9.93130816e-01 -2.05553694e-03 -3.29479240e+00] [-1.92632906e-02 -1.99854105e-04 9.99814426e-01 -9.55522101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92401273899999 meters 0.02761695574604197 Centerline is valid? [True, True] Translation: X:49.65, Y:-3.30, Z:-0.95 [[ 9.92856501e-01 1.17450699e-01 2.10071908e-02 4.96473062e+01] [-1.17429284e-01 9.93078688e-01 -2.25438945e-03 -3.30188030e+00] [-2.11265731e-02 -2.28574138e-04 9.99776783e-01 -9.53255469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98401273899999 meters 0.029172441055034613 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.30, Z:-0.95 [[ 9.92433066e-01 1.20170904e-01 2.52103841e-02 4.97075059e+01] [-1.20140923e-01 9.92753160e-01 -2.70604044e-03 -3.30262226e+00] [-2.53528758e-02 -3.43234798e-04 9.99678505e-01 -9.46069570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044012738999996 meters 0.03192191245997325 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.30, Z:-0.96 [[ 9.92087795e-01 1.23709050e-01 2.13980656e-02 4.97686209e+01] [-1.23688270e-01 9.92318465e-01 -2.29699363e-03 -3.30164418e+00] [-2.15178545e-02 -3.67870373e-04 9.99768396e-01 -9.55198833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104012739 meters 0.03388750218318533 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.30, Z:-0.96 [[ 9.91831471e-01 1.26081877e-01 1.93311436e-02 4.98291933e+01] [-1.26065314e-01 9.92019767e-01 -2.07792192e-03 -3.30208437e+00] [-1.94388649e-02 -3.76038332e-04 9.99810977e-01 -9.60365542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16401273899999 meters 0.03428168088716761 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.30, Z:-0.96 [[ 9.91815599e-01 1.26094731e-01 2.00483691e-02 4.98874572e+01] [-1.26076918e-01 9.92018128e-01 -2.15503547e-03 -3.30103137e+00] [-2.01600842e-02 -3.90238803e-04 9.99796689e-01 -9.60544807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224012738999996 meters 0.03447572237673833 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.30, Z:-0.96 [[ 9.91758155e-01 1.26122776e-01 2.25567632e-02 4.99466991e+01] [-1.26100268e-01 9.92014542e-01 -2.42313685e-03 -3.29941595e+00] [-2.26822498e-02 -4.41248153e-04 9.99742627e-01 -9.58118616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284012739 meters 0.0356733982739679 Centerline is valid? [True, True] Translation: X:50.01, Y:-3.30, Z:-0.96 [[ 9.91663134e-01 1.26944689e-01 2.21195627e-02 5.00062109e+01] [-1.26923271e-01 9.91909694e-01 -2.37519754e-03 -3.29760721e+00] [-2.22421274e-02 -4.52091423e-04 9.99752511e-01 -9.59052732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34401273899999 meters 0.04064320593400703 Centerline is valid? [True, True] Translation: X:50.07, Y:-3.28, Z:-0.96 [[ 9.91070666e-01 1.31585992e-01 2.15420766e-02 5.00678657e+01] [-1.31566788e-01 9.91304611e-01 -2.31249990e-03 -3.28449649e+00] [-2.16590524e-02 -5.42371013e-04 9.99765268e-01 -9.62988400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404012738999995 meters 0.04321396690294008 Centerline is valid? [True, True] Translation: X:50.13, Y:-3.28, Z:-0.96 [[ 9.90778616e-01 1.33552867e-01 2.28334250e-02 5.01265397e+01] [-1.33531822e-01 9.91041496e-01 -2.45074809e-03 -3.28247951e+00] [-2.29561761e-02 -6.20840047e-04 9.99736279e-01 -9.62178231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464012739 meters 0.03876885418869591 Centerline is valid? [True, True] Translation: X:50.19, Y:-3.28, Z:-0.97 [[ 9.90929039e-01 1.32993630e-01 1.92959522e-02 5.01855129e+01] [-1.32978509e-01 9.91116759e-01 -2.07035261e-03 -3.28096985e+00] [-1.93998853e-02 -5.14374423e-04 9.99811672e-01 -9.68901885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52401273899999 meters 0.037816275022788955 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.29, Z:-0.97 [[ 9.91022488e-01 1.32238475e-01 1.96828267e-02 5.02446426e+01] [-1.32222612e-01 9.91217799e-01 -2.11089079e-03 -3.28613502e+00] [-1.97891091e-02 -5.10574509e-04 9.99804046e-01 -9.69422028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584012738999995 meters 0.034526411882668195 Centerline is valid? [True, True] Translation: X:50.30, Y:-3.29, Z:-0.97 [[ 9.91567417e-01 1.28016756e-01 2.01436793e-02 5.03041072e+01] [-1.27999285e-01 9.91771909e-01 -2.15956648e-03 -3.29220127e+00] [-2.02543960e-02 -4.37020795e-04 9.99794763e-01 -9.69431940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644012739 meters 0.029450779683797734 Centerline is valid? [True, True] Translation: X:50.36, Y:-3.31, Z:-0.97 [[ 9.92349659e-01 1.21362433e-01 2.26564544e-02 5.03630248e+01] [-1.21338609e-01 9.92608203e-01 -2.42838051e-03 -3.30797749e+00] [-2.27836967e-02 -3.39300110e-04 9.99740360e-01 -9.66850495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70401273899999 meters 0.025159161628941065 Centerline is valid? [True, True] Translation: X:50.42, Y:-3.33, Z:-0.97 [[ 9.93349304e-01 1.12980662e-01 2.21930281e-02 5.04212998e+01] [-1.12955716e-01 9.93597177e-01 -2.37844929e-03 -3.32891428e+00] [-2.23196489e-02 -1.44198427e-04 9.99750875e-01 -9.68382550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764012738999995 meters 0.024119850638533332 Centerline is valid? [True, True] Translation: X:50.48, Y:-3.35, Z:-0.97 [[ 9.94195753e-01 1.05514322e-01 2.10126988e-02 5.04792171e+01] [-1.05490294e-01 9.94417783e-01 -2.25176270e-03 -3.35241518e+00] [-2.11329946e-02 2.20571237e-05 9.99776673e-01 -9.70797330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824012739 meters 0.02519481558613499 Centerline is valid? [True, True] Translation: X:50.54, Y:-3.37, Z:-0.97 [[ 9.94657401e-01 1.00476863e-01 2.36865719e-02 5.05378773e+01] [-1.00444865e-01 9.94939384e-01 -2.53985194e-03 -3.37478396e+00] [-2.38218996e-02 1.47088019e-04 9.99716207e-01 -9.68129889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88401273899999 meters 0.024991480127053586 Centerline is valid? [True, True] Translation: X:50.60, Y:-3.39, Z:-0.97 [[ 9.94668538e-01 1.00418315e-01 2.34661856e-02 5.05996641e+01] [-1.00386868e-01 9.94945295e-01 -2.51727423e-03 -3.38791443e+00] [-2.36003514e-02 1.48156602e-04 9.99721462e-01 -9.69186521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944012738999994 meters 0.024985805688708212 Centerline is valid? [True, True] Translation: X:50.66, Y:-3.40, Z:-0.98 [[ 9.94676149e-01 1.00877611e-01 2.10491286e-02 5.06611673e+01] [-1.00852337e-01 9.94898835e-01 -2.26154731e-03 -3.39964992e+00] [-2.11698930e-02 1.26653367e-04 9.99775885e-01 -9.76241501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004012739 meters 0.02594545140712612 Centerline is valid? [True, True] Translation: X:50.72, Y:-3.42, Z:-0.98 [[ 9.94977656e-01 9.79428836e-02 2.06556314e-02 5.07210787e+01] [-9.79178439e-02 9.95192020e-01 -2.22260268e-03 -3.41978192e+00] [-2.07740076e-02 1.88885115e-04 9.99784179e-01 -9.76828333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06401273899999 meters 0.025821596226982633 Centerline is valid? [True, True] Translation: X:50.78, Y:-3.43, Z:-0.98 [[ 9.94959974e-01 9.81617842e-02 2.04673837e-02 5.07834748e+01] [-9.81371798e-02 9.95170453e-01 -2.20552660e-03 -3.42947086e+00] [-2.05850339e-02 1.85799374e-04 9.99788088e-01 -9.78178145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124012738999994 meters 0.024762071800492065 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.44, Z:-0.98 [[ 9.94606295e-01 1.01662384e-01 2.05688674e-02 5.08441258e+01] [-1.01638201e-01 9.94818951e-01 -2.22042205e-03 -3.44010927e+00] [-2.06880325e-02 1.17863072e-04 9.99785973e-01 -9.80972616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184012738999996 meters 0.023703457301686208 Centerline is valid? [True, True] Translation: X:50.91, Y:-3.44, Z:-0.98 [[ 9.93967278e-01 1.07525697e-01 2.16165588e-02 5.09065848e+01] [-1.07500324e-01 9.94202306e-01 -2.33576653e-03 -3.44267505e+00] [-2.17423875e-02 -2.11157542e-06 9.99763606e-01 -9.79641383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24401273899999 meters 0.025421301658172957 Centerline is valid? [True, True] Translation: X:50.97, Y:-3.44, Z:-0.98 [[ 9.93088426e-01 1.15268789e-01 2.21016842e-02 5.09680947e+01] [-1.15244100e-01 9.93334323e-01 -2.39181475e-03 -3.44458772e+00] [-2.22300631e-02 -1.71805160e-04 9.99752867e-01 -9.79678298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304012738999994 meters 0.026531818102166368 Centerline is valid? [True, True] Translation: X:51.03, Y:-3.45, Z:-0.98 [[ 9.92799555e-01 1.17887566e-01 2.12500751e-02 5.10300196e+01] [-1.17865277e-01 9.93026925e-01 -2.30271825e-03 -3.45060187e+00] [-2.13733586e-02 -2.18508334e-04 9.99771540e-01 -9.82979448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364012738999996 meters 0.02819170188225524 Centerline is valid? [True, True] Translation: X:51.09, Y:-3.45, Z:-0.98 [[ 9.92408042e-01 1.20943157e-01 2.23390083e-02 5.10909260e+01] [-1.20919218e-01 9.92659391e-01 -2.42426560e-03 -3.45490477e+00] [-2.24682247e-02 -2.95354747e-04 9.99747514e-01 -9.81902195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42401273899999 meters 0.03077302281751668 Centerline is valid? [True, True] Translation: X:51.15, Y:-3.45, Z:-0.98 [[ 9.92068482e-01 1.23506107e-01 2.33745470e-02 5.11513386e+01] [-1.23480595e-01 9.92343743e-01 -2.53718059e-03 -3.45457449e+00] [-2.35089428e-02 -3.69246090e-04 9.99723558e-01 -9.80561182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48401273899999 meters 0.03033224596270996 Centerline is valid? [True, True] Translation: X:51.21, Y:-3.46, Z:-0.98 [[ 9.91948214e-01 1.24526100e-01 2.30649509e-02 5.12123146e+01] [-1.24501528e-01 9.92216257e-01 -2.50387552e-03 -3.46157686e+00] [-2.31972171e-02 -3.87906785e-04 9.99730833e-01 -9.82418359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544012738999996 meters 0.030614133906175952 Centerline is valid? [True, True] Translation: X:51.27, Y:-3.47, Z:-0.99 [[ 9.92003075e-01 1.24797108e-01 1.88568508e-02 5.12735689e+01] [-1.24780727e-01 9.92182230e-01 -2.04741676e-03 -3.46513262e+00] [-1.89649440e-02 -3.21927834e-04 9.99820097e-01 -9.90438744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604012739 meters 0.03351060838836074 Centerline is valid? [True, True] Translation: X:51.33, Y:-3.46, Z:-0.99 [[ 9.91846086e-01 1.26157256e-01 1.80468566e-02 5.13332825e+01] [-1.26142467e-01 9.92010200e-01 -1.96001953e-03 -3.46176709e+00] [-1.81499365e-02 -3.32437318e-04 9.99835221e-01 -9.93204097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66401273899999 meters 0.03168608029582147 Centerline is valid? [True, True] Translation: X:51.39, Y:-3.46, Z:-0.99 [[ 9.91767530e-01 1.26579388e-01 1.93604084e-02 5.13924368e+01] [-1.26562463e-01 9.91956413e-01 -2.10195113e-03 -3.46278323e+00] [-1.94707450e-02 -3.65654086e-04 9.99810360e-01 -9.93070780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724012738999996 meters 0.03387413597078735 Centerline is valid? [True, True] Translation: X:51.45, Y:-3.46, Z:-1.00 [[ 9.91741990e-01 1.26896635e-01 1.85760467e-02 5.14515146e+01] [-1.26881125e-01 9.91915882e-01 -2.01595575e-03 -3.45733556e+00] [-1.86816938e-02 -3.57641735e-04 9.99825418e-01 -9.95589130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784012739 meters 0.032063641438592756 Centerline is valid? [True, True] Translation: X:51.51, Y:-3.46, Z:-0.99 [[ 9.91961874e-01 1.24963502e-01 1.98938019e-02 5.15101061e+01] [-1.24945353e-01 9.92161279e-01 -2.15753067e-03 -3.46155209e+00] [-2.00074725e-02 -3.45449932e-04 9.99799771e-01 -9.94069283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84401273899999 meters 0.030440732611983514 Centerline is valid? [True, True] Translation: X:51.57, Y:-3.46, Z:-1.00 [[ 9.92183191e-01 1.23268450e-01 1.94269216e-02 5.15688711e+01] [-1.23250836e-01 9.92373315e-01 -2.10602184e-03 -3.46410974e+00] [-1.95383646e-02 -3.04824850e-04 9.99809061e-01 -9.95350937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904012738999995 meters 0.026790189307468126 Centerline is valid? [True, True] Translation: X:51.63, Y:-3.48, Z:-0.99 [[ 9.92783432e-01 1.18196261e-01 2.02657450e-02 5.16280730e+01] [-1.18176055e-01 9.92990230e-01 -2.19596722e-03 -3.47562090e+00] [-2.03832419e-02 -2.14805926e-04 9.99792217e-01 -9.94509786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964012739 meters 0.02383663397790664 Centerline is valid? [True, True] Translation: X:51.69, Y:-3.50, Z:-1.00 [[ 9.94005295e-01 1.07460960e-01 2.01398776e-02 5.16864380e+01] [-1.07438804e-01 9.94209305e-01 -2.18208622e-03 -3.49751210e+00] [-2.02577427e-02 5.20090631e-06 9.99794791e-01 -9.97349861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02401273899999 meters 0.02598425636985939 Centerline is valid? [True, True] Translation: X:51.75, Y:-3.52, Z:-1.00 [[ 9.94965979e-01 9.83853624e-02 1.90531165e-02 5.17460241e+01] [-9.83638668e-02 9.95148375e-01 -2.06436065e-03 -3.52066023e+00] [-1.91637808e-02 1.79830408e-04 9.99816342e-01 -1.00003324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084012738999995 meters 0.03649994338243799 Centerline is valid? [True, True] Translation: X:51.80, Y:-3.56, Z:-1.01 [[ 9.96224447e-01 8.51154868e-02 1.70940336e-02 5.18015686e+01] [-8.50961803e-02 9.96371015e-01 -1.85496625e-03 -3.55917513e+00] [-1.71898859e-02 3.93325764e-04 9.99852166e-01 -1.00626965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144012739 meters 0.033976635071117055 Centerline is valid? [True, True] Translation: X:51.86, Y:-3.57, Z:-1.01 [[ 9.96182096e-01 8.59867583e-02 1.50833847e-02 5.18631838e+01] [-8.59718386e-02 9.96296224e-01 -1.63598841e-03 -3.56835513e+00] [-1.51681925e-02 3.32996056e-04 9.99884901e-01 -1.01010639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20401273899999 meters 0.03282892554390014 Centerline is valid? [True, True] Translation: X:51.92, Y:-3.58, Z:-1.01 [[ 9.95805298e-01 8.98640698e-02 1.72121481e-02 5.19219930e+01] [-8.98451538e-02 9.95953989e-01 -1.87069397e-03 -3.58387858e+00] [-1.73106157e-02 3.16418881e-04 9.99850110e-01 -1.00858092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264012738999995 meters 0.030835973008844813 Centerline is valid? [True, True] Translation: X:51.98, Y:-3.59, Z:-1.01 [[ 9.95705500e-01 9.12007526e-02 1.59053659e-02 5.19838601e+01] [-9.11847711e-02 9.95832491e-01 -1.72863097e-03 -3.59385019e+00] [-1.59967326e-02 2.70880221e-04 9.99872007e-01 -1.01232693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324012739 meters 0.027647165543552468 Centerline is valid? [True, True] Translation: X:52.05, Y:-3.60, Z:-1.01 [[ 9.95290190e-01 9.54958621e-02 1.66726666e-02 5.20452275e+01] [-9.54788842e-02 9.95429804e-01 -1.81318034e-03 -3.59975055e+00] [-1.67696205e-02 2.12753004e-04 9.99859357e-01 -1.01132027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38401273899999 meters 0.02596275655547361 Centerline is valid? [True, True] Translation: X:52.11, Y:-3.61, Z:-1.01 [[ 9.94834535e-01 1.00072136e-01 1.70239461e-02 5.21064633e+01] [-1.00055106e-01 9.94980175e-01 -1.85133171e-03 -3.60613951e+00] [-1.71237556e-02 1.38435995e-04 9.99853368e-01 -1.01252918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444012738999994 meters 0.024873224589367936 Centerline is valid? [True, True] Translation: X:52.17, Y:-3.61, Z:-1.02 [[ 9.94507624e-01 1.03498534e-01 1.55769130e-02 5.21684995e+01] [-1.03484659e-01 9.94629603e-01 -1.69628472e-03 -3.61305537e+00] [-1.56688218e-02 7.49965554e-05 9.99877234e-01 -1.01651142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504012739 meters 0.024470659238612646 Centerline is valid? [True, True] Translation: X:52.23, Y:-3.62, Z:-1.02 [[ 9.94309140e-01 1.05222970e-01 1.66571405e-02 5.22290918e+01] [-1.05207296e-01 9.94448653e-01 -1.81691363e-03 -3.62292639e+00] [-1.67558520e-02 5.41211102e-05 9.99859609e-01 -1.01667295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56401273899999 meters 0.025029314604346313 Centerline is valid? [True, True] Translation: X:52.29, Y:-3.64, Z:-1.02 [[ 9.94559982e-01 1.02980211e-01 1.56689982e-02 5.22895265e+01] [-1.02966030e-01 9.94683401e-01 -1.71125084e-03 -3.63865328e+00] [-1.57619174e-02 8.85670621e-05 9.99875769e-01 -1.01864526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624012738999994 meters 0.02432901501895772 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.65, Z:-1.02 [[ 9.94371498e-01 1.04612131e-01 1.67817129e-02 5.23508325e+01] [-1.04596047e-01 9.94513096e-01 -1.83570522e-03 -3.64979031e+00] [-1.68816703e-02 7.00721101e-05 9.99857492e-01 -1.01541621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684012738999996 meters 0.023920382181235468 Centerline is valid? [True, True] Translation: X:52.41, Y:-3.65, Z:-1.02 [[ 9.93738953e-01 1.10424897e-01 1.70069076e-02 5.24125043e+01] [-1.10409179e-01 9.93884471e-01 -1.86325130e-03 -3.64901913e+00] [-1.71086507e-02 -2.61333226e-05 9.99853636e-01 -1.01665308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74401273899999 meters 0.02650504599763298 Centerline is valid? [True, True] Translation: X:52.48, Y:-3.64, Z:-1.02 [[ 9.92833354e-01 1.18478929e-01 1.56421074e-02 5.24759674e+01] [-1.18466598e-01 9.92956555e-01 -1.71582401e-03 -3.63988645e+00] [-1.57352221e-02 -1.49539953e-04 9.99876183e-01 -1.02014563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804012738999994 meters 0.028809499615748975 Centerline is valid? [True, True] Translation: X:52.54, Y:-3.63, Z:-1.02 [[ 9.92429361e-01 1.21834767e-01 1.55000687e-02 5.25360048e+01] [-1.21823018e-01 9.92550377e-01 -1.70344581e-03 -3.63465184e+00] [-1.55921379e-02 -1.97715503e-04 9.99878416e-01 -1.02279714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864012738999996 meters 0.027016616330600943 Centerline is valid? [True, True] Translation: X:52.60, Y:-3.64, Z:-1.02 [[ 9.92777857e-01 1.19010485e-01 1.51205410e-02 5.25965838e+01] [-1.18998977e-01 9.92892986e-01 -1.66178908e-03 -3.63994929e+00] [-1.52108495e-02 -1.49541508e-04 9.99884297e-01 -1.02480501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92401273899999 meters 0.02648662830638826 Centerline is valid? [True, True] Translation: X:52.66, Y:-3.64, Z:-1.02 [[ 9.92904967e-01 1.17752275e-01 1.65568337e-02 5.26562481e+01] [-1.17738302e-01 9.93042991e-01 -1.81958576e-03 -3.64019361e+00] [-1.66559080e-02 -1.42697750e-04 9.99861271e-01 -1.02366956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98401273899999 meters 0.025236837838243084 Centerline is valid? [True, True] Translation: X:52.72, Y:-3.65, Z:-1.02 [[ 9.93195150e-01 1.15206209e-01 1.70564895e-02 5.27166821e+01] [-1.15191000e-01 9.93341592e-01 -1.87473258e-03 -3.65007291e+00] [-1.71589013e-02 -1.02778775e-04 9.99852770e-01 -1.02396341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044012738999996 meters 0.024097575721564603 Centerline is valid? [True, True] Translation: X:52.78, Y:-3.66, Z:-1.02 [[ 9.93657763e-01 1.11091733e-01 1.74033531e-02 5.27778657e+01] [-1.11075268e-01 9.93810156e-01 -1.91286723e-03 -3.65918492e+00] [-1.75081328e-02 -3.23467373e-05 9.99846720e-01 -1.02322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104012739 meters 0.023882916080230084 Centerline is valid? [True, True] Translation: X:52.84, Y:-3.67, Z:-1.02 [[ 9.93828170e-01 1.09419348e-01 1.82476001e-02 5.28393016e+01] [-1.09400909e-01 9.93995677e-01 -2.00869329e-03 -3.66966957e+00] [-1.83578255e-02 -8.06188476e-09 9.99831481e-01 -1.02324128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16401273899999 meters 0.024376423518307575 Centerline is valid? [True, True] Translation: X:52.90, Y:-3.69, Z:-1.02 [[ 9.94236939e-01 1.05538721e-01 1.88278361e-02 5.28992160e+01] [-1.05518336e-01 9.94415191e-01 -2.07562681e-03 -3.68701044e+00] [-1.89417452e-02 7.69829131e-05 9.99820586e-01 -1.02200976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224012738999996 meters 0.024858999958809185 Centerline is valid? [True, True] Translation: X:52.96, Y:-3.70, Z:-1.03 [[ 9.94367797e-01 1.04506718e-01 1.76360286e-02 5.29591300e+01] [-1.04488629e-01 9.94524176e-01 -1.94659002e-03 -3.69910772e+00] [-1.77428885e-02 9.28619851e-05 9.99842578e-01 -1.02568619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284012739 meters 0.024170638228865227 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.70, Z:-1.03 [[ 9.94087291e-01 1.07429833e-01 1.57888919e-02 5.30220847e+01] [-1.07415676e-01 9.94212668e-01 -1.74444632e-03 -3.70360404e+00] [-1.58849219e-02 3.81574283e-05 9.99873826e-01 -1.02890934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34401273899999 meters 0.024135971875665758 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.70, Z:-1.03 [[ 9.93459208e-01 1.12900217e-01 1.70980448e-02 5.30835509e+01] [-1.12884362e-01 9.93606330e-01 -1.89268704e-03 -3.70027520e+00] [-1.72024103e-02 -4.97945198e-05 9.99852026e-01 -1.02845758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404012738999995 meters 0.026664089543191036 Centerline is valid? [True, True] Translation: X:53.14, Y:-3.69, Z:-1.04 [[ 9.92888547e-01 1.18084637e-01 1.51113406e-02 5.31442755e+01] [-1.18072811e-01 9.93003527e-01 -1.67550618e-03 -3.69444260e+00] [-1.52034660e-02 -1.20647557e-04 9.99884413e-01 -1.03530712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464012739 meters 0.03089453135246777 Centerline is valid? [True, True] Translation: X:53.21, Y:-3.69, Z:-1.04 [[ 9.92246243e-01 1.23416310e-01 1.46904210e-02 5.32056129e+01] [-1.23405719e-01 9.92354965e-01 -1.62874518e-03 -3.68512899e+00] [-1.47791259e-02 -1.96765682e-04 9.99890763e-01 -1.03670138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52401273899999 meters 0.030532560929531757 Centerline is valid? [True, True] Translation: X:53.26, Y:-3.69, Z:-1.04 [[ 9.92254651e-01 1.23137193e-01 1.63688782e-02 5.32644215e+01] [-1.23124011e-01 9.92389634e-01 -1.81452668e-03 -3.68676701e+00] [-1.64677408e-02 -2.14929405e-04 9.99864374e-01 -1.03528039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584012738999995 meters 0.025312022349874216 Centerline is valid? [True, True] Translation: X:53.32, Y:-3.70, Z:-1.03 [[ 9.92865922e-01 1.17688556e-01 1.91485068e-02 5.33235713e+01] [-1.17669521e-01 9.93050544e-01 -2.12165988e-03 -3.70139089e+00] [-1.92651301e-02 -1.46671834e-04 9.99814399e-01 -1.03025918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644012739 meters 0.023743800954954045 Centerline is valid? [True, True] Translation: X:53.38, Y:-3.71, Z:-1.03 [[ 9.93460102e-01 1.12610543e-01 1.88650919e-02 5.33844338e+01] [-1.12591157e-01 9.93639202e-01 -2.08999386e-03 -3.71016804e+00] [-1.89804502e-02 -4.77170112e-05 9.99819854e-01 -1.03095167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70401273899999 meters 0.023622979312740034 Centerline is valid? [True, True] Translation: X:53.44, Y:-3.72, Z:-1.04 [[ 9.93956040e-01 1.08471731e-01 1.68900590e-02 5.34443699e+01] [-1.08455596e-01 9.94099534e-01 -1.87109885e-03 -3.72209551e+00] [-1.69933611e-02 2.79686008e-05 9.99855602e-01 -1.03578917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764012738999995 meters 0.02357942411587154 Centerline is valid? [True, True] Translation: X:53.51, Y:-3.73, Z:-1.03 [[ 9.94013623e-01 1.07677932e-01 1.85035057e-02 5.35059757e+01] [-1.07658369e-01 9.94185828e-01 -2.05305045e-03 -3.72833432e+00] [-1.86169914e-02 4.87028681e-05 9.99826688e-01 -1.03265658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824012739 meters 0.023287127848616567 Centerline is valid? [True, True] Translation: X:53.57, Y:-3.73, Z:-1.03 [[ 9.93750207e-01 1.09713590e-01 2.05780296e-02 5.35668405e+01] [-1.09689813e-01 9.93963243e-01 -2.28405279e-03 -3.73428871e+00] [-2.07043967e-02 1.25777258e-05 9.99785641e-01 -1.02981424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88401273899999 meters 0.023283217253839084 Centerline is valid? [True, True] Translation: X:53.63, Y:-3.74, Z:-1.04 [[ 9.93643256e-01 1.11087809e-01 1.82367252e-02 5.36290814e+01] [-1.11069325e-01 9.93810595e-01 -2.02648066e-03 -3.74029644e+00] [-1.83489681e-02 -1.19419211e-05 9.99831643e-01 -1.03561315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944012738999994 meters 0.02334189507938007 Centerline is valid? [True, True] Translation: X:53.69, Y:-3.75, Z:-1.04 [[ 9.93765047e-01 1.09931963e-01 1.86009221e-02 5.36897986e+01] [-1.09912461e-01 9.93939115e-01 -2.07064417e-03 -3.75138620e+00] [-1.87158140e-02 1.32606838e-05 9.99824844e-01 -1.03676233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004012739 meters 0.023326672578481707 Centerline is valid? [True, True] Translation: X:53.75, Y:-3.76, Z:-1.04 [[ 9.93636374e-01 1.11239864e-01 1.76762465e-02 5.37515107e+01] [-1.11222437e-01 9.93793587e-01 -1.96899528e-03 -3.75860969e+00] [-1.77855711e-02 -9.52987371e-06 9.99841824e-01 -1.03878944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06401273899999 meters 0.023920718009310657 Centerline is valid? [True, True] Translation: X:53.81, Y:-3.76, Z:-1.04 [[ 9.93285391e-01 1.14473341e-01 1.67328127e-02 5.38128438e+01] [-1.14458131e-01 9.93426319e-01 -1.86700149e-03 -3.75561063e+00] [-1.68365385e-02 -6.07411734e-05 9.99858254e-01 -1.04240883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124012738999994 meters 0.024447413161677957 Centerline is valid? [True, True] Translation: X:53.87, Y:-3.76, Z:-1.04 [[ 9.92931796e-01 1.17276114e-01 1.82417453e-02 5.38732221e+01] [-1.17258486e-01 9.93099340e-01 -2.03665582e-03 -3.75689260e+00] [-1.83547163e-02 -1.16739106e-04 9.99831531e-01 -1.04052312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184012738999996 meters 0.0250996530888462 Centerline is valid? [True, True] Translation: X:53.93, Y:-3.76, Z:-1.04 [[ 9.92652296e-01 1.19460240e-01 1.92527766e-02 5.39332070e+01] [-1.19441024e-01 9.92838972e-01 -2.14906032e-03 -3.75889451e+00] [-1.93716341e-02 -1.66301681e-04 9.99812338e-01 -1.03920874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24401273899999 meters 0.025436401608865775 Centerline is valid? [True, True] Translation: X:53.99, Y:-3.76, Z:-1.04 [[ 9.92698562e-01 1.19411988e-01 1.70394467e-02 5.39922716e+01] [-1.19396937e-01 9.92844779e-01 -1.90152424e-03 -3.76232727e+00] [-1.71445905e-02 -1.46817370e-04 9.99853010e-01 -1.04387274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304012738999994 meters 0.024505849062712574 Centerline is valid? [True, True] Translation: X:54.05, Y:-3.77, Z:-1.04 [[ 9.93006300e-01 1.16663198e-01 1.81159012e-02 5.40515595e+01] [-1.16645722e-01 9.93171530e-01 -2.02194868e-03 -3.77057461e+00] [-1.82280843e-02 -1.05334598e-04 9.99833849e-01 -1.04361928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364012738999996 meters 0.023414453289839782 Centerline is valid? [True, True] Translation: X:54.11, Y:-3.78, Z:-1.04 [[ 9.93340465e-01 1.13534814e-01 1.96103618e-02 5.41115735e+01] [-1.13513731e-01 9.93534017e-01 -2.18848367e-03 -3.78338159e+00] [-1.97320306e-02 -5.21359562e-05 9.99805303e-01 -1.04136169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42401273899999 meters 0.02307924856106745 Centerline is valid? [True, True] Translation: X:54.17, Y:-3.79, Z:-1.04 [[ 9.93541157e-01 1.11551342e-01 2.07910317e-02 5.41713479e+01] [-1.11527204e-01 9.93758672e-01 -2.32050806e-03 -3.79202408e+00] [-2.09201238e-02 -1.32453746e-05 9.99781150e-01 -1.03993870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48401273899999 meters 0.023691183274081363 Centerline is valid? [True, True] Translation: X:54.23, Y:-3.81, Z:-1.05 [[ 9.94082311e-01 1.07027869e-01 1.85847665e-02 5.42306853e+01] [-1.07007791e-01 9.94256018e-01 -2.07433654e-03 -3.80641141e+00] [-1.87000278e-02 7.33464498e-05 9.99825137e-01 -1.04644509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544012738999996 meters 0.024880452996156904 Centerline is valid? [True, True] Translation: X:54.29, Y:-3.82, Z:-1.05 [[ 9.94427972e-01 1.03976585e-01 1.73746290e-02 5.42913008e+01] [-1.03958551e-01 9.94579738e-01 -1.94037851e-03 -3.81871469e+00] [-1.74822079e-02 1.23325406e-04 9.99847167e-01 -1.04895286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60401273899999 meters 0.024895039330058415 Centerline is valid? [True, True] Translation: X:54.35, Y:-3.83, Z:-1.05 [[ 9.94482345e-01 1.03134268e-01 1.91882097e-02 5.43526068e+01] [-1.03112055e-01 9.94667431e-01 -2.14608355e-03 -3.82716270e+00] [-1.93072220e-02 1.55706470e-04 9.99813586e-01 -1.04659491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66401273899999 meters 0.02646951723550905 Centerline is valid? [True, True] Translation: X:54.41, Y:-3.84, Z:-1.05 [[ 9.94748828e-01 1.00897721e-01 1.71586212e-02 5.44122145e+01] [-1.00879578e-01 9.94896787e-01 -1.92189425e-03 -3.83908991e+00] [-1.72649719e-02 1.80847587e-04 9.99850933e-01 -1.05157740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724012738999996 meters 0.028325662775482117 Centerline is valid? [True, True] Translation: X:54.47, Y:-3.85, Z:-1.05 [[ 9.95195415e-01 9.61555857e-02 1.84442310e-02 5.44726241e+01] [-9.61337758e-02 9.95366276e-01 -2.06754651e-03 -3.85457792e+00] [-1.85575716e-02 2.84499244e-04 9.99827753e-01 -1.05083710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784012739 meters 0.03106877879554787 Centerline is valid? [True, True] Translation: X:54.53, Y:-3.88, Z:-1.05 [[ 9.95478458e-01 9.33179834e-02 1.77311465e-02 5.45314697e+01] [-9.32973543e-02 9.95636303e-01 -1.98890834e-03 -3.87547298e+00] [-1.78393741e-02 3.25646352e-04 9.99840813e-01 -1.05384911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84401273899999 meters 0.028476896853053345 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.88, Z:-1.06 [[ 9.94908183e-01 9.93341325e-02 1.70422278e-02 5.45921442e+01] [-9.93159062e-02 9.95054112e-01 -1.91460894e-03 -3.88167734e+00] [-1.71481249e-02 2.12295802e-04 9.99852938e-01 -1.05681764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904012738999995 meters 0.02540085903344684 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.88, Z:-1.06 [[ 9.94511151e-01 1.03280246e-01 1.67559430e-02 5.46547203e+01] [-1.03263188e-01 9.94652286e-01 -1.88233845e-03 -3.88224486e+00] [-1.68607454e-02 1.41734488e-04 9.99857837e-01 -1.05775959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964012739 meters 0.023398042600200935 Centerline is valid? [True, True] Translation: X:54.72, Y:-3.88, Z:-1.06 [[ 9.93353663e-01 1.13910502e-01 1.65196125e-02 5.47172845e+01] [-1.13895338e-01 9.93491015e-01 -1.85893694e-03 -3.87664711e+00] [-1.66238391e-02 -3.49250375e-05 9.99861814e-01 -1.05908281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02401273899999 meters 0.02408627231070962 Centerline is valid? [True, True] Translation: X:54.78, Y:-3.88, Z:-1.06 [[ 9.92863185e-01 1.17644570e-01 1.95563802e-02 5.47780352e+01] [-1.17624030e-01 9.93055760e-01 -2.20122110e-03 -3.87645023e+00] [-1.96795377e-02 -1.14788872e-04 9.99806333e-01 -1.05630291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084012738999995 meters 0.023984883078421573 Centerline is valid? [True, True] Translation: X:54.84, Y:-3.89, Z:-1.06 [[ 9.92863244e-01 1.17666177e-01 1.94228908e-02 5.48389701e+01] [-1.17645919e-01 9.93053200e-01 -2.18627853e-03 -3.88686969e+00] [-1.95452149e-02 -1.14348250e-04 9.99808968e-01 -1.05624669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144012739 meters 0.02445949010346258 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.89, Z:-1.05 [[ 9.92630273e-01 1.19246718e-01 2.15722268e-02 5.48993028e+01] [-1.19222018e-01 9.92864641e-01 -2.43207741e-03 -3.88856268e+00] [-2.17083185e-02 -1.57730751e-04 9.99764334e-01 -1.05411208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20401273899999 meters 0.025427040520272667 Centerline is valid? [True, True] Translation: X:54.96, Y:-3.89, Z:-1.06 [[ 9.92554382e-01 1.20597868e-01 1.70866556e-02 5.49604965e+01] [-1.20582579e-01 9.92701431e-01 -1.92606481e-03 -3.89410826e+00] [-1.71942268e-02 -1.48628927e-04 9.99852157e-01 -1.06442378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264012738999995 meters 0.025083687491047824 Centerline is valid? [True, True] Translation: X:55.02, Y:-3.90, Z:-1.07 [[ 9.92657512e-01 1.19970383e-01 1.54327798e-02 5.50201838e+01] [-1.19957790e-01 9.92777464e-01 -1.74244133e-03 -3.90120540e+00] [-1.55303573e-02 -1.21634693e-04 9.99879389e-01 -1.06821174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324012739 meters 0.026033165807950207 Centerline is valid? [True, True] Translation: X:55.08, Y:-3.90, Z:-1.06 [[ 9.92297975e-01 1.22440298e-01 1.87910187e-02 5.50802564e+01] [-1.22422070e-01 9.92475861e-01 -2.12164100e-03 -3.90052537e+00] [-1.89094068e-02 -1.95135352e-04 9.99821182e-01 -1.06322890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38401273899999 meters 0.029130543950755625 Centerline is valid? [True, True] Translation: X:55.14, Y:-3.90, Z:-1.07 [[ 9.91827905e-01 1.26432983e-01 1.70911416e-02 5.51408367e+01] [-1.26418503e-01 9.91975121e-01 -1.92930678e-03 -3.89677093e+00] [-1.71979152e-02 -2.47096237e-04 9.99852074e-01 -1.06738253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444012738999994 meters 0.026250710783798575 Centerline is valid? [True, True] Translation: X:55.20, Y:-3.91, Z:-1.07 [[ 9.92300487e-01 1.22535063e-01 1.80250199e-02 5.51997923e+01] [-1.22518319e-01 9.92464167e-01 -2.03449889e-03 -3.91040640e+00] [-1.81384838e-02 -1.89560894e-04 9.99835466e-01 -1.06671881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504012739 meters 0.023465272682537577 Centerline is valid? [True, True] Translation: X:55.26, Y:-3.93, Z:-1.07 [[ 9.93168392e-01 1.15289239e-01 1.80259866e-02 5.52602265e+01] [-1.15271310e-01 9.93331963e-01 -2.03398239e-03 -3.93201137e+00] [-1.81402849e-02 -5.77920752e-05 9.99835450e-01 -1.06699701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56401273899999 meters 0.023477622017916536 Centerline is valid? [True, True] Translation: X:55.32, Y:-3.94, Z:-1.07 [[ 9.93117919e-01 1.15534275e-01 1.91997303e-02 5.53207798e+01] [-1.15513911e-01 9.93303492e-01 -2.17000306e-03 -3.94099769e+00] [-1.93218688e-02 -6.27670074e-05 9.99813313e-01 -1.06593157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624012738999994 meters 0.025164301052217883 Centerline is valid? [True, True] Translation: X:55.38, Y:-3.94, Z:-1.07 [[ 9.92552635e-01 1.20424227e-01 1.83649649e-02 5.53818307e+01] [-1.20406424e-01 9.92722511e-01 -2.07609218e-03 -3.94047968e+00] [-1.84813259e-02 -1.50628987e-04 9.99829194e-01 -1.06905693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684012738999996 meters 0.02604909795537049 Centerline is valid? [True, True] Translation: X:55.44, Y:-3.94, Z:-1.07 [[ 9.92440376e-01 1.21559907e-01 1.68905006e-02 5.54422273e+01] [-1.21545009e-01 9.92584084e-01 -1.90962682e-03 -3.94455479e+00] [-1.69973761e-02 -1.57765300e-04 9.99855522e-01 -1.07412086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74401273899999 meters 0.024190684963263154 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.96, Z:-1.07 [[ 9.92969869e-01 1.17100776e-01 1.72698305e-02 5.55017041e+01] [-1.17084527e-01 9.93120034e-01 -1.95251355e-03 -3.95727381e+00] [-1.73796555e-02 -8.32428005e-05 9.99848959e-01 -1.07422186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804012738999994 meters 0.02338222970276907 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.97, Z:-1.07 [[ 9.93416281e-01 1.13023288e-01 1.87037047e-02 5.55621921e+01] [-1.13003506e-01 9.93592339e-01 -2.11458757e-03 -3.97099065e+00] [-1.88228553e-02 -1.29184808e-05 9.99822834e-01 -1.07334068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864012738999996 meters 0.024278715743683708 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.99, Z:-1.08 [[ 9.94085185e-01 1.07034392e-01 1.83924896e-02 5.56216150e+01] [-1.07014234e-01 9.94255314e-01 -2.07958167e-03 -3.99132901e+00] [-1.85094173e-02 9.90231500e-05 9.99828681e-01 -1.07555537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92401273899999 meters 0.02589350547662082 Centerline is valid? [True, True] Translation: X:55.68, Y:-4.01, Z:-1.08 [[ 9.94533230e-01 1.03162952e-01 1.61573197e-02 5.56814689e+01] [-1.03146851e-01 9.94664457e-01 -1.82893602e-03 -4.00963814e+00] [-1.62597900e-02 1.52361001e-04 9.99867789e-01 -1.08100658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98401273899999 meters 0.025468360214818003 Centerline is valid? [True, True] Translation: X:55.74, Y:-4.02, Z:-1.08 [[ 9.94456724e-01 1.04091283e-01 1.48602866e-02 5.57436477e+01] [-1.04077739e-01 9.94567739e-01 -1.68396787e-03 -4.02019560e+00] [-1.49548481e-02 1.28008131e-04 9.99888162e-01 -1.08410322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044012738999996 meters 0.02593867921214127 Centerline is valid? [True, True] Translation: X:55.80, Y:-4.03, Z:-1.08 [[ 9.94495184e-01 1.03533835e-01 1.61268110e-02 5.58044712e+01] [-1.03517753e-01 9.94625921e-01 -1.83108980e-03 -4.03306874e+00] [-1.62297240e-02 1.51598753e-04 9.99868278e-01 -1.08278001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10401273899999 meters 0.02791243256747641 Centerline is valid? [True, True] Translation: X:55.86, Y:-4.05, Z:-1.09 [[ 9.94870077e-01 1.00071274e-01 1.48077435e-02 5.58646239e+01] [-1.00057294e-01 9.94980252e-01 -1.68383466e-03 -4.05161432e+00] [-1.49019159e-02 1.93573968e-04 9.99888942e-01 -1.08631745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16401273899999 meters 0.03260180100415467 Centerline is valid? [True, True] Translation: X:55.92, Y:-4.08, Z:-1.09 [[ 9.95286917e-01 9.59406351e-02 1.41190156e-02 5.59235058e+01] [-9.59274776e-02 9.95387027e-01 -1.60776216e-03 -4.07658500e+00] [-1.42081347e-02 2.45783092e-04 9.99899029e-01 -1.09065691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224012738999996 meters 0.03158712384607198 Centerline is valid? [True, True] Translation: X:55.98, Y:-4.09, Z:-1.09 [[ 9.95445085e-01 9.43187110e-02 1.38947575e-02 5.59847035e+01] [-9.43057827e-02 9.95542018e-01 -1.58419247e-03 -4.08722985e+00] [-1.39822339e-02 2.66620626e-04 9.99902208e-01 -1.09026871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284012739 meters 0.03242272493230909 Centerline is valid? [True, True] Translation: X:56.04, Y:-4.11, Z:-1.09 [[ 9.95415645e-01 9.42022637e-02 1.65416741e-02 5.60440346e+01] [-9.41838621e-02 9.95553027e-01 -1.88970629e-03 -4.10562135e+00] [-1.66461284e-02 3.23084452e-04 9.99861391e-01 -1.08619546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34401273899999 meters 0.030036039745836726 Centerline is valid? [True, True] Translation: X:56.11, Y:-4.11, Z:-1.08 [[ 9.95130347e-01 9.69013468e-02 1.80477646e-02 5.61066638e+01] [-9.68798493e-02 9.95293944e-01 -2.06372103e-03 -4.10952574e+00] [-1.81628081e-02 3.05206714e-04 9.99834996e-01 -1.08351293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404012738999995 meters 0.027264839228255316 Centerline is valid? [True, True] Translation: X:56.17, Y:-4.11, Z:-1.09 [[ 9.94671252e-01 1.01536041e-01 1.78754887e-02 5.61684115e+01] [-1.01515680e-01 9.94831837e-01 -2.04512962e-03 -4.11239647e+00] [-1.79907596e-02 2.19589244e-04 9.99838129e-01 -1.08691418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464012739 meters 0.028020799073077172 Centerline is valid? [True, True] Translation: X:56.23, Y:-4.12, Z:-1.09 [[ 9.94795015e-01 1.00212226e-01 1.84495972e-02 5.62295135e+01] [-1.00190300e-01 9.94966053e-01 -2.11126209e-03 -4.12148511e+00] [-1.85682972e-02 2.51802327e-04 9.99827563e-01 -1.08658682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52401273899999 meters 0.03136991819472423 Centerline is valid? [True, True] Translation: X:56.29, Y:-4.14, Z:-1.09 [[ 9.95247696e-01 9.57467512e-02 1.77364965e-02 5.62901733e+01] [-9.57257265e-02 9.95405673e-01 -2.03256533e-03 -4.14006090e+00] [-1.78496208e-02 3.25066945e-04 9.99840630e-01 -1.08955027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584012738999995 meters 0.029717793661993404 Centerline is valid? [True, True] Translation: X:56.35, Y:-4.15, Z:-1.09 [[ 9.95033982e-01 9.78333925e-02 1.83303301e-02 5.63518857e+01] [-9.78112779e-02 9.95202763e-01 -2.10127480e-03 -4.14647095e+00] [-1.84479700e-02 2.97926819e-04 9.99829777e-01 -1.08874859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644012739 meters 0.026061881083942962 Centerline is valid? [True, True] Translation: X:56.41, Y:-4.15, Z:-1.10 [[ 9.94416687e-01 1.04389126e-01 1.54389916e-02 5.64137655e+01] [-1.04374186e-01 9.94536519e-01 -1.77249322e-03 -4.14650263e+00] [-1.55396700e-02 1.51164646e-04 9.99879241e-01 -1.09527841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70401273899999 meters 0.023878525438901975 Centerline is valid? [True, True] Translation: X:56.48, Y:-4.15, Z:-1.09 [[ 9.93685543e-01 1.10648278e-01 1.86010958e-02 5.64760311e+01] [-1.10627676e-01 9.93859625e-01 -2.13611261e-03 -4.14619859e+00] [-1.87232353e-02 6.48282156e-05 9.99824703e-01 -1.09164581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764012738999995 meters 0.023975808285106894 Centerline is valid? [True, True] Translation: X:56.54, Y:-4.14, Z:-1.10 [[ 9.92928149e-01 1.17597680e-01 1.62627671e-02 5.65392465e+01] [-1.17582828e-01 9.93061319e-01 -1.86976636e-03 -4.14383424e+00] [-1.63698052e-02 -5.56784935e-05 9.99866004e-01 -1.09740104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824012739 meters 0.024415271008380066 Centerline is valid? [True, True] Translation: X:56.60, Y:-4.15, Z:-1.10 [[ 9.92786598e-01 1.18922172e-01 1.52410090e-02 5.66015286e+01] [-1.18909241e-01 9.92903576e-01 -1.75504198e-03 -4.14882468e+00] [-1.53415658e-02 -6.99146728e-05 9.99882309e-01 -1.10090241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88401273899999 meters 0.025293716441068103 Centerline is valid? [True, True] Translation: X:56.66, Y:-4.15, Z:-1.10 [[ 9.92396040e-01 1.21891378e-01 1.71053317e-02 5.66641345e+01] [-1.21875476e-01 9.92543438e-01 -1.97294337e-03 -4.15270187e+00] [-1.72182695e-02 -1.26779266e-04 9.99851747e-01 -1.09847922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944012738999994 meters 0.02621514197546374 Centerline is valid? [True, True] Translation: X:56.73, Y:-4.16, Z:-1.10 [[ 9.92183684e-01 1.23768884e-01 1.58997059e-02 5.67253330e+01] [-1.23755347e-01 9.92311061e-01 -1.83630531e-03 -4.15911170e+00] [-1.60047315e-02 -1.45721450e-04 9.99871905e-01 -1.10132502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004012739 meters 0.02610234359258968 Centerline is valid? [True, True] Translation: X:56.79, Y:-4.17, Z:-1.10 [[ 9.92232461e-01 1.23543912e-01 1.45480365e-02 5.67876897e+01] [-1.23532529e-01 9.92339098e-01 -1.68191032e-03 -4.17075229e+00] [-1.46443752e-02 -1.28309736e-04 9.99892757e-01 -1.10485457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06401273899999 meters 0.026038473229106542 Centerline is valid? [True, True] Translation: X:56.85, Y:-4.18, Z:-1.10 [[ 9.92106204e-01 1.24445177e-01 1.54492214e-02 5.68504982e+01] [-1.24432401e-01 9.92226474e-01 -1.78919493e-03 -4.17854697e+00] [-1.55517832e-02 -1.47312335e-04 9.99879053e-01 -1.10312148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124012738999994 meters 0.027403070525822887 Centerline is valid? [True, True] Translation: X:56.91, Y:-4.18, Z:-1.11 [[ 9.91895363e-01 1.26143154e-01 1.52148837e-02 5.69116477e+01] [-1.26130911e-01 9.92012034e-01 -1.76546706e-03 -4.18149000e+00] [-1.53160493e-02 -1.67908550e-04 9.99882688e-01 -1.10535598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184012738999996 meters 0.029704055324275072 Centerline is valid? [True, True] Translation: X:56.97, Y:-4.18, Z:-1.10 [[ 9.91436468e-01 1.29555269e-01 1.64061466e-02 5.69732977e+01] [-1.29541477e-01 9.91572174e-01 -1.90509819e-03 -4.17927182e+00] [-1.65146940e-02 -2.36492642e-04 9.99863595e-01 -1.10454403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24401273899999 meters 0.03316755330699567 Centerline is valid? [True, True] Translation: X:57.04, Y:-4.18, Z:-1.10 [[ 9.90867644e-01 1.33755260e-01 1.70541072e-02 5.70350247e+01] [-1.33740925e-01 9.91014344e-01 -1.98346176e-03 -4.17509741e+00] [-1.71661633e-02 -3.15483983e-04 9.99852601e-01 -1.10401733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304012738999994 meters 0.03309736989867878 Centerline is valid? [True, True] Translation: X:57.10, Y:-4.18, Z:-1.11 [[ 9.91024431e-01 1.32622100e-01 1.67915625e-02 5.70959613e+01] [-1.32608038e-01 9.91166633e-01 -1.95307513e-03 -4.17753356e+00] [-1.69022574e-02 -2.91151000e-04 9.99857104e-01 -1.10619818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364012738999996 meters 0.028318495249894424 Centerline is valid? [True, True] Translation: X:57.16, Y:-4.19, Z:-1.10 [[ 9.91390844e-01 1.29454874e-01 1.96374780e-02 5.71569821e+01] [-1.29435012e-01 9.91585276e-01 -2.28450780e-03 -4.19166874e+00] [-1.97679747e-02 -2.76937076e-04 9.99804556e-01 -1.10131110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42401273899999 meters 0.027769651400161997 Centerline is valid? [True, True] Translation: X:57.22, Y:-4.20, Z:-1.11 [[ 9.91556204e-01 1.28515748e-01 1.73203850e-02 5.72185092e+01] [-1.28500110e-01 9.91707443e-01 -2.01745902e-03 -4.19665958e+00] [-1.74360300e-02 -2.25247369e-04 9.99847956e-01 -1.10646702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48401273899999 meters 0.028517518788288527 Centerline is valid? [True, True] Translation: X:57.28, Y:-4.20, Z:-1.11 [[ 9.91672475e-01 1.27896150e-01 1.51088162e-02 5.72800342e+01] [-1.27884147e-01 9.91787548e-01 -1.76191746e-03 -4.20097517e+00] [-1.52100782e-02 -1.84933021e-04 9.99884303e-01 -1.11326432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544012738999996 meters 0.025932854810170797 Centerline is valid? [True, True] Translation: X:57.34, Y:-4.21, Z:-1.11 [[ 9.91997487e-01 1.24975022e-01 1.79507631e-02 5.73410339e+01] [-1.24957529e-01 9.92159875e-01 -2.09727293e-03 -4.21348584e+00] [-1.80721336e-02 -1.62593516e-04 9.99836672e-01 -1.10655021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60401273899999 meters 0.02472904619689128 Centerline is valid? [True, True] Translation: X:57.40, Y:-4.23, Z:-1.11 [[ 9.92445798e-01 1.21615384e-01 1.61566220e-02 5.74017819e+01] [-1.21600730e-01 9.92577297e-01 -1.88999530e-03 -4.23040399e+00] [-1.62665487e-02 -8.89391354e-05 9.99867687e-01 -1.11212912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66401273899999 meters 0.024733321481312104 Centerline is valid? [True, True] Translation: X:57.46, Y:-4.24, Z:-1.11 [[ 9.92335315e-01 1.22431888e-01 1.67646954e-02 5.74648187e+01] [-1.22416179e-01 9.92476913e-01 -1.96391970e-03 -4.23575515e+00] [-1.68790195e-02 -1.03403079e-04 9.99857534e-01 -1.11095816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724012738999996 meters 0.02470260170123373 Centerline is valid? [True, True] Translation: X:57.53, Y:-4.25, Z:-1.11 [[ 9.92240674e-01 1.23036653e-01 1.79004736e-02 5.75271085e+01] [-1.23018777e-01 9.92402120e-01 -2.10053258e-03 -4.24702426e+00] [-1.80229105e-02 -1.17860519e-04 9.99837567e-01 -1.10784349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784012739 meters 0.024548169250847525 Centerline is valid? [True, True] Translation: X:57.59, Y:-4.26, Z:-1.11 [[ 9.92317830e-01 1.22604317e-01 1.65380001e-02 5.75893288e+01] [-1.22588952e-01 9.92455627e-01 -1.94351563e-03 -4.25738864e+00] [-1.66515147e-02 -9.87908825e-05 9.99861349e-01 -1.11347932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84401273899999 meters 0.025219911822746025 Centerline is valid? [True, True] Translation: X:57.65, Y:-4.26, Z:-1.11 [[ 9.92204532e-01 1.23503497e-01 1.66448969e-02 5.76509360e+01] [-1.23487999e-01 9.92344131e-01 -1.95963569e-03 -4.26425115e+00] [-1.67594877e-02 -1.11085607e-04 9.99859544e-01 -1.11430798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904012738999995 meters 0.02484431257578679 Centerline is valid? [True, True] Translation: X:57.71, Y:-4.28, Z:-1.12 [[ 9.92279948e-01 1.23058020e-01 1.54022347e-02 5.77131111e+01] [-1.23044675e-01 9.92399473e-01 -1.81468357e-03 -4.27535174e+00] [-1.55084809e-02 -9.44888509e-05 9.99879732e-01 -1.11771816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964012739 meters 0.023989732148840585 Centerline is valid? [True, True] Translation: X:57.77, Y:-4.29, Z:-1.12 [[ 9.92740194e-01 1.19236592e-01 1.57969110e-02 5.77727010e+01] [-1.19222014e-01 9.92865869e-01 -1.86473855e-03 -4.29328091e+00] [-1.59065589e-02 -3.21386421e-05 9.99873482e-01 -1.11809468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02401273899999 meters 0.0238909566518128 Centerline is valid? [True, True] Translation: X:57.83, Y:-4.31, Z:-1.12 [[ 9.93101671e-01 1.16034459e-01 1.68841780e-02 5.78342044e+01] [-1.16017318e-01 9.93245188e-01 -1.99449205e-03 -4.31322264e+00] [-1.70015583e-02 2.18763457e-05 9.99855463e-01 -1.11708328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084012738999995 meters 0.02386250244402397 Centerline is valid? [True, True] Translation: X:57.90, Y:-4.32, Z:-1.12 [[ 9.92873079e-01 1.18149066e-01 1.56156408e-02 5.78954769e+01] [-1.18134623e-01 9.92995870e-01 -1.84734621e-03 -4.31981035e+00] [-1.57245291e-02 -1.05675238e-05 9.99876362e-01 -1.12068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144012739 meters 0.026208898191198305 Centerline is valid? [True, True] Translation: X:57.96, Y:-4.32, Z:-1.12 [[ 9.91820654e-01 1.26483147e-01 1.71407237e-02 5.79572343e+01] [-1.26466926e-01 9.91968745e-01 -2.03137287e-03 -4.31715516e+00] [-1.72599966e-02 -1.52977060e-04 9.99851023e-01 -1.11813056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20401273899999 meters 0.03283377760376165 Centerline is valid? [True, True] Translation: X:58.02, Y:-4.31, Z:-1.12 [[ 9.90705699e-01 1.35251622e-01 1.44643610e-02 5.80200652e+01] [-1.35240985e-01 9.90811250e-01 -1.71551926e-03 -4.30725175e+00] [-1.45634784e-02 -2.56599725e-04 9.99893914e-01 -1.12361359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264012738999995 meters 0.03562442466177726 Centerline is valid? [True, True] Translation: X:58.08, Y:-4.31, Z:-1.13 [[ 9.90329672e-01 1.38024224e-01 1.40162117e-02 5.80804470e+01] [-1.38014507e-01 9.90428812e-01 -1.66281268e-03 -4.30947192e+00] [-1.41115683e-02 -2.87707821e-04 9.99900385e-01 -1.12611202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324012739 meters 0.03604226020976786 Centerline is valid? [True, True] Translation: X:58.14, Y:-4.31, Z:-1.13 [[ 9.90303482e-01 1.38176760e-01 1.43595326e-02 5.81404092e+01] [-1.38166576e-01 9.90407540e-01 -1.70360851e-03 -4.31189703e+00] [-1.44571884e-02 -2.96918016e-04 9.99895445e-01 -1.12627104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38401273899999 meters 0.03521708486478473 Centerline is valid? [True, True] Translation: X:58.20, Y:-4.32, Z:-1.12 [[ 9.90387267e-01 1.37270302e-01 1.70272155e-02 5.82011460e+01] [-1.37255854e-01 9.90533569e-01 -2.01983441e-03 -4.31757881e+00] [-1.71432919e-02 -3.36666729e-04 9.99852986e-01 -1.12194984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444012738999994 meters 0.031060966084453204 Centerline is valid? [True, True] Translation: X:58.26, Y:-4.33, Z:-1.12 [[ 9.90655372e-01 1.35107574e-01 1.86514568e-02 5.82623584e+01] [-1.35089860e-01 9.90830882e-01 -2.21223542e-03 -4.32773624e+00] [-1.87793291e-02 -3.28059779e-04 9.99823599e-01 -1.11934088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504012739 meters 0.03182658781445294 Centerline is valid? [True, True] Translation: X:58.32, Y:-4.33, Z:-1.12 [[ 9.90886079e-01 1.33372547e-01 1.88823472e-02 5.83239946e+01] [-1.33354016e-01 9.91065929e-01 -2.24277417e-03 -4.32967615e+00] [-1.90127755e-02 -2.95703131e-04 9.99819197e-01 -1.12117651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56401273899999 meters 0.02894665846806135 Centerline is valid? [True, True] Translation: X:58.38, Y:-4.34, Z:-1.12 [[ 9.91113239e-01 1.31705235e-01 1.86622272e-02 5.83848673e+01] [-1.31686786e-01 9.91288891e-01 -2.21939700e-03 -4.34075373e+00] [-1.87919647e-02 -2.57894987e-04 9.99823382e-01 -1.12248540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624012738999994 meters 0.027826981559285823 Centerline is valid? [True, True] Translation: X:58.45, Y:-4.35, Z:-1.13 [[ 9.91197139e-01 1.31191112e-01 1.78079541e-02 5.84468996e+01] [-1.31174183e-01 9.91357068e-01 -2.12046487e-03 -4.34730973e+00] [-1.79322273e-02 -2.34145115e-04 9.99839177e-01 -1.12505934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684012738999996 meters 0.030569033434641284 Centerline is valid? [True, True] Translation: X:58.51, Y:-4.35, Z:-1.13 [[ 9.91105645e-01 1.31981148e-01 1.70463275e-02 5.85082636e+01] [-1.31965706e-01 9.91252199e-01 -2.03248795e-03 -4.34858003e+00] [-1.71654597e-02 -2.35120373e-04 9.99852635e-01 -1.12895159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74401273899999 meters 0.028647651858726673 Centerline is valid? [True, True] Translation: X:58.57, Y:-4.36, Z:-1.13 [[ 9.90884284e-01 1.33476836e-01 1.82282782e-02 5.85698291e+01] [-1.33459378e-01 9.91051895e-01 -2.17635700e-03 -4.35608520e+00] [-1.83556629e-02 -2.76216723e-04 9.99831482e-01 -1.12778839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804012738999994 meters 0.027228193963181786 Centerline is valid? [True, True] Translation: X:58.63, Y:-4.37, Z:-1.13 [[ 9.91269244e-01 1.30643652e-01 1.78191456e-02 5.86293981e+01] [-1.30626457e-01 9.91429367e-01 -2.13047983e-03 -4.37104742e+00] [-1.79447579e-02 -2.15772733e-04 9.99838957e-01 -1.13032587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864012738999996 meters 0.02637758668690926 Centerline is valid? [True, True] Translation: X:58.69, Y:-4.38, Z:-1.14 [[ 9.91660463e-01 1.27817320e-01 1.65002561e-02 5.86895387e+01] [-1.27802143e-01 9.91797716e-01 -1.97534186e-03 -4.38172817e+00] [-1.66173992e-02 -1.49899678e-04 9.99861910e-01 -1.13554862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92401273899999 meters 0.02453509962429045 Centerline is valid? [True, True] Translation: X:58.75, Y:-4.40, Z:-1.14 [[ 9.92052136e-01 1.24727872e-01 1.65987156e-02 5.87502135e+01] [-1.24712059e-01 9.92190984e-01 -1.98844340e-03 -4.39778800e+00] [-1.67171103e-02 -9.74204846e-05 9.99860255e-01 -1.13658340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98401273899999 meters 0.02369995405550545 Centerline is valid? [True, True] Translation: X:58.81, Y:-4.41, Z:-1.14 [[ 9.92299315e-01 1.22683381e-01 1.70545266e-02 5.88111768e+01] [-1.22666336e-01 9.92445860e-01 -2.04590690e-03 -4.41017456e+00] [-1.71766931e-02 -6.18642687e-05 9.99852468e-01 -1.13759329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044012738999996 meters 0.02351353218089961 Centerline is valid? [True, True] Translation: X:58.87, Y:-4.44, Z:-1.14 [[ 9.92916157e-01 1.17617138e-01 1.68438340e-02 5.88712139e+01] [-1.17599736e-01 9.93059015e-01 -2.02335599e-03 -4.43525585e+00] [-1.69649026e-02 2.81924250e-05 9.99856085e-01 -1.13993499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10401273899999 meters 0.023741994326499524 Centerline is valid? [True, True] Translation: X:58.93, Y:-4.45, Z:-1.14 [[ 9.93129913e-01 1.15674995e-01 1.76711847e-02 5.89329052e+01] [-1.15655470e-01 9.93287114e-01 -2.12634626e-03 -4.45235265e+00] [-1.77985251e-02 6.79688982e-05 9.99841591e-01 -1.13978882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16401273899999 meters 0.02328886385024846 Centerline is valid? [True, True] Translation: X:58.99, Y:-4.47, Z:-1.14 [[ 9.92794446e-01 1.18292027e-01 1.91359342e-02 5.89925308e+01] [-1.18269537e-01 9.92978850e-01 -2.30669062e-03 -4.46686072e+00] [-1.92744410e-02 2.68715522e-05 9.99814230e-01 -1.13698608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224012738999996 meters 0.024483223433033757 Centerline is valid? [True, True] Translation: X:59.05, Y:-4.47, Z:-1.14 [[ 9.91768820e-01 1.26482173e-01 1.99215367e-02 5.90549679e+01] [-1.26459384e-01 9.91968871e-01 -2.40463323e-03 -4.46896619e+00] [-2.00656875e-02 -1.34425002e-04 9.99798655e-01 -1.13719424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284012739 meters 0.026638212416699353 Centerline is valid? [True, True] Translation: X:59.12, Y:-4.47, Z:-1.14 [[ 9.91146621e-01 1.31219778e-01 2.02421905e-02 5.91168097e+01] [-1.31197167e-01 9.91353275e-01 -2.44673457e-03 -4.47380164e+00] [-2.03882219e-02 -2.30645354e-04 9.99792112e-01 -1.13774612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34401273899999 meters 0.029332268700438063 Centerline is valid? [True, True] Translation: X:59.18, Y:-4.47, Z:-1.14 [[ 9.90531141e-01 1.35941563e-01 1.91820080e-02 5.91791504e+01] [-1.35922084e-01 9.90716810e-01 -2.32170665e-03 -4.47486159e+00] [-1.93195542e-02 -3.07535763e-04 9.99813313e-01 -1.14161254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404012738999995 meters 0.033961337451191696 Centerline is valid? [True, True] Translation: X:59.24, Y:-4.47, Z:-1.14 [[ 9.89881247e-01 1.40708377e-01 1.83376686e-02 5.92397874e+01] [-1.40691375e-01 9.90051012e-01 -2.22044578e-03 -4.47179003e+00] [-1.84676627e-02 -3.81974176e-04 9.99829385e-01 -1.14421409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464012739 meters 0.03758927283969492 Centerline is valid? [True, True] Translation: X:59.30, Y:-4.47, Z:-1.14 [[ 9.89135606e-01 1.45575254e-01 2.04596830e-02 5.93014513e+01] [-1.45555128e-01 9.89347041e-01 -2.47739500e-03 -4.46817808e+00] [-2.06023742e-02 -5.27532173e-04 9.99787609e-01 -1.14187233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52401273899999 meters 0.04193303818942231 Centerline is valid? [True, True] Translation: X:59.36, Y:-4.47, Z:-1.14 [[ 9.88471846e-01 1.49912670e-01 2.12038174e-02 5.93634337e+01] [-1.49892044e-01 9.88699035e-01 -2.56777035e-03 -4.46538149e+00] [-2.13491351e-02 -6.40114828e-04 9.99771876e-01 -1.14133995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584012738999995 meters 0.05138301606960234 Centerline is valid? [True, True] Translation: X:59.43, Y:-4.44, Z:-1.14 [[ 9.86875042e-01 1.60304943e-01 1.94929999e-02 5.94270462e+01] [-1.60289523e-01 9.87067219e-01 -2.36112101e-03 -4.44464730e+00] [-1.96194006e-02 -7.94392250e-04 9.99807205e-01 -1.14474223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644012739 meters 0.05465970881762443 Centerline is valid? [True, True] Translation: X:59.49, Y:-4.44, Z:-1.15 [[ 9.86323061e-01 1.63625125e-01 1.98403260e-02 5.94885006e+01] [-1.63609821e-01 9.86522200e-01 -2.40313417e-03 -4.43832085e+00] [-1.99661352e-02 -8.75805535e-04 9.99800273e-01 -1.14564798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70401273899999 meters 0.05147798010285009 Centerline is valid? [True, True] Translation: X:59.55, Y:-4.44, Z:-1.15 [[ 9.86440301e-01 1.62797956e-01 2.07932184e-02 5.95482128e+01] [-1.62780969e-01 9.86659016e-01 -2.51827996e-03 -4.43759224e+00] [-2.09257873e-02 -9.00607390e-04 9.99780626e-01 -1.14509798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764012738999995 meters 0.04977502967033216 Centerline is valid? [True, True] Translation: X:59.61, Y:-4.44, Z:-1.15 [[ 9.87446856e-01 1.56449462e-01 2.17318370e-02 5.96075620e+01] [-1.56429393e-01 9.87685640e-01 -2.63089173e-03 -4.43577347e+00] [-2.18758250e-02 -8.01632313e-04 9.99760374e-01 -1.14591052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824012739 meters 0.03886309790185839 Centerline is valid? [True, True] Translation: X:59.67, Y:-4.45, Z:-1.15 [[ 9.88862768e-01 1.47661231e-01 1.86168421e-02 5.96665504e+01] [-1.47644955e-01 9.89037861e-01 -2.25324696e-03 -4.45039400e+00] [-1.87454789e-02 -5.20530790e-04 9.99824153e-01 -1.15365805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88401273899999 meters 0.03327381429952823 Centerline is valid? [True, True] Translation: X:59.72, Y:-4.47, Z:-1.15 [[ 9.89898545e-01 1.40207814e-01 2.10389802e-02 5.97241962e+01] [-1.40185345e-01 9.90122005e-01 -2.54635205e-03 -4.46604515e+00] [-2.11881757e-02 -4.28726501e-04 9.99775413e-01 -1.15051596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944012738999994 meters 0.03216353492097252 Centerline is valid? [True, True] Translation: X:59.78, Y:-4.47, Z:-1.15 [[ 9.90380295e-01 1.36579232e-01 2.22032568e-02 5.97829781e+01] [-1.36553302e-01 9.90629081e-01 -2.68695544e-03 -4.47468542e+00] [-2.23621742e-02 -3.70820302e-04 9.99749867e-01 -1.15011733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004012739 meters 0.029922967846753683 Centerline is valid? [True, True] Translation: X:59.84, Y:-4.49, Z:-1.15 [[ 9.90826356e-01 1.33594521e-01 2.03871802e-02 5.98423987e+01] [-1.33572033e-01 9.91036037e-01 -2.46696377e-03 -4.48774847e+00] [-2.05340032e-02 -2.78824379e-04 9.99789116e-01 -1.15485952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06401273899999 meters 0.026625059747306418 Centerline is valid? [True, True] Translation: X:59.90, Y:-4.51, Z:-1.16 [[ 9.91114276e-01 1.31564139e-01 1.95797956e-02 5.99033548e+01] [-1.31542997e-01 9.91307634e-01 -2.36943253e-03 -4.50517957e+00] [-1.97213332e-02 -2.27206591e-04 9.99805490e-01 -1.15897111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124012738999994 meters 0.027181773872563847 Centerline is valid? [True, True] Translation: X:59.96, Y:-4.51, Z:-1.16 [[ 9.91025741e-01 1.32012968e-01 2.09894662e-02 5.99641545e+01] [-1.31988743e-01 9.91247957e-01 -2.54143414e-03 -4.51447543e+00] [-2.11412678e-02 -2.51746616e-04 9.99776467e-01 -1.15694379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184012738999996 meters 0.02963969122177902 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.52, Z:-1.16 [[ 9.90510059e-01 1.36235420e-01 1.81585792e-02 6.00258692e+01] [-1.36217952e-01 9.90676448e-01 -2.20118315e-03 -4.51652338e+00] [-1.82891558e-02 -2.93230414e-04 9.99832696e-01 -1.16259740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24401273899999 meters 0.03383014822973026 Centerline is valid? [True, True] Translation: X:60.09, Y:-4.52, Z:-1.16 [[ 9.89744806e-01 1.41445622e-01 1.99588475e-02 6.00867476e+01] [-1.41425538e-01 9.89945935e-01 -2.42132013e-03 -4.51664113e+00] [-2.01006651e-02 -4.26201729e-04 9.99797870e-01 -1.16268864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304012738999994 meters 0.03321565561559361 Centerline is valid? [True, True] Translation: X:60.15, Y:-4.53, Z:-1.16 [[ 9.89871296e-01 1.40493100e-01 2.04084989e-02 6.01462498e+01] [-1.40471898e-01 9.90081570e-01 -2.47586986e-03 -4.52612033e+00] [-2.05539213e-02 -4.16028072e-04 9.99788659e-01 -1.16339017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364012738999996 meters 0.03328150512355893 Centerline is valid? [True, True] Translation: X:60.21, Y:-4.54, Z:-1.17 [[ 9.89901657e-01 1.40526688e-01 1.86268455e-02 6.02057699e+01] [-1.40509033e-01 9.90076818e-01 -2.25972746e-03 -4.53838832e+00] [-1.87595599e-02 -3.80332084e-04 9.99823952e-01 -1.16816418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42401273899999 meters 0.03586553507623612 Centerline is valid? [True, True] Translation: X:60.27, Y:-4.54, Z:-1.17 [[ 9.89343834e-01 1.44262827e-01 1.96726903e-02 6.02668502e+01] [-1.44243871e-01 9.89539292e-01 -2.38660479e-03 -4.53579390e+00] [-1.98111984e-02 -4.76492284e-04 9.99803625e-01 -1.16647321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48401273899999 meters 0.04754370581023628 Centerline is valid? [True, True] Translation: X:60.33, Y:-4.52, Z:-1.17 [[ 9.88023918e-01 1.53053732e-01 1.95778601e-02 6.03281439e+01] [-1.53036680e-01 9.88217655e-01 -2.37509191e-03 -4.51924964e+00] [-1.97107036e-02 -6.49483097e-04 9.99805514e-01 -1.16860897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544012738999996 meters 0.05344784014208209 Centerline is valid? [True, True] Translation: X:60.39, Y:-4.51, Z:-1.17 [[ 9.86498684e-01 1.62591489e-01 1.96049627e-02 6.03902687e+01] [-1.62576264e-01 9.86693114e-01 -2.37861630e-03 -4.50740667e+00] [-1.97308245e-02 -8.40799736e-04 9.99804975e-01 -1.16994711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60401273899999 meters 0.05520607448919225 Centerline is valid? [True, True] Translation: X:60.45, Y:-4.51, Z:-1.17 [[ 9.86310937e-01 1.63666726e-01 2.00982040e-02 6.04495210e+01] [-1.63650948e-01 9.86515292e-01 -2.43844248e-03 -4.50755882e+00] [-2.02262775e-02 -8.84027640e-04 9.99795037e-01 -1.17070052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66401273899999 meters 0.05520355548729624 Centerline is valid? [True, True] Translation: X:60.51, Y:-4.51, Z:-1.17 [[ 9.86532150e-01 1.62472361e-01 1.88957502e-02 6.05080727e+01] [-1.62458211e-01 9.86712764e-01 -2.29173850e-03 -4.50526691e+00] [-1.90170221e-02 -8.08896062e-04 9.99818833e-01 -1.17359889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724012738999996 meters 0.05213432815047089 Centerline is valid? [True, True] Translation: X:60.57, Y:-4.51, Z:-1.18 [[ 9.87150355e-01 1.58844292e-01 1.73973207e-02 6.05683562e+01] [-1.58831753e-01 9.87303412e-01 -2.10895009e-03 -4.50804780e+00] [-1.75114288e-02 -6.81396104e-04 9.99846431e-01 -1.17800245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784012739 meters 0.04468985564175723 Centerline is valid? [True, True] Translation: X:60.63, Y:-4.52, Z:-1.18 [[ 9.88126072e-01 1.52432735e-01 1.92646434e-02 6.06276613e+01] [-1.52416145e-01 9.88313648e-01 -2.33510501e-03 -4.51799444e+00] [-1.93954564e-02 -6.28864542e-04 9.99811693e-01 -1.17640384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84401273899999 meters 0.04049655226413114 Centerline is valid? [True, True] Translation: X:60.69, Y:-4.52, Z:-1.18 [[ 9.89085812e-01 1.46124574e-01 1.88908886e-02 6.06866351e+01] [-1.46107478e-01 9.89266073e-01 -2.28946851e-03 -4.52475687e+00] [-1.90226628e-02 -4.95619279e-04 9.99818930e-01 -1.17739813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904012738999995 meters 0.03643067393018325 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.54, Z:-1.18 [[ 9.89462494e-01 1.43359266e-01 2.03000876e-02 6.07446817e+01] [-1.43338948e-01 9.89670599e-01 -2.45995777e-03 -4.53666799e+00] [-2.04430576e-02 -4.75757257e-04 9.99790906e-01 -1.17639407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964012739 meters 0.03381667544567207 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.54, Z:-1.18 [[ 9.89894641e-01 1.40155846e-01 2.15624381e-02 6.08031182e+01] [-1.40132186e-01 9.90129360e-01 -2.61186751e-03 -4.54311222e+00] [-2.17156716e-02 -4.36117942e-04 9.99764092e-01 -1.17601103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024012739 meters 0.03122107640361213 Centerline is valid? [True, True] Translation: X:60.86, Y:-4.55, Z:-1.18 [[ 9.90438317e-01 1.36605999e-01 1.92546343e-02 6.08607505e+01] [-1.36586477e-01 9.90625408e-01 -2.33153036e-03 -4.55144152e+00] [-1.93926310e-02 -3.20685669e-04 9.99811894e-01 -1.18141040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084012739 meters 0.027687302842246863 Centerline is valid? [True, True] Translation: X:60.92, Y:-4.56, Z:-1.18 [[ 9.91025027e-01 1.32373575e-01 1.86180673e-02 6.09186221e+01] [-1.32354591e-01 9.91199871e-01 -2.25362571e-03 -4.56439112e+00] [-1.87525464e-02 -2.30787201e-04 9.99824129e-01 -1.18355561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144012739 meters 0.025916862500656668 Centerline is valid? [True, True] Translation: X:60.98, Y:-4.57, Z:-1.18 [[ 9.91401828e-01 1.28873156e-01 2.26743147e-02 6.09757527e+01] [-1.28844112e-01 9.91661066e-01 -2.74332491e-03 -4.57377601e+00] [-2.28387760e-02 -2.01714609e-04 9.99739141e-01 -1.17735493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204012739 meters 0.02353407919831148 Centerline is valid? [True, True] Translation: X:61.03, Y:-4.59, Z:-1.18 [[ 9.92150891e-01 1.23348619e-01 2.05360096e-02 6.10342011e+01] [-1.23323633e-01 9.92363398e-01 -2.48355527e-03 -4.59206817e+00] [-2.06855274e-02 -6.85137428e-05 9.99786029e-01 -1.18314144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264012739 meters 0.023335160759234218 Centerline is valid? [True, True] Translation: X:61.09, Y:-4.61, Z:-1.19 [[ 9.92798480e-01 1.18218841e-01 1.93773821e-02 6.10931535e+01] [-1.18195617e-01 9.92987565e-01 -2.34341376e-03 -4.61124483e+00] [-1.95185351e-02 3.62159781e-05 9.99809495e-01 -1.18669071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324012739 meters 0.026407120592376338 Centerline is valid? [True, True] Translation: X:61.15, Y:-4.64, Z:-1.19 [[ 9.93719348e-01 1.10499525e-01 1.76553522e-02 6.11522131e+01] [-1.10479022e-01 9.93876162e-01 -2.13545740e-03 -4.63916049e+00] [-1.77832007e-02 1.71499292e-04 9.99841852e-01 -1.19047830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384012739 meters 0.028240622089431733 Centerline is valid? [True, True] Translation: X:61.21, Y:-4.66, Z:-1.18 [[ 9.93952326e-01 1.07574431e-01 2.20571023e-02 6.12125763e+01] [-1.07541677e-01 9.94196994e-01 -2.66926230e-03 -4.66067950e+00] [-2.22162491e-02 2.81061704e-04 9.99753149e-01 -1.18227366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444012739 meters 0.02617537038895588 Centerline is valid? [True, True] Translation: X:61.27, Y:-4.67, Z:-1.19 [[ 9.93602226e-01 1.11051217e-01 2.05485734e-02 6.12727487e+01] [-1.11023472e-01 9.93814666e-01 -2.48966771e-03 -4.66891702e+00] [-2.06979543e-02 1.92365424e-04 9.99785756e-01 -1.18616014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504012739 meters 0.02563671853754458 Centerline is valid? [True, True] Translation: X:61.33, Y:-4.68, Z:-1.19 [[ 9.93462251e-01 1.12352193e-01 2.02420248e-02 6.13322237e+01] [-1.12325482e-01 9.93668434e-01 -2.45536108e-03 -4.68402598e+00] [-2.03897262e-02 1.65613362e-04 9.99792094e-01 -1.18803691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564012739 meters 0.026199596616494795 Centerline is valid? [True, True] Translation: X:61.39, Y:-4.70, Z:-1.18 [[ 9.93684164e-01 1.09761016e-01 2.33302861e-02 6.13924365e+01] [-1.09724727e-01 9.93957974e-01 -2.83376757e-03 -4.70284900e+00] [-2.35003611e-02 2.55960673e-04 9.99723796e-01 -1.18323880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62401273900001 meters 0.02897181415541698 Centerline is valid? [True, True] Translation: X:61.45, Y:-4.73, Z:-1.19 [[ 9.93955848e-01 1.07915283e-01 2.01510293e-02 6.14510258e+01] [-1.07887775e-01 9.94160059e-01 -2.45045589e-03 -4.72873218e+00] [-2.02977901e-02 2.61595250e-04 9.99793944e-01 -1.19064745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684012739 meters 0.026550818407718516 Centerline is valid? [True, True] Translation: X:61.51, Y:-4.74, Z:-1.19 [[ 9.93836974e-01 1.08986830e-01 2.02469906e-02 6.15129823e+01] [-1.08959220e-01 9.94043164e-01 -2.46518154e-03 -4.73654881e+00] [-2.03950549e-02 2.43892269e-04 9.99791969e-01 -1.19165725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744012739 meters 0.024099174911494364 Centerline is valid? [True, True] Translation: X:61.57, Y:-4.74, Z:-1.20 [[ 9.93135757e-01 1.15476799e-01 1.86138938e-02 6.15739659e+01] [-1.15454548e-01 9.93310172e-01 -2.26921157e-03 -4.74246575e+00] [-1.87514113e-02 1.04576448e-04 9.99824171e-01 -1.19531298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804012739 meters 0.023635544669660606 Centerline is valid? [True, True] Translation: X:61.64, Y:-4.74, Z:-1.20 [[ 9.91910173e-01 1.25502107e-01 1.90638515e-02 6.16370830e+01] [-1.25480559e-01 9.92093350e-01 -2.32705988e-03 -4.73740221e+00] [-1.92051712e-02 -8.39083719e-05 9.99815560e-01 -1.19567486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864012739 meters 0.026252342367644146 Centerline is valid? [True, True] Translation: X:61.70, Y:-4.73, Z:-1.20 [[ 9.91075098e-01 1.31863739e-01 1.95475001e-02 6.16989994e+01] [-1.31842252e-01 9.91267830e-01 -2.38951556e-03 -4.73001391e+00] [-1.96918985e-02 -2.08997069e-04 9.99806074e-01 -1.19736213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924012739 meters 0.025025150137255186 Centerline is valid? [True, True] Translation: X:61.76, Y:-4.74, Z:-1.20 [[ 9.91284392e-01 1.30229361e-01 1.98889047e-02 6.17609251e+01] [-1.30206755e-01 9.91483879e-01 -2.43289566e-03 -4.73598148e+00] [-2.00363628e-02 -1.77978250e-04 9.99799236e-01 -1.19723561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98401273900001 meters 0.0233347214728361 Centerline is valid? [True, True] Translation: X:61.82, Y:-4.75, Z:-1.20 [[ 9.91973388e-01 1.24919964e-01 1.95908048e-02 6.18226650e+01] [-1.24896930e-01 9.92166820e-01 -2.39972025e-03 -4.74620858e+00] [-1.97371195e-02 -6.63727467e-05 9.99805202e-01 -1.19847604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044012739 meters 0.023631737398295626 Centerline is valid? [True, True] Translation: X:61.88, Y:-4.77, Z:-1.20 [[ 9.92902448e-01 1.16986799e-01 2.14200147e-02 6.18838924e+01] [-1.16957329e-01 9.93133464e-01 -2.62775304e-03 -4.76586077e+00] [-2.15803459e-02 1.03874705e-04 9.99767112e-01 -1.19718885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104012739 meters 0.026807233091892087 Centerline is valid? [True, True] Translation: X:61.94, Y:-4.79, Z:-1.20 [[ 9.93753047e-01 1.09826415e-01 1.98252338e-02 6.19434026e+01] [-1.09799674e-01 9.93950753e-01 -2.43568702e-03 -4.78698771e+00] [-1.99728088e-02 2.43667196e-04 9.99800494e-01 -1.20200452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164012739 meters 0.031174423325265144 Centerline is valid? [True, True] Translation: X:62.00, Y:-4.81, Z:-1.20 [[ 9.94299918e-01 1.04637279e-01 2.04624821e-02 6.20017155e+01] [-1.04607623e-01 9.94510386e-01 -2.51728046e-03 -4.81313890e+00] [-2.06135523e-02 3.62400139e-04 9.99787452e-01 -1.20140031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224012739 meters 0.033526871220127756 Centerline is valid? [True, True] Translation: X:62.06, Y:-4.83, Z:-1.20 [[ 9.94636560e-01 1.01538527e-01 1.96987655e-02 6.20619318e+01] [-1.01510377e-01 9.94831522e-01 -2.42632071e-03 -4.83124441e+00] [-1.98433179e-02 4.13678171e-04 9.99803016e-01 -1.20314628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284012739 meters 0.03286691464210066 Centerline is valid? [True, True] Translation: X:62.12, Y:-4.85, Z:-1.21 [[ 9.94679985e-01 1.01389530e-01 1.82178637e-02 6.21223428e+01] [-1.01365419e-01 9.94846729e-01 -2.24444161e-03 -4.84791006e+00] [-1.83515450e-02 3.85839756e-04 9.99831522e-01 -1.20626176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34401273900001 meters 0.03079356047290931 Centerline is valid? [True, True] Translation: X:62.18, Y:-4.86, Z:-1.21 [[ 9.94198994e-01 1.06008600e-01 1.81806667e-02 6.21817742e+01] [-1.05985297e-01 9.94365167e-01 -2.24323476e-03 -4.85790447e+00] [-1.83160238e-02 3.03338382e-04 9.99832202e-01 -1.20707792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404012739 meters 0.027370809222538834 Centerline is valid? [True, True] Translation: X:62.24, Y:-4.86, Z:-1.21 [[ 9.93820497e-01 1.09583786e-01 1.76695619e-02 6.22437383e+01] [-1.09562343e-01 9.93977535e-01 -2.17996335e-03 -4.86299253e+00] [-1.78020362e-02 2.30573654e-04 9.99841505e-01 -1.20830661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464012739 meters 0.027137409800598155 Centerline is valid? [True, True] Translation: X:62.30, Y:-4.87, Z:-1.20 [[ 9.93564125e-01 1.11380635e-01 2.06078692e-02 6.23046631e+01] [-1.11351770e-01 9.93777791e-01 -2.54650893e-03 -4.87091400e+00] [-2.07632745e-02 2.35397218e-04 9.99784392e-01 -1.20314703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524012739 meters 0.025834435981902264 Centerline is valid? [True, True] Translation: X:62.37, Y:-4.88, Z:-1.20 [[ 9.93372029e-01 1.12895323e-01 2.16022460e-02 6.23669486e+01] [-1.12863886e-01 9.93606863e-01 -2.67289091e-03 -4.87620439e+00] [-2.17658968e-02 2.17061630e-04 9.99763071e-01 -1.20239084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584012739 meters 0.024028467743627553 Centerline is valid? [True, True] Translation: X:62.43, Y:-4.87, Z:-1.21 [[ 9.92844671e-01 1.18005121e-01 1.82825120e-02 6.24282278e+01] [-1.17983424e-01 9.93012982e-01 -2.26465483e-03 -4.87454679e+00] [-1.84220126e-02 9.14171111e-05 9.99830296e-01 -1.21091077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644012739 meters 0.023583132069053266 Centerline is valid? [True, True] Translation: X:62.49, Y:-4.87, Z:-1.22 [[ 9.92199800e-01 1.23759444e-01 1.49384149e-02 6.24910995e+01] [-1.23745587e-01 9.92312249e-01 -1.85193802e-03 -4.87447701e+00] [-1.50527669e-02 -1.10703864e-05 9.99886701e-01 -1.21838459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704012739 meters 0.02553264744012522 Centerline is valid? [True, True] Translation: X:62.55, Y:-4.86, Z:-1.21 [[ 9.91079874e-01 1.32002546e-01 1.83306218e-02 6.25544158e+01] [-1.31983009e-01 9.91249364e-01 -2.27681706e-03 -4.86174595e+00] [-1.84707629e-02 -1.62823058e-04 9.99829388e-01 -1.21228656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764012739 meters 0.028288140039945262 Centerline is valid? [True, True] Translation: X:62.62, Y:-4.86, Z:-1.21 [[ 9.90514658e-01 1.36253341e-01 1.77690454e-02 6.26169279e+01] [-1.36235620e-01 9.90673999e-01 -2.20965056e-03 -4.85903493e+00] [-1.79044035e-02 -2.32085639e-04 9.99839676e-01 -1.21391496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824012739 meters 0.030552608821237535 Centerline is valid? [True, True] Translation: X:62.68, Y:-4.85, Z:-1.22 [[ 9.90141730e-01 1.39001345e-01 1.72621323e-02 6.26771760e+01] [-1.38984987e-01 9.90292155e-01 -2.14959404e-03 -4.85354308e+00] [-1.73933506e-02 -2.70774460e-04 9.99848688e-01 -1.21692041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884012739 meters 0.028850234317641967 Centerline is valid? [True, True] Translation: X:62.74, Y:-4.86, Z:-1.22 [[ 9.90058702e-01 1.39578813e-01 1.73643873e-02 6.27385395e+01] [-1.39562354e-01 9.90210925e-01 -2.16202281e-03 -4.86028770e+00] [-1.74961786e-02 -2.82885275e-04 9.99846890e-01 -1.21733175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944012739 meters 0.02730448948579114 Centerline is valid? [True, True] Translation: X:62.80, Y:-4.86, Z:-1.22 [[ 9.90462867e-01 1.36935593e-01 1.52299712e-02 6.27998983e+01] [-1.36922614e-01 9.90579932e-01 -1.89658321e-03 -4.86426154e+00] [-1.53462136e-02 -2.06832232e-04 9.99882219e-01 -1.22208493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004012739 meters 0.02605598281610375 Centerline is valid? [True, True] Translation: X:62.86, Y:-4.87, Z:-1.22 [[ 9.90917671e-01 1.33507543e-01 1.60594273e-02 6.28585506e+01] [-1.33492655e-01 9.91047784e-01 -2.00031601e-03 -4.87255402e+00] [-1.61827171e-02 -1.61667108e-04 9.99869038e-01 -1.22318674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064012739 meters 0.024286467958690796 Centerline is valid? [True, True] Translation: X:62.92, Y:-4.88, Z:-1.22 [[ 9.91285709e-01 1.30308486e-01 1.92961514e-02 6.29186950e+01] [-1.30286374e-01 9.91473490e-01 -2.40404186e-03 -4.88112704e+00] [-1.94448896e-02 -1.30933269e-04 9.99810922e-01 -1.21769513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12401273900001 meters 0.024256121515243093 Centerline is valid? [True, True] Translation: X:62.98, Y:-4.89, Z:-1.22 [[ 9.91388411e-01 1.29809865e-01 1.72747871e-02 6.29804334e+01] [-1.29792076e-01 9.91538898e-01 -2.15169791e-03 -4.88882771e+00] [-1.74079350e-02 -1.08962116e-04 9.99848464e-01 -1.22263672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184012739 meters 0.02337268427281933 Centerline is valid? [True, True] Translation: X:63.04, Y:-4.90, Z:-1.22 [[ 9.91747623e-01 1.26996780e-01 1.75633237e-02 6.30404988e+01] [-1.26977897e-01 9.91903128e-01 -2.19068409e-03 -4.90000613e+00] [-1.76993255e-02 -5.75481664e-05 9.99843353e-01 -1.22311583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244012739 meters 0.023282628577316077 Centerline is valid? [True, True] Translation: X:63.10, Y:-4.92, Z:-1.22 [[ 9.92530602e-01 1.20360052e-01 1.99113550e-02 6.31014859e+01] [-1.20334376e-01 9.92730302e-01 -2.48704142e-03 -4.92302851e+00] [-2.00659459e-02 7.24442458e-05 9.99798656e-01 -1.21893728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304012739 meters 0.027109393338356238 Centerline is valid? [True, True] Translation: X:63.16, Y:-4.95, Z:-1.22 [[ 9.93589856e-01 1.11142214e-01 2.06544536e-02 6.31595424e+01] [-1.11112504e-01 9.93804475e-01 -2.58406870e-03 -4.95130283e+00] [-2.08136875e-02 2.72536380e-04 9.99783335e-01 -1.22078438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364012739 meters 0.03329368297098519 Centerline is valid? [True, True] Translation: X:63.22, Y:-4.98, Z:-1.23 [[ 9.94501601e-01 1.03210719e-01 1.77232153e-02 6.32165002e+01] [-1.03187560e-01 9.94659442e-01 -2.21871917e-03 -4.97929107e+00] [-1.78575590e-02 3.77704423e-04 9.99840470e-01 -1.22549437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424012739 meters 0.03739015919169258 Centerline is valid? [True, True] Translation: X:63.27, Y:-5.01, Z:-1.23 [[ 9.95090313e-01 9.76141940e-02 1.63321014e-02 6.32743024e+01] [-9.75937758e-02 9.95224234e-01 -2.04447359e-03 -5.00729358e+00] [-1.64536727e-02 4.40524427e-04 9.99864532e-01 -1.22887988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48401273900001 meters 0.03968020261333178 Centerline is valid? [True, True] Translation: X:63.33, Y:-5.03, Z:-1.23 [[ 9.95240169e-01 9.62961990e-02 1.49682380e-02 6.33336938e+01] [-9.62789063e-02 9.95352632e-01 -1.87331165e-03 -5.03429884e+00] [-1.50790679e-02 4.23269421e-04 9.99886215e-01 -1.23318227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544012739 meters 0.03793877823198707 Centerline is valid? [True, True] Translation: X:63.39, Y:-5.05, Z:-1.23 [[ 9.95018308e-01 9.85196882e-02 1.52458831e-02 6.33940864e+01] [-9.85019690e-02 9.95135022e-01 -1.91064554e-03 -5.05219749e+00] [-1.53599484e-02 3.99377793e-04 9.99881949e-01 -1.23387017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604012739 meters 0.03155575735690082 Centerline is valid? [True, True] Translation: X:63.45, Y:-5.06, Z:-1.23 [[ 9.94287536e-01 1.05212753e-01 1.79603047e-02 6.34542518e+01] [-1.05189182e-01 9.94449673e-01 -2.25474391e-03 -5.06259106e+00] [-1.80978470e-02 3.52634004e-04 9.99836158e-01 -1.22876117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664012739 meters 0.0263710898751343 Centerline is valid? [True, True] Translation: X:63.51, Y:-5.07, Z:-1.23 [[ 9.93369074e-01 1.13647875e-01 1.73793673e-02 6.35130262e+01] [-1.13627090e-01 9.93521073e-01 -2.18198052e-03 -5.07431622e+00] [-1.75147451e-02 1.92745037e-04 9.99846587e-01 -1.23106064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724012739 meters 0.0233743732651038 Centerline is valid? [True, True] Translation: X:63.57, Y:-5.08, Z:-1.23 [[ 9.92470990e-01 1.21171493e-01 1.78550679e-02 6.35746600e+01] [-1.21150778e-01 9.92631586e-01 -2.24129010e-03 -5.08125445e+00] [-1.79950848e-02 6.12600313e-05 9.99838073e-01 -1.23159758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784012739 meters 0.023296078450348895 Centerline is valid? [True, True] Translation: X:63.64, Y:-5.09, Z:-1.23 [[ 9.91525105e-01 1.28586982e-01 1.85298153e-02 6.36378338e+01] [-1.28565905e-01 9.91698232e-01 -2.32922122e-03 -5.08723171e+00] [-1.86754926e-02 -7.28211553e-05 9.99825595e-01 -1.23123421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84401273900001 meters 0.025471800747189622 Centerline is valid? [True, True] Translation: X:63.70, Y:-5.09, Z:-1.24 [[ 9.90782402e-01 1.34494073e-01 1.61733243e-02 6.36995290e+01] [-1.34478757e-01 9.90914386e-01 -2.03576996e-03 -5.09056294e+00] [-1.63001787e-02 -1.57963512e-04 9.99867131e-01 -1.23695766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904012739 meters 0.02961929841118249 Centerline is valid? [True, True] Translation: X:63.76, Y:-5.09, Z:-1.23 [[ 9.89838323e-01 1.41074047e-01 1.78383761e-02 6.37619123e+01] [-1.41056423e-01 9.89999005e-01 -2.24870800e-03 -5.08672960e+00] [-1.79772089e-02 -2.90360163e-04 9.99838355e-01 -1.23416328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964012739 meters 0.03538905155550738 Centerline is valid? [True, True] Translation: X:63.82, Y:-5.08, Z:-1.24 [[ 9.88688926e-01 1.49126764e-01 1.59817442e-02 6.38239711e+01] [-1.49113645e-01 9.88818010e-01 -2.01606752e-03 -5.07991257e+00] [-1.61036861e-02 -3.89832511e-04 9.99870251e-01 -1.23918404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024012739 meters 0.03847027711741275 Centerline is valid? [True, True] Translation: X:63.89, Y:-5.08, Z:-1.24 [[ 9.88213957e-01 1.52308543e-01 1.53389275e-02 6.38863552e+01] [-1.52296852e-01 9.88332903e-01 -1.93426853e-03 -5.07754925e+00] [-1.54545724e-02 -4.24599222e-04 9.99880481e-01 -1.24172509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084012739 meters 0.038297763951866445 Centerline is valid? [True, True] Translation: X:63.95, Y:-5.08, Z:-1.23 [[ 9.87901821e-01 1.53737498e-01 2.03660152e-02 6.39489934e+01] [-1.53717107e-01 9.88111549e-01 -2.57230783e-03 -5.07720240e+00] [-2.05193551e-02 -5.89417355e-04 9.99789282e-01 -1.23434676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144012739 meters 0.04138277533664646 Centerline is valid? [True, True] Translation: X:64.01, Y:-5.07, Z:-1.24 [[ 9.88062933e-01 1.53139895e-01 1.67276200e-02 6.40113315e+01] [-1.53126016e-01 9.88204407e-01 -2.11502086e-03 -5.07309618e+00] [-1.68542019e-02 -4.71660091e-04 9.99857847e-01 -1.24189484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204012739 meters 0.040387711863677574 Centerline is valid? [True, True] Translation: X:64.07, Y:-5.07, Z:-1.24 [[ 9.87991466e-01 1.53654290e-01 1.62240959e-02 6.40740745e+01] [-1.53641264e-01 9.88124559e-01 -2.05374114e-03 -5.07142056e+00] [-1.63469937e-02 -4.63611877e-04 9.99866271e-01 -1.24427938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264012739 meters 0.03685424584910809 Centerline is valid? [True, True] Translation: X:64.14, Y:-5.08, Z:-1.24 [[ 9.88435917e-01 1.50646858e-01 1.73193976e-02 6.41360668e+01] [-1.50631493e-01 9.88587544e-01 -2.19577038e-03 -5.07508139e+00] [-1.74525267e-02 -4.38468419e-04 9.99847597e-01 -1.24205638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324012739 meters 0.03328735281088724 Centerline is valid? [True, True] Translation: X:64.20, Y:-5.08, Z:-1.25 [[ 9.89124045e-01 1.46106351e-01 1.69280429e-02 6.41973184e+01] [-1.46090997e-01 9.89268827e-01 -2.14677423e-03 -5.07992601e+00] [-1.70600425e-02 -3.49608649e-04 9.99854406e-01 -1.24549662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384012739 meters 0.03373434257226595 Centerline is valid? [True, True] Translation: X:64.26, Y:-5.08, Z:-1.24 [[ 9.89003585e-01 1.46772127e-01 1.81618188e-02 6.42599106e+01] [-1.46754557e-01 9.89170255e-01 -2.30368646e-03 -5.07632149e+00] [-1.83032479e-02 -3.86975508e-04 9.99832407e-01 -1.24288425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444012739 meters 0.03509013548320091 Centerline is valid? [True, True] Translation: X:64.32, Y:-5.08, Z:-1.25 [[ 9.88933359e-01 1.47342273e-01 1.73512559e-02 6.43208306e+01] [-1.47326317e-01 9.89085492e-01 -2.20129441e-03 -5.07731496e+00] [-1.74862192e-02 -3.79363151e-04 9.99847032e-01 -1.24675140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504012739 meters 0.03418682035748057 Centerline is valid? [True, True] Translation: X:64.38, Y:-5.08, Z:-1.25 [[ 9.89154866e-01 1.46114109e-01 1.49438337e-02 6.43813954e+01] [-1.46102131e-01 9.89267695e-01 -1.89607701e-03 -5.07862445e+00] [-1.50604955e-02 -3.07812150e-04 9.99886537e-01 -1.25305920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564012739 meters 0.03130876936170156 Centerline is valid? [True, True] Translation: X:64.44, Y:-5.08, Z:-1.25 [[ 9.89546401e-01 1.43258773e-01 1.65784445e-02 6.44414914e+01] [-1.43243628e-01 9.89685222e-01 -2.10356345e-03 -5.08046120e+00] [-1.67087955e-02 -2.93182908e-04 9.99860355e-01 -1.25117974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62401273900001 meters 0.02884959463173034 Centerline is valid? [True, True] Translation: X:64.50, Y:-5.09, Z:-1.25 [[ 9.89985701e-01 1.40268230e-01 1.59102317e-02 6.45014859e+01] [-1.40253902e-01 9.90113513e-01 -2.01832297e-03 -5.08639002e+00] [-1.60360420e-02 -2.33361201e-04 9.99871387e-01 -1.25426072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684012739 meters 0.02712296625712225 Centerline is valid? [True, True] Translation: X:64.56, Y:-5.09, Z:-1.26 [[ 9.90356605e-01 1.37670563e-01 1.55116526e-02 6.45615491e+01] [-1.37656626e-01 9.90478057e-01 -1.96776045e-03 -5.09344847e+00] [-1.56348542e-02 -1.86497202e-04 9.99877751e-01 -1.25641189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744012739 meters 0.023509063705593188 Centerline is valid? [True, True] Translation: X:64.62, Y:-5.11, Z:-1.26 [[ 9.91716928e-01 1.27487487e-01 1.56357157e-02 6.46196075e+01] [-1.27472060e-01 9.91840179e-01 -1.98344278e-03 -5.11460393e+00] [-1.57609952e-02 -2.61031151e-05 9.99875787e-01 -1.25727592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804012739 meters 0.023559446030184727 Centerline is valid? [True, True] Translation: X:64.68, Y:-5.13, Z:-1.26 [[ 9.92225867e-01 1.23318413e-01 1.67450974e-02 6.46809134e+01] [-1.23300132e-01 9.92367153e-01 -2.12374422e-03 -5.12979604e+00] [-1.68791814e-02 4.25612347e-05 9.99857536e-01 -1.25644636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864012739 meters 0.0231009130388861 Centerline is valid? [True, True] Translation: X:64.74, Y:-5.13, Z:-1.25 [[ 9.91727156e-01 1.27151829e-01 1.75971568e-02 6.47434894e+01] [-1.27132178e-01 9.91883265e-01 -2.23547932e-03 -5.13071284e+00] [-1.77385706e-02 -2.01793327e-05 9.99842659e-01 -1.25419289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924012739 meters 0.02396307872519992 Centerline is valid? [True, True] Translation: X:64.80, Y:-5.13, Z:-1.26 [[ 9.91194051e-01 1.31348424e-01 1.67912376e-02 6.48048206e+01] [-1.31331083e-01 9.91336262e-01 -2.13609796e-03 -5.13156740e+00] [-1.69263358e-02 -8.79238265e-05 9.99856735e-01 -1.25776636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98401273900001 meters 0.02451082193707592 Centerline is valid? [True, True] Translation: X:64.87, Y:-5.14, Z:-1.26 [[ 9.90950984e-01 1.33100946e-01 1.73287514e-02 6.48656619e+01] [-1.33082718e-01 9.91102479e-01 -2.20595971e-03 -5.13853157e+00] [-1.74681838e-02 -1.20159402e-04 9.99847412e-01 -1.25781258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044012739 meters 0.024156851538533836 Centerline is valid? [True, True] Translation: X:64.93, Y:-5.15, Z:-1.26 [[ 9.90951458e-01 1.32801980e-01 1.94638430e-02 6.49267744e+01] [-1.32778859e-01 9.91142582e-01 -2.48117545e-03 -5.14762135e+00] [-1.96209486e-02 -1.25662433e-04 9.99807483e-01 -1.25523009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104012739 meters 0.023942923204934703 Centerline is valid? [True, True] Translation: X:64.99, Y:-5.16, Z:-1.26 [[ 9.91296468e-01 1.30690265e-01 1.58545631e-02 6.49874893e+01] [-1.30674619e-01 9.91423245e-01 -2.02332207e-03 -5.16267337e+00] [-1.59830109e-02 -6.60769738e-05 9.99872261e-01 -1.26333393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164012739 meters 0.024185692195001586 Centerline is valid? [True, True] Translation: X:65.05, Y:-5.17, Z:-1.27 [[ 9.91256182e-01 1.31111425e-01 1.48652748e-02 6.50487856e+01] [-1.31097698e-01 9.91367636e-01 -1.89843288e-03 -5.17155403e+00] [-1.49858586e-02 -6.69699737e-05 9.99887703e-01 -1.26654304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224012739 meters 0.02441071701430621 Centerline is valid? [True, True] Translation: X:65.11, Y:-5.18, Z:-1.27 [[ 9.91084079e-01 1.32400570e-01 1.49143547e-02 6.51094871e+01] [-1.32386861e-01 9.91196288e-01 -1.90712229e-03 -5.18428272e+00] [-1.50355571e-02 -8.43460643e-05 9.99886956e-01 -1.26779624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284012739 meters 0.02512036127536368 Centerline is valid? [True, True] Translation: X:65.17, Y:-5.19, Z:-1.27 [[ 9.90937716e-01 1.33510137e-01 1.47474379e-02 6.51706048e+01] [-1.33496818e-01 9.91047443e-01 -1.88832346e-03 -5.19119618e+00] [-1.48675210e-02 -9.75250967e-05 9.99889468e-01 -1.27057999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34401273900001 meters 0.024284476684167867 Centerline is valid? [True, True] Translation: X:65.23, Y:-5.21, Z:-1.27 [[ 9.91156051e-01 1.31732577e-01 1.60065861e-02 6.52301210e+01] [-1.31716609e-01 9.91285288e-01 -2.05236278e-03 -5.20652512e+00] [-1.61374564e-02 -7.41214529e-05 9.99869780e-01 -1.26934215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404012739 meters 0.02372835558505633 Centerline is valid? [True, True] Translation: X:65.29, Y:-5.22, Z:-1.27 [[ 9.91462175e-01 1.29446628e-01 1.56947947e-02 6.52910766e+01] [-1.29430955e-01 9.91586390e-01 -2.01461651e-03 -5.22269170e+00] [-1.58235302e-02 -3.39761991e-05 9.99874800e-01 -1.27194331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464012739 meters 0.02349755486377797 Centerline is valid? [True, True] Translation: X:65.35, Y:-5.24, Z:-1.27 [[ 9.91556319e-01 1.28593949e-01 1.67231321e-02 6.53514674e+01] [-1.28575985e-01 9.91697331e-01 -2.14945669e-03 -5.24268089e+00] [-1.68606926e-02 -1.88858282e-05 9.99857848e-01 -1.26986700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524012739 meters 0.026105860401748875 Centerline is valid? [True, True] Translation: X:65.41, Y:-5.24, Z:-1.27 [[ 9.90548978e-01 1.36132351e-01 1.67542679e-02 6.54135884e+01] [-1.36115352e-01 9.90690649e-01 -2.15612480e-03 -5.23781798e+00] [-1.68918149e-02 -1.44765855e-04 9.99857313e-01 -1.27076315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584012739 meters 0.034159013557477 Centerline is valid? [True, True] Translation: X:65.48, Y:-5.23, Z:-1.27 [[ 9.89184719e-01 1.45725331e-01 1.66648910e-02 6.54754434e+01] [-1.45709823e-01 9.89325040e-01 -2.14755663e-03 -5.23012698e+00] [-1.67999474e-02 -3.03908122e-04 9.99858825e-01 -1.27195430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644012739 meters 0.03576245091255891 Centerline is valid? [True, True] Translation: X:65.54, Y:-5.23, Z:-1.27 [[ 9.88315039e-01 1.51445154e-01 1.72554103e-02 6.55362659e+01] [-1.51429402e-01 9.88465575e-01 -2.22342571e-03 -5.23273844e+00] [-1.73931061e-02 -4.15531400e-04 9.99848642e-01 -1.27207820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704012739 meters 0.038091722982391406 Centerline is valid? [True, True] Translation: X:65.60, Y:-5.23, Z:-1.27 [[ 9.87976214e-01 1.53703790e-01 1.66776877e-02 6.55966216e+01] [-1.53689396e-01 9.88116871e-01 -2.14902676e-03 -5.23321449e+00] [-1.68098182e-02 -4.39996421e-04 9.99858608e-01 -1.27376763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764012739 meters 0.041121872332860576 Centerline is valid? [True, True] Translation: X:65.66, Y:-5.23, Z:-1.27 [[ 9.87392629e-01 1.57322319e-01 1.74781216e-02 6.56572120e+01] [-1.57307079e-01 9.87547169e-01 -2.25197708e-03 -5.23062023e+00] [-1.76147557e-02 -5.25846679e-04 9.99844710e-01 -1.27306046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824012739 meters 0.054404705027585785 Centerline is valid? [True, True] Translation: X:65.72, Y:-5.21, Z:-1.28 [[ 9.85731228e-01 1.67458108e-01 1.70800788e-02 6.57207726e+01] [-1.67445078e-01 9.85878950e-01 -2.20030200e-03 -5.20523944e+00] [-1.72073486e-02 -6.91068735e-04 9.99851704e-01 -1.27574016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884012739 meters 0.05506015847464192 Centerline is valid? [True, True] Translation: X:65.78, Y:-5.20, Z:-1.28 [[ 9.85366056e-01 1.69606277e-01 1.69542212e-02 6.57811174e+01] [-1.69593759e-01 9.85511637e-01 -2.18389615e-03 -5.20380311e+00] [-1.70789848e-02 -7.23392973e-04 9.99853882e-01 -1.27630776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944012739 meters 0.05648067003686436 Centerline is valid? [True, True] Translation: X:65.84, Y:-5.20, Z:-1.28 [[ 9.84794191e-01 1.72796863e-01 1.79344952e-02 6.58426797e+01] [-1.72783391e-01 9.84957139e-01 -2.30969929e-03 -5.19603660e+00] [-1.80638179e-02 -8.24204460e-04 9.99836496e-01 -1.27603209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004012739 meters 0.06496798175966398 Centerline is valid? [True, True] Translation: X:65.91, Y:-5.18, Z:-1.28 [[ 9.83623662e-01 1.79460172e-01 1.66894547e-02 6.59054102e+01] [-1.79449466e-01 9.83764845e-01 -2.14913605e-03 -5.17508951e+00] [-1.68041831e-02 -8.80972655e-04 9.99858412e-01 -1.27832690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064012739 meters 0.06611728448324691 Centerline is valid? [True, True] Translation: X:65.97, Y:-5.16, Z:-1.28 [[ 9.82839698e-01 1.83684407e-01 1.69164813e-02 6.59674189e+01] [-1.83674030e-01 9.82984794e-01 -2.17839607e-03 -5.16298905e+00] [-1.70287813e-02 -9.66104163e-04 9.99854533e-01 -1.27861727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12401273900001 meters 0.07001475828308981 Centerline is valid? [True, True] Translation: X:66.03, Y:-5.15, Z:-1.28 [[ 9.82954887e-01 1.83074454e-01 1.68354880e-02 6.60275933e+01] [-1.83064085e-01 9.83098591e-01 -2.16803689e-03 -5.14646816e+00] [-1.69478567e-02 -9.50890749e-04 9.99855923e-01 -1.27997103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184012739 meters 0.05771880032879607 Centerline is valid? [True, True] Translation: X:66.09, Y:-5.15, Z:-1.28 [[ 9.84221134e-01 1.76088480e-01 1.73668124e-02 6.60877309e+01] [-1.76076393e-01 9.84373969e-01 -2.23466130e-03 -5.15494762e+00] [-1.74889362e-02 -8.58484813e-04 9.99846688e-01 -1.28070976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244012739 meters 0.048563563997860555 Centerline is valid? [True, True] Translation: X:66.15, Y:-5.16, Z:-1.28 [[ 9.86408309e-01 1.63440802e-01 1.69042181e-02 6.61467177e+01] [-1.63427494e-01 9.86552950e-01 -2.17507826e-03 -5.16310198e+00] [-1.70324027e-02 -6.17098721e-04 9.99854748e-01 -1.28471597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304012739 meters 0.04470473057945886 Centerline is valid? [True, True] Translation: X:66.21, Y:-5.17, Z:-1.29 [[ 9.86974409e-01 1.60053388e-01 1.62612831e-02 6.62054726e+01] [-1.60040614e-01 9.87108213e-01 -2.09229230e-03 -5.17376617e+00] [-1.63865245e-02 -5.37426767e-04 9.99865587e-01 -1.28636344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364012739 meters 0.036747652794627 Centerline is valid? [True, True] Translation: X:66.26, Y:-5.19, Z:-1.29 [[ 9.88389450e-01 1.51236844e-01 1.46189034e-02 6.62647969e+01] [-1.51225561e-01 9.88497493e-01 -1.88057603e-03 -5.18588039e+00] [-1.47351618e-02 -3.52010365e-04 9.99891370e-01 -1.29033251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424012739 meters 0.03037283754471519 Centerline is valid? [True, True] Translation: X:66.32, Y:-5.20, Z:-1.29 [[ 9.89194755e-01 1.45608738e-01 1.70830821e-02 6.63235337e+01] [-1.45592493e-01 9.89342204e-01 -2.19745057e-03 -5.20207550e+00] [-1.72209821e-02 -3.13461933e-04 9.99851659e-01 -1.28682165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48401273900001 meters 0.025159789780336474 Centerline is valid? [True, True] Translation: X:66.38, Y:-5.22, Z:-1.28 [[ 9.90551176e-01 1.35797659e-01 1.91667330e-02 6.63800246e+01] [-1.35775376e-01 9.90736580e-01 -2.46521998e-03 -5.22450586e+00] [-1.93239546e-02 -1.60443830e-04 9.99813262e-01 -1.28402396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544012739 meters 0.024016422413935194 Centerline is valid? [True, True] Translation: X:66.43, Y:-5.26, Z:-1.29 [[ 9.92066612e-01 1.24882268e-01 1.44311200e-02 6.64345248e+01] [-1.24868481e-01 9.92171567e-01 -1.85603149e-03 -5.25849883e+00] [-1.45499324e-02 3.93148348e-05 9.99894143e-01 -1.29450588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604012739 meters 0.025454173735952965 Centerline is valid? [True, True] Translation: X:66.49, Y:-5.28, Z:-1.29 [[ 9.92690722e-01 1.19620634e-01 1.60010635e-02 6.64903915e+01] [-1.19603016e-01 9.92819665e-01 -2.05698244e-03 -5.28474488e+00] [-1.61322281e-02 1.28171931e-04 9.99869859e-01 -1.29072382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664012739 meters 0.024721280715240223 Centerline is valid? [True, True] Translation: X:66.55, Y:-5.31, Z:-1.28 [[ 9.92500859e-01 1.20431113e-01 2.09378235e-02 6.65466077e+01] [-1.20401142e-01 9.92721675e-01 -2.69083424e-03 -5.30615466e+00] [-2.11094913e-02 1.49717444e-04 9.99777159e-01 -1.28114168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724012739 meters 0.02392953429601919 Centerline is valid? [True, True] Translation: X:66.61, Y:-5.32, Z:-1.28 [[ 9.92350005e-01 1.21652337e-01 2.10279964e-02 6.66073682e+01] [-1.21622394e-01 9.92572765e-01 -2.70175414e-03 -5.31644465e+00] [-2.12004912e-02 1.23610466e-04 9.99775237e-01 -1.28253008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784012739 meters 0.023807059684081137 Centerline is valid? [True, True] Translation: X:66.67, Y:-5.34, Z:-1.29 [[ 9.92229298e-01 1.23244751e-01 1.70807192e-02 6.66671523e+01] [-1.23225234e-01 9.92376303e-01 -2.19444725e-03 -5.33700069e+00] [-1.72209551e-02 7.26192271e-05 9.99851706e-01 -1.29155267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84401273900001 meters 0.024053841923044474 Centerline is valid? [True, True] Translation: X:66.73, Y:-5.35, Z:-1.29 [[ 9.92398713e-01 1.21970316e-01 1.63718064e-02 6.67275618e+01] [-1.21952160e-01 9.92533744e-01 -2.10655643e-03 -5.35052997e+00] [-1.65065077e-02 9.39667321e-05 9.99863754e-01 -1.29254932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904012739 meters 0.025101189431867618 Centerline is valid? [True, True] Translation: X:66.79, Y:-5.37, Z:-1.29 [[ 9.92692448e-01 1.19330006e-01 1.79458574e-02 6.67858777e+01] [-1.19307755e-01 9.92854635e-01 -2.30926253e-03 -5.37394757e+00] [-1.80931921e-02 1.51307514e-04 9.99836293e-01 -1.29315763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964012739 meters 0.02795236012246713 Centerline is valid? [True, True] Translation: X:66.84, Y:-5.40, Z:-1.29 [[ 9.93306630e-01 1.14095577e-01 1.80038519e-02 6.68448740e+01] [-1.14072266e-01 9.93469746e-01 -2.31980642e-03 -5.40131914e+00] [-1.81509618e-02 2.50538910e-04 9.99835226e-01 -1.29338615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024012739 meters 0.029299308086708817 Centerline is valid? [True, True] Translation: X:66.90, Y:-5.43, Z:-1.29 [[ 9.93521793e-01 1.12175046e-01 1.81990527e-02 6.69048630e+01] [-1.12150894e-01 9.93688420e-01 -2.34558085e-03 -5.42532148e+00] [-1.83473036e-02 2.89345663e-04 9.99831632e-01 -1.29334988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084012739 meters 0.02870341663397524 Centerline is valid? [True, True] Translation: X:66.97, Y:-5.44, Z:-1.30 [[ 9.93399734e-01 1.13367781e-01 1.74560520e-02 6.69650095e+01] [-1.13345697e-01 9.93553058e-01 -2.25256841e-03 -5.44143371e+00] [-1.75988826e-02 2.59132486e-04 9.99845094e-01 -1.29607975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144012739 meters 0.028759692391420115 Centerline is valid? [True, True] Translation: X:67.02, Y:-5.47, Z:-1.30 [[ 9.93369261e-01 1.13892727e-01 1.56830470e-02 6.70241900e+01] [-1.13874932e-01 9.93493027e-01 -2.02591809e-03 -5.47149164e+00] [-1.58117352e-02 2.26578842e-04 9.99874961e-01 -1.30000985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204012739 meters 0.029997509025364584 Centerline is valid? [True, True] Translation: X:67.08, Y:-5.50, Z:-1.30 [[ 9.93514420e-01 1.12698046e-01 1.51078677e-02 6.70833960e+01] [-1.12681352e-01 9.93629253e-01 -1.95442859e-03 -5.49633348e+00] [-1.52318796e-02 2.39378027e-04 9.99883960e-01 -1.30309293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264012739 meters 0.02608878735193545 Centerline is valid? [True, True] Translation: X:67.14, Y:-5.52, Z:-1.30 [[ 9.92747912e-01 1.19411741e-01 1.38715012e-02 6.71409733e+01] [-1.19398281e-01 9.92844811e-01 -1.79744905e-03 -5.51944888e+00] [-1.39868845e-02 1.28180398e-04 9.99902171e-01 -1.30465870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324012739 meters 0.023186759968996527 Centerline is valid? [True, True] Translation: X:67.20, Y:-5.52, Z:-1.30 [[ 9.91815006e-01 1.26606334e-01 1.65477936e-02 6.72029685e+01] [-1.26588185e-01 9.91953041e-01 -2.14388705e-03 -5.52445996e+00] [-1.66860639e-02 3.15841794e-05 9.99860777e-01 -1.29964520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384012739 meters 0.02370817637032284 Centerline is valid? [True, True] Translation: X:67.26, Y:-5.53, Z:-1.29 [[ 9.90648165e-01 1.35085525e-01 1.91862976e-02 6.72645642e+01] [-1.35062641e-01 9.90833934e-01 -2.48952711e-03 -5.53073741e+00] [-1.93467338e-02 -1.25106550e-04 9.99812827e-01 -1.29454409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444012739 meters 0.024404072956085918 Centerline is valid? [True, True] Translation: X:67.33, Y:-5.54, Z:-1.30 [[ 9.90425088e-01 1.36687542e-01 1.93561673e-02 6.73251104e+01] [-1.36664491e-01 9.90614199e-01 -2.51494523e-03 -5.54074960e+00] [-1.95182559e-02 -1.54435899e-04 9.99809489e-01 -1.29626317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504012739 meters 0.023141393284768486 Centerline is valid? [True, True] Translation: X:67.39, Y:-5.56, Z:-1.29 [[ 9.90742999e-01 1.34030518e-01 2.15436722e-02 6.73862670e+01] [-1.34001251e-01 9.90977199e-01 -2.80292679e-03 -5.55629848e+00] [-2.17249657e-02 -1.09898941e-04 9.99763979e-01 -1.29178638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564012739 meters 0.022960292814185993 Centerline is valid? [True, True] Translation: X:67.45, Y:-5.56, Z:-1.29 [[ 9.90783256e-01 1.33746525e-01 2.14570716e-02 6.74492525e+01] [-1.33717349e-01 9.91015569e-01 -2.79524293e-03 -5.56360549e+00] [-2.16381460e-02 -9.97028326e-05 9.99765863e-01 -1.29443829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624012739 meters 0.023993382113203725 Centerline is valid? [True, True] Translation: X:67.51, Y:-5.56, Z:-1.31 [[ 9.90555679e-01 1.36108647e-01 1.65494014e-02 6.75106801e+01] [-1.36091580e-01 9.90693910e-01 -2.15844028e-03 -5.56431401e+00] [-1.66891736e-02 -1.14178899e-04 9.99860720e-01 -1.30585793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684012739 meters 0.025293404587535522 Centerline is valid? [True, True] Translation: X:67.57, Y:-5.57, Z:-1.31 [[ 9.90182441e-01 1.38976087e-01 1.49793239e-02 6.75733568e+01] [-1.38962402e-01 9.90295727e-01 -1.95572377e-03 -5.56649310e+00] [-1.51057593e-02 -1.45039490e-04 9.99885891e-01 -1.30806302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744012739 meters 0.025191847543955426 Centerline is valid? [True, True] Translation: X:67.64, Y:-5.57, Z:-1.31 [[ 9.90150833e-01 1.39169167e-01 1.52732214e-02 6.76362425e+01] [-1.39154923e-01 9.90268610e-01 -1.99660474e-03 -5.57092417e+00] [-1.54024575e-02 -1.48404108e-04 9.99881364e-01 -1.31004205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804012739 meters 0.024971295450230937 Centerline is valid? [True, True] Translation: X:67.70, Y:-5.58, Z:-1.31 [[ 9.90325763e-01 1.38030993e-01 1.42242317e-02 6.76971487e+01] [-1.38018484e-01 9.90427903e-01 -1.86208062e-03 -5.58131848e+00] [-1.43451008e-02 -1.19140490e-04 9.99897097e-01 -1.31407585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864012739 meters 0.02427691434612435 Centerline is valid? [True, True] Translation: X:67.76, Y:-5.59, Z:-1.31 [[ 9.90572570e-01 1.36276392e-01 1.39545002e-02 6.77582274e+01] [-1.36264143e-01 9.90670852e-01 -1.82931735e-03 -5.59356736e+00] [-1.40736094e-02 -8.94264195e-05 9.99900958e-01 -1.31475945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924012739 meters 0.025172259067091834 Centerline is valid? [True, True] Translation: X:67.82, Y:-5.60, Z:-1.31 [[ 9.90226090e-01 1.38342883e-01 1.77069775e-02 6.78204006e+01] [-1.38323421e-01 9.90384382e-01 -2.32511752e-03 -5.59692043e+00] [-1.78583774e-02 -1.46897671e-04 9.99840516e-01 -1.30942019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98401273900001 meters 0.025704168538475475 Centerline is valid? [True, True] Translation: X:67.88, Y:-5.60, Z:-1.31 [[ 9.90004760e-01 1.40000766e-01 1.70399745e-02 6.78827560e+01] [-1.39982937e-01 9.90151381e-01 -2.24050342e-03 -5.60197158e+00] [-1.71858265e-02 -1.67196622e-04 9.99852299e-01 -1.31236096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044012739 meters 0.026204854204166524 Centerline is valid? [True, True] Translation: X:67.94, Y:-5.61, Z:-1.31 [[ 9.89746252e-01 1.41650284e-01 1.83726040e-02 6.79449616e+01] [-1.41629781e-01 9.89916741e-01 -2.41898792e-03 -5.60645627e+00] [-1.85299986e-02 -2.07923654e-04 9.99828283e-01 -1.30970418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104012739 meters 0.030684240030196857 Centerline is valid? [True, True] Translation: X:68.01, Y:-5.60, Z:-1.31 [[ 9.88666119e-01 1.48731425e-01 2.04516156e-02 6.80076277e+01] [-1.48707453e-01 9.88877557e-01 -2.69649405e-03 -5.59650007e+00] [-2.06251971e-02 -3.75375359e-04 9.99787208e-01 -1.30599544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164012739 meters 0.036092645879636266 Centerline is valid? [True, True] Translation: X:68.07, Y:-5.59, Z:-1.31 [[ 9.87940743e-01 1.53670705e-01 1.89315360e-02 6.80689369e+01] [-1.53651067e-01 9.88122016e-01 -2.49622736e-03 -5.58688576e+00] [-1.90902645e-02 -4.42725989e-04 9.99817666e-01 -1.31161247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224012739 meters 0.03749086982604779 Centerline is valid? [True, True] Translation: X:68.13, Y:-5.59, Z:-1.32 [[ 9.87596010e-01 1.56180739e-01 1.61770780e-02 6.81310039e+01] [-1.56166727e-01 9.87728405e-01 -2.13364346e-03 -5.58597605e+00] [-1.63117934e-02 -4.19143543e-04 9.99866866e-01 -1.31785217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284012739 meters 0.035711285758278914 Centerline is valid? [True, True] Translation: X:68.19, Y:-5.59, Z:-1.32 [[ 9.87777905e-01 1.54911489e-01 1.72406653e-02 6.81921069e+01] [-1.54895349e-01 9.87928263e-01 -2.27570331e-03 -5.58757820e+00] [-1.73850731e-02 -4.22609430e-04 9.99848779e-01 -1.31758701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34401273900001 meters 0.0352877371541694 Centerline is valid? [True, True] Translation: X:68.25, Y:-5.59, Z:-1.32 [[ 9.88122616e-01 1.52829341e-01 1.60277649e-02 6.82520450e+01] [-1.52815120e-01 9.88252530e-01 -2.11550643e-03 -5.58511131e+00] [-1.61627907e-02 -3.58905071e-04 9.99869309e-01 -1.32059750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404012739 meters 0.0350042494504624 Centerline is valid? [True, True] Translation: X:68.31, Y:-5.59, Z:-1.33 [[ 9.88123053e-01 1.52981736e-01 1.44713700e-02 6.83117602e+01] [-1.52970151e-01 9.88228963e-01 -1.91063898e-03 -5.58622685e+00] [-1.45933198e-02 -3.25741221e-04 9.99893459e-01 -1.32551988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464012739 meters 0.033600079659579604 Centerline is valid? [True, True] Translation: X:68.37, Y:-5.59, Z:-1.32 [[ 9.88260486e-01 1.51937230e-01 1.60090434e-02 6.83713888e+01] [-1.51922923e-01 9.88390085e-01 -2.11322882e-03 -5.58872091e+00] [-1.61442579e-02 -3.43720118e-04 9.99869614e-01 -1.32411655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524012739 meters 0.031180499233730317 Centerline is valid? [True, True] Translation: X:68.43, Y:-5.59, Z:-1.32 [[ 9.88791578e-01 1.48317213e-01 1.71236764e-02 6.84300926e+01] [-1.48300309e-01 9.88939792e-01 -2.25986937e-03 -5.59407111e+00] [-1.72694625e-02 -3.04906703e-04 9.99850825e-01 -1.32185335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584012739 meters 0.030208034450230185 Centerline is valid? [True, True] Translation: X:68.49, Y:-5.59, Z:-1.32 [[ 9.88983428e-01 1.46889557e-01 1.83094817e-02 6.84902579e+01] [-1.46869988e-01 9.89152854e-01 -2.41624714e-03 -5.59252865e+00] [-1.84657975e-02 -2.99484968e-04 9.99829448e-01 -1.32073439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644012739 meters 0.030321934388803838 Centerline is valid? [True, True] Translation: X:68.55, Y:-5.59, Z:-1.32 [[ 9.89000184e-01 1.46660864e-01 1.92152643e-02 6.85492910e+01] [-1.46639276e-01 9.89186785e-01 -2.53534995e-03 -5.58958525e+00] [-1.93793221e-02 -3.10250878e-04 9.99812155e-01 -1.32161888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704012739 meters 0.028512422869333323 Centerline is valid? [True, True] Translation: X:68.61, Y:-5.59, Z:-1.33 [[ 9.89401431e-01 1.44187945e-01 1.71652233e-02 6.86088665e+01] [-1.44170363e-01 9.89550293e-01 -2.26384359e-03 -5.59073404e+00] [-1.73122707e-02 -2.34866387e-04 9.99850104e-01 -1.32626111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764012739 meters 0.02745331515557433 Centerline is valid? [True, True] Translation: X:68.67, Y:-5.59, Z:-1.33 [[ 9.89700103e-01 1.42271520e-01 1.58908921e-02 6.86676128e+01] [-1.42256212e-01 9.89827652e-01 -2.09532839e-03 -5.59387429e+00] [-1.60273500e-02 -1.86831400e-04 9.99871536e-01 -1.32945665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824012739 meters 0.026521784053508576 Centerline is valid? [True, True] Translation: X:68.73, Y:-5.60, Z:-1.33 [[ 9.89866286e-01 1.40926942e-01 1.74451331e-02 6.87267655e+01] [-1.40908300e-01 9.90019982e-01 -2.29936964e-03 -5.59741664e+00] [-1.75950735e-02 -1.82095573e-04 9.99845178e-01 -1.32804389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884012739 meters 0.02633138252814497 Centerline is valid? [True, True] Translation: X:68.79, Y:-5.60, Z:-1.33 [[ 9.89874908e-01 1.40794401e-01 1.80167699e-02 6.87857648e+01] [-1.40774511e-01 9.90038839e-01 -2.37385385e-03 -5.60149990e+00] [-1.81715272e-02 -1.86483597e-04 9.99834867e-01 -1.32924433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944012739 meters 0.02790970024377968 Centerline is valid? [True, True] Translation: X:68.84, Y:-5.60, Z:-1.34 [[ 9.89707334e-01 1.42276258e-01 1.53902315e-02 6.88444617e+01] [-1.42261932e-01 9.89826971e-01 -2.02725858e-03 -5.59961951e+00] [-1.55220970e-02 -1.83051387e-04 9.99879508e-01 -1.33520800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004012739 meters 0.031125405735141012 Centerline is valid? [True, True] Translation: X:68.90, Y:-5.60, Z:-1.33 [[ 9.89490440e-01 1.43819707e-01 1.49853517e-02 6.89036654e+01] [-1.43806315e-01 9.89603886e-01 -1.97303258e-03 -5.60307545e+00] [-1.51133232e-02 -2.02691332e-04 9.99885767e-01 -1.32750674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064012739 meters 0.031929293510349704 Centerline is valid? [True, True] Translation: X:68.96, Y:-5.60, Z:-1.34 [[ 9.89094410e-01 1.46495366e-01 1.52103772e-02 6.89625987e+01] [-1.46481896e-01 9.89211325e-01 -2.00198156e-03 -5.59682755e+00] [-1.53395584e-02 -2.47896117e-04 9.99882311e-01 -1.33865092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124012739 meters 0.030825656070199457 Centerline is valid? [True, True] Translation: X:69.02, Y:-5.60, Z:-1.33 [[ 9.88912907e-01 1.47488762e-01 1.72721864e-02 6.90214674e+01] [-1.47471565e-01 9.89063686e-01 -2.27214352e-03 -5.60245268e+00] [-1.74184080e-02 -3.00204303e-04 9.99848243e-01 -1.33378888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184012739 meters 0.028101985853317583 Centerline is valid? [True, True] Translation: X:69.08, Y:-5.61, Z:-1.34 [[ 9.89506334e-01 1.43502061e-01 1.68633852e-02 6.90793004e+01] [-1.43485103e-01 9.89649993e-01 -2.21758139e-03 -5.61012940e+00] [-1.70070766e-02 -2.25333721e-04 9.99855344e-01 -1.33607725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244012739 meters 0.0252970024580802 Centerline is valid? [True, True] Translation: X:69.14, Y:-5.62, Z:-1.33 [[ 9.90022599e-01 1.39484492e-01 1.99832241e-02 6.91367555e+01] [-1.39459882e-01 9.90224238e-01 -2.62672664e-03 -5.62231072e+00] [-2.01542605e-02 -1.86339343e-04 9.99796865e-01 -1.33209936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304012739 meters 0.023655856294321636 Centerline is valid? [True, True] Translation: X:69.19, Y:-5.64, Z:-1.33 [[ 9.90750821e-01 1.34231295e-01 1.98688483e-02 6.91934570e+01] [-1.34205928e-01 9.90950026e-01 -2.61072700e-03 -5.63795466e+00] [-2.00394770e-02 -7.99373012e-05 9.99799186e-01 -1.33331691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364012739 meters 0.02319534066907052 Centerline is valid? [True, True] Translation: X:69.25, Y:-5.66, Z:-1.34 [[ 9.91348418e-01 1.29797938e-01 1.95143197e-02 6.92511659e+01] [-1.29772627e-01 9.91540466e-01 -2.56320076e-03 -5.65523568e+00] [-1.96819359e-02 8.60046819e-06 9.99806292e-01 -1.33531379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424012739 meters 0.02337122847214814 Centerline is valid? [True, True] Translation: X:69.31, Y:-5.67, Z:-1.34 [[ 9.91585890e-01 1.27866586e-01 2.01881036e-02 6.93086083e+01] [-1.27839107e-01 9.91791376e-01 -2.65120818e-03 -5.67218994e+00] [-2.03613880e-02 4.80714856e-05 9.99792684e-01 -1.33623886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48401273900001 meters 0.02382996506356593 Centerline is valid? [True, True] Translation: X:69.37, Y:-5.69, Z:-1.34 [[ 9.91864154e-01 1.25747860e-01 1.98236312e-02 6.93674675e+01] [-1.25720945e-01 9.92062230e-01 -2.60311159e-03 -5.68734323e+00] [-1.99936115e-02 8.96874295e-05 9.99800104e-01 -1.33892086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544012739 meters 0.024264979606984878 Centerline is valid? [True, True] Translation: X:69.43, Y:-5.70, Z:-1.34 [[ 9.92027687e-01 1.24735005e-01 1.79512483e-02 6.94277083e+01] [-1.24712776e-01 9.92190087e-01 -2.35688405e-03 -5.70189615e+00] [-1.81050365e-02 9.93442252e-05 9.99836085e-01 -1.34351264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604012739 meters 0.024566413855565013 Centerline is valid? [True, True] Translation: X:69.49, Y:-5.71, Z:-1.35 [[ 9.92105530e-01 1.24392029e-01 1.59135281e-02 6.94870215e+01] [-1.24374476e-01 9.92233145e-01 -2.09187779e-03 -5.71379981e+00] [-1.60501430e-02 9.61268070e-05 9.99871184e-01 -1.34846612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664012739 meters 0.025204026059049443 Centerline is valid? [True, True] Translation: X:69.55, Y:-5.73, Z:-1.35 [[ 9.92357110e-01 1.22194054e-01 1.72040319e-02 6.95465704e+01] [-1.22173189e-01 9.92506218e-01 -2.26258521e-03 -5.72960369e+00] [-1.73515831e-02 1.43421069e-04 9.99849440e-01 -1.34596899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724012739 meters 0.025016923654190806 Centerline is valid? [True, True] Translation: X:69.61, Y:-5.74, Z:-1.34 [[ 9.92259410e-01 1.22682673e-01 1.92412364e-02 6.96062115e+01] [-1.22656658e-01 9.92445938e-01 -2.53089034e-03 -5.74453793e+00] [-1.94063833e-02 1.51234014e-04 9.99811667e-01 -1.34418687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784012739 meters 0.023619725553874184 Centerline is valid? [True, True] Translation: X:69.67, Y:-5.75, Z:-1.35 [[ 9.91682417e-01 1.27396886e-01 1.83307582e-02 6.96671975e+01] [-1.27374030e-01 9.91851819e-01 -2.41380678e-03 -5.75113824e+00] [-1.84889073e-02 5.88671967e-05 9.99829064e-01 -1.34769676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84401273900001 meters 0.023335790552999884 Centerline is valid? [True, True] Translation: X:69.73, Y:-5.76, Z:-1.35 [[ 9.90972218e-01 1.32645767e-01 1.94720978e-02 6.97271994e+01] [-1.32620925e-01 9.91163508e-01 -2.56735266e-03 -5.75811083e+00] [-1.96405812e-02 -3.82324579e-05 9.99807104e-01 -1.34636555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904012739 meters 0.023534201218594373 Centerline is valid? [True, True] Translation: X:69.79, Y:-5.77, Z:-1.35 [[ 9.90788462e-01 1.33972122e-01 1.97406483e-02 6.97870121e+01] [-1.33946853e-01 9.90985099e-01 -2.60276045e-03 -5.76677984e+00] [-1.99113857e-02 -6.54126941e-05 9.99801747e-01 -1.34696151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964012739 meters 0.024449570478991715 Centerline is valid? [True, True] Translation: X:69.85, Y:-5.77, Z:-1.35 [[ 9.90308146e-01 1.37377970e-01 2.04222600e-02 6.98471399e+01] [-1.37351649e-01 9.90518690e-01 -2.69262943e-03 -5.77337544e+00] [-2.05985381e-02 -1.38498226e-04 9.99787818e-01 -1.34763307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024012739 meters 0.028566036345663053 Centerline is valid? [True, True] Translation: X:69.91, Y:-5.77, Z:-1.35 [[ 9.89184741e-01 1.45131678e-01 2.12213355e-02 6.99081378e+01] [-1.45105039e-01 9.89412300e-01 -2.79796331e-03 -5.76963817e+00] [-2.14027235e-02 -3.11620108e-04 9.99770887e-01 -1.34664266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084012739 meters 0.0372473012677589 Centerline is valid? [True, True] Translation: X:69.97, Y:-5.76, Z:-1.35 [[ 9.87729284e-01 1.55178347e-01 1.76222242e-02 6.99690652e+01] [-1.55161581e-01 9.87886374e-01 -2.32306199e-03 -5.75874516e+00] [-1.77692441e-02 -4.39735813e-04 9.99842018e-01 -1.35492317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144012739 meters 0.040009795661893555 Centerline is valid? [True, True] Translation: X:70.03, Y:-5.76, Z:-1.36 [[ 9.87278209e-01 1.58021874e-01 1.76302395e-02 7.00288348e+01] [-1.58005548e-01 9.87435490e-01 -2.32393155e-03 -5.76091485e+00] [-1.77759562e-02 -4.91308682e-04 9.99841874e-01 -1.35633239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204012739 meters 0.045709402025163215 Centerline is valid? [True, True] Translation: X:70.09, Y:-5.75, Z:-1.35 [[ 9.86336710e-01 1.63579894e-01 1.95323425e-02 7.00906264e+01] [-1.63560954e-01 9.86529872e-01 -2.57412826e-03 -5.75278135e+00] [-1.96903150e-02 -6.55771383e-04 9.99805912e-01 -1.35417360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264012739 meters 0.04701287354118827 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.75, Z:-1.36 [[ 9.86512566e-01 1.62986177e-01 1.51150194e-02 7.01487666e+01] [-1.62974761e-01 9.86628227e-01 -1.99221646e-03 -5.75328724e+00] [-1.52376086e-02 -4.98020120e-04 9.99883777e-01 -1.36424932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324012739 meters 0.04162491712388377 Centerline is valid? [True, True] Translation: X:70.21, Y:-5.76, Z:-1.36 [[ 9.87072968e-01 1.59295265e-01 1.76627976e-02 7.02077614e+01] [-1.59279109e-01 9.87230850e-01 -2.32671696e-03 -5.76319641e+00] [-1.78078937e-02 -5.16675249e-04 9.99841293e-01 -1.36125489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384012739 meters 0.03595372710453382 Centerline is valid? [True, True] Translation: X:70.27, Y:-5.78, Z:-1.36 [[ 9.88107699e-01 1.52794009e-01 1.72384733e-02 7.02662348e+01] [-1.52777639e-01 9.88257982e-01 -2.27036288e-03 -5.77783390e+00] [-1.73829567e-02 -3.90290211e-04 9.99848829e-01 -1.36465917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444012739 meters 0.0331164676436349 Centerline is valid? [True, True] Translation: X:70.32, Y:-5.79, Z:-1.37 [[ 9.88672553e-01 1.49255036e-01 1.57961393e-02 7.03236934e+01] [-1.49240837e-01 9.88798687e-01 -2.08056911e-03 -5.79023325e+00] [-1.59297372e-02 -3.00427469e-04 9.99873069e-01 -1.36877642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504012739 meters 0.029855791366656212 Centerline is valid? [True, True] Translation: X:70.38, Y:-5.80, Z:-1.37 [[ 9.89355283e-01 1.44615415e-01 1.62020047e-02 7.03812520e+01] [-1.44599868e-01 9.89487912e-01 -2.13316021e-03 -5.80268584e+00] [-1.63401757e-02 -2.32354421e-04 9.99866463e-01 -1.36912005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564012739 meters 0.02764366491247406 Centerline is valid? [True, True] Translation: X:70.44, Y:-5.81, Z:-1.37 [[ 9.89777711e-01 1.41635438e-01 1.67178336e-02 7.04395758e+01] [-1.41618467e-01 9.89918869e-01 -2.20064538e-03 -5.81433689e+00] [-1.68609883e-02 -1.89404234e-04 9.99857825e-01 -1.36923692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624012739 meters 0.024225331214693134 Centerline is valid? [True, True] Translation: X:70.50, Y:-5.83, Z:-1.36 [[ 9.90527516e-01 1.35813901e-01 2.02441407e-02 7.04971477e+01] [-1.35787816e-01 9.90734360e-01 -2.66398928e-03 -5.83321699e+00] [-2.04183726e-02 -1.10152982e-04 9.99791517e-01 -1.36211903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684012739 meters 0.023967825575904142 Centerline is valid? [True, True] Translation: X:70.56, Y:-5.84, Z:-1.36 [[ 9.90699946e-01 1.34348169e-01 2.15449886e-02 7.05555850e+01] [-1.34318289e-01 9.90934187e-01 -2.83464277e-03 -5.84469913e+00] [-2.17304948e-02 -8.56055722e-05 9.99763861e-01 -1.36187341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744012739 meters 0.02386566454369583 Centerline is valid? [True, True] Translation: X:70.61, Y:-5.86, Z:-1.37 [[ 9.90949924e-01 1.33011274e-01 1.80623802e-02 7.06143444e+01] [-1.32990055e-01 9.91114524e-01 -2.37624063e-03 -5.85773437e+00] [-1.82179541e-02 -4.73814645e-05 9.99834038e-01 -1.36915497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804012739 meters 0.02443982752873637 Centerline is valid? [True, True] Translation: X:70.67, Y:-5.86, Z:-1.37 [[ 9.90662765e-01 1.35114676e-01 1.82019168e-02 7.06734177e+01] [-1.35093481e-01 9.90829964e-01 -2.39467037e-03 -5.86198590e+00] [-1.83585597e-02 -8.66495412e-05 9.99831464e-01 -1.36848909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864012739 meters 0.02559268757127824 Centerline is valid? [True, True] Translation: X:70.73, Y:-5.87, Z:-1.37 [[ 9.90312318e-01 1.37769908e-01 1.73483585e-02 7.07330797e+01] [-1.37751073e-01 9.90464253e-01 -2.28176877e-03 -5.86683998e+00] [-1.74972880e-02 -1.30091275e-04 9.99846902e-01 -1.37222457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924012739 meters 0.027565333472323473 Centerline is valid? [True, True] Translation: X:70.79, Y:-5.87, Z:-1.38 [[ 9.89740180e-01 1.42021111e-01 1.56326300e-02 7.07928099e+01] [-1.42006351e-01 9.89863612e-01 -2.05583896e-03 -5.86561033e+00] [-1.57661441e-02 -1.85186325e-04 9.99875689e-01 -1.37627952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98401273900001 meters 0.030112685670858223 Centerline is valid? [True, True] Translation: X:70.85, Y:-5.86, Z:-1.37 [[ 9.89045366e-01 1.46454077e-01 1.84517669e-02 7.08520062e+01] [-1.46434297e-01 9.89217424e-01 -2.42587244e-03 -5.86214759e+00] [-1.86080882e-02 -3.02673619e-04 9.99826809e-01 -1.37072529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044012739 meters 0.032524442973520015 Centerline is valid? [True, True] Translation: X:70.91, Y:-5.86, Z:-1.38 [[ 9.88691826e-01 1.49004731e-01 1.69133847e-02 7.09113751e+01] [-1.48988501e-01 9.88836430e-01 -2.22265934e-03 -5.86052793e+00] [-1.70557577e-02 -3.22374722e-04 9.99854488e-01 -1.37736755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104012739 meters 0.03208702400094746 Centerline is valid? [True, True] Translation: X:70.97, Y:-5.86, Z:-1.37 [[ 9.88716772e-01 1.48433292e-01 2.01668939e-02 7.09691336e+01] [-1.48410122e-01 9.88922352e-01 -2.64906305e-03 -5.86246876e+00] [-2.03367013e-02 -3.73798118e-04 9.99793118e-01 -1.37062653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164012739 meters 0.029962360946513854 Centerline is valid? [True, True] Translation: X:71.03, Y:-5.87, Z:-1.37 [[ 9.89230713e-01 1.45143463e-01 1.88671878e-02 7.10263761e+01] [-1.45122605e-01 9.89410578e-01 -2.47729067e-03 -5.86980545e+00] [-1.90269577e-02 -2.87443416e-04 9.99818930e-01 -1.37461104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224012739 meters 0.028514999907275018 Centerline is valid? [True, True] Translation: X:71.08, Y:-5.88, Z:-1.38 [[ 9.89653962e-01 1.42551317e-01 1.62528980e-02 7.10839328e+01] [-1.42535504e-01 9.89787391e-01 -2.13319183e-03 -5.88088718e+00] [-1.63910028e-02 -2.05493248e-04 9.99865637e-01 -1.38249878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284012739 meters 0.02589434974058694 Centerline is valid? [True, True] Translation: X:71.14, Y:-5.90, Z:-1.38 [[ 9.90191693e-01 1.38431241e-01 1.88998146e-02 7.11408094e+01] [-1.38409126e-01 9.90372034e-01 -2.47955823e-03 -5.89529573e+00] [-1.90610961e-02 -1.60668860e-04 9.99818308e-01 -1.37821528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34401273900001 meters 0.02594672959800214 Centerline is valid? [True, True] Translation: X:71.20, Y:-5.90, Z:-1.38 [[ 9.90182088e-01 1.38364539e-01 1.98667170e-02 7.11995104e+01] [-1.38340108e-01 9.90381354e-01 -2.60544298e-03 -5.90138147e+00] [-2.00361270e-02 -1.68500813e-04 9.99799242e-01 -1.37659594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404012739 meters 0.02505869940723771 Centerline is valid? [True, True] Translation: X:71.26, Y:-5.92, Z:-1.38 [[ 9.90344654e-01 1.37338291e-01 1.88589580e-02 7.12566996e+01] [-1.37316106e-01 9.90524192e-01 -2.47246655e-03 -5.91596442e+00] [-1.90198184e-02 -1.41044642e-04 9.99819097e-01 -1.37939329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464012739 meters 0.02515332708445506 Centerline is valid? [True, True] Translation: X:71.31, Y:-5.92, Z:-1.37 [[ 9.90241888e-01 1.37604439e-01 2.20458921e-02 7.13143611e+01] [-1.37574216e-01 9.90487248e-01 -2.88901883e-03 -5.92479063e+00] [-2.22337168e-02 -1.72118846e-04 9.99752786e-01 -1.37406914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524012739 meters 0.026212024311605277 Centerline is valid? [True, True] Translation: X:71.37, Y:-5.93, Z:-1.38 [[ 9.89952585e-01 1.39829096e-01 2.10167308e-02 7.13742974e+01] [-1.39802155e-01 9.90175630e-01 -2.75296566e-03 -5.92786753e+00] [-2.11951994e-02 -2.12878791e-04 9.99775334e-01 -1.37791815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584012739 meters 0.033043902154475786 Centerline is valid? [True, True] Translation: X:71.43, Y:-5.92, Z:-1.39 [[ 9.89073976e-01 1.46583957e-01 1.56784578e-02 7.14343675e+01] [-1.46569815e-01 9.89198197e-01 -2.05356630e-03 -5.91796051e+00] [-1.58101221e-02 -2.66859671e-04 9.99874977e-01 -1.38890786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644012739 meters 0.034476927616900736 Centerline is valid? [True, True] Translation: X:71.49, Y:-5.92, Z:-1.38 [[ 9.88522116e-01 1.49961855e-01 1.83158058e-02 7.14943492e+01] [-1.49943152e-01 9.88691712e-01 -2.39797028e-03 -5.91565223e+00] [-1.84682894e-02 -3.75883001e-04 9.99829376e-01 -1.38435299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704012739 meters 0.03557544971665904 Centerline is valid? [True, True] Translation: X:71.55, Y:-5.91, Z:-1.38 [[ 9.88669648e-01 1.48803188e-01 1.97468623e-02 7.15531171e+01] [-1.48781232e-01 9.88866758e-01 -2.58459914e-03 -5.91260287e+00] [-1.99116123e-02 -3.82647781e-04 9.99801671e-01 -1.38379112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764012739 meters 0.03047381262371653 Centerline is valid? [True, True] Translation: X:71.61, Y:-5.92, Z:-1.39 [[ 9.89145920e-01 1.45768537e-01 1.84900503e-02 7.16120326e+01] [-1.45748774e-01 9.89318676e-01 -2.41915164e-03 -5.91816396e+00] [-1.86451882e-02 -3.02008189e-04 9.99826118e-01 -1.38704466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824012739 meters 0.025255600231242546 Centerline is valid? [True, True] Translation: X:71.67, Y:-5.93, Z:-1.39 [[ 9.90259320e-01 1.37772731e-01 2.01284072e-02 7.16704248e+01] [-1.37747693e-01 9.90463854e-01 -2.63176929e-03 -5.93248651e+00] [-2.02990458e-02 -1.66507598e-04 9.99793939e-01 -1.38614738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884012739 meters 0.023865466280298727 Centerline is valid? [True, True] Translation: X:71.73, Y:-5.94, Z:-1.39 [[ 9.91109048e-01 1.31643242e-01 1.93109250e-02 7.17268473e+01] [-1.31619040e-01 9.91297158e-01 -2.52446376e-03 -5.94386777e+00] [-1.94751936e-02 -3.96665333e-05 9.99810340e-01 -1.38855516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944012739 meters 0.024274124800948583 Centerline is valid? [True, True] Translation: X:71.78, Y:-5.96, Z:-1.39 [[ 9.91951196e-01 1.24944768e-01 2.05336338e-02 7.17835745e+01] [-1.24915996e-01 9.92163694e-01 -2.68297933e-03 -5.95659102e+00] [-2.07079502e-02 9.64052531e-05 9.99785563e-01 -1.38639082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004012739 meters 0.025465498013331405 Centerline is valid? [True, True] Translation: X:71.84, Y:-5.97, Z:-1.39 [[ 9.92437540e-01 1.21100900e-01 2.00574519e-02 7.18425556e+01] [-1.21072684e-01 9.92640188e-01 -2.61961673e-03 -5.96513478e+00] [-2.02270708e-02 1.71396431e-04 9.99795397e-01 -1.38926262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064012739 meters 0.025812554271093968 Centerline is valid? [True, True] Translation: X:71.90, Y:-5.97, Z:-1.39 [[ 9.92560850e-01 1.20230178e-01 1.91745304e-02 7.19011580e+01] [-1.20204238e-01 9.92746026e-01 -2.50389779e-03 -5.97398186e+00] [-1.93364829e-02 1.80411110e-04 9.99813016e-01 -1.39209010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124012739 meters 0.026981436526119434 Centerline is valid? [True, True] Translation: X:71.96, Y:-5.99, Z:-1.39 [[ 9.92912778e-01 1.17324719e-01 1.89506138e-02 7.19597781e+01] [-1.17298869e-01 9.93093579e-01 -2.47374626e-03 -5.98533077e+00] [-1.91099645e-02 2.33328701e-04 9.99817361e-01 -1.39211226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184012739 meters 0.0312745398337856 Centerline is valid? [True, True] Translation: X:72.02, Y:-6.00, Z:-1.40 [[ 9.93666064e-01 1.10904665e-01 1.81082558e-02 7.20179085e+01] [-1.10880004e-01 9.93830991e-01 -2.36334845e-03 -6.00439813e+00] [-1.82586522e-02 3.40535672e-04 9.99833239e-01 -1.39613991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244012739 meters 0.03317014373203872 Centerline is valid? [True, True] Translation: X:72.08, Y:-6.02, Z:-1.39 [[ 9.93814920e-01 1.08986458e-01 2.13039263e-02 7.20769428e+01] [-1.08951889e-01 9.94043136e-01 -2.78012816e-03 -6.01564852e+00] [-2.14800180e-02 4.41829833e-04 9.99769180e-01 -1.39114781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304012739 meters 0.03383619761617845 Centerline is valid? [True, True] Translation: X:72.14, Y:-6.03, Z:-1.39 [[ 9.94030295e-01 1.07211737e-01 2.02340130e-02 7.21379712e+01] [-1.07180190e-01 9.94236107e-01 -2.64027283e-03 -6.02545420e+00] [-2.04004545e-02 4.55825816e-04 9.99791785e-01 -1.39497196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364012739 meters 0.03803588101447912 Centerline is valid? [True, True] Translation: X:72.20, Y:-6.04, Z:-1.40 [[ 9.94284866e-01 1.05072006e-01 1.89071237e-02 7.21969423e+01] [-1.05044019e-01 9.94464506e-01 -2.47005819e-03 -6.04413399e+00] [-1.90619974e-02 4.69861211e-04 9.99818193e-01 -1.39784888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424012739 meters 0.0392672538845794 Centerline is valid? [True, True] Translation: X:72.26, Y:-6.06, Z:-1.40 [[ 9.94344071e-01 1.04333360e-01 1.98599689e-02 7.22582710e+01] [-1.04302271e-01 9.94542251e-01 -2.59770383e-03 -6.05799375e+00] [-2.00226053e-02 5.11571561e-04 9.99799397e-01 -1.39751739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48401273900001 meters 0.03888499530433814 Centerline is valid? [True, True] Translation: X:72.32, Y:-6.07, Z:-1.40 [[ 9.94290348e-01 1.04806240e-01 2.00588196e-02 7.23193062e+01] [-1.04774557e-01 9.94492530e-01 -2.62687186e-03 -6.07080407e+00] [-2.02236588e-02 5.10219395e-04 9.99795351e-01 -1.39788034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544012739 meters 0.03541857174046386 Centerline is valid? [True, True] Translation: X:72.38, Y:-6.08, Z:-1.40 [[ 9.94061259e-01 1.07220320e-01 1.86015202e-02 7.23800721e+01] [-1.07193443e-01 9.94235192e-01 -2.43891347e-03 -6.07855042e+00] [-1.87557871e-02 4.30468403e-04 9.99824002e-01 -1.40239952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604012739 meters 0.03455703031478049 Centerline is valid? [True, True] Translation: X:72.44, Y:-6.09, Z:-1.40 [[ 9.93656741e-01 1.10765593e-01 1.94233217e-02 7.24402521e+01] [-1.10736955e-01 9.93846487e-01 -2.54713093e-03 -6.08906177e+00] [-1.95859345e-02 3.80094323e-04 9.99808105e-01 -1.40168597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664012739 meters 0.027428809137941254 Centerline is valid? [True, True] Translation: X:72.50, Y:-6.09, Z:-1.40 [[ 9.92943592e-01 1.16888169e-01 2.00044962e-02 7.25017390e+01] [-1.16859023e-01 9.93145047e-01 -2.62382268e-03 -6.08636942e+00] [-2.01740602e-02 2.67602023e-04 9.99796447e-01 -1.40178011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724012739 meters 0.025572995346602394 Centerline is valid? [True, True] Translation: X:72.56, Y:-6.09, Z:-1.40 [[ 9.92469672e-01 1.20542763e-01 2.17576022e-02 7.25628985e+01] [-1.20509161e-01 9.92708113e-01 -2.85376295e-03 -6.08812348e+00] [-2.19429487e-02 2.10282785e-04 9.99759202e-01 -1.39946386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784012739 meters 0.02484696920837963 Centerline is valid? [True, True] Translation: X:72.62, Y:-6.10, Z:-1.41 [[ 9.92204246e-01 1.23119806e-01 1.92937266e-02 7.26221825e+01] [-1.23093872e-01 9.92391805e-01 -2.53059696e-03 -6.09623988e+00] [-1.94585028e-02 1.35929544e-04 9.99810656e-01 -1.40684771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84401273900001 meters 0.025619353981045683 Centerline is valid? [True, True] Translation: X:72.68, Y:-6.11, Z:-1.41 [[ 9.92457845e-01 1.21181267e-01 1.85074849e-02 7.26812685e+01] [-1.21157066e-01 9.92630381e-01 -2.42747220e-03 -6.10822244e+00] [-1.86652559e-02 1.66851265e-04 9.99825775e-01 -1.40874653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904012739 meters 0.026157825726535987 Centerline is valid? [True, True] Translation: X:72.74, Y:-6.12, Z:-1.40 [[ 9.92507976e-01 1.20370877e-01 2.09468109e-02 7.27392609e+01] [-1.20339695e-01 9.92728971e-01 -2.74742615e-03 -6.12128590e+00] [-2.11252161e-02 2.06109528e-04 9.99776816e-01 -1.40499524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964012739 meters 0.02487709445397474 Centerline is valid? [True, True] Translation: X:72.80, Y:-6.13, Z:-1.42 [[ 9.92187702e-01 1.23691378e-01 1.62482826e-02 7.27998087e+01] [-1.23673060e-01 9.92320730e-01 -2.13125142e-03 -6.13091632e+00] [-1.63871251e-02 1.05126624e-04 9.99865717e-01 -1.41581236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024012739 meters 0.0238290675031628 Centerline is valid? [True, True] Translation: X:72.86, Y:-6.14, Z:-1.42 [[ 9.91643793e-01 1.27989707e-01 1.61623783e-02 7.28578038e+01] [-1.27972143e-01 9.91775496e-01 -2.12060099e-03 -6.13771165e+00] [-1.63008658e-02 3.45466322e-05 9.99867131e-01 -1.41666548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084012739 meters 0.024067765732638753 Centerline is valid? [True, True] Translation: X:72.92, Y:-6.14, Z:-1.41 [[ 9.90859743e-01 1.33746864e-01 1.75711485e-02 7.29164529e+01] [-1.33727020e-01 9.91015526e-01 -2.30479476e-03 -6.14368742e+00] [-1.77215400e-02 -6.60089921e-05 9.99842959e-01 -1.41482791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144012739 meters 0.024967906369680923 Centerline is valid? [True, True] Translation: X:72.98, Y:-6.15, Z:-1.41 [[ 9.90348800e-01 1.37201766e-01 1.96196493e-02 7.29755072e+01] [-1.37177723e-01 9.90543111e-01 -2.57247356e-03 -6.14777416e+00] [-1.97870564e-02 -1.43732712e-04 9.99804207e-01 -1.41078872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204012739 meters 0.025860247436292127 Centerline is valid? [True, True] Translation: X:73.03, Y:-6.16, Z:-1.41 [[ 9.90151686e-01 1.38609271e-01 1.96750884e-02 7.30328422e+01] [-1.38585388e-01 9.90347131e-01 -2.57881959e-03 -6.15738616e+00] [-1.98426156e-02 -1.73257189e-04 9.99803101e-01 -1.41349336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264012739 meters 0.02499262342051315 Centerline is valid? [True, True] Translation: X:73.09, Y:-6.17, Z:-1.42 [[ 9.90390494e-01 1.37077525e-01 1.83417885e-02 7.30911169e+01] [-1.37056522e-01 9.90560313e-01 -2.40323198e-03 -6.16869286e+00] [-1.84980769e-02 -1.33723626e-04 9.99828887e-01 -1.41732315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324012739 meters 0.032876080179468185 Centerline is valid? [True, True] Translation: X:73.15, Y:-6.18, Z:-1.40 [[ 9.90790454e-01 1.33962657e-01 1.97048731e-02 7.31499335e+01] [-1.33937810e-01 9.90986377e-01 -2.58132741e-03 -6.18388693e+00] [-1.98730623e-02 -8.16729937e-05 9.99802508e-01 -1.40006744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384012739 meters 0.023541223240351336 Centerline is valid? [True, True] Translation: X:73.21, Y:-6.20, Z:-1.42 [[ 9.91209633e-01 1.30880924e-01 1.93299728e-02 7.32073868e+01] [-1.30856437e-01 9.91398095e-01 -2.53174846e-03 -6.19951785e+00] [-1.94950558e-02 -1.99579013e-05 9.99809953e-01 -1.41757205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444012739 meters 0.023813216571492952 Centerline is valid? [True, True] Translation: X:73.27, Y:-6.21, Z:-1.42 [[ 9.91459311e-01 1.29247948e-01 1.74184444e-02 7.32669843e+01] [-1.29227817e-01 9.91612307e-01 -2.28109621e-03 -6.21402051e+00] [-1.75671708e-02 1.06665286e-05 9.99845685e-01 -1.42287910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504012739 meters 0.024173265569566574 Centerline is valid? [True, True] Translation: X:73.33, Y:-6.23, Z:-1.42 [[ 9.91841099e-01 1.26192312e-01 1.80758260e-02 7.33268617e+01] [-1.26170123e-01 9.92005794e-01 -2.36735984e-03 -6.23110950e+00] [-1.82300667e-02 6.74156001e-05 9.99833816e-01 -1.42257638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564012739 meters 0.024493530085196856 Centerline is valid? [True, True] Translation: X:73.39, Y:-6.24, Z:-1.43 [[ 9.91987389e-01 1.25099276e-01 1.76405979e-02 7.33874880e+01] [-1.25077920e-01 9.92144225e-01 -2.31313606e-03 -6.24395162e+00] [-1.77913890e-02 8.81525100e-05 9.99841717e-01 -1.42505538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624012739 meters 0.023946587389325643 Centerline is valid? [True, True] Translation: X:73.45, Y:-6.25, Z:-1.43 [[ 9.91709601e-01 1.27301154e-01 1.75066905e-02 7.34472690e+01] [-1.27280406e-01 9.91864110e-01 -2.29886813e-03 -6.24830573e+00] [-1.76569066e-02 5.15509127e-05 9.99844103e-01 -1.42688817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684012739 meters 0.02375950978622833 Centerline is valid? [True, True] Translation: X:73.51, Y:-6.25, Z:-1.43 [[ 9.91488800e-01 1.28959515e-01 1.78718221e-02 7.35076228e+01] [-1.28938157e-01 9.91649859e-01 -2.34705634e-03 -6.25071607e+00] [-1.80252651e-02 2.27202663e-05 9.99837531e-01 -1.42568563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744012739 meters 0.023850888918004385 Centerline is valid? [True, True] Translation: X:73.57, Y:-6.26, Z:-1.43 [[ 9.91575423e-01 1.28272582e-01 1.80090387e-02 7.35673562e+01] [-1.28250781e-01 9.91738949e-01 -2.36507661e-03 -6.25691421e+00] [-1.81636396e-02 3.54785569e-05 9.99835027e-01 -1.42737491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804012739 meters 0.028152162616504783 Centerline is valid? [True, True] Translation: X:73.63, Y:-6.28, Z:-1.42 [[ 9.92781301e-01 1.18166422e-01 2.05422599e-02 7.36255740e+01] [-1.18135890e-01 9.92993773e-01 -2.69779494e-03 -6.28314059e+00] [-2.07171249e-02 2.51542223e-04 9.99785346e-01 -1.42368951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864012739 meters 0.03127081200686683 Centerline is valid? [True, True] Translation: X:73.69, Y:-6.30, Z:-1.43 [[ 9.93361275e-01 1.13708180e-01 1.74306616e-02 7.36863104e+01] [-1.13685470e-01 9.93514148e-01 -2.29153032e-03 -6.29952583e+00] [-1.75781747e-02 2.94704523e-04 9.99845449e-01 -1.43103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924012739 meters 0.032099819040244955 Centerline is valid? [True, True] Translation: X:73.75, Y:-6.31, Z:-1.43 [[ 9.93277833e-01 1.14286642e-01 1.83769014e-02 7.37457891e+01] [-1.14261485e-01 9.93447771e-01 -2.41661913e-03 -6.31410896e+00] [-1.85326790e-02 3.00602174e-04 9.99828210e-01 -1.42964226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98401273900001 meters 0.03117073483290727 Centerline is valid? [True, True] Translation: X:73.81, Y:-6.32, Z:-1.43 [[ 9.93100374e-01 1.15464749e-01 2.04826387e-02 7.38065405e+01] [-1.15433677e-01 9.93311529e-01 -2.69685966e-03 -6.32429548e+00] [-2.06570334e-02 3.13866042e-04 9.99786571e-01 -1.42606854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044012739 meters 0.03213022365826521 Centerline is valid? [True, True] Translation: X:73.87, Y:-6.34, Z:-1.43 [[ 9.93190754e-01 1.14652403e-01 2.06628508e-02 7.38677039e+01] [-1.14620545e-01 9.93405614e-01 -2.72350549e-03 -6.33779511e+00] [-2.08388485e-02 3.36573244e-04 9.99782791e-01 -1.42708484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104012739 meters 0.03441718717106876 Centerline is valid? [True, True] Translation: X:73.93, Y:-6.36, Z:-1.43 [[ 9.93777779e-01 1.09555914e-01 2.00805177e-02 7.39263651e+01] [-1.09524727e-01 9.93980540e-01 -2.64969590e-03 -6.36091653e+00] [-2.02499337e-02 4.33895692e-04 9.99794855e-01 -1.42974903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164012739 meters 0.03662903951294593 Centerline is valid? [True, True] Translation: X:73.99, Y:-6.38, Z:-1.43 [[ 9.94207435e-01 1.05651874e-01 1.97295978e-02 7.39850626e+01] [-1.05620989e-01 9.94403050e-01 -2.60383200e-03 -6.38144060e+00] [-1.98942720e-02 5.04889492e-04 9.99801962e-01 -1.43124644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224012739 meters 0.035388892046587885 Centerline is valid? [True, True] Translation: X:74.04, Y:-6.40, Z:-1.44 [[ 9.93946303e-01 1.08396109e-01 1.79173439e-02 7.40442345e+01] [-1.08371074e-01 9.94107698e-01 -2.36523415e-03 -6.39508126e+00] [-1.80681517e-02 4.09193943e-04 9.99836674e-01 -1.43567291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284012739 meters 0.028931474045693937 Centerline is valid? [True, True] Translation: X:74.11, Y:-6.40, Z:-1.44 [[ 9.93067713e-01 1.16418390e-01 1.62257706e-02 7.41056972e+01] [-1.16398926e-01 9.93200232e-01 -2.14210232e-03 -6.39702549e+00] [-1.63648193e-02 2.38590378e-04 9.99866059e-01 -1.44087470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34401273900001 meters 0.025465363941250437 Centerline is valid? [True, True] Translation: X:74.17, Y:-6.40, Z:-1.44 [[ 9.92296310e-01 1.22630209e-01 1.76030050e-02 7.41675336e+01] [-1.22608274e-01 9.92452422e-01 -2.32408844e-03 -6.40256593e+00] [-1.77551483e-02 1.47910331e-04 9.99842354e-01 -1.43948672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404012739 meters 0.024090347702289572 Centerline is valid? [True, True] Translation: X:74.23, Y:-6.41, Z:-1.44 [[ 9.91709743e-01 1.27084430e-01 1.90087549e-02 7.42295254e+01] [-1.27059655e-01 9.91891900e-01 -2.51035997e-03 -6.41199053e+00] [-1.91736576e-02 7.43026071e-05 9.99816166e-01 -1.43811127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464012739 meters 0.023794855521831467 Centerline is valid? [True, True] Translation: X:74.29, Y:-6.42, Z:-1.44 [[ 9.91341517e-01 1.29958498e-01 1.87825935e-02 7.42904505e+01] [-1.29934791e-01 9.91519434e-01 -2.48228231e-03 -6.41969498e+00] [-1.89459002e-02 2.02771381e-05 9.99820510e-01 -1.43875275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524012739 meters 0.024848577541029246 Centerline is valid? [True, True] Translation: X:74.35, Y:-6.42, Z:-1.44 [[ 9.90250004e-01 1.37910534e-01 1.96370827e-02 7.43536395e+01] [-1.37886144e-01 9.90444681e-01 -2.59710957e-03 -6.41619527e+00] [-1.98076129e-02 -1.35893856e-04 9.99803801e-01 -1.43958547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584012739 meters 0.030338271059137133 Centerline is valid? [True, True] Translation: X:74.42, Y:-6.41, Z:-1.44 [[ 9.88997464e-01 1.46926243e-01 1.72248599e-02 7.44156615e+01] [-1.46908794e-01 9.89147413e-01 -2.28088401e-03 -6.40512203e+00] [-1.73730473e-02 -2.74694890e-04 9.99849039e-01 -1.44376956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644012739 meters 0.03269673552323422 Centerline is valid? [True, True] Translation: X:74.48, Y:-6.40, Z:-1.44 [[ 9.88369269e-01 1.50895332e-01 1.88887889e-02 7.44769893e+01] [-1.50875051e-01 9.88549673e-01 -2.50244455e-03 -6.39916809e+00] [-1.90501133e-02 -3.76507688e-04 9.99818459e-01 -1.44076207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704012739 meters 0.0326625571542954 Centerline is valid? [True, True] Translation: X:74.54, Y:-6.40, Z:-1.44 [[ 9.88597480e-01 1.49297920e-01 1.96253337e-02 7.45366672e+01] [-1.49275716e-01 9.88792193e-01 -2.59978184e-03 -6.40018149e+00] [-1.97935188e-02 -3.59447959e-04 9.99804025e-01 -1.44009265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764012739 meters 0.028709104247751138 Centerline is valid? [True, True] Translation: X:74.60, Y:-6.41, Z:-1.44 [[ 9.89267392e-01 1.44832109e-01 1.93310024e-02 7.45969662e+01] [-1.44809717e-01 9.89456209e-01 -2.56055764e-03 -6.40698523e+00] [-1.94980313e-02 -2.66240805e-04 9.99809860e-01 -1.44211200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824012739 meters 0.028267248295501472 Centerline is valid? [True, True] Translation: X:74.66, Y:-6.41, Z:-1.44 [[ 9.89393488e-01 1.43951791e-01 1.94526836e-02 7.46581669e+01] [-1.43928946e-01 9.89584670e-01 -2.57667536e-03 -6.40775231e+00] [-1.96209945e-02 -2.50458424e-04 9.99807458e-01 -1.44385936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884012739 meters 0.028385721838696264 Centerline is valid? [True, True] Translation: X:74.72, Y:-6.41, Z:-1.45 [[ 9.89343851e-01 1.44486998e-01 1.79513482e-02 7.47190854e+01] [-1.44467632e-01 9.89506670e-01 -2.37781057e-03 -6.40918473e+00] [-1.81065415e-02 -2.40916495e-04 9.99836034e-01 -1.44812378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944012739 meters 0.028682535148034136 Centerline is valid? [True, True] Translation: X:74.78, Y:-6.41, Z:-1.45 [[ 9.89340481e-01 1.44688135e-01 1.64546514e-02 7.47789952e+01] [-1.44671890e-01 9.89477283e-01 -2.17965156e-03 -6.40823205e+00] [-1.65968734e-02 -2.24107999e-04 9.99862237e-01 -1.45117035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004012739 meters 0.026764277858412313 Centerline is valid? [True, True] Translation: X:74.84, Y:-6.41, Z:-1.45 [[ 9.89808167e-01 1.41252619e-01 1.80966705e-02 7.48366584e+01] [-1.41232403e-01 9.89973567e-01 -2.39675715e-03 -6.41209668e+00] [-1.82537737e-02 -1.83506462e-04 9.99833369e-01 -1.44843596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064012739 meters 0.025274339674438265 Centerline is valid? [True, True] Translation: X:74.90, Y:-6.42, Z:-1.45 [[ 9.90067266e-01 1.39167909e-01 1.99775422e-02 7.48961778e+01] [-1.39142874e-01 9.90268785e-01 -2.64454508e-03 -6.41728773e+00] [-2.01511723e-02 -1.61455114e-04 9.99796931e-01 -1.44669410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124012739 meters 0.02630479856292188 Centerline is valid? [True, True] Translation: X:74.96, Y:-6.41, Z:-1.45 [[ 9.89929673e-01 1.40301768e-01 1.88323189e-02 7.49559218e+01] [-1.40279734e-01 9.90108774e-01 -2.49253524e-03 -6.41376446e+00] [-1.89957513e-02 -1.74358101e-04 9.99819549e-01 -1.44952519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184012739 meters 0.02698949213801862 Centerline is valid? [True, True] Translation: X:75.02, Y:-6.42, Z:-1.45 [[ 9.89852949e-01 1.40982378e-01 1.77513190e-02 7.50152516e+01] [-1.40962921e-01 9.90012090e-01 -2.34889266e-03 -6.41507734e+00] [-1.79051729e-02 -1.77219445e-04 9.99839674e-01 -1.45369786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244012739 meters 0.02564837249522428 Centerline is valid? [True, True] Translation: X:75.07, Y:-6.42, Z:-1.45 [[ 9.90109458e-01 1.39111150e-01 1.82029918e-02 7.50740804e+01] [-1.39090389e-01 9.90276762e-01 -2.40781209e-03 -6.42101758e+00] [-1.83609533e-02 -1.47863688e-04 9.99831413e-01 -1.45420976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304012739 meters 0.024243475601326708 Centerline is valid? [True, True] Translation: X:75.13, Y:-6.43, Z:-1.45 [[ 9.90537456e-01 1.35874456e-01 1.93308184e-02 7.51329815e+01] [-1.35850445e-01 9.90726059e-01 -2.55600899e-03 -6.43035694e+00] [-1.94988418e-02 -9.42776448e-05 9.99809875e-01 -1.45173145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364012739 meters 0.02370182664488724 Centerline is valid? [True, True] Translation: X:75.19, Y:-6.43, Z:-1.45 [[ 9.91079121e-01 1.31791529e-01 1.98284632e-02 7.51920054e+01] [-1.31765459e-01 9.91277455e-01 -2.62130831e-03 -6.43361920e+00] [-2.00009747e-02 -1.47826093e-05 9.99799960e-01 -1.45310322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424012739 meters 0.024032127822339457 Centerline is valid? [True, True] Translation: X:75.25, Y:-6.44, Z:-1.46 [[ 9.91637996e-01 1.27659816e-01 1.88959435e-02 7.52509694e+01] [-1.27635402e-01 9.91818011e-01 -2.49735042e-03 -6.44080673e+00] [-1.90601484e-02 6.46762104e-05 9.99818337e-01 -1.45597785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48401273900001 meters 0.024608796412076597 Centerline is valid? [True, True] Translation: X:75.31, Y:-6.45, Z:-1.46 [[ 9.91881548e-01 1.25998356e-01 1.71874385e-02 7.53104805e+01] [-1.25977916e-01 9.92030446e-01 -2.27118043e-03 -6.44505433e+00] [-1.73366273e-02 8.75042846e-05 9.99849706e-01 -1.46008553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544012739 meters 0.02454313398491014 Centerline is valid? [True, True] Translation: X:75.37, Y:-6.45, Z:-1.46 [[ 9.91895340e-01 1.25745183e-01 1.82149036e-02 7.53698796e+01] [-1.25722190e-01 9.92062568e-01 -2.40651069e-03 -6.44866027e+00] [-1.83729311e-02 9.69891753e-05 9.99831199e-01 -1.45913609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604012739 meters 0.024985419588703157 Centerline is valid? [True, True] Translation: X:75.43, Y:-6.46, Z:-1.46 [[ 9.92029703e-01 1.24296335e-01 2.06757995e-02 7.54275882e+01] [-1.24266413e-01 9.92245132e-01 -2.73078065e-03 -6.45653441e+00] [-2.08548874e-02 1.39708090e-04 9.99782503e-01 -1.45631254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664012739 meters 0.025170163633432396 Centerline is valid? [True, True] Translation: X:75.49, Y:-6.46, Z:-1.46 [[ 9.92104564e-01 1.23793759e-01 2.00907701e-02 7.54870887e+01] [-1.23765426e-01 9.92307958e-01 -2.65234435e-03 -6.46351641e+00] [-2.02645747e-02 1.44860207e-04 9.99794642e-01 -1.45825799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724012739 meters 0.02604063758516399 Centerline is valid? [True, True] Translation: X:75.55, Y:-6.47, Z:-1.46 [[ 9.92380254e-01 1.22007087e-01 1.71959820e-02 7.55471425e+01] [-1.21986070e-01 9.92529217e-01 -2.26977793e-03 -6.47250744e+00] [-1.73444435e-02 1.54812541e-04 9.99849562e-01 -1.46466455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784012739 meters 0.028460758309787372 Centerline is valid? [True, True] Translation: X:75.61, Y:-6.49, Z:-1.46 [[ 9.92880420e-01 1.17534440e-01 1.93423703e-02 7.56054138e+01] [-1.17506999e-01 9.93068772e-01 -2.55311149e-03 -6.48584878e+00] [-1.95083825e-02 2.62070517e-04 9.99809659e-01 -1.46237579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84401273900001 meters 0.031324835807226246 Centerline is valid? [True, True] Translation: X:75.67, Y:-6.50, Z:-1.47 [[ 9.93355285e-01 1.13927145e-01 1.63059246e-02 7.56651866e+01] [-1.13907164e-01 9.93489067e-01 -2.15191829e-03 -6.49604268e+00] [-1.64449197e-02 2.80257770e-04 9.99864734e-01 -1.46935358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904012739 meters 0.03251615363028431 Centerline is valid? [True, True] Translation: X:75.72, Y:-6.50, Z:-1.47 [[ 9.93485857e-01 1.12988010e-01 1.48175844e-02 7.57236972e+01] [-1.12971406e-01 9.93596315e-01 -1.95556156e-03 -6.50494695e+00] [-1.49436523e-02 2.68859416e-04 9.99888301e-01 -1.47331438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964012739 meters 0.0353013005474874 Centerline is valid? [True, True] Translation: X:75.78, Y:-6.51, Z:-1.47 [[ 9.93829929e-01 1.09471314e-01 1.78354630e-02 7.57833913e+01] [-1.09446694e-01 9.93989880e-01 -2.35362697e-03 -6.51173928e+00] [-1.79859244e-02 3.87072456e-04 9.99838165e-01 -1.46795959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024012739 meters 0.03533181030638963 Centerline is valid? [True, True] Translation: X:75.84, Y:-6.52, Z:-1.47 [[ 9.94264952e-01 1.05305979e-01 1.86508830e-02 7.58440898e+01] [-1.05278332e-01 9.94439751e-01 -2.46073656e-03 -6.51900638e+00] [-1.88063097e-02 4.83090256e-04 9.99823029e-01 -1.46691788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084012739 meters 0.04517677685334943 Centerline is valid? [True, True] Translation: X:75.90, Y:-6.54, Z:-1.47 [[ 9.95015999e-01 9.78293885e-02 1.93021443e-02 7.59011410e+01] [-9.77983660e-02 9.95202991e-01 -2.54692654e-03 -6.54351973e+00] [-1.94587160e-02 6.46514475e-04 9.99810452e-01 -1.46747535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144012739 meters 0.05169850248006584 Centerline is valid? [True, True] Translation: X:75.96, Y:-6.57, Z:-1.47 [[ 9.95512303e-01 9.26853441e-02 1.90966592e-02 7.59587038e+01] [-9.26540367e-02 9.95695175e-01 -2.51962545e-03 -6.56582451e+00] [-1.92479838e-02 7.38935571e-04 9.99814467e-01 -1.46836378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204012739 meters 0.04782713030300555 Centerline is valid? [True, True] Translation: X:76.02, Y:-6.58, Z:-1.47 [[ 9.95722847e-01 9.06696150e-02 1.77491911e-02 7.60188469e+01] [-9.06422553e-02 9.95880765e-01 -2.34157750e-03 -6.57620848e+00] [-1.78883879e-02 7.22735506e-04 9.99839729e-01 -1.47138454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264012739 meters 0.05165894841280639 Centerline is valid? [True, True] Translation: X:76.08, Y:-6.60, Z:-1.47 [[ 9.95743057e-01 8.97928580e-02 2.08088384e-02 7.60772305e+01] [-8.97550415e-02 9.95960085e-01 -2.74609771e-03 -6.60112043e+00] [-2.09713524e-02 8.66709572e-04 9.99779701e-01 -1.46705858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324012739 meters 0.049236462669081694 Centerline is valid? [True, True] Translation: X:76.14, Y:-6.61, Z:-1.47 [[ 9.95520666e-01 9.22361537e-02 2.07628421e-02 7.61374583e+01] [-9.21989694e-02 9.95736825e-01 -2.74314100e-03 -6.61481952e+00] [-2.09273433e-02 8.16540913e-04 9.99780666e-01 -1.46940303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384012739 meters 0.04822998009530126 Centerline is valid? [True, True] Translation: X:76.20, Y:-6.63, Z:-1.48 [[ 9.94880051e-01 9.95277507e-02 1.75473792e-02 7.61959914e+01] [-9.95023137e-02 9.95034629e-01 -2.31895051e-03 -6.62558780e+00] [-1.76910499e-02 5.61072772e-04 9.99843344e-01 -1.47652975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444012739 meters 0.03915659281324926 Centerline is valid? [True, True] Translation: X:76.26, Y:-6.62, Z:-1.48 [[ 9.94468176e-01 1.03629554e-01 1.71453046e-02 7.62581811e+01] [-1.03605884e-01 9.94615850e-01 -2.26553235e-03 -6.62097662e+00] [-1.72877678e-02 4.76645390e-04 9.99850442e-01 -1.47876116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504012739 meters 0.03804941766382561 Centerline is valid? [True, True] Translation: X:76.32, Y:-6.63, Z:-1.48 [[ 9.94392307e-01 1.04254080e-01 1.77489627e-02 7.63188193e+01] [-1.04228816e-01 9.94550579e-01 -2.34512179e-03 -6.63337781e+00] [-1.78967296e-02 4.82017706e-04 9.99839725e-01 -1.47861646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564012739 meters 0.04561621848077861 Centerline is valid? [True, True] Translation: X:76.38, Y:-6.66, Z:-1.48 [[ 9.94941260e-01 9.86009071e-02 1.92289099e-02 7.63750656e+01] [-9.85701269e-02 9.95126855e-01 -2.54431023e-03 -6.66140501e+00] [-1.93860759e-02 6.36043135e-04 9.99811870e-01 -1.47854889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624012739 meters 0.04917073250500581 Centerline is valid? [True, True] Translation: X:76.43, Y:-6.68, Z:-1.48 [[ 9.95475507e-01 9.30952256e-02 1.90208905e-02 7.64329898e+01] [-9.30641074e-02 9.95656938e-01 -2.51658855e-03 -6.68450292e+00] [-1.91725640e-02 7.35040061e-04 9.99815919e-01 -1.47954192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684012739 meters 0.054372480944802064 Centerline is valid? [True, True] Translation: X:76.49, Y:-6.71, Z:-1.48 [[ 9.95584069e-01 9.19906987e-02 1.87102400e-02 7.64901753e+01] [-9.19603940e-02 9.95759588e-01 -2.47549353e-03 -6.71474516e+00] [-1.88586233e-02 7.43960877e-04 9.99821884e-01 -1.48134180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744012739 meters 0.04703099230378334 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.73, Z:-1.48 [[ 9.95071235e-01 9.71713818e-02 1.97726978e-02 7.65495229e+01] [-9.71385480e-02 9.95267429e-01 -2.61655762e-03 -6.72820766e+00] [-1.99333766e-02 6.82970074e-04 9.99801077e-01 -1.48009381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804012739 meters 0.038402818699459766 Centerline is valid? [True, True] Translation: X:76.61, Y:-6.73, Z:-1.48 [[ 9.94499331e-01 1.02707757e-01 2.05474226e-02 7.66099875e+01] [-1.02673479e-01 9.94711397e-01 -2.71908354e-03 -6.73103709e+00] [-2.07180264e-02 5.94451394e-04 9.99785182e-01 -1.48031130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864012739 meters 0.03317329748789077 Centerline is valid? [True, True] Translation: X:76.67, Y:-6.74, Z:-1.48 [[ 9.93701831e-01 1.10298568e-01 1.97711069e-02 7.66684249e+01] [-1.10268331e-01 9.93898410e-01 -2.61641918e-03 -6.74007907e+00] [-1.99390590e-02 4.19813577e-04 9.99801109e-01 -1.48330651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924012739 meters 0.03511843012493875 Centerline is valid? [True, True] Translation: X:76.73, Y:-6.76, Z:-1.49 [[ 9.93526203e-01 1.11995398e-01 1.90450746e-02 7.67283893e+01] [-1.11967660e-01 9.93708656e-01 -2.51991991e-03 -6.75720210e+00] [-1.92074749e-02 3.71174018e-04 9.99815451e-01 -1.48649508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98401273900001 meters 0.032219685289402576 Centerline is valid? [True, True] Translation: X:76.79, Y:-6.76, Z:-1.49 [[ 9.93386323e-01 1.13123176e-01 1.96662034e-02 7.67905141e+01] [-1.13093753e-01 9.93580905e-01 -2.60545809e-03 -6.76474309e+00] [-1.98347019e-02 3.64101678e-04 9.99803207e-01 -1.48600927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044012739 meters 0.030252393309978212 Centerline is valid? [True, True] Translation: X:76.85, Y:-6.77, Z:-1.49 [[ 9.93149203e-01 1.14897674e-01 2.12881217e-02 7.68523409e+01] [-1.14863527e-01 9.93377267e-01 -2.82398482e-03 -6.77487380e+00] [-2.14716055e-02 3.59409529e-04 9.99769394e-01 -1.48520360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104012739 meters 0.028886445605818687 Centerline is valid? [True, True] Translation: X:76.91, Y:-6.78, Z:-1.49 [[ 9.92999135e-01 1.16471905e-01 1.96726311e-02 7.69137013e+01] [-1.16443022e-01 9.93193941e-01 -2.61125858e-03 -6.78493930e+00] [-1.98428763e-02 3.02236905e-04 9.99803065e-01 -1.48895689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164012739 meters 0.02659606496682652 Centerline is valid? [True, True] Translation: X:76.97, Y:-6.80, Z:-1.49 [[ 9.92461221e-01 1.20983559e-01 1.95883397e-02 7.69744352e+01] [-1.20955736e-01 9.92654488e-01 -2.60337270e-03 -6.79564397e+00] [-1.97594186e-02 2.14424406e-04 9.99804741e-01 -1.49049218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224012739 meters 0.024219365985188382 Centerline is valid? [True, True] Translation: X:77.04, Y:-6.80, Z:-1.49 [[ 9.91804337e-01 1.26125817e-01 2.04067558e-02 7.70363380e+01] [-1.26096634e-01 9.92014246e-01 -2.71570694e-03 -6.80260342e+00] [-2.05863133e-02 1.20226705e-04 9.99788072e-01 -1.48860642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284012739 meters 0.023186479332540613 Centerline is valid? [True, True] Translation: X:77.10, Y:-6.81, Z:-1.49 [[ 9.91223109e-01 1.30494739e-01 2.11629880e-02 7.70971010e+01] [-1.30464270e-01 9.91449001e-01 -2.81996132e-03 -6.80971790e+00] [-2.13500134e-02 3.41970387e-05 9.99772062e-01 -1.48737015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34401273900001 meters 0.024076077981452972 Centerline is valid? [True, True] Translation: X:77.16, Y:-6.81, Z:-1.49 [[ 9.90316539e-01 1.37325540e-01 2.03678206e-02 7.71586258e+01] [-1.37298700e-01 9.90525964e-01 -2.71698297e-03 -6.80952091e+00] [-2.05479662e-02 -1.05802108e-04 9.99788863e-01 -1.49020491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404012739 meters 0.026175152272812644 Centerline is valid? [True, True] Translation: X:77.22, Y:-6.81, Z:-1.49 [[ 9.89595010e-01 1.42381754e-01 2.07159940e-02 7.72206723e+01] [-1.42355030e-01 9.89811796e-01 -2.76658743e-03 -6.81273888e+00] [-2.08988468e-02 -2.11224822e-04 9.99781573e-01 -1.49107637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464012739 meters 0.03067565667606929 Centerline is valid? [True, True] Translation: X:77.28, Y:-6.81, Z:-1.49 [[ 9.88616767e-01 1.48827281e-01 2.20755339e-02 7.72830728e+01] [-1.48798459e-01 9.88863138e-01 -2.95168731e-03 -6.81098277e+00] [-2.22689733e-02 -3.66717861e-04 9.99751948e-01 -1.48978775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524012739 meters 0.03382423929411765 Centerline is valid? [True, True] Translation: X:77.34, Y:-6.81, Z:-1.50 [[ 9.87692766e-01 1.54965319e-01 2.11837020e-02 7.73444371e+01] [-1.54940180e-01 9.87919792e-01 -2.83290053e-03 -6.81173044e+00] [-2.13667998e-02 -4.84171231e-04 9.99771587e-01 -1.49521011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584012739 meters 0.0390958133587943 Centerline is valid? [True, True] Translation: X:77.41, Y:-6.81, Z:-1.50 [[ 9.86754697e-01 1.61006067e-01 1.98044062e-02 7.74050070e+01] [-1.60985305e-01 9.86953249e-01 -2.64866557e-03 -6.80662598e+00] [-1.99724742e-02 -5.74635179e-04 9.99800365e-01 -1.49735228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644012739 meters 0.045489512133326644 Centerline is valid? [True, True] Translation: X:77.47, Y:-6.80, Z:-1.50 [[ 9.86128122e-01 1.64861427e-01 1.92882633e-02 7.74661621e+01] [-1.64842459e-01 9.86316535e-01 -2.58016254e-03 -6.79855421e+00] [-1.94497023e-02 -6.35153908e-04 9.99810635e-01 -1.50036245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704012739 meters 0.04586592513787862 Centerline is valid? [True, True] Translation: X:77.53, Y:-6.80, Z:-1.50 [[ 9.85826060e-01 1.66678716e-01 1.91098010e-02 7.75261880e+01] [-1.66660442e-01 9.86011036e-01 -2.55609276e-03 -6.79716018e+00] [-1.92685209e-02 -6.64985022e-04 9.99814124e-01 -1.50178833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764012739 meters 0.04465811088043199 Centerline is valid? [True, True] Translation: X:77.59, Y:-6.80, Z:-1.50 [[ 9.85722588e-01 1.67275753e-01 1.92302397e-02 7.75854586e+01] [-1.67257375e-01 9.85909914e-01 -2.57150724e-03 -6.80332164e+00] [-1.93894348e-02 -6.81606634e-04 9.99811775e-01 -1.50257866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824012739 meters 0.046325000888339365 Centerline is valid? [True, True] Translation: X:77.64, Y:-6.80, Z:-1.50 [[ 9.85788334e-01 1.66784937e-01 2.01033577e-02 7.76444658e+01] [-1.66764760e-01 9.85993048e-01 -2.68775901e-03 -6.79640772e+00] [-2.02700487e-02 -7.02970152e-04 9.99794294e-01 -1.50105413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884012739 meters 0.04462249360546413 Centerline is valid? [True, True] Translation: X:77.71, Y:-6.80, Z:-1.51 [[ 9.86222669e-01 1.64267415e-01 1.95208674e-02 7.77051193e+01] [-1.64247921e-01 9.86415640e-01 -2.60872150e-03 -6.79547498e+00] [-1.96842169e-02 -6.33481621e-04 9.99806046e-01 -1.50505356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944012739 meters 0.037302655733746325 Centerline is valid? [True, True] Translation: X:77.76, Y:-6.80, Z:-1.50 [[ 9.87259184e-01 1.57846964e-01 2.00907817e-02 7.77649042e+01] [-1.57824999e-01 9.87463450e-01 -2.68421920e-03 -6.80373346e+00] [-2.02626085e-02 -5.20807543e-04 9.99794557e-01 -1.50464644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004012739 meters 0.03086306550679055 Centerline is valid? [True, True] Translation: X:77.82, Y:-6.82, Z:-1.50 [[ 9.88427810e-01 1.50183193e-01 2.13418266e-02 7.78239788e+01] [-1.50156621e-01 9.88658110e-01 -2.85131537e-03 -6.81517240e+00] [-2.15279896e-02 -3.86297154e-04 9.99768171e-01 -1.50417790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064012739 meters 0.025981986195785633 Centerline is valid? [True, True] Translation: X:77.88, Y:-6.83, Z:-1.51 [[ 9.89521114e-01 1.42868125e-01 2.08965044e-02 7.78833523e+01] [-1.42841019e-01 9.89741708e-01 -2.79178092e-03 -6.83142830e+00] [-2.10809985e-02 -2.22351811e-04 9.99777746e-01 -1.50647849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124012739 meters 0.024117345875638144 Centerline is valid? [True, True] Translation: X:77.94, Y:-6.84, Z:-1.51 [[ 9.90076028e-01 1.38932121e-01 2.11500624e-02 7.79440764e+01] [-1.38903447e-01 9.90301896e-01 -2.82597838e-03 -6.84315984e+00] [-2.13375661e-02 -1.39883131e-04 9.99772318e-01 -1.50663995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184012739 meters 0.024140120961096495 Centerline is valid? [True, True] Translation: X:78.00, Y:-6.85, Z:-1.51 [[ 9.90156039e-01 1.38441858e-01 2.06123754e-02 7.80047213e+01] [-1.38414502e-01 9.90370555e-01 -2.75491381e-03 -6.85158327e+00] [-2.07952850e-02 -1.25257119e-04 9.99783747e-01 -1.50963027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244012739 meters 0.02471055904727794 Centerline is valid? [True, True] Translation: X:78.07, Y:-6.86, Z:-1.51 [[ 9.89930359e-01 1.40200009e-01 1.95407607e-02 7.80651085e+01] [-1.40175706e-01 9.90123192e-01 -2.61469944e-03 -6.85717732e+00] [-1.97143413e-02 -1.50769575e-04 9.99805642e-01 -1.51123479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304012739 meters 0.026406203902618535 Centerline is valid? [True, True] Translation: X:78.13, Y:-6.86, Z:-1.51 [[ 9.89465540e-01 1.43552826e-01 1.87224846e-02 7.81257486e+01] [-1.43531116e-01 9.89642634e-01 -2.50520799e-03 -6.85781661e+00] [-1.88881986e-02 -2.08442126e-04 9.99821580e-01 -1.51410104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364012739 meters 0.02628327625866793 Centerline is valid? [True, True] Translation: X:78.19, Y:-6.86, Z:-1.51 [[ 9.89438804e-01 1.43624181e-01 1.95690757e-02 7.81854268e+01] [-1.43600476e-01 9.89632279e-01 -2.61850539e-03 -6.86260227e+00] [-1.97422697e-02 -2.19277750e-04 9.99805078e-01 -1.51404515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424012739 meters 0.02554402852621908 Centerline is valid? [True, True] Translation: X:78.25, Y:-6.87, Z:-1.51 [[ 9.89607745e-01 1.42332894e-01 2.04415720e-02 7.82450783e+01] [-1.42306764e-01 9.89818825e-01 -2.73473914e-03 -6.87395785e+00] [-2.06226961e-02 -2.02654919e-04 9.99787309e-01 -1.51389309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48401273900001 meters 0.028242646825564103 Centerline is valid? [True, True] Translation: X:78.30, Y:-6.87, Z:-1.52 [[ 9.89005341e-01 1.46611925e-01 1.93230406e-02 7.83049986e+01] [-1.46589391e-01 9.89194049e-01 -2.58513302e-03 -6.87196169e+00] [-1.94932481e-02 -2.75842406e-04 9.99809951e-01 -1.51533331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544012739 meters 0.03187113555867725 Centerline is valid? [True, True] Translation: X:78.37, Y:-6.86, Z:-1.52 [[ 9.88324598e-01 1.51316180e-01 1.78298458e-02 7.83661650e+01] [-1.51297770e-01 9.88485355e-01 -2.38474707e-03 -6.86483833e+00] [-1.79853923e-02 -3.40711721e-04 9.99838192e-01 -1.51968801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604012739 meters 0.03439751221070122 Centerline is valid? [True, True] Translation: X:78.43, Y:-6.86, Z:-1.52 [[ 9.87903382e-01 1.53891488e-01 1.90870914e-02 7.84256772e+01] [-1.53870880e-01 9.88087667e-01 -2.55244040e-03 -6.86278254e+00] [-1.92525185e-02 -4.15383049e-04 9.99814567e-01 -1.51902572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664012739 meters 0.033700732753161246 Centerline is valid? [True, True] Translation: X:78.48, Y:-6.86, Z:-1.52 [[ 9.88097952e-01 1.52292749e-01 2.16646040e-02 7.84840833e+01] [-1.52265840e-01 9.88335331e-01 -2.89595260e-03 -6.86285221e+00] [-2.18529261e-02 -4.37294284e-04 9.99761101e-01 -1.51540029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724012739 meters 0.0311472274036982 Centerline is valid? [True, True] Translation: X:78.54, Y:-6.87, Z:-1.52 [[ 9.88558305e-01 1.49615500e-01 1.91749593e-02 7.85427420e+01] [-1.49593937e-01 9.88744198e-01 -2.56215958e-03 -6.86505513e+00] [-1.93424685e-02 -3.35613507e-04 9.99812861e-01 -1.52155090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784012739 meters 0.032181067549639716 Centerline is valid? [True, True] Translation: X:78.60, Y:-6.86, Z:-1.52 [[ 9.88324891e-01 1.51057718e-01 1.98865604e-02 7.86030040e+01] [-1.51034836e-01 9.88524872e-01 -2.65627234e-03 -6.85787443e+00] [-2.00596100e-02 -3.78303306e-04 9.99798714e-01 -1.51872536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84401273900001 meters 0.0321085638759351 Centerline is valid? [True, True] Translation: X:78.66, Y:-6.86, Z:-1.52 [[ 9.88122058e-01 1.51998279e-01 2.26124388e-02 7.86629611e+01] [-1.51968966e-01 9.88380654e-01 -3.01916896e-03 -6.85561484e+00] [-2.28086055e-02 -4.53081495e-04 9.99739747e-01 -1.51519391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904012739 meters 0.03193679907169075 Centerline is valid? [True, True] Translation: X:78.72, Y:-6.86, Z:-1.51 [[ 9.88206328e-01 1.51366481e-01 2.31611898e-02 7.87217360e+01] [-1.51335582e-01 9.88477610e-01 -3.09129138e-03 -6.85753255e+00] [-2.33622355e-02 -4.50278437e-04 9.99726964e-01 -1.51458271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964012739 meters 0.030119909486433203 Centerline is valid? [True, True] Translation: X:78.78, Y:-6.86, Z:-1.52 [[ 9.88676051e-01 1.48370635e-01 2.24904744e-02 7.87806115e+01] [-1.48340748e-01 9.88931756e-01 -3.00072043e-03 -6.85791195e+00] [-2.26867631e-02 -3.69513358e-04 9.99742554e-01 -1.51703972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024012739 meters 0.027667673436920476 Centerline is valid? [True, True] Translation: X:78.84, Y:-6.86, Z:-1.53 [[ 9.89181679e-01 1.45438027e-01 1.91673412e-02 7.88394548e+01] [-1.45415785e-01 9.89367330e-01 -2.55657350e-03 -6.86249780e+00] [-1.93353642e-02 -2.58318294e-04 9.99813021e-01 -1.52559474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084012739 meters 0.02503825260003451 Centerline is valid? [True, True] Translation: X:78.90, Y:-6.87, Z:-1.52 [[ 9.89922181e-01 1.40147103e-01 2.03190947e-02 7.88969060e+01] [-1.40121013e-01 9.90130679e-01 -2.70915404e-03 -6.86940070e+00] [-2.04982391e-02 -1.65280463e-04 9.99789875e-01 -1.52359516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144012739 meters 0.024540973794292816 Centerline is valid? [True, True] Translation: X:78.96, Y:-6.87, Z:-1.52 [[ 9.90071269e-01 1.38864663e-01 2.18056768e-02 7.89550944e+01] [-1.38834335e-01 9.90311356e-01 -2.90597309e-03 -6.86984143e+00] [-2.19979464e-02 -1.50256177e-04 9.99758005e-01 -1.52236706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204012739 meters 0.02407552785368925 Centerline is valid? [True, True] Translation: X:79.01, Y:-6.87, Z:-1.53 [[ 9.90093492e-01 1.38848421e-01 2.08804556e-02 7.90127286e+01] [-1.38820633e-01 9.90313635e-01 -2.78153744e-03 -6.87344764e+00] [-2.10644120e-02 -1.44655942e-04 9.99778110e-01 -1.52693088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264012739 meters 0.02326447551089925 Centerline is valid? [True, True] Translation: X:79.07, Y:-6.88, Z:-1.53 [[ 9.90569154e-01 1.35496021e-01 2.03366733e-02 7.90708357e+01] [-1.35468984e-01 9.90777888e-01 -2.70766460e-03 -6.87840809e+00] [-2.05160040e-02 -7.28594424e-05 9.99789522e-01 -1.52831750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324012739 meters 0.02356167413546545 Centerline is valid? [True, True] Translation: X:79.13, Y:-6.90, Z:-1.53 [[ 9.91642606e-01 1.27723320e-01 1.82125147e-02 7.91276407e+01] [-1.27700338e-01 9.91809834e-01 -2.42408341e-03 -6.89566660e+00] [-1.83729632e-02 7.80800979e-05 9.99831200e-01 -1.53395657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384012739 meters 0.024836523826258297 Centerline is valid? [True, True] Translation: X:79.18, Y:-6.91, Z:-1.53 [[ 9.92086498e-01 1.24167579e-01 1.86223744e-02 7.91844298e+01] [-1.24142941e-01 9.92261251e-01 -2.47773902e-03 -6.90545303e+00] [-1.87859154e-02 1.46295105e-04 9.99823518e-01 -1.53485897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444012739 meters 0.02590917088750881 Centerline is valid? [True, True] Translation: X:79.24, Y:-6.91, Z:-1.53 [[ 9.92411672e-01 1.21223870e-01 2.05875584e-02 7.92428808e+01] [-1.21193151e-01 9.92625168e-01 -2.73787004e-03 -6.91161215e+00] [-2.07676239e-02 2.22023103e-04 9.99784305e-01 -1.53268050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504012739 meters 0.032795526979987236 Centerline is valid? [True, True] Translation: X:79.30, Y:-6.92, Z:-1.53 [[ 9.92886308e-01 1.17604171e-01 1.86021145e-02 7.93012939e+01] [-1.17578472e-01 9.93060515e-01 -2.47304737e-03 -6.92103906e+00] [-1.87638661e-02 2.68246682e-04 9.99823907e-01 -1.52741681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564012739 meters 0.03200848386153885 Centerline is valid? [True, True] Translation: X:79.36, Y:-6.94, Z:-1.54 [[ 9.93307874e-01 1.13558818e-01 2.10680363e-02 7.93573130e+01] [-1.13524966e-01 9.93531199e-01 -2.79977084e-03 -6.94068971e+00] [-2.12496901e-02 3.89286315e-04 9.99774124e-01 -1.53585339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624012739 meters 0.03198517003743475 Centerline is valid? [True, True] Translation: X:79.42, Y:-6.95, Z:-1.54 [[ 9.93521287e-01 1.11775357e-01 2.05358805e-02 7.94165650e+01] [-1.11742832e-01 9.93733413e-01 -2.72813468e-03 -6.94654328e+00] [-2.07121288e-02 4.15722436e-04 9.99785394e-01 -1.53860469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684012739 meters 0.03138658894945648 Centerline is valid? [True, True] Translation: X:79.48, Y:-6.95, Z:-1.54 [[ 9.93567487e-01 1.11517129e-01 1.96870242e-02 7.94760248e+01] [-1.11487196e-01 9.93762430e-01 -2.61492796e-03 -6.95459655e+00] [-1.98558342e-02 4.03256277e-04 9.99802772e-01 -1.54177635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744012739 meters 0.0345405759814301 Centerline is valid? [True, True] Translation: X:79.53, Y:-6.97, Z:-1.54 [[ 9.93598489e-01 1.11304182e-01 1.93241423e-02 7.95328068e+01] [-1.11275311e-01 9.93786305e-01 -2.56628798e-03 -6.97404969e+00] [-1.94897066e-02 3.99559914e-04 9.99809978e-01 -1.54394355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804012739 meters 0.03111647560556205 Centerline is valid? [True, True] Translation: X:79.59, Y:-6.98, Z:-1.55 [[ 9.93554144e-01 1.11808450e-01 1.86824463e-02 7.95922992e+01] [-1.11781566e-01 9.93729706e-01 -2.48041558e-03 -6.97821077e+00] [-1.88426333e-02 3.76074072e-04 9.99822391e-01 -1.54563664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864012739 meters 0.031075576277326093 Centerline is valid? [True, True] Translation: X:79.65, Y:-7.00, Z:-1.55 [[ 9.93442311e-01 1.12593346e-01 1.98774450e-02 7.96490442e+01] [-1.12563079e-01 9.93641078e-01 -2.63856477e-03 -6.99539478e+00] [-2.00481307e-02 3.83795458e-04 9.99798942e-01 -1.54567284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924012739 meters 0.03067669151734715 Centerline is valid? [True, True] Translation: X:79.71, Y:-7.01, Z:-1.55 [[ 9.93451339e-01 1.12358666e-01 2.07356568e-02 7.97076359e+01] [-1.12325688e-01 9.93667634e-01 -2.75200322e-03 -7.00743631e+00] [-2.09135624e-02 4.04834358e-04 9.99781206e-01 -1.54533477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98401273900001 meters 0.030571042052097225 Centerline is valid? [True, True] Translation: X:79.77, Y:-7.02, Z:-1.55 [[ 9.93251021e-01 1.14160975e-01 2.04861229e-02 7.97658364e+01] [-1.14129180e-01 9.93462199e-01 -2.71840712e-03 -7.02475296e+00] [-2.06625247e-02 3.61996251e-04 9.99786442e-01 -1.54854971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044012739 meters 0.0269571767353214 Centerline is valid? [True, True] Translation: X:79.83, Y:-7.03, Z:-1.55 [[ 9.92668093e-01 1.19311318e-01 1.93614508e-02 7.98252112e+01] [-1.19283896e-01 9.92856864e-01 -2.56917930e-03 -7.03375946e+00] [-1.95296815e-02 2.40833032e-04 9.99809249e-01 -1.55099958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104012739 meters 0.0240455057899872 Centerline is valid? [True, True] Translation: X:79.88, Y:-7.04, Z:-1.55 [[ 9.92018021e-01 1.24507646e-01 1.99522324e-02 7.98845486e+01] [-1.24479580e-01 9.92218638e-01 -2.64734049e-03 -7.03969889e+00] [-2.01265910e-02 1.42563964e-04 9.99797429e-01 -1.55213474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164012739 meters 0.023229443733127852 Centerline is valid? [True, True] Translation: X:79.94, Y:-7.05, Z:-1.55 [[ 9.91605003e-01 1.27647748e-01 2.06293826e-02 7.99423020e+01] [-1.27618434e-01 9.91819563e-01 -2.73668334e-03 -7.05373653e+00] [-2.08099567e-02 8.10193929e-05 9.99783446e-01 -1.55225491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224012739 meters 0.02367579228689812 Centerline is valid? [True, True] Translation: X:80.00, Y:-7.05, Z:-1.56 [[ 9.90462450e-01 1.36447563e-01 1.91362703e-02 8.00002972e+01] [-1.36423986e-01 9.90647290e-01 -2.53826084e-03 -7.05322660e+00] [-1.93036339e-02 -9.65942246e-05 9.99813663e-01 -1.55572332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284012739 meters 0.032728886824997756 Centerline is valid? [True, True] Translation: X:80.06, Y:-7.04, Z:-1.56 [[ 9.88681665e-01 1.48736313e-01 1.96487996e-02 8.00612089e+01] [-1.48713902e-01 9.88876832e-01 -2.60504013e-03 -7.04456997e+00] [-1.98177068e-02 -3.46494249e-04 9.99803550e-01 -1.55614509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34401273900001 meters 0.03901294775248724 Centerline is valid? [True, True] Translation: X:80.12, Y:-7.04, Z:-1.56 [[ 9.87437836e-01 1.56718350e-01 2.01464576e-02 8.01224696e+01] [-1.56696452e-01 9.87643199e-01 -2.67078606e-03 -7.04484957e+00] [-2.03160730e-02 -5.19643231e-04 9.99793472e-01 -1.55658973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404012739 meters 0.04691413145950017 Centerline is valid? [True, True] Translation: X:80.18, Y:-7.04, Z:-1.56 [[ 9.86145084e-01 1.64670214e-01 2.00398090e-02 8.01831333e+01] [-1.64650186e-01 9.86348447e-01 -2.65660964e-03 -7.04373922e+00] [-2.02036990e-02 -6.79755753e-04 9.99795653e-01 -1.55875277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464012739 meters 0.05040209572639261 Centerline is valid? [True, True] Translation: X:80.24, Y:-7.05, Z:-1.56 [[ 9.85724820e-01 1.67023982e-01 2.12030469e-02 8.02421774e+01] [-1.67002111e-01 9.85952532e-01 -2.81053411e-03 -7.04548805e+00] [-2.13746244e-02 -7.70540365e-04 9.99771240e-01 -1.55848989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524012739 meters 0.05180818104746995 Centerline is valid? [True, True] Translation: X:80.30, Y:-7.05, Z:-1.56 [[ 9.85566731e-01 1.68066265e-01 2.02965193e-02 8.03006294e+01] [-1.68046465e-01 9.85775407e-01 -2.68941293e-03 -7.04954358e+00] [-2.04598091e-02 -7.60162403e-04 9.99790387e-01 -1.56115992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584012739 meters 0.05364696848386209 Centerline is valid? [True, True] Translation: X:80.36, Y:-7.05, Z:-1.56 [[ 9.85405745e-01 1.68945247e-01 2.08091515e-02 8.03597585e+01] [-1.68924651e-01 9.85625114e-01 -2.75635053e-03 -7.04806978e+00] [-2.09756947e-02 -7.99055003e-04 9.99779667e-01 -1.56083001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644012739 meters 0.04960988432372501 Centerline is valid? [True, True] Translation: X:80.42, Y:-7.05, Z:-1.56 [[ 9.85383147e-01 1.69085804e-01 2.07374978e-02 8.04180072e+01] [-1.69065416e-01 9.85601009e-01 -2.74513222e-03 -7.05296034e+00] [-2.09030616e-02 -8.00986661e-04 9.99781186e-01 -1.56372284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704012739 meters 0.04561236433789796 Centerline is valid? [True, True] Translation: X:80.48, Y:-7.06, Z:-1.57 [[ 9.86394499e-01 1.63269978e-01 1.92043193e-02 8.04772351e+01] [-1.63251409e-01 9.86581228e-01 -2.54130484e-03 -7.05851184e+00] [-1.93615397e-02 -6.28403063e-04 9.99812350e-01 -1.56723966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764012739 meters 0.03458847501534568 Centerline is valid? [True, True] Translation: X:80.54, Y:-7.08, Z:-1.57 [[ 9.88166737e-01 1.51995002e-01 2.05917152e-02 8.05361600e+01] [-1.51971209e-01 9.88381166e-01 -2.72456326e-03 -7.07704441e+00] [-2.07665835e-02 -4.37025063e-04 9.99784256e-01 -1.56543495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824012739 meters 0.02765771196419611 Centerline is valid? [True, True] Translation: X:80.59, Y:-7.09, Z:-1.56 [[ 9.89424305e-01 1.43203457e-01 2.30719287e-02 8.05937719e+01] [-1.43171197e-01 9.89693230e-01 -3.05261139e-03 -7.09140855e+00] [-2.32712762e-02 -2.82907755e-04 9.99729147e-01 -1.56221210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884012739 meters 0.025954278648730244 Centerline is valid? [True, True] Translation: X:80.65, Y:-7.10, Z:-1.57 [[ 9.89933070e-01 1.40108255e-01 2.00547457e-02 8.06514887e+01] [-1.40083254e-01 9.90136174e-01 -2.65302566e-03 -7.09950366e+00] [-2.02286399e-02 -1.83016193e-04 9.99795363e-01 -1.56950280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944012739 meters 0.02386857744453925 Centerline is valid? [True, True] Translation: X:80.71, Y:-7.11, Z:-1.57 [[ 9.90530311e-01 1.35707548e-01 2.08126038e-02 8.07094617e+01] [-1.35679671e-01 9.90748935e-01 -2.75230766e-03 -7.10950874e+00] [-2.09935739e-02 -9.76030590e-05 9.99779606e-01 -1.56875996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004012739 meters 0.023560634535447284 Centerline is valid? [True, True] Translation: X:80.77, Y:-7.13, Z:-1.57 [[ 9.91588151e-01 1.27827011e-01 2.03271930e-02 8.07668437e+01] [-1.27798780e-01 9.91796476e-01 -2.68720537e-03 -7.12679715e+00] [-2.05039359e-02 6.68105305e-05 9.99789770e-01 -1.57165411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064012739 meters 0.026064227258317606 Centerline is valid? [True, True] Translation: X:80.82, Y:-7.15, Z:-1.57 [[ 9.92380142e-01 1.21188071e-01 2.22509611e-02 8.08231093e+01] [-1.21152598e-01 9.92629539e-01 -2.94038878e-03 -7.14794223e+00] [-2.24433013e-02 2.22221685e-04 9.99748093e-01 -1.56975919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124012739 meters 0.03069245127719516 Centerline is valid? [True, True] Translation: X:80.88, Y:-7.18, Z:-1.56 [[ 9.93491873e-01 1.10756673e-01 2.65868123e-02 8.08808211e+01] [-1.10702309e-01 9.93847403e-01 -3.51253609e-03 -7.17771043e+00] [-2.68122712e-02 5.46454540e-04 9.99640337e-01 -1.56390030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184012739 meters 0.03762170327536628 Centerline is valid? [True, True] Translation: X:80.94, Y:-7.21, Z:-1.57 [[ 9.94327532e-01 1.03746345e-01 2.34404692e-02 8.09362402e+01] [-1.03702136e-01 9.94603577e-01 -3.09709012e-03 -7.21216680e+00] [-2.36352862e-02 6.48695257e-04 9.99720437e-01 -1.57072937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244012739 meters 0.036021340943565766 Centerline is valid? [True, True] Translation: X:81.00, Y:-7.23, Z:-1.57 [[ 9.94228651e-01 1.04826834e-01 2.28193643e-02 8.09960003e+01] [-1.04785193e-01 9.94490304e-01 -3.01626899e-03 -7.23319111e+00] [-2.30098225e-02 6.07729560e-04 9.99735054e-01 -1.57147582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304012739 meters 0.035834639782916046 Centerline is valid? [True, True] Translation: X:81.06, Y:-7.24, Z:-1.56 [[ 9.93482135e-01 1.12044723e-01 2.09577574e-02 8.10563876e+01] [-1.12011136e-01 9.93703081e-01 -2.77335419e-03 -7.24121662e+00] [-2.11365278e-02 4.07775622e-04 9.99776515e-01 -1.56426162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364012739 meters 0.02619992702458991 Centerline is valid? [True, True] Translation: X:81.12, Y:-7.25, Z:-1.58 [[ 9.92474008e-01 1.20549865e-01 2.15191270e-02 8.11156261e+01] [-1.20516448e-01 9.92707246e-01 -2.84778128e-03 -7.24950480e+00] [-2.17054929e-02 2.32940145e-04 9.99764381e-01 -1.57858742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424012739 meters 0.02912859421171854 Centerline is valid? [True, True] Translation: X:81.18, Y:-7.26, Z:-1.57 [[ 9.92394354e-01 1.21257209e-01 2.12163952e-02 8.11767999e+01] [-1.21224885e-01 9.92621097e-01 -2.80787819e-03 -7.26173294e+00] [-2.14003170e-02 2.14567401e-04 9.99770964e-01 -1.57194622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484012739 meters 0.026424296302402395 Centerline is valid? [True, True] Translation: X:81.24, Y:-7.28, Z:-1.58 [[ 9.92461257e-01 1.20670534e-01 2.14307332e-02 8.12355060e+01] [-1.20637336e-01 9.92692585e-01 -2.83992550e-03 -7.27926760e+00] [-2.16168253e-02 2.33169455e-04 9.99766302e-01 -1.58365542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544012739 meters 0.03111690159645803 Centerline is valid? [True, True] Translation: X:81.30, Y:-7.29, Z:-1.58 [[ 9.92343545e-01 1.21923743e-01 1.97203075e-02 8.12970322e+01] [-1.21895825e-01 9.92539452e-01 -2.61610538e-03 -7.28822172e+00] [-1.98921486e-02 1.92252137e-04 9.99802113e-01 -1.57506296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604012739 meters 0.024712065639293755 Centerline is valid? [True, True] Translation: X:81.36, Y:-7.30, Z:-1.59 [[ 9.91974870e-01 1.24837261e-01 2.00378479e-02 8.13582940e+01] [-1.24808961e-01 9.92177221e-01 -2.66165342e-03 -7.29594075e+00] [-2.02133697e-02 1.39390331e-04 9.99795679e-01 -1.58910022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664012739 meters 0.023520524281548646 Centerline is valid? [True, True] Translation: X:81.42, Y:-7.30, Z:-1.59 [[ 9.91274426e-01 1.30379961e-01 1.93927176e-02 8.14200557e+01] [-1.30354451e-01 9.91464102e-01 -2.57920887e-03 -7.29862991e+00] [-1.95634604e-02 2.87767431e-05 9.99808617e-01 -1.59246468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724012739 meters 0.023412569842861625 Centerline is valid? [True, True] Translation: X:81.48, Y:-7.30, Z:-1.59 [[ 9.91000693e-01 1.32295645e-01 2.03835684e-02 8.14797617e+01] [-1.32267855e-01 9.91210302e-01 -2.71149671e-03 -7.30455799e+00] [-2.05631222e-02 -8.99575504e-06 9.99788557e-01 -1.59107717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784012739 meters 0.023559269167410794 Centerline is valid? [True, True] Translation: X:81.54, Y:-7.32, Z:-1.59 [[ 9.91342808e-01 1.29486260e-01 2.17427042e-02 8.15397384e+01] [-1.29453954e-01 9.91581215e-01 -2.89276985e-03 -7.31605782e+00] [-2.19342310e-02 5.30475631e-05 9.99759414e-01 -1.59196470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84401273900001 meters 0.02569179983907101 Centerline is valid? [True, True] Translation: X:81.60, Y:-7.34, Z:-1.59 [[ 9.92100545e-01 1.23519474e-01 2.18963114e-02 8.15997785e+01] [-1.23485182e-01 9.92342130e-01 -2.91655485e-03 -7.33602635e+00] [-2.20888836e-02 1.89645660e-04 9.99755993e-01 -1.59266691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904012739 meters 0.02888634777333465 Centerline is valid? [True, True] Translation: X:81.66, Y:-7.36, Z:-1.60 [[ 9.92739318e-01 1.18433370e-01 2.10281707e-02 8.16597084e+01] [-1.18400535e-01 9.92961958e-01 -2.80408385e-03 -7.35573671e+00] [-2.12122706e-02 2.93977640e-04 9.99774951e-01 -1.59636007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964012739 meters 0.03161701871314404 Centerline is valid? [True, True] Translation: X:81.72, Y:-7.38, Z:-1.60 [[ 9.93369271e-01 1.13202880e-01 2.00648718e-02 8.17190788e+01] [-1.13171900e-01 9.93571818e-01 -2.67650673e-03 -7.37597042e+00] [-2.02388794e-02 3.87979876e-04 9.99795098e-01 -1.59962947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024012739 meters 0.03332143991040238 Centerline is valid? [True, True] Translation: X:81.78, Y:-7.39, Z:-1.60 [[ 9.93545549e-01 1.11606713e-01 2.02776512e-02 8.17780928e+01] [-1.11574730e-01 9.93752364e-01 -2.70537892e-03 -7.39438077e+00] [-2.04529023e-02 4.25443725e-04 9.99790727e-01 -1.60077145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084012739 meters 0.03234120963542883 Centerline is valid? [True, True] Translation: X:81.84, Y:-7.41, Z:-1.60 [[ 9.93350685e-01 1.13068582e-01 2.16774799e-02 8.18381288e+01] [-1.13032300e-01 9.93587094e-01 -2.89568857e-03 -7.41257752e+00] [-2.18658756e-02 4.26178815e-04 9.99760822e-01 -1.59905307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144012739 meters 0.03328812070561034 Centerline is valid? [True, True] Translation: X:81.90, Y:-7.43, Z:-1.60 [[ 9.93159823e-01 1.14801643e-01 2.13107546e-02 8.18977483e+01] [-1.14766904e-01 9.93388360e-01 -2.85012516e-03 -7.42761177e+00] [-2.14970546e-02 3.84860478e-04 9.99768838e-01 -1.60025682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204012739 meters 0.031026641512619742 Centerline is valid? [True, True] Translation: X:81.96, Y:-7.44, Z:-1.60 [[ 9.92851093e-01 1.17347621e-01 2.18229721e-02 8.19590710e+01] [-1.17311735e-01 9.93090842e-01 -2.92184430e-03 -7.44144240e+00] [-2.20150652e-02 3.40865588e-04 9.99757581e-01 -1.59948415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264012739 meters 0.03359787267373714 Centerline is valid? [True, True] Translation: X:82.02, Y:-7.45, Z:-1.59 [[ 9.92608135e-01 1.19272999e-01 2.24285861e-02 8.20206400e+01] [-1.19235551e-01 9.92861449e-01 -3.00442242e-03 -7.44912395e+00] [-2.26268250e-02 3.07929314e-04 9.99743933e-01 -1.58709978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324012739 meters 0.027613494457470716 Centerline is valid? [True, True] Translation: X:82.08, Y:-7.46, Z:-1.60 [[ 9.92298318e-01 1.21287503e-01 2.51672374e-02 8.20807570e+01] [-1.21240885e-01 9.92617375e-01 -3.37565788e-03 -7.46331525e+00] [-2.53908622e-02 2.98361495e-04 9.99677556e-01 -1.59508509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384012739 meters 0.025452808008331433 Centerline is valid? [True, True] Translation: X:82.14, Y:-7.47, Z:-1.60 [[ 9.91911630e-01 1.24813947e-01 2.30824079e-02 8.21426762e+01] [-1.24775614e-01 9.92180145e-01 -3.09921230e-03 -7.46636037e+00] [-2.32887318e-02 1.94023091e-04 9.99728762e-01 -1.59973237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444012739 meters 0.023778957713062213 Centerline is valid? [True, True] Translation: X:82.20, Y:-7.47, Z:-1.60 [[ 9.91354143e-01 1.29323657e-01 2.21890891e-02 8.22041101e+01] [-1.29289287e-01 9.91602432e-01 -2.98264604e-03 -7.47384944e+00] [-2.23884814e-02 8.80469962e-05 9.99749343e-01 -1.60256080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504012739 meters 0.023157337184095038 Centerline is valid? [True, True] Translation: X:82.27, Y:-7.48, Z:-1.60 [[ 9.90773232e-01 1.33372208e-01 2.40885081e-02 8.22659273e+01] [-1.33332803e-01 9.91066019e-01 -3.24183208e-03 -7.47717128e+00] [-2.43056721e-02 1.32134205e-07 9.99704574e-01 -1.59983961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564012739 meters 0.023899434941561146 Centerline is valid? [True, True] Translation: X:82.33, Y:-7.48, Z:-1.61 [[ 9.90260630e-01 1.37561985e-01 2.14612271e-02 8.23281920e+01] [-1.37531643e-01 9.90493156e-01 -2.89045707e-03 -7.47924729e+00] [-2.16548156e-02 -8.92919802e-05 9.99765503e-01 -1.60794021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624012739 meters 0.027510077949091032 Centerline is valid? [True, True] Translation: X:82.39, Y:-7.47, Z:-1.61 [[ 9.89316863e-01 1.44340279e-01 2.04457343e-02 8.23917843e+01] [-1.44314121e-01 9.89528087e-01 -2.75688670e-03 -7.47142900e+00] [-2.06295581e-02 -2.23173666e-04 9.99787163e-01 -1.61105612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684012739 meters 0.030957373203068513 Centerline is valid? [True, True] Translation: X:82.45, Y:-7.46, Z:-1.62 [[ 9.88804410e-01 1.48052600e-01 1.86082326e-02 8.24525846e+01] [-1.48031574e-01 9.88979450e-01 -2.50994783e-03 -7.46499111e+00] [-1.87747640e-02 -2.72758488e-04 9.99823701e-01 -1.61712241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744012739 meters 0.031685557549962384 Centerline is valid? [True, True] Translation: X:82.51, Y:-7.47, Z:-1.62 [[ 9.88698682e-01 1.48629161e-01 1.96032611e-02 8.25127483e+01] [-1.48605944e-01 9.88892958e-01 -2.64394412e-03 -7.46530418e+00] [-1.97784940e-02 -2.99097041e-04 9.99804342e-01 -1.61721803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804012739 meters 0.02775834711725331 Centerline is valid? [True, True] Translation: X:82.57, Y:-7.47, Z:-1.61 [[ 9.89323130e-01 1.44001151e-01 2.24368829e-02 8.25725937e+01] [-1.43969556e-01 9.89577492e-01 -3.02562472e-03 -7.47255447e+00] [-2.26387278e-02 -2.36907562e-04 9.99743683e-01 -1.61181795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864012739 meters 0.025078924761763512 Centerline is valid? [True, True] Translation: X:82.63, Y:-7.48, Z:-1.62 [[ 9.89935393e-01 1.39844568e-01 2.17120955e-02 8.26328388e+01] [-1.39813981e-01 9.90173459e-01 -2.92791732e-03 -7.48218813e+00] [-2.19081940e-02 -1.37205517e-04 9.99759977e-01 -1.61511115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924012739 meters 0.023460860942862108 Centerline is valid? [True, True] Translation: X:82.69, Y:-7.50, Z:-1.62 [[ 9.90764062e-01 1.34018033e-01 2.06334752e-02 8.26932501e+01] [-1.33989136e-01 9.90978893e-01 -2.78293558e-03 -7.50110161e+00] [-2.08203020e-02 -7.42895646e-06 9.99783234e-01 -1.62024283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984012739 meters 0.024267878734014172 Centerline is valid? [True, True] Translation: X:82.75, Y:-7.52, Z:-1.62 [[ 9.91468722e-01 1.28890171e-01 1.94189773e-02 8.27524351e+01] [-1.28863529e-01 9.91658870e-01 -2.62232515e-03 -7.51725852e+00] [-1.95949930e-02 9.75554183e-05 9.99807995e-01 -1.62329956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044012739 meters 0.03100916211101146 Centerline is valid? [True, True] Translation: X:82.81, Y:-7.53, Z:-1.62 [[ 9.91988535e-01 1.25136329e-01 1.73102484e-02 8.28119221e+01] [-1.25114545e-01 9.92139544e-01 -2.34000137e-03 -7.53219500e+00] [-1.74670012e-02 1.55490679e-04 9.99847428e-01 -1.61610337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104012739 meters 0.02693860124240775 Centerline is valid? [True, True] Translation: X:82.87, Y:-7.55, Z:-1.62 [[ 9.92299347e-01 1.21978408e-01 2.15237955e-02 8.28727692e+01] [-1.21943896e-01 9.92532718e-01 -2.91363127e-03 -7.54782816e+00] [-2.17184713e-02 2.66498925e-04 9.99764091e-01 -1.62087423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164012739 meters 0.033466547268086004 Centerline is valid? [True, True] Translation: X:82.93, Y:-7.57, Z:-1.61 [[ 9.92569124e-01 1.19196898e-01 2.44669972e-02 8.29312202e+01] [-1.19151349e-01 9.92870564e-01 -3.31637300e-03 -7.57282111e+00] [-2.46878627e-02 3.76453721e-04 9.99695137e-01 -1.61399427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224012739 meters 0.026613996562049307 Centerline is valid? [True, True] Translation: X:82.99, Y:-7.57, Z:-1.62 [[ 9.92176894e-01 1.23055501e-01 2.10322435e-02 8.29935656e+01] [-1.23022678e-01 9.92399761e-01 -2.85234228e-03 -7.56771596e+00] [-2.12233898e-02 2.42585184e-04 9.99774729e-01 -1.62332959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284012739 meters 0.023442592203867622 Centerline is valid? [True, True] Translation: X:83.06, Y:-7.56, Z:-1.62 [[ 9.91124658e-01 1.31207485e-01 2.13660339e-02 8.30568124e+01] [-1.31175492e-01 9.91354927e-01 -2.89815735e-03 -7.56256426e+00] [-2.15615829e-02 6.97352068e-05 9.99767520e-01 -1.62321813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34401273900001 meters 0.02307355881744189 Centerline is valid? [True, True] Translation: X:83.12, Y:-7.57, Z:-1.62 [[ 9.90632980e-01 1.34690124e-01 2.24692871e-02 8.31193395e+01] [-1.34655603e-01 9.90887769e-01 -3.04926539e-03 -7.56654682e+00] [-2.26752477e-02 -4.91253960e-06 9.99742884e-01 -1.62187203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404012739 meters 0.023092383956415583 Centerline is valid? [True, True] Translation: X:83.18, Y:-7.57, Z:-1.62 [[ 9.90472433e-01 1.35763882e-01 2.30765673e-02 8.31816646e+01] [-1.35727658e-01 9.90741221e-01 -3.13609423e-03 -7.57341018e+00] [-2.32886748e-02 -2.59135439e-05 9.99728782e-01 -1.62207575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464012739 meters 0.023187083043715685 Centerline is valid? [True, True] Translation: X:83.24, Y:-7.58, Z:-1.62 [[ 9.90344946e-01 1.36606543e-01 2.35699242e-02 8.32446258e+01] [-1.36568879e-01 9.90625384e-01 -3.20788228e-03 -7.58055642e+00] [-2.37871829e-02 -4.20081373e-05 9.99717044e-01 -1.62376110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524012739 meters 0.023694901007155093 Centerline is valid? [True, True] Translation: X:83.31, Y:-7.58, Z:-1.63 [[ 9.90076099e-01 1.39253951e-01 1.89117574e-02 8.33070485e+01] [-1.39230129e-01 9.90256699e-01 -2.57695457e-03 -7.58373883e+00] [-1.90863456e-02 -8.17052956e-05 9.99817836e-01 -1.63095901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584012739 meters 0.02434211675586777 Centerline is valid? [True, True] Translation: X:83.37, Y:-7.59, Z:-1.63 [[ 9.89823520e-01 1.41122413e-01 1.82719581e-02 8.33689550e+01] [-1.41100451e-01 9.89992148e-01 -2.49212527e-03 -7.58561984e+00] [-1.84407898e-02 -1.11417321e-04 9.99829948e-01 -1.63400006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644012739 meters 0.02441141145587907 Centerline is valid? [True, True] Translation: X:83.43, Y:-7.59, Z:-1.63 [[ 9.89724321e-01 1.41620836e-01 1.97308698e-02 8.34296047e+01] [-1.41595315e-01 9.89920967e-01 -2.69163240e-03 -7.58988609e+00] [-1.99131929e-02 -1.29824667e-04 9.99801704e-01 -1.63256942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704012739 meters 0.023846107496771345 Centerline is valid? [True, True] Translation: X:83.49, Y:-7.60, Z:-1.64 [[ 9.90078902e-01 1.39399026e-01 1.76544268e-02 8.34911806e+01] [-1.39378242e-01 9.90236288e-01 -2.40827521e-03 -7.59532430e+00] [-1.78177653e-02 -7.62604972e-05 9.99841248e-01 -1.63774635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764012739 meters 0.023817890425909125 Centerline is valid? [True, True] Translation: X:83.55, Y:-7.60, Z:-1.64 [[ 9.90183886e-01 1.38571645e-01 1.82693875e-02 8.35512568e+01] [-1.38549234e-01 9.90352410e-01 -2.49289624e-03 -7.60385731e+00] [-1.84385767e-02 -6.27839613e-05 9.99829993e-01 -1.63857925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824012739 meters 0.023154238489182997 Centerline is valid? [True, True] Translation: X:83.61, Y:-7.61, Z:-1.64 [[ 9.90590478e-01 1.35384404e-01 2.00391717e-02 8.36116932e+01] [-1.35356783e-01 9.90793148e-01 -2.73464546e-03 -7.61442488e+00] [-2.02249024e-02 -3.52406869e-06 9.99795456e-01 -1.63543766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884012739 meters 0.024318026655452026 Centerline is valid? [True, True] Translation: X:83.67, Y:-7.64, Z:-1.64 [[ 9.91404518e-01 1.29198593e-01 2.06108114e-02 8.36698570e+01] [-1.29168023e-01 9.91618731e-01 -2.81320367e-03 -7.63784750e+00] [-2.08015286e-02 1.26765053e-04 9.99783617e-01 -1.63644849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944012739 meters 0.02582733202451734 Centerline is valid? [True, True] Translation: X:83.73, Y:-7.66, Z:-1.64 [[ 9.91893060e-01 1.25415970e-01 2.04693058e-02 8.37299781e+01] [-1.25384949e-01 9.92104224e-01 -2.79699846e-03 -7.65654302e+00] [-2.06584730e-02 2.07780491e-04 9.99786569e-01 -1.63668059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004012739 meters 0.026644717037683324 Centerline is valid? [True, True] Translation: X:83.79, Y:-7.68, Z:-1.64 [[ 9.92100785e-01 1.23684897e-01 2.09303257e-02 8.37905392e+01] [-1.23652002e-01 9.92321512e-01 -2.86357502e-03 -7.67587836e+00] [-2.11237934e-02 2.52878348e-04 9.99776836e-01 -1.63637806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064012739 meters 0.025955061065644335 Centerline is valid? [True, True] Translation: X:83.85, Y:-7.69, Z:-1.64 [[ 9.91916356e-01 1.25202381e-01 2.06471713e-02 8.38521674e+01] [-1.25170627e-01 9.92131198e-01 -2.82828190e-03 -7.68669786e+00] [-2.08388104e-02 2.20999693e-04 9.99782824e-01 -1.63859769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124012739 meters 0.024924419309354354 Centerline is valid? [True, True] Translation: X:83.91, Y:-7.70, Z:-1.64 [[ 9.91568086e-01 1.28087991e-01 1.96519062e-02 8.39128995e+01] [-1.28059729e-01 9.91762795e-01 -2.69509588e-03 -7.69572142e+00] [-1.98352388e-02 1.55753287e-04 9.99803250e-01 -1.64017213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184012739 meters 0.023322053511342103 Centerline is valid? [True, True] Translation: X:83.98, Y:-7.70, Z:-1.64 [[ 9.90853855e-01 1.33284017e-01 2.10714925e-02 8.39754722e+01] [-1.33252624e-01 9.91077882e-01 -2.89326768e-03 -7.69819741e+00] [-2.12691165e-02 5.89737670e-05 9.99773785e-01 -1.63917750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244012739 meters 0.023358582820365143 Centerline is valid? [True, True] Translation: X:84.04, Y:-7.70, Z:-1.65 [[ 9.90608745e-01 1.35577913e-01 1.76902335e-02 8.40368415e+01] [-1.35556108e-01 9.90766688e-01 -2.43150771e-03 -7.70409036e+00] [-1.78565528e-02 1.06535985e-05 9.99840559e-01 -1.64827501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304012739 meters 0.02348378643484195 Centerline is valid? [True, True] Translation: X:84.10, Y:-7.71, Z:-1.65 [[ 9.90822431e-01 1.34059127e-01 1.72933979e-02 8.40993360e+01] [-1.34038028e-01 9.90973334e-01 -2.37870885e-03 -7.71394986e+00] [-1.74561838e-02 3.89051331e-05 9.99847628e-01 -1.64931932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364012739 meters 0.024450108415590678 Centerline is valid? [True, True] Translation: X:84.16, Y:-7.73, Z:-1.65 [[ 9.91349544e-01 1.29913615e-01 1.86690600e-02 8.41601336e+01] [-1.29888215e-01 9.91525308e-01 -2.57190878e-03 -7.73092516e+00] [-1.88449714e-02 1.24769729e-04 9.99822410e-01 -1.64755055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424012739 meters 0.0251404414601146 Centerline is valid? [True, True] Translation: X:84.22, Y:-7.74, Z:-1.65 [[ 9.91582562e-01 1.28044409e-01 1.92003032e-02 8.42209136e+01] [-1.28017127e-01 9.91768421e-01 -2.64841902e-03 -7.74456057e+00] [-1.93813697e-02 1.68158466e-04 9.99812149e-01 -1.64791293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484012739 meters 0.025962654408611736 Centerline is valid? [True, True] Translation: X:84.28, Y:-7.76, Z:-1.65 [[ 9.91839433e-01 1.25917001e-01 1.99862096e-02 8.42815825e+01] [-1.25886937e-01 9.92040755e-01 -2.76035224e-03 -7.75848947e+00] [-2.01747097e-02 2.21823501e-04 9.99796445e-01 -1.64667696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544012739 meters 0.027348628710846153 Centerline is valid? [True, True] Translation: X:84.34, Y:-7.78, Z:-1.65 [[ 9.92115242e-01 1.23823390e-01 1.93678543e-02 8.43409374e+01] [-1.23794695e-01 9.92304238e-01 -2.67818176e-03 -7.77960405e+00] [-1.95504255e-02 2.59427328e-04 9.99808839e-01 -1.64895682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604012739 meters 0.028728874003107314 Centerline is valid? [True, True] Translation: X:84.40, Y:-7.80, Z:-1.65 [[ 9.92304288e-01 1.22516057e-01 1.79447899e-02 8.44000866e+01] [-1.22491164e-01 9.92466495e-01 -2.48401884e-03 -7.79985495e+00] [-1.81139349e-02 2.66824354e-04 9.99835894e-01 -1.65286945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664012739 meters 0.0270382782472558 Centerline is valid? [True, True] Translation: X:84.46, Y:-7.81, Z:-1.65 [[ 9.91916827e-01 1.25683876e-01 1.74519817e-02 8.44607821e+01] [-1.25660775e-01 9.92070321e-01 -2.41842043e-03 -7.81278695e+00] [-1.76175495e-02 2.05842379e-04 9.99844778e-01 -1.65329147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724012739 meters 0.023912749388943045 Centerline is valid? [True, True] Translation: X:84.52, Y:-7.81, Z:-1.65 [[ 9.91078710e-01 1.31969363e-01 1.86300159e-02 8.45237973e+01] [-1.31944084e-01 9.91253790e-01 -2.58500449e-03 -7.81319948e+00] [-1.88082152e-02 1.03822525e-04 9.99823104e-01 -1.65210676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784012739 meters 0.023809977064267067 Centerline is valid? [True, True] Translation: X:84.59, Y:-7.81, Z:-1.65 [[ 9.89692132e-01 1.41984725e-01 1.87035304e-02 8.45859337e+01] [-1.41960971e-01 9.89868845e-01 -2.59846898e-03 -7.81103557e+00] [-1.88829849e-02 -8.34870283e-05 9.99821697e-01 -1.65333398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84401273900001 meters 0.02601030029673597 Centerline is valid? [True, True] Translation: X:84.65, Y:-7.81, Z:-1.65 [[ 9.88688381e-01 1.48809423e-01 1.87360983e-02 8.46479565e+01] [-1.48786754e-01 9.88865871e-01 -2.60595583e-03 -7.81267507e+00] [-1.89152790e-02 -2.11204998e-04 9.99821068e-01 -1.65491179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904012739 meters 0.03039409136430976 Centerline is valid? [True, True] Translation: X:84.71, Y:-7.81, Z:-1.66 [[ 9.88014416e-01 1.53410836e-01 1.71064063e-02 8.47103864e+01] [-1.53392581e-01 9.88162457e-01 -2.38200698e-03 -7.80922541e+00] [-1.72693342e-02 -2.70538579e-04 9.99850837e-01 -1.65881823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964012739 meters 0.0319159571340116 Centerline is valid? [True, True] Translation: X:84.77, Y:-7.81, Z:-1.66 [[ 9.87455144e-01 1.57060598e-01 1.62575353e-02 8.47729422e+01] [-1.57044580e-01 9.87588917e-01 -2.26528446e-03 -7.81255726e+00] [-1.64115486e-02 -3.16291009e-04 9.99865271e-01 -1.66139321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024012739 meters 0.034892706418049334 Centerline is valid? [True, True] Translation: X:84.83, Y:-7.81, Z:-1.66 [[ 9.86823420e-01 1.60751765e-01 1.83958707e-02 8.48339137e+01] [-1.60731875e-01 9.86994776e-01 -2.56433922e-03 -7.81367472e+00] [-1.85688504e-02 -4.26252804e-04 9.99827493e-01 -1.65854757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084012739 meters 0.03617995091497427 Centerline is valid? [True, True] Translation: X:84.89, Y:-7.82, Z:-1.66 [[ 9.86743007e-01 1.61382439e-01 1.71448912e-02 8.48941343e+01] [-1.61365258e-01 9.86891859e-01 -2.38991882e-03 -7.81791481e+00] [-1.73058444e-02 -4.08354110e-04 9.99850159e-01 -1.66336449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144012739 meters 0.038812166755407836 Centerline is valid? [True, True] Translation: X:84.95, Y:-7.82, Z:-1.67 [[ 9.86456333e-01 1.63383870e-01 1.44780885e-02 8.49536832e+01] [-1.63371830e-01 9.86562502e-01 -2.01844888e-03 -7.81979921e+00] [-1.46133213e-02 -3.74200136e-04 9.99893150e-01 -1.66944490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204012739 meters 0.04083068936770216 Centerline is valid? [True, True] Translation: X:85.01, Y:-7.83, Z:-1.66 [[ 9.86104213e-01 1.65157261e-01 1.79321285e-02 8.50134575e+01] [-1.65139088e-01 9.86267121e-01 -2.49975170e-03 -7.82666762e+00] [-1.80987209e-02 -4.96279662e-04 9.99836082e-01 -1.66342416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264012739 meters 0.04098090112069797 Centerline is valid? [True, True] Translation: X:85.07, Y:-7.83, Z:-1.66 [[ 9.86135991e-01 1.64892233e-01 1.86107189e-02 8.50722517e+01] [-1.64872620e-01 9.86311457e-01 -2.59390009e-03 -7.83413905e+00] [-1.87836793e-02 -5.10459759e-04 9.99823441e-01 -1.66260087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324012739 meters 0.038385028190303795 Centerline is valid? [True, True] Translation: X:85.13, Y:-7.85, Z:-1.67 [[ 9.86320595e-01 1.64105707e-01 1.55242151e-02 8.51316735e+01] [-1.64091971e-01 9.86442672e-01 -2.16321220e-03 -7.84913585e+00] [-1.56687437e-02 -4.13778311e-04 9.99877152e-01 -1.66924078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384012739 meters 0.040831815838847194 Centerline is valid? [True, True] Translation: X:85.19, Y:-7.85, Z:-1.66 [[ 9.86303005e-01 1.63985664e-01 1.77505906e-02 8.51905164e+01] [-1.63967674e-01 9.86462610e-01 -2.47408953e-03 -7.85305402e+00] [-1.79160091e-02 -4.70321099e-04 9.99839385e-01 -1.66476624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444012739 meters 0.03955490803997232 Centerline is valid? [True, True] Translation: X:85.25, Y:-7.86, Z:-1.66 [[ 9.86246726e-01 1.64236897e-01 1.85374564e-02 8.52508051e+01] [-1.64217335e-01 9.86420800e-01 -2.58300877e-03 -7.86089547e+00] [-1.87099579e-02 -4.96687726e-04 9.99824830e-01 -1.66371568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504012739 meters 0.03854784747424389 Centerline is valid? [True, True] Translation: X:85.31, Y:-7.87, Z:-1.67 [[ 9.86641872e-01 1.62109477e-01 1.60727488e-02 8.53095000e+01] [-1.62094490e-01 9.86772700e-01 -2.23947670e-03 -7.87054657e+00] [-1.62231901e-02 -3.95742540e-04 9.99868317e-01 -1.67032311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564012739 meters 0.03484189076323534 Centerline is valid? [True, True] Translation: X:85.37, Y:-7.88, Z:-1.67 [[ 9.87551977e-01 1.56425644e-01 1.64957658e-02 8.53682806e+01] [-1.56409057e-01 9.87689689e-01 -2.29891242e-03 -7.88268295e+00] [-1.66523066e-02 -3.09791664e-04 9.99861293e-01 -1.67000008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624012739 meters 0.03332685491228722 Centerline is valid? [True, True] Translation: X:85.43, Y:-7.89, Z:-1.68 [[ 9.87959159e-01 1.54171494e-01 1.29557235e-02 8.54279857e+01] [-1.54161068e-01 9.88044080e-01 -1.80555871e-03 -7.89405011e+00] [-1.30791916e-02 -2.13449907e-04 9.99914441e-01 -1.67783409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684012739 meters 0.037704404171896876 Centerline is valid? [True, True] Translation: X:85.49, Y:-7.89, Z:-1.67 [[ 9.87249334e-01 1.58494731e-01 1.47706428e-02 8.54876793e+01] [-1.58481661e-01 9.87359775e-01 -2.05867241e-03 -7.89013015e+00] [-1.49102273e-02 -3.08453049e-04 9.99888789e-01 -1.67372072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744012739 meters 0.03647261603662111 Centerline is valid? [True, True] Translation: X:85.55, Y:-7.90, Z:-1.67 [[ 9.86821709e-01 1.60844076e-01 1.76662908e-02 8.55461778e+01] [-1.60825767e-01 9.86979743e-01 -2.46155542e-03 -7.90045396e+00] [-1.78321978e-02 -4.12078434e-04 9.99840909e-01 -1.66680668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804012739 meters 0.03573925831489675 Centerline is valid? [True, True] Translation: X:85.61, Y:-7.91, Z:-1.67 [[ 9.86936520e-01 1.60308938e-01 1.60421461e-02 8.56061851e+01] [-1.60293781e-01 9.87066822e-01 -2.23459450e-03 -7.91142550e+00] [-1.61928957e-02 -3.66053342e-04 9.99868819e-01 -1.67043939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864012739 meters 0.0358889398307947 Centerline is valid? [True, True] Translation: X:85.67, Y:-7.92, Z:-1.67 [[ 9.86832579e-01 1.60899913e-01 1.65129649e-02 8.56654548e+01] [-1.60883934e-01 9.86970652e-01 -2.30029836e-03 -7.91970576e+00] [-1.66679296e-02 -3.86661398e-04 9.99861006e-01 -1.66923514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924012739 meters 0.03951438845079989 Centerline is valid? [True, True] Translation: X:85.73, Y:-7.92, Z:-1.67 [[ 9.86270119e-01 1.64257722e-01 1.70485352e-02 8.57257288e+01] [-1.64241198e-01 9.86417351e-01 -2.37444225e-03 -7.92030113e+00] [-1.72069914e-02 -4.58230415e-04 9.99851844e-01 -1.66986014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984012739 meters 0.038428579432801424 Centerline is valid? [True, True] Translation: X:85.78, Y:-7.93, Z:-1.67 [[ 9.86254126e-01 1.64442987e-01 1.61648796e-02 8.57837785e+01] [-1.64428159e-01 9.86386492e-01 -2.25124068e-03 -7.93441722e+00] [-1.63150196e-02 -4.37665990e-04 9.99866805e-01 -1.67023833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044012739 meters 0.039743625838082094 Centerline is valid? [True, True] Translation: X:85.84, Y:-7.94, Z:-1.67 [[ 9.85924941e-01 1.66205099e-01 1.81073148e-02 8.58432306e+01] [-1.66186799e-01 9.86091066e-01 -2.52124020e-03 -7.94309841e+00] [-1.82745043e-02 -5.23443099e-04 9.99832870e-01 -1.66979283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104012739 meters 0.04297507174621077 Centerline is valid? [True, True] Translation: X:85.90, Y:-7.95, Z:-1.67 [[ 9.85796717e-01 1.67075730e-01 1.70450496e-02 8.59028677e+01] [-1.67059647e-01 9.85943935e-01 -2.37314059e-03 -7.94560777e+00] [-1.72019574e-02 -5.08105773e-04 9.99851906e-01 -1.67168469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164012739 meters 0.04331761148026502 Centerline is valid? [True, True] Translation: X:85.96, Y:-7.95, Z:-1.68 [[ 9.85592793e-01 1.68420888e-01 1.55322487e-02 8.59614905e+01] [-1.68407701e-01 9.85715055e-01 -2.16244612e-03 -7.95343426e+00] [-1.56745725e-02 -4.84458988e-04 9.99877029e-01 -1.67627727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224012739 meters 0.04785451496085986 Centerline is valid? [True, True] Translation: X:86.02, Y:-7.95, Z:-1.67 [[ 9.85232118e-01 1.70354038e-01 1.72387916e-02 8.60208663e+01] [-1.70338101e-01 9.85382755e-01 -2.39943569e-03 -7.95349794e+00] [-1.73955615e-02 -5.72421918e-04 9.99848522e-01 -1.67330641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284012739 meters 0.0459155601145439 Centerline is valid? [True, True] Translation: X:86.08, Y:-7.96, Z:-1.67 [[ 9.85086989e-01 1.71200019e-01 1.71515872e-02 8.60796127e+01] [-1.71184381e-01 9.85236120e-01 -2.38670768e-03 -7.96041466e+00] [-1.73069676e-02 -5.84969144e-04 9.99850052e-01 -1.67315915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34401273900001 meters 0.047845129086255045 Centerline is valid? [True, True] Translation: X:86.14, Y:-7.96, Z:-1.67 [[ 9.85002873e-01 1.71592415e-01 1.80384083e-02 8.61377381e+01] [-1.71575195e-01 9.85167831e-01 -2.50949158e-03 -7.96005283e+00] [-1.82014693e-02 -6.23087009e-04 9.99834145e-01 -1.67382840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404012739 meters 0.04781920227598064 Centerline is valid? [True, True] Translation: X:86.20, Y:-7.97, Z:-1.68 [[ 9.85131604e-01 1.71091925e-01 1.55973204e-02 8.61965734e+01] [-1.71079001e-01 9.85254927e-01 -2.16908615e-03 -7.96567020e+00] [-1.57384499e-02 -5.31538673e-04 9.99876002e-01 -1.67876682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464012739 meters 0.038914972947778494 Centerline is valid? [True, True] Translation: X:86.26, Y:-7.98, Z:-1.68 [[ 9.85900833e-01 1.66432349e-01 1.73153168e-02 8.62553729e+01] [-1.66415719e-01 9.86052744e-01 -2.40701819e-03 -7.97902727e+00] [-1.74744213e-02 -5.08459653e-04 9.99847181e-01 -1.67612761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524012739 meters 0.03636399416171582 Centerline is valid? [True, True] Translation: X:86.31, Y:-7.99, Z:-1.67 [[ 9.86550725e-01 1.62403908e-01 1.85104865e-02 8.63129556e+01] [-1.62384198e-01 9.86724253e-01 -2.57296252e-03 -7.99003730e+00] [-1.86826052e-02 -4.67452469e-04 9.99825356e-01 -1.67435351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584012739 meters 0.03543125715517246 Centerline is valid? [True, True] Translation: X:86.37, Y:-7.99, Z:-1.68 [[ 9.87340618e-01 1.57679135e-01 1.71986751e-02 8.63717464e+01] [-1.57661413e-01 9.87490337e-01 -2.39000460e-03 -7.99475630e+00] [-1.73603793e-02 -3.51818803e-04 9.99849235e-01 -1.67859410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644012739 meters 0.02784354681128596 Centerline is valid? [True, True] Translation: X:86.43, Y:-8.02, Z:-1.68 [[ 9.88535213e-01 1.50074028e-01 1.66108083e-02 8.64297473e+01] [-1.50056431e-01 9.88674740e-01 -2.30784499e-03 -8.01574848e+00] [-1.67690342e-02 -2.11172572e-04 9.99859368e-01 -1.68097713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704012739 meters 0.02394821784682495 Centerline is valid? [True, True] Translation: X:86.49, Y:-8.04, Z:-1.68 [[ 9.89764052e-01 1.41676524e-01 1.71722081e-02 8.64890644e+01] [-1.41656453e-01 9.89913005e-01 -2.38573009e-03 -8.03717266e+00] [-1.73369941e-02 -7.12442152e-05 9.99849700e-01 -1.68040430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764012739 meters 0.024210827684816562 Centerline is valid? [True, True] Translation: X:86.55, Y:-8.06, Z:-1.68 [[ 9.91016079e-01 1.32521083e-01 1.80359041e-02 8.65481738e+01] [-1.32497418e-01 9.91180182e-01 -2.50610102e-03 -8.06297993e+00] [-1.82089419e-02 9.38756925e-05 9.99834199e-01 -1.68060623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824012739 meters 0.02684284878374685 Centerline is valid? [True, True] Translation: X:86.61, Y:-8.09, Z:-1.68 [[ 9.91787691e-01 1.26456885e-01 1.91267653e-02 8.66080890e+01] [-1.26429067e-01 9.91972080e-01 -2.66152871e-03 -8.08580326e+00] [-1.93097858e-02 2.21492308e-04 9.99813524e-01 -1.68069480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884012739 meters 0.030687909806050684 Centerline is valid? [True, True] Translation: X:86.67, Y:-8.11, Z:-1.68 [[ 9.92520788e-01 1.20764051e-01 1.78473994e-02 8.66674905e+01] [-1.20738895e-01 9.92681191e-01 -2.48433399e-03 -8.10609678e+00] [-1.80167959e-02 3.10877842e-04 9.99837636e-01 -1.67920720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944012739 meters 0.02809375023793221 Centerline is valid? [True, True] Translation: X:86.73, Y:-8.12, Z:-1.69 [[ 9.92101659e-01 1.24367852e-01 1.63381734e-02 8.67284317e+01] [-1.24347263e-01 9.92236155e-01 -2.27403995e-03 -8.11525385e+00] [-1.64941438e-02 2.24471666e-04 9.99863937e-01 -1.68592919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004012739 meters 0.02553449517436309 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.12, Z:-1.68 [[ 9.91480331e-01 1.28721029e-01 1.99411427e-02 8.67887306e+01] [-1.28691152e-01 9.91680826e-01 -2.77970821e-03 -8.12085402e+00] [-2.01330557e-02 1.89777393e-04 9.99797291e-01 -1.68091979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064012739 meters 0.024686522802104507 Centerline is valid? [True, True] Translation: X:86.85, Y:-8.13, Z:-1.68 [[ 9.91189602e-01 1.30994751e-01 1.95843716e-02 8.68492296e+01] [-1.30966374e-01 9.91383052e-01 -2.73011032e-03 -8.12979430e+00] [-1.97732442e-02 1.41162818e-04 9.99804480e-01 -1.68299186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124012739 meters 0.024133584674270254 Centerline is valid? [True, True] Translation: X:86.91, Y:-8.14, Z:-1.68 [[ 9.91084844e-01 1.31891516e-01 1.88536571e-02 8.69115391e+01] [-1.31865329e-01 9.91264149e-01 -2.63095315e-03 -8.13824341e+00] [-1.90359548e-02 1.21354098e-04 9.99818792e-01 -1.68497493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184012739 meters 0.02410562059106796 Centerline is valid? [True, True] Translation: X:86.97, Y:-8.15, Z:-1.69 [[ 9.90948611e-01 1.33012282e-01 1.81268878e-02 8.69742780e+01] [-1.32988200e-01 9.91114384e-01 -2.53291228e-03 -8.14758980e+00] [-1.83027276e-02 9.93237295e-05 9.99832486e-01 -1.68836971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244012739 meters 0.024104826012379562 Centerline is valid? [True, True] Translation: X:87.04, Y:-8.16, Z:-1.69 [[ 9.90980974e-01 1.32634072e-01 1.91026957e-02 8.70355376e+01] [-1.32607181e-01 9.91165067e-01 -2.67321135e-03 -8.15871879e+00] [-1.92884836e-02 1.15946947e-04 9.99813953e-01 -1.68758667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304012739 meters 0.0244209349086457 Centerline is valid? [True, True] Translation: X:87.10, Y:-8.17, Z:-1.69 [[ 9.91143208e-01 1.31258747e-01 2.01564434e-02 8.70966438e+01] [-1.31228445e-01 9.91348131e-01 -2.82450642e-03 -8.17122812e+00] [-2.03527937e-02 1.54391635e-04 9.99792849e-01 -1.68743895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364012739 meters 0.025898503407605307 Centerline is valid? [True, True] Translation: X:87.16, Y:-8.19, Z:-1.69 [[ 9.91446343e-01 1.29174434e-01 1.86578270e-02 8.71557282e+01] [-1.29148044e-01 9.91621869e-01 -2.61754434e-03 -8.18719591e+00] [-1.88396291e-02 1.85532902e-04 9.99822501e-01 -1.69172683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424012739 meters 0.025653263103629514 Centerline is valid? [True, True] Translation: X:87.22, Y:-8.20, Z:-1.70 [[ 9.91428805e-01 1.29506470e-01 1.72336334e-02 8.72177770e+01] [-1.29483963e-01 9.91578563e-01 -2.42016723e-03 -8.19608566e+00] [-1.74019287e-02 1.67944354e-04 9.99848561e-01 -1.69556426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484012739 meters 0.024773551335880575 Centerline is valid? [True, True] Translation: X:87.28, Y:-8.21, Z:-1.69 [[ 9.91205905e-01 1.31028593e-01 1.85030457e-02 8.72790404e+01] [-1.31002840e-01 9.91378577e-01 -2.60235902e-03 -8.20508958e+00] [-1.86845065e-02 1.55522089e-04 9.99825417e-01 -1.69452953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544012739 meters 0.024467969067425488 Centerline is valid? [True, True] Translation: X:87.34, Y:-8.22, Z:-1.69 [[ 9.91115377e-01 1.31564592e-01 1.95209375e-02 8.73410294e+01] [-1.31535962e-01 9.91307588e-01 -2.74901739e-03 -8.22041659e+00] [-1.97129268e-02 1.56888103e-04 9.99805669e-01 -1.69368088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604012739 meters 0.023414549316677472 Centerline is valid? [True, True] Translation: X:87.40, Y:-8.23, Z:-1.70 [[ 9.90608669e-01 1.35335224e-01 1.94638760e-02 8.74013964e+01] [-1.35307413e-01 9.90799864e-01 -2.74485385e-03 -8.22749420e+00] [-1.96562811e-02 8.54693097e-05 9.99806793e-01 -1.69511009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664012739 meters 0.023308254191222063 Centerline is valid? [True, True] Translation: X:87.47, Y:-8.22, Z:-1.70 [[ 9.89394128e-01 1.43914923e-01 1.96914931e-02 8.74653262e+01] [-1.43888091e-01 9.89590061e-01 -2.78010072e-03 -8.22430271e+00] [-1.98866038e-02 -8.27560245e-05 9.99802239e-01 -1.69623329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724012739 meters 0.027088358997908308 Centerline is valid? [True, True] Translation: X:87.53, Y:-8.22, Z:-1.70 [[ 9.88040985e-01 1.52892149e-01 1.99750664e-02 8.75289982e+01] [-1.52866292e-01 9.88242845e-01 -2.82406298e-03 -8.21742026e+00] [-2.01719935e-02 -2.63224364e-04 9.99796490e-01 -1.69704225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784012739 meters 0.03132979429233654 Centerline is valid? [True, True] Translation: X:87.59, Y:-8.21, Z:-1.70 [[ 9.87098048e-01 1.58919592e-01 1.95449937e-02 8.75917990e+01] [-1.58895998e-01 9.87291457e-01 -2.76421101e-03 -8.20786635e+00] [-1.97358926e-02 -3.77073983e-04 9.99805157e-01 -1.69907016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84401273900001 meters 0.0326765578734915 Centerline is valid? [True, True] Translation: X:87.65, Y:-8.21, Z:-1.70 [[ 9.86824325e-01 1.60270131e-01 2.21638730e-02 8.76526190e+01] [-1.60240124e-01 9.87073085e-01 -3.13487116e-03 -8.20605439e+00] [-2.23797887e-02 -4.57974634e-04 9.99749436e-01 -1.69618786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904012739 meters 0.03384995833210012 Centerline is valid? [True, True] Translation: X:87.71, Y:-8.20, Z:-1.70 [[ 9.86716888e-01 1.61144257e-01 2.05502142e-02 8.77133887e+01] [-1.61118649e-01 9.86930764e-01 -2.90663087e-03 -8.19774557e+00] [-2.07500254e-02 -4.43000982e-04 9.99784597e-01 -1.70052949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964012739 meters 0.03314027523505703 Centerline is valid? [True, True] Translation: X:87.77, Y:-8.19, Z:-1.70 [[ 9.86939244e-01 1.59867228e-01 1.98342671e-02 8.77730749e+01] [-1.59843121e-01 9.87138444e-01 -2.80515181e-03 -8.19487334e+00] [-2.00276194e-02 -4.01856750e-04 9.99799346e-01 -1.70402363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024012739 meters 0.028582936028815686 Centerline is valid? [True, True] Translation: X:87.83, Y:-8.20, Z:-1.71 [[ 9.87882539e-01 1.53849782e-01 2.04532021e-02 8.78326127e+01] [-1.53822871e-01 9.88094206e-01 -2.89195376e-03 -8.20186354e+00] [-2.06546169e-02 -2.89259651e-04 9.99786629e-01 -1.70555557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084012739 meters 0.02343190872676824 Centerline is valid? [True, True] Translation: X:87.89, Y:-8.22, Z:-1.71 [[ 9.89304942e-01 1.44452170e-01 2.02312142e-02 8.78917065e+01] [-1.44423878e-01 9.89511780e-01 -2.86033405e-03 -8.21910234e+00] [-2.04322062e-02 -9.21277918e-05 9.99791236e-01 -1.70749496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144012739 meters 0.022847192431361754 Centerline is valid? [True, True] Translation: X:87.95, Y:-8.23, Z:-1.71 [[ 9.90146400e-01 1.38619913e-01 1.98652169e-02 8.79523060e+01] [-1.38591453e-01 9.90345656e-01 -2.80898489e-03 -8.23108926e+00] [-2.00628125e-02 2.81570067e-05 9.99798721e-01 -1.70967480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204012739 meters 0.023390452905973542 Centerline is valid? [True, True] Translation: X:88.01, Y:-8.24, Z:-1.71 [[ 9.90511623e-01 1.36110387e-01 1.89917535e-02 8.80131441e+01] [-1.36083857e-01 9.90693674e-01 -2.68838923e-03 -8.24315603e+00] [-1.91809277e-02 7.84097137e-05 9.99816026e-01 -1.71328877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264012739 meters 0.028156891280091436 Centerline is valid? [True, True] Translation: X:88.07, Y:-8.27, Z:-1.71 [[ 9.91662144e-01 1.27293226e-01 2.00655795e-02 8.80704885e+01] [-1.27261735e-01 9.91865093e-01 -2.84381408e-03 -8.26552314e+00] [-2.02643462e-02 2.66522305e-04 9.99794622e-01 -1.71305550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324012739 meters 0.03221648244393835 Centerline is valid? [True, True] Translation: X:88.13, Y:-8.28, Z:-1.71 [[ 9.92166263e-01 1.23351366e-01 1.97622437e-02 8.81296984e+01] [-1.23320040e-01 9.92363000e-01 -2.80075207e-03 -8.28314898e+00] [-1.99567960e-02 3.41731043e-04 9.99800785e-01 -1.71454835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384012739 meters 0.03204502641114702 Centerline is valid? [True, True] Translation: X:88.19, Y:-8.29, Z:-1.72 [[ 9.92153205e-01 1.23468659e-01 1.96852441e-02 8.81920205e+01] [-1.23437543e-01 9.92348414e-01 -2.79265428e-03 -8.29363190e+00] [-1.98794260e-02 3.40842734e-04 9.99802327e-01 -1.71501619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444012739 meters 0.02649529535943893 Centerline is valid? [True, True] Translation: X:88.25, Y:-8.29, Z:-1.71 [[ 9.91542135e-01 1.28233766e-01 2.00073764e-02 8.82540984e+01] [-1.28202519e-01 9.91743937e-01 -2.84198052e-03 -8.29190522e+00] [-2.02066321e-02 2.52947380e-04 9.99795793e-01 -1.71474692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504012739 meters 0.03255642683148466 Centerline is valid? [True, True] Translation: X:88.31, Y:-8.30, Z:-1.69 [[ 9.90979234e-01 1.31386964e-01 2.64125653e-02 8.83149030e+01] [-1.31333579e-01 9.91331127e-01 -3.75342922e-03 -8.29992315e+00] [-2.66767498e-02 2.50713671e-04 9.99644081e-01 -1.69274606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564012739 meters 0.02760203065767494 Centerline is valid? [True, True] Translation: X:88.37, Y:-8.32, Z:-1.71 [[ 9.91543115e-01 1.27211420e-01 2.56808565e-02 8.83741878e+01] [-1.27159448e-01 9.91875560e-01 -3.65343229e-03 -8.32472376e+00] [-2.59369722e-02 3.56972085e-04 9.99663516e-01 -1.70753716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624012739 meters 0.027801880854493408 Centerline is valid? [True, True] Translation: X:88.43, Y:-8.34, Z:-1.71 [[ 9.91781514e-01 1.25861348e-01 2.29858377e-02 8.84343915e+01] [-1.25819270e-01 9.92047779e-01 -3.27352856e-03 -8.34270014e+00] [-2.32150599e-02 3.54563794e-04 9.99730431e-01 -1.71264494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684012739 meters 0.026301468535861523 Centerline is valid? [True, True] Translation: X:88.49, Y:-8.35, Z:-1.71 [[ 9.91277454e-01 1.29854270e-01 2.25139386e-02 8.84942650e+01] [-1.29814845e-01 9.91533056e-01 -3.21010075e-03 -8.35392686e+00] [-2.27401596e-02 2.59457054e-04 9.99741375e-01 -1.71395137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744012739 meters 0.022826308744579284 Centerline is valid? [True, True] Translation: X:88.56, Y:-8.36, Z:-1.72 [[ 9.90170685e-01 1.38207437e-01 2.14643546e-02 8.85562809e+01] [-1.38173496e-01 9.90403302e-01 -3.06355137e-03 -8.35633177e+00] [-2.16817732e-02 6.76338408e-05 9.99764920e-01 -1.71834991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804012739 meters 0.02245336163234021 Centerline is valid? [True, True] Translation: X:88.62, Y:-8.36, Z:-1.72 [[ 9.89601844e-01 1.42297400e-01 2.09675924e-02 8.86174519e+01] [-1.42265912e-01 9.89823949e-01 -2.99346716e-03 -8.36451876e+00] [-2.11801877e-02 -2.06330341e-05 9.99775674e-01 -1.72012566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864012739 meters 0.022493375981062446 Centerline is valid? [True, True] Translation: X:88.68, Y:-8.38, Z:-1.72 [[ 9.89936514e-01 1.40058768e-01 2.02296905e-02 8.86787420e+01] [-1.40028921e-01 9.90143192e-01 -2.89151294e-03 -8.38285419e+00] [-2.04352720e-02 2.96725111e-05 9.99791178e-01 -1.72357315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924012739 meters 0.022994502618106864 Centerline is valid? [True, True] Translation: X:88.74, Y:-8.40, Z:-1.72 [[ 9.90216871e-01 1.38036092e-01 2.04104267e-02 8.87385688e+01] [-1.38005194e-01 9.90427196e-01 -2.92146296e-03 -8.40300124e+00] [-2.06183090e-02 7.61370186e-05 9.99787417e-01 -1.72497344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984012739 meters 0.02315915820542371 Centerline is valid? [True, True] Translation: X:88.80, Y:-8.42, Z:-1.73 [[ 9.90346866e-01 1.37141104e-01 2.01346210e-02 8.87996321e+01] [-1.37110776e-01 9.90551517e-01 -2.88567091e-03 -8.41743922e+00] [-2.03401235e-02 9.71416354e-05 9.99793114e-01 -1.72712840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044012739 meters 0.0228784695139903 Centerline is valid? [True, True] Translation: X:88.86, Y:-8.43, Z:-1.73 [[ 9.90142412e-01 1.38562425e-01 2.04562804e-02 8.88597006e+01] [-1.38531337e-01 9.90353699e-01 -2.93590711e-03 -8.43292042e+00] [-2.06657594e-02 7.31302641e-05 9.99786438e-01 -1.72773768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104012739 meters 0.022516374753218067 Centerline is valid? [True, True] Translation: X:88.92, Y:-8.44, Z:-1.73 [[ 9.89700226e-01 1.41553690e-01 2.13545269e-02 8.89217052e+01] [-1.41520419e-01 9.89930580e-01 -3.06896535e-03 -8.44160350e+00] [-2.15739226e-02 1.52541158e-05 9.99767256e-01 -1.72789100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164012739 meters 0.022417492268173213 Centerline is valid? [True, True] Translation: X:88.98, Y:-8.45, Z:-1.73 [[ 9.89521637e-01 1.42691984e-01 2.20437739e-02 8.89839901e+01] [-1.42656712e-01 9.89767143e-01 -3.17250083e-03 -8.45198421e+00] [-2.22708935e-02 -5.43408055e-06 9.99751973e-01 -1.72712502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224012739 meters 0.02277782928463728 Centerline is valid? [True, True] Translation: X:89.04, Y:-8.47, Z:-1.73 [[ 9.89907261e-01 1.39711080e-01 2.37577041e-02 8.90433260e+01] [-1.39669132e-01 9.90192309e-01 -3.42410148e-03 -8.47164084e+00] [-2.40030808e-02 7.13249925e-05 9.99711882e-01 -1.72639401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284012739 meters 0.023202730125096258 Centerline is valid? [True, True] Translation: X:89.10, Y:-8.49, Z:-1.73 [[ 9.90141431e-01 1.38439236e-01 2.13195813e-02 8.91036199e+01] [-1.38405096e-01 9.90370925e-01 -3.07581725e-03 -8.48889332e+00] [-2.15401073e-02 9.47553969e-05 9.99767980e-01 -1.73271453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34401273900001 meters 0.022449851873010067 Centerline is valid? [True, True] Translation: X:89.17, Y:-8.49, Z:-1.73 [[ 9.89622985e-01 1.42152120e-01 2.09552282e-02 8.91660183e+01] [-1.42119890e-01 9.89844823e-01 -3.02691811e-03 -8.49337053e+00] [-2.11727070e-02 1.73530030e-05 9.99775833e-01 -1.73428690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404012739 meters 0.023419816618383896 Centerline is valid? [True, True] Translation: X:89.23, Y:-8.49, Z:-1.74 [[ 9.88622123e-01 1.49100204e-01 1.98853253e-02 8.92287962e+01] [-1.49072523e-01 9.88822084e-01 -2.87549281e-03 -8.49174393e+00] [-2.00917854e-02 -1.21579810e-04 9.99798132e-01 -1.73744855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464012739 meters 0.023659124763385823 Centerline is valid? [True, True] Translation: X:89.29, Y:-8.50, Z:-1.74 [[ 9.88506485e-01 1.49764871e-01 2.06255401e-02 8.92910555e+01] [-1.49735160e-01 9.88721632e-01 -2.98614109e-03 -8.50013636e+00] [-2.08401367e-02 -1.36548726e-04 9.99782811e-01 -1.73862529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524012739 meters 0.022952777180180205 Centerline is valid? [True, True] Translation: X:89.35, Y:-8.51, Z:-1.74 [[ 9.88680287e-01 1.48464548e-01 2.16695045e-02 8.93520093e+01] [-1.48431347e-01 9.88917724e-01 -3.14157790e-03 -8.51228005e+00] [-2.18957701e-02 -1.10417611e-04 9.99760253e-01 -1.73782187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584012739 meters 0.02288353769565065 Centerline is valid? [True, True] Translation: X:89.41, Y:-8.52, Z:-1.74 [[ 9.88735230e-01 1.48170155e-01 2.11719257e-02 8.94134511e+01] [-1.48138317e-01 9.88961878e-01 -3.07301195e-03 -8.52130109e+00] [-2.13935561e-02 -9.79782615e-05 9.99771127e-01 -1.73947252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644012739 meters 0.022711560967335804 Centerline is valid? [True, True] Translation: X:89.48, Y:-8.53, Z:-1.74 [[ 9.88778363e-01 1.47874137e-01 2.12270602e-02 8.94759990e+01] [-1.47841981e-01 9.89006184e-01 -3.08490360e-03 -8.53138588e+00] [-2.14498712e-02 -8.79646943e-05 9.99769921e-01 -1.74092221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704012739 meters 0.023029518715447617 Centerline is valid? [True, True] Translation: X:89.54, Y:-8.54, Z:-1.74 [[ 9.88580008e-01 1.48930636e-01 2.30050636e-02 8.95372481e+01] [-1.48893049e-01 9.88847639e-01 -3.34777332e-03 -8.53617992e+00] [-2.32470888e-02 -1.15752294e-04 9.99729743e-01 -1.73883366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764012739 meters 0.023584542938740453 Centerline is valid? [True, True] Translation: X:89.60, Y:-8.54, Z:-1.74 [[ 9.88311086e-01 1.50654373e-01 2.33335942e-02 8.95992836e+01] [-1.50616129e-01 9.88586484e-01 -3.39798176e-03 -8.54038010e+00] [-2.35791967e-02 -1.56152589e-04 9.99721960e-01 -1.73880204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824012739 meters 0.02372128066686155 Centerline is valid? [True, True] Translation: X:89.66, Y:-8.54, Z:-1.75 [[ 9.88413855e-01 1.50584539e-01 1.90354419e-02 8.96606998e+01] [-1.50559026e-01 9.88597128e-01 -2.77460326e-03 -8.54456287e+00] [-1.92361956e-02 -1.23501289e-04 9.99814960e-01 -1.75120856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884012739 meters 0.023334066418826006 Centerline is valid? [True, True] Translation: X:89.72, Y:-8.55, Z:-1.75 [[ 9.88345218e-01 1.50815397e-01 2.06989432e-02 8.97235339e+01] [-1.50785208e-01 9.88561934e-01 -3.02050981e-03 -8.55010975e+00] [-2.09177267e-02 -1.35788040e-04 9.99781191e-01 -1.74793326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944012739 meters 0.02358271184601201 Centerline is valid? [True, True] Translation: X:89.79, Y:-8.55, Z:-1.75 [[ 9.88226452e-01 1.51397348e-01 2.20753964e-02 8.97858878e+01] [-1.51363051e-01 9.88472974e-01 -3.22602482e-03 -8.55169663e+00] [-2.23093444e-02 -1.53356295e-04 9.99751104e-01 -1.74727281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004012739 meters 0.02455310450039509 Centerline is valid? [True, True] Translation: X:89.85, Y:-8.55, Z:-1.75 [[ 9.88037995e-01 1.52731119e-01 2.13102417e-02 8.98489708e+01] [-1.52699386e-01 9.88267765e-01 -3.11801502e-03 -8.55127613e+00] [-2.15364429e-02 -1.73343523e-04 9.99768049e-01 -1.75007544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064012739 meters 0.025674130269252148 Centerline is valid? [True, True] Translation: X:89.91, Y:-8.55, Z:-1.76 [[ 9.87789198e-01 1.54740744e-01 1.81053285e-02 8.99117994e+01] [-1.54718127e-01 9.87955095e-01 -2.65177867e-03 -8.55179703e+00] [-1.82975897e-02 -1.81824191e-04 9.99832569e-01 -1.75680651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124012739 meters 0.02293232824803167 Centerline is valid? [True, True] Translation: X:89.97, Y:-8.57, Z:-1.75 [[ 9.88520594e-01 1.49700513e-01 2.04154739e-02 8.99724675e+01] [-1.49670605e-01 9.88731383e-01 -2.99378220e-03 -8.56688750e+00] [-2.06335905e-02 -9.61809807e-05 9.99787100e-01 -1.75321564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184012739 meters 0.02771347291287948 Centerline is valid? [True, True] Translation: X:90.03, Y:-8.58, Z:-1.74 [[ 9.89179300e-01 1.45070487e-01 2.18829924e-02 9.00332186e+01] [-1.45034906e-01 9.89421323e-01 -3.21284649e-03 -8.58105246e+00] [-2.21175885e-02 4.28350665e-06 9.99755376e-01 -1.74184392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244012739 meters 0.023782049449986263 Centerline is valid? [True, True] Translation: X:90.09, Y:-8.60, Z:-1.75 [[ 9.90093784e-01 1.38522418e-01 2.29311525e-02 9.00930700e+01] [-1.38481496e-01 9.90359285e-01 -3.37072138e-03 -8.60086646e+00] [-2.31770002e-02 1.61789991e-04 9.99731364e-01 -1.75130447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304012739 meters 0.02532120884439439 Centerline is valid? [True, True] Translation: X:90.15, Y:-8.61, Z:-1.75 [[ 9.90475433e-01 1.35982592e-01 2.16137028e-02 9.01530190e+01] [-1.35945560e-01 9.90711204e-01 -3.18043213e-03 -8.61465192e+00] [-2.18454210e-02 2.11852961e-04 9.99761338e-01 -1.75303339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364012739 meters 0.02584499170852753 Centerline is valid? [True, True] Translation: X:90.22, Y:-8.63, Z:-1.76 [[ 9.90557983e-01 1.35505609e-01 2.08113483e-02 9.02153111e+01] [-1.35471105e-01 9.90776555e-01 -3.06543104e-03 -8.62533459e+00] [-2.10347791e-02 2.17150827e-04 9.99778721e-01 -1.75834070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424012739 meters 0.027406223899673718 Centerline is valid? [True, True] Translation: X:90.28, Y:-8.64, Z:-1.76 [[ 9.90804668e-01 1.33445276e-01 2.23264142e-02 9.02754055e+01] [-1.33404947e-01 9.91056143e-01 -3.29278065e-03 -8.64115140e+00] [-2.25661360e-02 2.84048323e-04 9.99745312e-01 -1.75603501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484012739 meters 0.027088976486180912 Centerline is valid? [True, True] Translation: X:90.34, Y:-8.65, Z:-1.76 [[ 9.90746098e-01 1.34146530e-01 2.06610087e-02 9.03374672e+01] [-1.34112112e-01 9.90961476e-01 -3.04877784e-03 -8.64933522e+00] [-2.08832466e-02 2.49673240e-04 9.99781890e-01 -1.76042259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544012739 meters 0.025697080802722903 Centerline is valid? [True, True] Translation: X:90.40, Y:-8.65, Z:-1.76 [[ 9.90437131e-01 1.36437338e-01 2.04729714e-02 9.03995563e+01] [-1.36404009e-01 9.90648683e-01 -3.02220259e-03 -8.65064393e+00] [-2.06938634e-02 2.00706289e-04 9.99785839e-01 -1.76132961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604012739 meters 0.024688558439091277 Centerline is valid? [True, True] Translation: X:90.46, Y:-8.65, Z:-1.76 [[ 9.90185449e-01 1.38357728e-01 1.97462651e-02 9.04619646e+01] [-1.38327046e-01 9.90382307e-01 -2.91791548e-03 -8.65455130e+00] [-1.99600677e-02 1.57834945e-04 9.99800766e-01 -1.76384621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664012739 meters 0.024425088238274186 Centerline is valid? [True, True] Translation: X:90.53, Y:-8.66, Z:-1.77 [[ 9.90103090e-01 1.39152167e-01 1.82358559e-02 9.05252722e+01] [-1.39126087e-01 9.90271002e-01 -2.69728090e-03 -8.65982294e+00] [-1.84337717e-02 1.33502879e-04 9.99830075e-01 -1.76827945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724012739 meters 0.026904063566006945 Centerline is valid? [True, True] Translation: X:90.59, Y:-8.67, Z:-1.77 [[ 9.90481757e-01 1.36485713e-01 1.78196044e-02 9.05868098e+01] [-1.36460322e-01 9.90642023e-01 -2.63884095e-03 -8.67188836e+00] [-1.80130130e-02 1.82054870e-04 9.99837736e-01 -1.76590263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784012739 meters 0.028239382411898262 Centerline is valid? [True, True] Translation: X:90.65, Y:-8.69, Z:-1.77 [[ 9.90868743e-01 1.33627440e-01 1.79678134e-02 9.06458113e+01] [-1.33601097e-01 9.91031609e-01 -2.66400385e-03 -8.68660187e+00] [-1.81626550e-02 2.39158574e-04 9.99835017e-01 -1.77177287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84401273900001 meters 0.030422817720103305 Centerline is valid? [True, True] Translation: X:90.70, Y:-8.70, Z:-1.77 [[ 9.91125346e-01 1.31542402e-01 1.91610461e-02 9.07049809e+01] [-1.31512047e-01 9.91310501e-01 -2.84125544e-03 -8.70452085e+00] [-1.93682918e-02 2.96131875e-04 9.99812373e-01 -1.77120957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904012739 meters 0.029335499911260766 Centerline is valid? [True, True] Translation: X:90.77, Y:-8.72, Z:-1.77 [[ 9.91265352e-01 1.30227903e-01 2.08253640e-02 9.07664572e+01] [-1.30191687e-01 9.91484023e-01 -3.09127183e-03 -8.71523857e+00] [-2.10505855e-02 3.52981376e-04 9.99778350e-01 -1.76870716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964012739 meters 0.028807356050435322 Centerline is valid? [True, True] Translation: X:90.83, Y:-8.73, Z:-1.77 [[ 9.91093314e-01 1.31526489e-01 2.08524749e-02 9.08276130e+01] [-1.31490392e-01 9.91312602e-01 -3.09875647e-03 -8.72770306e+00] [-2.10788897e-02 3.29256707e-04 9.99777761e-01 -1.76941457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024012739 meters 0.027823935375920452 Centerline is valid? [True, True] Translation: X:90.89, Y:-8.74, Z:-1.78 [[ 9.90884073e-01 1.33487934e-01 1.81583244e-02 9.08893093e+01] [-1.33460846e-01 9.91050406e-01 -2.70095751e-03 -8.73626751e+00] [-1.83563600e-02 2.52910446e-04 9.99831476e-01 -1.77595704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084012739 meters 0.026014700200902373 Centerline is valid? [True, True] Translation: X:90.95, Y:-8.74, Z:-1.78 [[ 9.90476775e-01 1.36649403e-01 1.68136397e-02 9.09499168e+01] [-1.36626587e-01 9.90619456e-01 -2.50370006e-03 -8.74430217e+00] [-1.69980477e-02 1.82666561e-04 9.99855506e-01 -1.77982437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144012739 meters 0.022810909391635877 Centerline is valid? [True, True] Translation: X:91.01, Y:-8.75, Z:-1.78 [[ 9.89550330e-01 1.43055501e-01 1.80352010e-02 9.10127060e+01] [-1.43030281e-01 9.89714665e-01 -2.68726162e-03 -8.74599231e+00] [-1.82341304e-02 7.96007528e-05 9.99833741e-01 -1.77764491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204012739 meters 0.022387746307807183 Centerline is valid? [True, True] Translation: X:91.08, Y:-8.75, Z:-1.78 [[ 9.88522083e-01 1.49956739e-01 1.83593843e-02 9.10752112e+01] [-1.49931735e-01 9.88692558e-01 -2.73869435e-03 -8.74589270e+00] [-1.85624723e-02 -4.53944869e-05 9.99827701e-01 -1.77789219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264012739 meters 0.023480335105405654 Centerline is valid? [True, True] Translation: X:91.14, Y:-8.75, Z:-1.78 [[ 9.87785853e-01 1.54600127e-01 1.94398771e-02 9.11377795e+01] [-1.54572923e-01 9.87977116e-01 -2.90333085e-03 -8.74734798e+00] [-1.96550090e-02 -1.37009490e-04 9.99806812e-01 -1.77736579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324012739 meters 0.02975949851404524 Centerline is valid? [True, True] Translation: X:91.20, Y:-8.73, Z:-1.77 [[ 9.85961981e-01 1.65584886e-01 2.14620073e-02 9.12010437e+01] [-1.65554243e-01 9.86195464e-01 -3.20912129e-03 -8.73473150e+00] [-2.16971163e-02 -3.89054793e-04 9.99764514e-01 -1.77304127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384012739 meters 0.04008920533815518 Centerline is valid? [True, True] Translation: X:91.26, Y:-8.71, Z:-1.78 [[ 9.83990891e-01 1.77175512e-01 1.92552161e-02 9.12644525e+01] [-1.77153056e-01 9.84179102e-01 -2.87938105e-03 -8.71295326e+00] [-1.94607371e-02 -5.77835654e-04 9.99810455e-01 -1.77866889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444012739 meters 0.04229093913165115 Centerline is valid? [True, True] Translation: X:91.33, Y:-8.71, Z:-1.78 [[ 9.83515159e-01 1.79756087e-01 1.96387537e-02 9.13257949e+01] [-1.79733244e-01 9.83711003e-01 -2.93652531e-03 -8.70650454e+00] [-1.98467164e-02 -6.41619770e-04 9.99802829e-01 -1.77941144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504012739 meters 0.038445983689363875 Centerline is valid? [True, True] Translation: X:91.39, Y:-8.71, Z:-1.78 [[ 9.84551790e-01 1.74015758e-01 1.93981578e-02 9.13856264e+01] [-1.73992367e-01 9.84742731e-01 -2.90007943e-03 -8.70944203e+00] [-1.96068544e-02 -5.19852989e-04 9.99807632e-01 -1.78131446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564012739 meters 0.03025201899123252 Centerline is valid? [True, True] Translation: X:91.44, Y:-8.72, Z:-1.78 [[ 9.86082807e-01 1.65048979e-01 1.99882903e-02 9.14449116e+01] [-1.65022306e-01 9.86285309e-01 -2.98800468e-03 -8.72200865e+00] [-2.02073242e-02 -3.52093708e-04 9.99795749e-01 -1.78104930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624012739 meters 0.023562901337800556 Centerline is valid? [True, True] Translation: X:91.50, Y:-8.74, Z:-1.78 [[ 9.87658270e-01 1.55212352e-01 2.09825590e-02 9.15035956e+01] [-1.55180736e-01 9.87881117e-01 -3.13662232e-03 -8.74104451e+00] [-2.12151164e-02 -1.58177978e-04 9.99774922e-01 -1.78132779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684012739 meters 0.02879977942747605 Centerline is valid? [True, True] Translation: X:91.56, Y:-8.76, Z:-1.77 [[ 9.89159786e-01 1.45678048e-01 1.84613978e-02 9.15635155e+01] [-1.45651913e-01 9.89332050e-01 -2.75965552e-03 -8.76346958e+00] [-1.86664738e-02 4.08023542e-05 9.99825765e-01 -1.77479562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744012739 meters 0.03178202927562183 Centerline is valid? [True, True] Translation: X:91.62, Y:-8.78, Z:-1.78 [[ 9.89795664e-01 1.41310426e-01 1.83277507e-02 9.16227941e+01] [-1.41283860e-01 9.89965327e-01 -2.74285453e-03 -8.78094971e+00] [-1.85314317e-02 1.25450157e-04 9.99828270e-01 -1.77504380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804012739 meters 0.025754899098906655 Centerline is valid? [True, True] Translation: X:91.68, Y:-8.80, Z:-1.79 [[ 9.90308015e-01 1.37694848e-01 1.81704218e-02 9.16811774e+01] [-1.37668075e-01 9.90474680e-01 -2.72217547e-03 -8.80376615e+00] [-1.83721723e-02 1.94305201e-04 9.99831199e-01 -1.79015696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864012739 meters 0.025468271656876883 Centerline is valid? [True, True] Translation: X:91.74, Y:-8.82, Z:-1.79 [[ 9.90274937e-01 1.37844361e-01 1.88276858e-02 9.17435462e+01] [-1.37815587e-01 9.90453882e-01 -2.82356963e-03 -8.81590473e+00] [-1.90371677e-02 2.01361661e-04 9.99818756e-01 -1.78851794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924012739 meters 0.02454777665549014 Centerline is valid? [True, True] Translation: X:91.80, Y:-8.83, Z:-1.79 [[ 9.89966725e-01 1.39790158e-01 2.06057307e-02 9.18044792e+01] [-1.39756023e-01 9.90181134e-01 -3.09448909e-03 -8.82738350e+00] [-2.08359849e-02 1.83666254e-04 9.99782890e-01 -1.78726639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984012739 meters 0.022914512601043047 Centerline is valid? [True, True] Translation: X:91.87, Y:-8.84, Z:-1.78 [[ 9.89296546e-01 1.44120382e-01 2.28398759e-02 9.18658957e+01] [-1.44079501e-01 9.89560157e-01 -3.43414291e-03 -8.83609212e+00] [-2.30963612e-02 1.06627794e-04 9.99733238e-01 -1.78464837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044012739 meters 0.022226541808912346 Centerline is valid? [True, True] Translation: X:91.93, Y:-8.84, Z:-1.79 [[ 9.88310925e-01 1.50963161e-01 2.12518037e-02 9.19281811e+01] [-1.50929278e-01 9.88539388e-01 -3.19862664e-03 -8.83778558e+00] [-2.14911199e-02 -4.62817408e-05 9.99769038e-01 -1.78729336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104012739 meters 0.02560932959194913 Centerline is valid? [True, True] Translation: X:91.99, Y:-8.84, Z:-1.79 [[ 9.87038811e-01 1.59103370e-01 2.09881892e-02 9.19883488e+01] [-1.59072088e-01 9.87261906e-01 -3.16232099e-03 -8.83573525e+00] [-2.12239756e-02 -2.17301528e-04 9.99774722e-01 -1.78929267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164012739 meters 0.030954792181946866 Centerline is valid? [True, True] Translation: X:92.05, Y:-8.83, Z:-1.79 [[ 9.85460850e-01 1.68607626e-01 2.09375512e-02 9.20492613e+01] [-1.68578641e-01 9.85683160e-01 -3.15444362e-03 -8.83368734e+00] [-2.11696549e-02 -4.21043242e-04 9.99775809e-01 -1.79109901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224012739 meters 0.03682921410985974 Centerline is valid? [True, True] Translation: X:92.11, Y:-8.83, Z:-1.79 [[ 9.84318393e-01 1.75227932e-01 2.03094330e-02 9.21107101e+01] [-1.75202070e-01 9.84527741e-01 -3.05964226e-03 -8.83014773e+00] [-2.05313350e-02 -5.46592560e-04 9.99789061e-01 -1.79466430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284012739 meters 0.03591021483021085 Centerline is valid? [True, True] Translation: X:92.17, Y:-8.84, Z:-1.80 [[ 9.84405568e-01 1.74853132e-01 1.92888458e-02 9.21691821e+01] [-1.74829736e-01 9.84594394e-01 -2.90570379e-03 -8.83946209e+00] [-1.94997608e-02 -5.11872820e-04 9.99809731e-01 -1.79821905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34401273900001 meters 0.03621262228471411 Centerline is valid? [True, True] Translation: X:92.23, Y:-8.85, Z:-1.80 [[ 9.84706174e-01 1.73321617e-01 1.77022099e-02 9.22266083e+01] [-1.73301678e-01 9.84865179e-01 -2.66592837e-03 -8.84735885e+00] [-1.78963531e-02 -4.42666555e-04 9.99839749e-01 -1.80315811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404012739 meters 0.033381799651290116 Centerline is valid? [True, True] Translation: X:92.29, Y:-8.86, Z:-1.80 [[ 9.85199447e-01 1.70316842e-01 1.93448519e-02 9.22856550e+01] [-1.70292478e-01 9.85389259e-01 -2.91196831e-03 -8.85957970e+00] [-1.95581665e-02 -4.25413195e-04 9.99808630e-01 -1.80151475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464012739 meters 0.0329837897479931 Centerline is valid? [True, True] Translation: X:92.34, Y:-8.87, Z:-1.80 [[ 9.85043696e-01 1.71160248e-01 1.98263886e-02 9.23434552e+01] [-1.71134831e-01 9.85243099e-01 -2.98422619e-03 -8.86863776e+00] [-2.00445935e-02 -4.53392474e-04 9.99798984e-01 -1.80229438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524012739 meters 0.036485997721375715 Centerline is valid? [True, True] Translation: X:92.40, Y:-8.87, Z:-1.81 [[ 9.84724611e-01 1.73152749e-01 1.83184744e-02 9.24020825e+01] [-1.73131412e-01 9.84894876e-01 -2.75640565e-03 -8.87077545e+00] [-1.85190507e-02 -4.57202844e-04 9.99828403e-01 -1.80558252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584012739 meters 0.03566001997077219 Centerline is valid? [True, True] Translation: X:92.46, Y:-8.88, Z:-1.80 [[ 9.84724588e-01 1.72949364e-01 2.01495060e-02 9.24609578e+01] [-1.72923522e-01 9.84930590e-01 -3.03111559e-03 -8.87724369e+00] [-2.03700943e-02 -4.99509488e-04 9.99792383e-01 -1.80430188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644012739 meters 0.033934346698485565 Centerline is valid? [True, True] Translation: X:92.52, Y:-8.89, Z:-1.80 [[ 9.85082069e-01 1.70767475e-01 2.12552868e-02 9.25196741e+01] [-1.70738233e-01 9.85311240e-01 -3.19640039e-03 -8.88659650e+00] [-2.14889142e-02 -4.80373409e-04 9.99768971e-01 -1.80431147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704012739 meters 0.03148406761626622 Centerline is valid? [True, True] Translation: X:92.58, Y:-8.90, Z:-1.81 [[ 9.85624878e-01 1.67917774e-01 1.86338485e-02 9.25779359e+01] [-1.67894803e-01 9.85800936e-01 -2.80158722e-03 -8.90108581e+00] [-1.88397016e-02 -3.67212244e-04 9.99822450e-01 -1.81112187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764012739 meters 0.03397118849725355 Centerline is valid? [True, True] Translation: X:92.64, Y:-8.90, Z:-1.81 [[ 9.85480240e-01 1.68657976e-01 1.95750802e-02 9.26367312e+01] [-1.68632781e-01 9.85674554e-01 -2.94263119e-03 -8.90123596e+00] [-1.97909566e-02 -4.01095315e-04 9.99804059e-01 -1.81011411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824012739 meters 0.0328870743903817 Centerline is valid? [True, True] Translation: X:92.70, Y:-8.91, Z:-1.81 [[ 9.85504635e-01 1.68603729e-01 1.87988798e-02 9.26957553e+01] [-1.68580505e-01 9.85683841e-01 -2.82472151e-03 -8.90611807e+00] [-1.90060107e-02 -3.85348527e-04 9.99819295e-01 -1.81321929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884012739 meters 0.032358242742524114 Centerline is valid? [True, True] Translation: X:92.75, Y:-8.91, Z:-1.82 [[ 9.85654141e-01 1.67860874e-01 1.75681662e-02 9.27541020e+01] [-1.67840488e-01 9.85810634e-01 -2.63902781e-03 -8.91124484e+00] [-1.77618746e-02 -3.47480888e-04 9.99842185e-01 -1.81751466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944012739 meters 0.0315165824830191 Centerline is valid? [True, True] Translation: X:92.81, Y:-8.92, Z:-1.82 [[ 9.85954483e-01 1.65924518e-01 1.90476065e-02 9.28117960e+01] [-1.65900211e-01 9.86138397e-01 -2.86029583e-03 -8.91679762e+00] [-1.92581694e-02 -3.39880435e-04 9.99814486e-01 -1.81578937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004012739 meters 0.028197183753829874 Centerline is valid? [True, True] Translation: X:92.87, Y:-8.93, Z:-1.81 [[ 9.86366647e-01 1.63362760e-01 1.98354862e-02 9.28704359e+01] [-1.63335906e-01 9.86566023e-01 -2.97740242e-03 -8.92619622e+00] [-2.00554134e-02 -3.03036665e-04 9.99798824e-01 -1.81441271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064012739 meters 0.02683797750835556 Centerline is valid? [True, True] Translation: X:92.93, Y:-8.93, Z:-1.81 [[ 9.86761083e-01 1.60861548e-01 2.06428491e-02 9.29282798e+01] [-1.60831946e-01 9.86976946e-01 -3.09712831e-03 -8.93444262e+00] [-2.08722251e-02 -2.63903915e-04 9.99782117e-01 -1.81342702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124012739 meters 0.026193206062333576 Centerline is valid? [True, True] Translation: X:92.99, Y:-8.94, Z:-1.81 [[ 9.86865668e-01 1.59904075e-01 2.29530122e-02 9.29879289e+01] [-1.59867247e-01 9.87132520e-01 -3.44244324e-03 -8.93691211e+00] [-2.32081255e-02 -2.72205828e-04 9.99730618e-01 -1.81181886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184012739 meters 0.025873027267315257 Centerline is valid? [True, True] Translation: X:93.05, Y:-8.94, Z:-1.82 [[ 9.87013077e-01 1.59266077e-01 2.09642946e-02 9.30463539e+01] [-1.59235241e-01 9.87235666e-01 -3.14280268e-03 -8.94365288e+00] [-2.11972412e-02 -2.36267154e-04 9.99775285e-01 -1.81543378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244012739 meters 0.02504452181999172 Centerline is valid? [True, True] Translation: X:93.11, Y:-8.95, Z:-1.82 [[ 9.87129571e-01 1.58495750e-01 2.13145060e-02 9.31052949e+01] [-1.58463717e-01 9.87359634e-01 -3.19427170e-03 -8.94612565e+00] [-2.15513614e-02 -2.24415809e-04 9.99767717e-01 -1.81521696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304012739 meters 0.024932102576981648 Centerline is valid? [True, True] Translation: X:93.16, Y:-8.95, Z:-1.81 [[ 9.87217003e-01 1.57841367e-01 2.21063751e-02 9.31629793e+01] [-1.57806772e-01 9.87464457e-01 -3.31179657e-03 -8.95018337e+00] [-2.23519982e-02 -2.19073803e-04 9.99750139e-01 -1.81484821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364012739 meters 0.02350126886451066 Centerline is valid? [True, True] Translation: X:93.22, Y:-8.96, Z:-1.82 [[ 9.87655699e-01 1.55334374e-01 2.01854347e-02 9.32216957e+01] [-1.55305029e-01 9.87861939e-01 -3.02289223e-03 -8.95637580e+00] [-2.04099817e-02 -1.49322780e-04 9.99791683e-01 -1.82098209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424012739 meters 0.02258402311293821 Centerline is valid? [True, True] Translation: X:93.28, Y:-8.97, Z:-1.82 [[ 9.88313892e-01 1.51192879e-01 1.94000852e-02 9.32792704e+01] [-1.51164994e-01 9.88504279e-01 -2.90434373e-03 -8.96791065e+00] [-1.96161833e-02 -6.22105136e-05 9.99807582e-01 -1.82290410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484012739 meters 0.02223340734238033 Centerline is valid? [True, True] Translation: X:93.34, Y:-8.98, Z:-1.82 [[ 9.88807532e-01 1.47942596e-01 1.93042298e-02 9.33363166e+01] [-1.47914384e-01 9.88995950e-01 -2.88904287e-03 -8.97909332e+00] [-1.95192176e-02 1.33407493e-06 9.99809482e-01 -1.82434623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544012739 meters 0.023329073924637688 Centerline is valid? [True, True] Translation: X:93.39, Y:-9.00, Z:-1.82 [[ 9.89571233e-01 1.42468130e-01 2.12510498e-02 9.33925032e+01] [-1.42432707e-01 9.89799383e-01 -3.17903263e-03 -8.99703587e+00] [-2.14871868e-02 1.19034679e-04 9.99769117e-01 -1.82164407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604012739 meters 0.023489898422680826 Centerline is valid? [True, True] Translation: X:93.45, Y:-9.01, Z:-1.82 [[ 9.89781225e-01 1.40812642e-01 2.24705709e-02 9.34516909e+01] [-1.40772606e-01 9.90036248e-01 -3.36161515e-03 -9.01019977e+00] [-2.27200376e-02 1.64022739e-04 9.99741853e-01 -1.82044483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664012739 meters 0.023129658643329793 Centerline is valid? [True, True] Translation: X:93.51, Y:-9.02, Z:-1.82 [[ 9.89619588e-01 1.41926267e-01 2.25833152e-02 9.35103740e+01] [-1.41886119e-01 9.89877222e-01 -3.37845329e-03 -9.02065364e+00] [-2.28342005e-02 1.39124616e-04 9.99739256e-01 -1.82035059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724012739 meters 0.022120884275108076 Centerline is valid? [True, True] Translation: X:93.57, Y:-9.02, Z:-1.82 [[ 9.88760063e-01 1.48020978e-01 2.10553310e-02 9.35705952e+01] [-1.47987466e-01 9.88984221e-01 -3.14961934e-03 -9.02168877e+00] [-2.12895999e-02 -1.70725094e-06 9.99773351e-01 -1.82397256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784012739 meters 0.022609561076503873 Centerline is valid? [True, True] Translation: X:93.63, Y:-9.03, Z:-1.83 [[ 9.88253297e-01 1.51697431e-01 1.85286420e-02 9.36291861e+01] [-1.51672132e-01 9.88426975e-01 -2.77131598e-03 -9.02524540e+00] [-1.87346111e-02 -7.15164728e-05 9.99824489e-01 -1.82968552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84401273900001 meters 0.02227791689854774 Centerline is valid? [True, True] Translation: X:93.69, Y:-9.04, Z:-1.83 [[ 9.88439071e-01 1.50143063e-01 2.11012507e-02 9.36872445e+01] [-1.50109920e-01 9.88664280e-01 -3.15495349e-03 -9.03701001e+00] [-2.13357472e-02 -4.90277480e-05 9.99772366e-01 -1.82634419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904012739 meters 0.022599412133994058 Centerline is valid? [True, True] Translation: X:93.75, Y:-9.04, Z:-1.83 [[ 9.88124688e-01 1.52100203e-01 2.17974652e-02 9.37465420e+01] [-1.52065336e-01 9.88365074e-01 -3.25797374e-03 -9.04039404e+00] [-2.20393918e-02 -9.53545903e-05 9.99757099e-01 -1.82506419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964012739 meters 0.02439883343936951 Centerline is valid? [True, True] Translation: X:93.81, Y:-9.04, Z:-1.83 [[ 9.87423750e-01 1.56646257e-01 2.13609140e-02 9.38057267e+01] [-1.56613858e-01 9.87654754e-01 -3.19168358e-03 -9.03745113e+00] [-2.15971735e-02 -1.93870984e-04 9.99766735e-01 -1.82730603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024012739 meters 0.02870011436972188 Centerline is valid? [True, True] Translation: X:93.87, Y:-9.02, Z:-1.83 [[ 9.86155369e-01 1.64533228e-01 2.06495904e-02 9.38679719e+01] [-1.64504706e-01 9.86371477e-01 -3.08401313e-03 -9.02403655e+00] [-2.08755896e-02 -3.55638697e-04 9.99782018e-01 -1.83034575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084012739 meters 0.028440225245580403 Centerline is valid? [True, True] Translation: X:93.93, Y:-9.03, Z:-1.83 [[ 9.86351870e-01 1.63500711e-01 1.94294907e-02 9.39265836e+01] [-1.63475269e-01 9.86543166e-01 -2.90135802e-03 -9.02604532e+00] [-1.96424054e-02 -3.14481310e-04 9.99807020e-01 -1.83405997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144012739 meters 0.023689579040760394 Centerline is valid? [True, True] Translation: X:93.99, Y:-9.04, Z:-1.83 [[ 9.87652145e-01 1.55325816e-01 2.04238130e-02 9.39853589e+01] [-1.55295975e-01 9.87863283e-01 -3.04878786e-03 -9.03695171e+00] [-2.06494904e-02 -1.60594075e-04 9.99786764e-01 -1.83293667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204012739 meters 0.022154443601730602 Centerline is valid? [True, True] Translation: X:94.04, Y:-9.05, Z:-1.84 [[ 9.88986685e-01 1.46685334e-01 1.97167587e-02 9.40421516e+01] [-1.46655813e-01 9.89183205e-01 -2.94279343e-03 -9.05312256e+00] [-1.99351512e-02 1.88062312e-05 9.99801275e-01 -1.83543123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264012739 meters 0.02253577639205859 Centerline is valid? [True, True] Translation: X:94.10, Y:-9.06, Z:-1.84 [[ 9.89467743e-01 1.43337820e-01 2.01954251e-02 9.41005694e+01] [-1.43306171e-01 9.89673816e-01 -3.01323720e-03 -9.06164160e+00] [-2.04187943e-02 8.73719677e-05 9.99791511e-01 -1.83514190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324012739 meters 0.022848981191147616 Centerline is valid? [True, True] Translation: X:94.16, Y:-9.07, Z:-1.84 [[ 9.89645963e-01 1.42270898e-01 1.89699422e-02 9.41589368e+01] [-1.42242794e-01 9.89827753e-01 -2.82954396e-03 -9.06848173e+00] [-1.91795370e-02 1.01909187e-04 9.99816051e-01 -1.83736644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384012739 meters 0.023365251288018387 Centerline is valid? [True, True] Translation: X:94.22, Y:-9.08, Z:-1.83 [[ 9.89777533e-01 1.41033741e-01 2.12113204e-02 9.42170870e+01] [-1.40998342e-01 9.90004780e-01 -3.16275464e-03 -9.07583624e+00] [-2.14453637e-02 1.39662477e-04 9.99770012e-01 -1.83441791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444012739 meters 0.025029048999328424 Centerline is valid? [True, True] Translation: X:94.27, Y:-9.09, Z:-1.83 [[ 9.90252813e-01 1.37468202e-01 2.24022151e-02 9.42735435e+01] [-1.37427830e-01 9.90506154e-01 -3.33917510e-03 -9.08670447e+00] [-2.26485624e-02 2.27939728e-04 9.99743462e-01 -1.83299378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504012739 meters 0.02902388953096117 Centerline is valid? [True, True] Translation: X:94.33, Y:-9.10, Z:-1.84 [[ 9.91050822e-01 1.31939618e-01 2.02535249e-02 9.43301072e+01] [-1.31905491e-01 9.91257704e-01 -3.01762891e-03 -9.10045067e+00] [-2.04746074e-02 3.19072466e-04 9.99790322e-01 -1.83776882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564012739 meters 0.03651834266978427 Centerline is valid? [True, True] Translation: X:94.39, Y:-9.12, Z:-1.84 [[ 9.92108184e-01 1.23883165e-01 1.93471576e-02 9.43865027e+01] [-1.23850509e-01 9.92296703e-01 -2.88169391e-03 -9.12381077e+00] [-1.95551141e-02 4.62796797e-04 9.99808673e-01 -1.83983169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624012739 meters 0.047440946000933126 Centerline is valid? [True, True] Translation: X:94.44, Y:-9.15, Z:-1.84 [[ 9.93332972e-01 1.13720128e-01 1.89034245e-02 9.44431493e+01] [-1.13687107e-01 9.93512613e-01 -2.81586211e-03 -9.15462957e+00] [-1.91010109e-02 6.48013030e-04 9.99817349e-01 -1.84237007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684012739 meters 0.04767052266033125 Centerline is valid? [True, True] Translation: X:94.50, Y:-9.18, Z:-1.84 [[ 9.93971357e-01 1.07831811e-01 1.98303155e-02 9.45010378e+01] [-1.07794300e-01 9.94168830e-01 -2.95401834e-03 -9.17544418e+00] [-2.00332187e-02 7.98614645e-04 9.99798996e-01 -1.84197946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744012739 meters 0.054288368438749894 Centerline is valid? [True, True] Translation: X:94.56, Y:-9.19, Z:-1.83 [[ 9.93938059e-01 1.08470852e-01 1.79223105e-02 9.45605253e+01] [-1.08440322e-01 9.94099377e-01 -2.66947929e-03 -9.19496085e+00] [-1.81061184e-02 7.09795954e-04 9.99835819e-01 -1.83255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804012739 meters 0.042879007758234985 Centerline is valid? [True, True] Translation: X:94.62, Y:-9.21, Z:-1.85 [[ 9.93533518e-01 1.12036238e-01 1.84127707e-02 9.46197933e+01] [-1.12004567e-01 9.93703899e-01 -2.74568654e-03 -9.20586150e+00] [-1.86044584e-02 6.65617203e-04 9.99826701e-01 -1.84660195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864012739 meters 0.04298972465936843 Centerline is valid? [True, True] Translation: X:94.68, Y:-9.22, Z:-1.85 [[ 9.93431922e-01 1.12979386e-01 1.81293645e-02 9.46788094e+01] [-1.12948845e-01 9.93597127e-01 -2.70309642e-03 -9.22203571e+00] [-1.83186787e-02 6.37651492e-04 9.99831996e-01 -1.84850092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924012739 meters 0.04106670570912252 Centerline is valid? [True, True] Translation: X:94.74, Y:-9.23, Z:-1.85 [[ 9.93390598e-01 1.13586426e-01 1.65300835e-02 9.47400894e+01] [-1.13561083e-01 9.93527954e-01 -2.46688751e-03 -9.23459210e+00] [-1.67033049e-02 5.73408690e-04 9.99860326e-01 -1.85207989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984012739 meters 0.040584189245428864 Centerline is valid? [True, True] Translation: X:94.80, Y:-9.25, Z:-1.85 [[ 9.93010697e-01 1.16816350e-01 1.68432973e-02 9.47981568e+01] [-1.16790439e-01 9.93153390e-01 -2.51722047e-03 -9.24838061e+00] [-1.70220303e-02 5.32490765e-04 9.99854973e-01 -1.85433082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044012739 meters 0.036135586267504904 Centerline is valid? [True, True] Translation: X:94.86, Y:-9.26, Z:-1.85 [[ 9.92651576e-01 1.19564083e-01 1.86354317e-02 9.48590262e+01] [-1.19532855e-01 9.92826340e-01 -2.78472201e-03 -9.25825780e+00] [-1.88347002e-02 5.36712342e-04 9.99822467e-01 -1.85181718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104012739 meters 0.03514294250056133 Centerline is valid? [True, True] Translation: X:94.92, Y:-9.27, Z:-1.85 [[ 9.92350573e-01 1.21937309e-01 1.92777953e-02 9.49178697e+01] [-1.21904323e-01 9.92537673e-01 -2.88147832e-03 -9.27151020e+00] [-1.94852978e-02 5.09390086e-04 9.99810014e-01 -1.85161642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164012739 meters 0.03603570130426732 Centerline is valid? [True, True] Translation: X:94.98, Y:-9.29, Z:-1.85 [[ 9.92287008e-01 1.22284790e-01 2.03205144e-02 9.49771309e+01] [-1.22248205e-01 9.92494911e-01 -3.03760384e-03 -9.28894773e+00] [-2.05394599e-02 5.30028404e-04 9.99788903e-01 -1.85170930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224012739 meters 0.04300533361865799 Centerline is valid? [True, True] Translation: X:95.04, Y:-9.31, Z:-1.84 [[ 9.92222538e-01 1.23204769e-01 1.77487896e-02 9.50362241e+01] [-1.23176983e-01 9.92381169e-01 -2.65446908e-03 -9.30666305e+00] [-1.79406079e-02 4.47581689e-04 9.99838954e-01 -1.84410678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284012739 meters 0.033376544729698206 Centerline is valid? [True, True] Translation: X:95.10, Y:-9.32, Z:-1.86 [[ 9.91730796e-01 1.27172417e-01 1.72395942e-02 9.50952639e+01] [-1.27146750e-01 9.91880558e-01 -2.58130199e-03 -9.31825246e+00] [-1.74278887e-02 3.67998310e-04 9.99848055e-01 -1.85954477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34401273900001 meters 0.02943538044660904 Centerline is valid? [True, True] Translation: X:95.16, Y:-9.32, Z:-1.86 [[ 9.91034583e-01 1.32295739e-01 1.86625807e-02 9.51566762e+01] [-1.32266563e-01 9.91210244e-01 -2.79454011e-03 -9.32436287e+00] [-1.88682469e-02 3.01050495e-04 9.99821933e-01 -1.85814734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404012739 meters 0.024085748536187335 Centerline is valid? [True, True] Translation: X:95.22, Y:-9.32, Z:-1.86 [[ 9.89954207e-01 1.40118585e-01 1.89063770e-02 9.52192820e+01] [-1.40090046e-01 9.90134717e-01 -2.83210162e-03 -9.32288948e+00] [-1.91166904e-02 1.55055681e-04 9.99817247e-01 -1.85892875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464012739 meters 0.022600943363906233 Centerline is valid? [True, True] Translation: X:95.28, Y:-9.32, Z:-1.86 [[ 9.89273327e-01 1.44911633e-01 1.84093393e-02 9.52809825e+01] [-1.44885392e-01 9.89444599e-01 -2.75830781e-03 -9.32461302e+00] [-1.86147322e-02 6.14760071e-05 9.99826729e-01 -1.86055884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524012739 meters 0.02244600182797314 Centerline is valid? [True, True] Translation: X:95.34, Y:-9.33, Z:-1.86 [[ 9.89229834e-01 1.44873378e-01 2.08815711e-02 9.53410584e+01] [-1.44839595e-01 9.89450200e-01 -3.12931638e-03 -9.33095622e+00] [-2.11146294e-02 7.11348159e-05 9.99777059e-01 -1.85680560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584012739 meters 0.023687888446535573 Centerline is valid? [True, True] Translation: X:95.40, Y:-9.34, Z:-1.86 [[ 9.89739411e-01 1.41176446e-01 2.20251968e-02 9.54018566e+01] [-1.41137911e-01 9.89984437e-01 -3.30219780e-03 -9.34458712e+00] [-2.22707946e-02 1.59725048e-04 9.99751962e-01 -1.85592902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644012739 meters 0.026134365063376876 Centerline is valid? [True, True] Translation: X:95.46, Y:-9.36, Z:-1.86 [[ 9.90298907e-01 1.37374645e-01 2.08873801e-02 9.54611826e+01] [-1.37339074e-01 9.90519132e-01 -3.13489129e-03 -9.36031698e+00] [-2.11200042e-02 2.35825985e-04 9.99776920e-01 -1.85900917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704012739 meters 0.027821842328104605 Centerline is valid? [True, True] Translation: X:95.52, Y:-9.38, Z:-1.86 [[ 9.90629640e-01 1.35287407e-01 1.87145340e-02 9.55215733e+01] [-1.35258432e-01 9.90806365e-01 -2.81128745e-03 -9.37627244e+00] [-1.89228112e-02 2.53646151e-04 9.99820915e-01 -1.86427732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764012739 meters 0.02820676864147148 Centerline is valid? [True, True] Translation: X:95.58, Y:-9.39, Z:-1.86 [[ 9.90600839e-01 1.35363729e-01 1.96631164e-02 9.55824720e+01] [-1.35331691e-01 9.90795937e-01 -2.95713159e-03 -9.39179165e+00] [-1.98824242e-02 2.68294246e-04 9.99802289e-01 -1.86380091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824012739 meters 0.027696377509770193 Centerline is valid? [True, True] Translation: X:95.64, Y:-9.40, Z:-1.87 [[ 9.90471935e-01 1.36304302e-01 1.96591798e-02 9.56434300e+01] [-1.36272394e-01 9.90666984e-01 -2.95992272e-03 -9.40421807e+00] [-1.98791505e-02 2.52716894e-04 9.99802358e-01 -1.86519902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884012739 meters 0.025218133880991422 Centerline is valid? [True, True] Translation: X:95.70, Y:-9.41, Z:-1.87 [[ 9.90008826e-01 1.39891923e-01 1.76854417e-02 9.57045854e+01] [-1.39866629e-01 9.90166765e-01 -2.66523002e-03 -9.41253259e+00] [-1.78843807e-02 1.64998132e-04 9.99840048e-01 -1.86856654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944012739 meters 0.02396576853450406 Centerline is valid? [True, True] Translation: X:95.77, Y:-9.42, Z:-1.87 [[ 9.89405066e-01 1.43976071e-01 1.86683094e-02 9.57662755e+01] [-1.43948551e-01 9.89581164e-01 -2.81668396e-03 -9.42050469e+00] [-1.88793424e-02 9.95652954e-05 9.99821764e-01 -1.86820341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004012739 meters 0.023602004279446597 Centerline is valid? [True, True] Translation: X:95.83, Y:-9.43, Z:-1.87 [[ 9.88839005e-01 1.47937764e-01 1.76590194e-02 9.58272551e+01] [-1.47913720e-01 9.88996672e-01 -2.66718737e-03 -9.42922965e+00] [-1.78592891e-02 2.54076575e-05 9.99840510e-01 -1.87232507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064012739 meters 0.023737812187950444 Centerline is valid? [True, True] Translation: X:95.89, Y:-9.43, Z:-1.87 [[ 9.88184754e-01 1.52241975e-01 1.76995073e-02 9.58898526e+01] [-1.52218458e-01 9.88343249e-01 -2.67624904e-03 -9.43111181e+00] [-1.79006260e-02 -4.95632052e-05 9.99839770e-01 -1.87280386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124012739 meters 0.025716655655331395 Centerline is valid? [True, True] Translation: X:95.95, Y:-9.43, Z:-1.87 [[ 9.87205326e-01 1.58375600e-01 1.85152414e-02 9.59506177e+01] [-1.58350874e-01 9.87378925e-01 -2.80327831e-03 -9.42894088e+00] [-1.87255300e-02 -1.64493380e-04 9.99824648e-01 -1.87288381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184012739 meters 0.02844668977536628 Centerline is valid? [True, True] Translation: X:96.01, Y:-9.43, Z:-1.88 [[ 9.86813685e-01 1.60833270e-01 1.82046767e-02 9.60100391e+01] [-1.60809781e-01 9.86981568e-01 -2.75642002e-03 -9.42890195e+00] [-1.84110044e-02 -2.07417075e-04 9.99830482e-01 -1.87637716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244012739 meters 0.027149483799914293 Centerline is valid? [True, True] Translation: X:96.07, Y:-9.44, Z:-1.87 [[ 9.86789567e-01 1.60743628e-01 2.01949721e-02 9.60687498e+01] [-1.60714721e-01 9.86996167e-01 -3.05697911e-03 -9.44054430e+00] [-2.04237500e-02 -2.29034207e-04 9.99791387e-01 -1.87398696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304012739 meters 0.026691431540959924 Centerline is valid? [True, True] Translation: X:96.13, Y:-9.45, Z:-1.88 [[ 9.87021391e-01 1.59326918e-01 2.00924500e-02 9.61277675e+01] [-1.59298019e-01 9.87225857e-01 -3.04098066e-03 -9.44979319e+00] [-2.03202962e-02 -1.99174519e-04 9.99793502e-01 -1.87513667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364012739 meters 0.024231304974482788 Centerline is valid? [True, True] Translation: X:96.19, Y:-9.47, Z:-1.88 [[ 9.87959391e-01 1.53667368e-01 1.79605545e-02 9.61871306e+01] [-1.53643352e-01 9.88122631e-01 -2.71772542e-03 -9.47037271e+00] [-1.81648560e-02 -7.45174466e-05 9.99835003e-01 -1.88042337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424012739 meters 0.023776055329144063 Centerline is valid? [True, True] Translation: X:96.25, Y:-9.49, Z:-1.88 [[ 9.88528507e-01 1.49874411e-01 1.86829274e-02 9.62472423e+01] [-1.49847684e-01 9.88705042e-01 -2.83029322e-03 -9.48802169e+00] [-1.88960930e-02 -1.76787342e-06 9.99821453e-01 -1.88017493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484012739 meters 0.024273629882301865 Centerline is valid? [True, True] Translation: X:96.31, Y:-9.50, Z:-1.88 [[ 9.88940966e-01 1.47185972e-01 1.82223693e-02 9.63088632e+01] [-1.47160036e-01 9.89108835e-01 -2.76343763e-03 -9.50436568e+00] [-1.84306457e-02 5.12721543e-05 9.99830140e-01 -1.88336299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544012739 meters 0.02400098572699612 Centerline is valid? [True, True] Translation: X:96.37, Y:-9.52, Z:-1.89 [[ 9.88861012e-01 1.47744962e-01 1.80367512e-02 9.63709321e+01] [-1.47719584e-01 9.89025492e-01 -2.73865614e-03 -9.51737475e+00] [-1.82434294e-02 4.37688943e-05 9.99833574e-01 -1.88521393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604012739 meters 0.024637187584293906 Centerline is valid? [True, True] Translation: X:96.43, Y:-9.54, Z:-1.89 [[ 9.89152785e-01 1.45832962e-01 1.75930342e-02 9.64304287e+01] [-1.45808456e-01 9.89309224e-01 -2.67463185e-03 -9.53688860e+00] [-1.77950005e-02 8.04063932e-05 9.99841653e-01 -1.88668036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664012739 meters 0.025449066190201815 Centerline is valid? [True, True] Translation: X:96.49, Y:-9.56, Z:-1.88 [[ 9.89632303e-01 1.42130922e-01 2.06568391e-02 9.64906032e+01] [-1.42096243e-01 9.89847852e-01 -3.14449580e-03 -9.55826183e+00] [-2.08940579e-02 1.76635394e-04 9.99781680e-01 -1.88167789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724012739 meters 0.02593253765156142 Centerline is valid? [True, True] Translation: X:96.55, Y:-9.57, Z:-1.88 [[ 9.89651547e-01 1.41845551e-01 2.16715266e-02 9.65505545e+01] [-1.41807226e-01 9.89888782e-01 -3.30294600e-03 -9.57481086e+00] [-2.19209092e-02 1.95586565e-04 9.99759689e-01 -1.88079202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784012739 meters 0.024716392029055685 Centerline is valid? [True, True] Translation: X:96.61, Y:-9.59, Z:-1.88 [[ 9.89180375e-01 1.45066721e-01 2.18593800e-02 9.66116557e+01] [-1.45028424e-01 9.89421866e-01 -3.33563386e-03 -9.58716814e+00] [-2.21120380e-02 1.29312123e-04 9.99755491e-01 -1.88138884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84401273900001 meters 0.024369476259001717 Centerline is valid? [True, True] Translation: X:96.67, Y:-9.60, Z:-1.88 [[ 9.89059106e-01 1.45957361e-01 2.14134103e-02 9.66727185e+01] [-1.45920742e-01 9.89290876e-01 -3.27115602e-03 -9.59867941e+00] [-2.16615407e-02 1.10705935e-04 9.99765355e-01 -1.88409075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904012739 meters 0.02417191926137434 Centerline is valid? [True, True] Translation: X:96.73, Y:-9.62, Z:-1.89 [[ 9.88902041e-01 1.47477650e-01 1.79748810e-02 9.67338247e+01] [-1.47452052e-01 9.89065386e-01 -2.74850686e-03 -9.61682089e+00] [-1.81836759e-02 6.75709573e-05 9.99834661e-01 -1.89204894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964012739 meters 0.023741806362105464 Centerline is valid? [True, True] Translation: X:96.79, Y:-9.63, Z:-1.89 [[ 9.88054762e-01 1.52932740e-01 1.89569286e-02 9.67943440e+01] [-1.52905196e-01 9.88236599e-01 -2.90259526e-03 -9.62634915e+00] [-1.91778325e-02 -3.06898080e-05 9.99816088e-01 -1.89025830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024012739 meters 0.03358409829003504 Centerline is valid? [True, True] Translation: X:96.86, Y:-9.62, Z:-1.88 [[ 9.85615897e-01 1.67899157e-01 1.92659528e-02 9.68574331e+01] [-1.67873497e-01 9.85804123e-01 -2.95309175e-03 -9.61842837e+00] [-1.94882773e-02 -3.23628698e-04 9.99810033e-01 -1.88151313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084012739 meters 0.042179234797348274 Centerline is valid? [True, True] Translation: X:96.92, Y:-9.60, Z:-1.90 [[ 9.83042287e-01 1.82501804e-01 1.79151880e-02 9.69201319e+01] [-1.82482029e-01 9.83205353e-01 -2.74626324e-03 -9.59815371e+00] [-1.81155067e-02 -5.69506964e-04 9.99835739e-01 -1.89549372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144012739 meters 0.04861115139263399 Centerline is valid? [True, True] Translation: X:96.98, Y:-9.59, Z:-1.90 [[ 9.81709725e-01 1.89635847e-01 1.68600761e-02 9.69823779e+01] [-1.89619380e-01 9.81854271e-01 -2.58466200e-03 -9.59059328e+00] [-1.70442823e-02 -6.59609349e-04 9.99854518e-01 -1.89912200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204012739 meters 0.05010790617435865 Centerline is valid? [True, True] Translation: X:97.04, Y:-9.59, Z:-1.90 [[ 9.81483874e-01 1.90760637e-01 1.73142993e-02 9.70419594e+01] [-1.90743441e-01 9.81636335e-01 -2.65448495e-03 -9.58722330e+00] [-1.75027165e-02 -6.97254857e-04 9.99846573e-01 -1.90014345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264012739 meters 0.043648417953394546 Centerline is valid? [True, True] Translation: X:97.10, Y:-9.59, Z:-1.89 [[ 9.82615165e-01 1.84409318e-01 2.14625373e-02 9.71027773e+01] [-1.84381414e-01 9.82849265e-01 -3.28894787e-03 -9.58835383e+00] [-2.17009516e-02 -7.25522922e-04 9.99764243e-01 -1.89286429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324012739 meters 0.04059698174348484 Centerline is valid? [True, True] Translation: X:97.16, Y:-9.60, Z:-1.89 [[ 9.83502627e-01 1.79575001e-01 2.18036877e-02 9.71613809e+01] [-1.79545024e-01 9.83744084e-01 -3.34081996e-03 -9.59528481e+00] [-2.20491766e-02 -6.29038419e-04 9.99756689e-01 -1.89398694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384012739 meters 0.03304964980875044 Centerline is valid? [True, True] Translation: X:97.22, Y:-9.61, Z:-1.90 [[ 9.84969051e-01 1.71552031e-01 2.01462022e-02 9.72203078e+01] [-1.71524767e-01 9.85174973e-01 -3.08648064e-03 -9.60873979e+00] [-2.03770263e-02 -4.15484739e-04 9.99792281e-01 -1.89900716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444012739 meters 0.0302976795566171 Centerline is valid? [True, True] Translation: X:97.28, Y:-9.62, Z:-1.90 [[ 9.85550895e-01 1.68182041e-01 2.01055819e-02 9.72794997e+01] [-1.68154187e-01 9.85755894e-01 -3.08021393e-03 -9.62037847e+00] [-2.03372325e-02 -3.45130175e-04 9.99793118e-01 -1.90032099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504012739 meters 0.02803258173547761 Centerline is valid? [True, True] Translation: X:97.34, Y:-9.63, Z:-1.90 [[ 9.86124728e-01 1.64840297e-01 1.96391775e-02 9.73376527e+01] [-1.64813061e-01 9.86320234e-01 -3.00853747e-03 -9.63368366e+00] [-1.98664464e-02 -2.69999776e-04 9.99802606e-01 -1.90246875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564012739 meters 0.028890846813604286 Centerline is valid? [True, True] Translation: X:97.40, Y:-9.64, Z:-1.91 [[ 9.85853414e-01 1.66580876e-01 1.85433776e-02 9.73968552e+01] [-1.66556911e-01 9.86027752e-01 -2.84025454e-03 -9.63835644e+00] [-1.87574170e-02 -2.88453051e-04 9.99824023e-01 -1.90603688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624012739 meters 0.030681431189618306 Centerline is valid? [True, True] Translation: X:97.46, Y:-9.64, Z:-1.90 [[ 9.85422915e-01 1.68846122e-01 2.08006028e-02 9.74560571e+01] [-1.68816483e-01 9.85642353e-01 -3.18541609e-03 -9.64025697e+00] [-2.10398002e-02 -3.72502593e-04 9.99778570e-01 -1.90327610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684012739 meters 0.0285798058692823 Centerline is valid? [True, True] Translation: X:97.51, Y:-9.65, Z:-1.91 [[ 9.85974212e-01 1.65833178e-01 1.88204974e-02 9.75141740e+01] [-1.65808375e-01 9.86153781e-01 -2.88163552e-03 -9.65370903e+00] [-1.90377755e-02 -2.79377790e-04 9.99818726e-01 -1.90793462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744012739 meters 0.027433345512689732 Centerline is valid? [True, True] Translation: X:97.57, Y:-9.66, Z:-1.91 [[ 9.86334021e-01 1.63552639e-01 1.98930698e-02 9.75722228e+01] [-1.63524474e-01 9.86534577e-01 -3.04535509e-03 -9.66473914e+00] [-2.01232771e-02 -2.49266454e-04 9.99797475e-01 -1.90845932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804012739 meters 0.028608225596204975 Centerline is valid? [True, True] Translation: X:97.63, Y:-9.67, Z:-1.91 [[ 9.86000711e-01 1.65597780e-01 1.94928973e-02 9.76315504e+01] [-1.65571150e-01 9.86193335e-01 -2.98339991e-03 -9.67071909e+00] [-1.97178098e-02 -2.85826999e-04 9.99805544e-01 -1.91052109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864012739 meters 0.03168335788464284 Centerline is valid? [True, True] Translation: X:97.69, Y:-9.67, Z:-1.91 [[ 9.85660340e-01 1.67592951e-01 1.96544540e-02 9.76904388e+01] [-1.67566284e-01 9.85856224e-01 -3.00765688e-03 -9.67367713e+00] [-1.98805279e-02 -3.28895705e-04 9.99802309e-01 -1.91136460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924012739 meters 0.030743771546214684 Centerline is valid? [True, True] Translation: X:97.75, Y:-9.68, Z:-1.91 [[ 9.85687980e-01 1.67355344e-01 2.02828935e-02 9.77480286e+01] [-1.67326908e-01 9.85896585e-01 -3.10313417e-03 -9.68370234e+00] [-2.05161615e-02 -3.35151800e-04 9.99789465e-01 -1.91066140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984012739 meters 0.030305405932544986 Centerline is valid? [True, True] Translation: X:97.81, Y:-9.69, Z:-1.91 [[ 9.85823226e-01 1.66520195e-01 2.05813514e-02 9.78064674e+01] [-1.66490753e-01 9.86037991e-01 -3.14783253e-03 -9.69208954e+00] [-2.08181721e-02 -3.23398282e-04 9.99783226e-01 -1.91166920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044012739 meters 0.028238839089147996 Centerline is valid? [True, True] Translation: X:97.87, Y:-9.70, Z:-1.91 [[ 9.85937322e-01 1.65729515e-01 2.14784923e-02 9.78654823e+01] [-1.65697285e-01 9.86171194e-01 -3.28405423e-03 -9.70180757e+00] [-2.17257352e-02 -3.21056239e-04 9.99763917e-01 -1.91187985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104012739 meters 0.02753650306759525 Centerline is valid? [True, True] Translation: X:97.92, Y:-9.71, Z:-1.91 [[ 9.86117823e-01 1.64598685e-01 2.18840805e-02 9.79243565e+01] [-1.64564960e-01 9.86360574e-01 -3.34552177e-03 -9.71240210e+00] [-2.21362627e-02 -3.02274192e-04 9.99754917e-01 -1.91333370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164012739 meters 0.02629062227030567 Centerline is valid? [True, True] Translation: X:97.98, Y:-9.73, Z:-1.92 [[ 9.86631851e-01 1.61601281e-01 2.10384533e-02 9.79822079e+01] [-1.61569441e-01 9.86856106e-01 -3.21575626e-03 -9.72696853e+00] [-2.12815964e-02 -2.26403586e-04 9.99773496e-01 -1.91542816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224012739 meters 0.024353645962341658 Centerline is valid? [True, True] Translation: X:98.04, Y:-9.74, Z:-1.92 [[ 9.87289305e-01 1.57731860e-01 1.95061178e-02 9.80407357e+01] [-1.57703738e-01 9.87481971e-01 -2.98130763e-03 -9.74444813e+00] [-1.97321869e-02 -1.32774564e-04 9.99805293e-01 -1.91982981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284012739 meters 0.02322798221328748 Centerline is valid? [True, True] Translation: X:98.10, Y:-9.76, Z:-1.92 [[ 9.87838538e-01 1.53921816e-01 2.19794881e-02 9.80999742e+01] [-1.53885165e-01 9.88083028e-01 -3.35937940e-03 -9.76339012e+00] [-2.22346409e-02 -6.37927252e-05 9.99752778e-01 -1.91718673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344012739 meters 0.023037282935452468 Centerline is valid? [True, True] Translation: X:98.16, Y:-9.78, Z:-1.92 [[ 9.88203521e-01 1.51650063e-01 2.13555342e-02 9.81606346e+01] [-1.51614919e-01 9.88434246e-01 -3.26469700e-03 -9.77971318e+00] [-2.16036329e-02 -1.16325215e-05 9.99766614e-01 -1.92056397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404012739 meters 0.02301886382209252 Centerline is valid? [True, True] Translation: X:98.22, Y:-9.79, Z:-1.93 [[ 9.88421738e-01 1.50523477e-01 1.91089152e-02 9.82210243e+01] [-1.50495067e-01 9.88606435e-01 -2.92438806e-03 -9.79253010e+00] [-1.93313856e-02 1.47312515e-05 9.99813131e-01 -1.92543122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464012739 meters 0.023027243137044073 Centerline is valid? [True, True] Translation: X:98.28, Y:-9.80, Z:-1.92 [[ 9.88463052e-01 1.50023478e-01 2.08267037e-02 9.82825605e+01] [-1.49989562e-01 9.88682434e-01 -3.19000005e-03 -9.80497045e+00] [-2.10695710e-02 2.94090043e-05 9.99778012e-01 -1.92195342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524012739 meters 0.02288773138445467 Centerline is valid? [True, True] Translation: X:98.35, Y:-9.81, Z:-1.92 [[ 9.88171472e-01 1.51880473e-01 2.12005508e-02 9.83452440e+01] [-1.51845678e-01 9.88398868e-01 -3.25083812e-03 -9.81291900e+00] [-2.14483392e-02 -6.82653122e-06 9.99769958e-01 -1.92439834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584012739 meters 0.022974092898695106 Centerline is valid? [True, True] Translation: X:98.41, Y:-9.82, Z:-1.93 [[ 9.87888660e-01 1.53822390e-01 2.03633963e-02 9.84070141e+01] [-1.53790626e-01 9.88098512e-01 -3.12617376e-03 -9.82104272e+00] [-2.06019171e-02 -4.33878608e-05 9.99787757e-01 -1.92696609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644012739 meters 0.02294914232905956 Centerline is valid? [True, True] Translation: X:98.47, Y:-9.83, Z:-1.93 [[ 9.87992368e-01 1.53174103e-01 2.02181657e-02 9.84685406e+01] [-1.53142587e-01 9.88199218e-01 -3.10718276e-03 -9.83445114e+00] [-2.04555155e-02 -2.63893484e-05 9.99790764e-01 -1.92892347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704012739 meters 0.02935085439743287 Centerline is valid? [True, True] Translation: X:98.53, Y:-9.84, Z:-1.92 [[ 9.87741566e-01 1.54819538e-01 1.99376182e-02 9.85310945e+01] [-1.54789151e-01 9.87942765e-01 -3.06777903e-03 -9.84365115e+00] [-2.01721778e-02 -5.59541196e-05 9.99796519e-01 -1.91873541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764012739 meters 0.023329481411754168 Centerline is valid? [True, True] Translation: X:98.59, Y:-9.85, Z:-1.93 [[ 9.87464893e-01 1.56440931e-01 2.09599456e-02 9.85913021e+01] [-1.56407624e-01 9.87687312e-01 -3.22925868e-03 -9.85114564e+00] [-2.12070606e-02 -8.95157186e-05 9.99775101e-01 -1.92945318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824012739 meters 0.025172403766896174 Centerline is valid? [True, True] Translation: X:98.65, Y:-9.85, Z:-1.93 [[ 9.86732259e-01 1.60880216e-01 2.18404456e-02 9.86516830e+01] [-1.60845095e-01 9.86973920e-01 -3.36686918e-03 -9.85477802e+00] [-2.20976129e-02 -1.90730115e-04 9.99755800e-01 -1.92920681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884012739 meters 0.026728063019201567 Centerline is valid? [True, True] Translation: X:98.71, Y:-9.86, Z:-1.94 [[ 9.86411820e-01 1.63240390e-01 1.85552235e-02 9.87113295e+01] [-1.63215458e-01 9.86586302e-01 -2.86044656e-03 -9.85888891e+00] [-1.87732698e-02 -2.06921003e-04 9.99823745e-01 -1.93602504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944012739 meters 0.027424476789238005 Centerline is valid? [True, True] Translation: X:98.77, Y:-9.87, Z:-1.93 [[ 9.86233611e-01 1.64121883e-01 2.01810049e-02 9.87706330e+01] [-1.64092579e-01 9.86440038e-01 -3.11082322e-03 -9.86624401e+00] [-2.04179054e-02 -2.43554728e-04 9.99791503e-01 -1.93377835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004012739 meters 0.031241190139202575 Centerline is valid? [True, True] Translation: X:98.83, Y:-9.86, Z:-1.93 [[ 9.85212485e-01 1.69672978e-01 2.38209994e-02 9.88312336e+01] [-1.69633785e-01 9.85500330e-01 -3.67128397e-03 -9.86440922e+00] [-2.40985204e-02 -4.23851482e-04 9.99709499e-01 -1.92824420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064012739 meters 0.03192620162685788 Centerline is valid? [True, True] Translation: X:98.89, Y:-9.87, Z:-1.93 [[ 9.84842629e-01 1.72080918e-01 2.17521059e-02 9.88918677e+01] [-1.72048833e-01 9.85082719e-01 -3.35199586e-03 -9.86783860e+00] [-2.20044382e-02 -4.41236031e-04 9.99757776e-01 -1.93413713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124012739 meters 0.028559460776121797 Centerline is valid? [True, True] Translation: X:98.95, Y:-9.88, Z:-1.93 [[ 9.85633948e-01 1.67203883e-01 2.38449719e-02 9.89506410e+01] [-1.67163901e-01 9.85922273e-01 -3.67446276e-03 -9.88192605e+00] [-2.41236733e-02 -3.64343279e-04 9.99708915e-01 -1.93260783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184012739 meters 0.025463426590036854 Centerline is valid? [True, True] Translation: X:99.01, Y:-9.90, Z:-1.94 [[ 9.86558304e-01 1.61922115e-01 2.19986664e-02 9.90100451e+01] [-1.61886775e-01 9.86803517e-01 -3.38976992e-03 -9.90007545e+00] [-2.22572401e-02 -2.17087508e-04 9.99752253e-01 -1.93757453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244012739 meters 0.023688314707038582 Centerline is valid? [True, True] Translation: X:99.07, Y:-9.92, Z:-1.94 [[ 9.87261052e-01 1.57844578e-01 2.00175911e-02 9.90687360e+01] [-1.57814470e-01 9.87463962e-01 -3.08491472e-03 -9.91901004e+00] [-2.02535869e-02 -1.13449389e-04 9.99794869e-01 -1.94166827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304012739 meters 0.023794268634097546 Centerline is valid? [True, True] Translation: X:99.13, Y:-9.93, Z:-1.94 [[ 9.87167767e-01 1.58132602e-01 2.22234327e-02 9.91278013e+01] [-1.58095487e-01 9.87417877e-01 -3.42833444e-03 -9.92978324e+00] [-2.24859461e-02 -1.29083145e-04 9.99747151e-01 -1.93835167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364012739 meters 0.0237740109897215 Centerline is valid? [True, True] Translation: X:99.19, Y:-9.95, Z:-1.94 [[ 9.87147479e-01 1.58512250e-01 2.03401613e-02 9.91889596e+01] [-1.58481235e-01 9.87357003e-01 -3.13804839e-03 -9.94914093e+00] [-2.05804198e-02 -1.25817332e-04 9.99788193e-01 -1.94358705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424012739 meters 0.02411106040953957 Centerline is valid? [True, True] Translation: X:99.25, Y:-9.96, Z:-1.94 [[ 9.86888071e-01 1.59787134e-01 2.28036706e-02 9.92498150e+01] [-1.59748378e-01 9.87151480e-01 -3.52298242e-03 -9.96223453e+00] [-2.30736044e-02 -1.66060070e-04 9.99733755e-01 -1.94040782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484012739 meters 0.02514169069910982 Centerline is valid? [True, True] Translation: X:99.31, Y:-9.97, Z:-1.94 [[ 9.86483685e-01 1.62571331e-01 2.05061432e-02 9.93112587e+01] [-1.62540528e-01 9.86696772e-01 -3.17119629e-03 -9.97419555e+00] [-2.07488909e-02 -2.04745924e-04 9.99784698e-01 -1.94476967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544012739 meters 0.026821309160503033 Centerline is valid? [True, True] Translation: X:99.37, Y:-9.98, Z:-1.95 [[ 9.85999339e-01 1.65550852e-01 1.99554379e-02 9.93720912e+01] [-1.65522222e-01 9.86201222e-01 -3.08942033e-03 -9.98077297e+00] [-2.01915334e-02 -2.56902014e-04 9.99796097e-01 -1.94666176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604012739 meters 0.027840095079572833 Centerline is valid? [True, True] Translation: X:99.43, Y:-9.99, Z:-1.95 [[ 9.85819287e-01 1.66468146e-01 2.11823055e-02 9.94325657e+01] [-1.66436054e-01 9.86046790e-01 -3.28146268e-03 -9.99160607e+00] [-2.14330033e-02 -2.90570137e-04 9.99770245e-01 -1.94587770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664012739 meters 0.032090708267275815 Centerline is valid? [True, True] Translation: X:99.49, Y:-9.99, Z:-1.95 [[ 9.85136664e-01 1.70399630e-01 2.16730233e-02 9.94941243e+01] [-1.70366914e-01 9.85374964e-01 -3.36069776e-03 -9.98865216e+00] [-2.19287162e-02 -3.81619520e-04 9.99759464e-01 -1.94668343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724012739 meters 0.031944617422205064 Centerline is valid? [True, True] Translation: X:99.55, Y:-9.99, Z:-1.95 [[ 9.84776324e-01 1.72490256e-01 2.15105147e-02 9.95541668e+01] [-1.72458522e-01 9.85011132e-01 -3.33573424e-03 -9.99439805e+00] [-2.17634781e-02 -4.24719464e-04 9.99763057e-01 -1.94752993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784012739 meters 0.033265597193839695 Centerline is valid? [True, True] Translation: X:99.61, Y:-9.99, Z:-1.95 [[ 9.84486246e-01 1.74220067e-01 2.08374488e-02 9.96149934e+01] [-1.74190675e-01 9.84706640e-01 -3.23136176e-03 -9.99313151e+00] [-2.10817423e-02 -4.48458065e-04 9.99777655e-01 -1.95018947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844012739 meters 0.0326825326390383 Centerline is valid? [True, True] Translation: X:99.67, Y:-10.00, Z:-1.95 [[ 9.84628656e-01 1.73446425e-01 2.05608343e-02 9.96748772e+01] [-1.73417638e-01 9.84843214e-01 -3.18855211e-03 -9.99736978e+00] [-2.08022411e-02 -4.26071536e-04 9.99783519e-01 -1.95202050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904012739 meters 0.032820194361633984 Centerline is valid? [True, True] Translation: X:99.73, Y:-10.00, Z:-1.95 [[ 9.84538047e-01 1.73784058e-01 2.19985158e-02 9.97343491e+01] [-1.73751201e-01 9.84783675e-01 -3.41090227e-03 -9.99739532e+00] [-2.22565396e-02 -4.64105466e-04 9.99752185e-01 -1.95116580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964012739 meters 0.034417857600047376 Centerline is valid? [True, True] Translation: X:99.79, Y:-9.99, Z:-1.96 [[ 9.84356868e-01 1.75058962e-01 1.98976302e-02 9.97932404e+01] [-1.75032360e-01 9.84557850e-01 -3.08429179e-03 -9.99389655e+00] [-2.01303009e-02 -4.46685353e-04 9.99797265e-01 -1.95589626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024012739 meters 0.03128102390717501 Centerline is valid? [True, True] Translation: X:99.85, Y:-10.00, Z:-1.96 [[ 9.84885866e-01 1.72044206e-01 2.00155484e-02 9.98515721e+01] [-1.72016689e-01 9.85089153e-01 -3.10136425e-03 -9.99969038e+00] [-2.02506714e-02 -3.88518560e-04 9.99794859e-01 -1.95712603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084012739 meters 0.027571503686268536 Centerline is valid? [True, True] Translation: X:99.91, Y:-10.01, Z:-1.95 [[ 9.85862052e-01 1.66136742e-01 2.17852657e-02 9.99095779e+01] [-1.66102725e-01 9.86102681e-01 -3.37444852e-03 -1.00078715e+01] [-2.20431288e-02 -2.91851259e-04 9.99756978e-01 -1.95495107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144012739 meters 0.024524899607122685 Centerline is valid? [True, True] Translation: X:99.97, Y:-10.02, Z:-1.96 [[ 9.86861049e-01 1.60366798e-01 1.96916139e-02 9.99672143e+01] [-1.60337869e-01 9.87057480e-01 -3.04950115e-03 -1.00222019e+01] [-1.99257935e-02 -1.47877508e-04 9.99801451e-01 -1.96085777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204012739 meters 0.023528533129218897 Centerline is valid? [True, True] Translation: X:100.03, Y:-10.03, Z:-1.96 [[ 9.87261543e-01 1.57876986e-01 1.97358263e-02 1.00025861e+02] [-1.57847439e-01 9.87458783e-01 -3.05588037e-03 -1.00311373e+01] [-1.99707682e-02 -9.82964724e-05 9.99800559e-01 -1.96165627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264012739 meters 0.023489364032219864 Centerline is valid? [True, True] Translation: X:100.08, Y:-10.04, Z:-1.96 [[ 9.87310791e-01 1.57482501e-01 2.04123419e-02 1.00084370e+02] [-1.57450820e-01 9.87521773e-01 -3.16013692e-03 -1.00379053e+01] [-2.06552984e-02 -9.39026874e-05 9.99786652e-01 -1.96123936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324012739 meters 0.022661660180616473 Centerline is valid? [True, True] Translation: X:100.14, Y:-10.05, Z:-1.96 [[ 9.87940405e-01 1.53394081e-01 2.10715780e-02 1.00142311e+02] [-1.53359405e-01 9.88165095e-01 -3.26145549e-03 -1.00527349e+01] [-2.13224858e-02 -9.40100168e-06 9.99772650e-01 -1.96027597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384012739 meters 0.02298497885842769 Centerline is valid? [True, True] Translation: X:100.20, Y:-10.07, Z:-1.96 [[ 9.88491677e-01 1.49826377e-01 2.08868719e-02 1.00200835e+02] [-1.49791519e-01 9.88712320e-01 -3.23239750e-03 -1.00671413e+01] [-2.11354060e-02 6.65217541e-05 9.99776620e-01 -1.96205097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444012739 meters 0.023279651000753222 Centerline is valid? [True, True] Translation: X:100.26, Y:-10.08, Z:-1.96 [[ 9.88728172e-01 1.48300745e-01 2.05788908e-02 1.00260705e+02] [-1.48266577e-01 9.88942303e-01 -3.18474395e-03 -1.00800674e+01] [-2.08236356e-02 9.76843757e-05 9.99783160e-01 -1.96354056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504012739 meters 0.022629958897185772 Centerline is valid? [True, True] Translation: X:100.32, Y:-10.08, Z:-1.97 [[ 9.87997829e-01 1.53307302e-01 1.88986791e-02 1.00320995e+02] [-1.53279393e-01 9.88178562e-01 -2.92517117e-03 -1.00830814e+01] [-1.91237197e-02 -6.71530428e-06 9.99817125e-01 -1.96769726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564012739 meters 0.024528655231670183 Centerline is valid? [True, True] Translation: X:100.38, Y:-10.08, Z:-1.97 [[ 9.86849615e-01 1.60583468e-01 1.84604106e-02 1.00379993e+02] [-1.60558108e-01 9.87022254e-01 -2.85744153e-03 -1.00809524e+01] [-1.86796940e-02 -1.44103531e-04 9.99825509e-01 -1.97071595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624012739 meters 0.02572731526912172 Centerline is valid? [True, True] Translation: X:100.44, Y:-10.09, Z:-1.97 [[ 9.86441576e-01 1.63095566e-01 1.82442834e-02 1.00439010e+02] [-1.63071246e-01 9.86610257e-01 -2.82287407e-03 -1.00858500e+01] [-1.84603954e-02 -1.90517679e-04 9.99829574e-01 -1.97266703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684012739 meters 0.026346500565698913 Centerline is valid? [True, True] Translation: X:100.50, Y:-10.09, Z:-1.97 [[ 9.86211016e-01 1.64409600e-01 1.89027905e-02 1.00497638e+02] [-1.64383752e-01 9.86392130e-01 -2.92381707e-03 -1.00932442e+01] [-1.91262674e-02 -2.23811030e-04 9.99817051e-01 -1.97172938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744012739 meters 0.025865492547256078 Centerline is valid? [True, True] Translation: X:100.56, Y:-10.10, Z:-1.97 [[ 9.86284417e-01 1.63939624e-01 1.91532660e-02 1.00555975e+02] [-1.63913016e-01 9.86470350e-01 -2.96162208e-03 -1.00997722e+01] [-1.93796562e-02 -2.18467891e-04 9.99812173e-01 -1.97277387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804012739 meters 0.02546987426085839 Centerline is valid? [True, True] Translation: X:100.61, Y:-10.11, Z:-1.97 [[ 9.86456922e-01 1.62924867e-01 1.89269447e-02 1.00613137e+02] [-1.62898715e-01 9.86638459e-01 -2.92572593e-03 -1.01062387e+01] [-1.91507251e-02 -1.97072383e-04 9.99816589e-01 -1.97437995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864012739 meters 0.02454121073470446 Centerline is valid? [True, True] Translation: X:100.67, Y:-10.11, Z:-1.97 [[ 9.86778067e-01 1.60861360e-01 1.98158892e-02 1.00670393e+02] [-1.60832304e-01 9.86976998e-01 -3.06180240e-03 -1.01143646e+01] [-2.00503526e-02 -1.65715663e-04 9.99798958e-01 -1.97287405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924012739 meters 0.02269205505091179 Centerline is valid? [True, True] Translation: X:100.73, Y:-10.13, Z:-1.97 [[ 9.87635176e-01 1.55361804e-01 2.09635015e-02 1.00727531e+02] [-1.55328072e-01 9.87857635e-01 -3.23782698e-03 -1.01348054e+01] [-2.12119896e-02 -5.84284583e-05 9.99774999e-01 -1.97234486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984012739 meters 0.02247447474098795 Centerline is valid? [True, True] Translation: X:100.79, Y:-10.16, Z:-1.97 [[ 9.88444849e-01 1.50028509e-01 2.16385376e-02 1.00785405e+02] [-1.49991302e-01 9.88681669e-01 -3.34157557e-03 -1.01562220e+01] [-2.18949571e-02 5.73707213e-05 9.99760275e-01 -1.97215522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044012739 meters 0.022800779259616582 Centerline is valid? [True, True] Translation: X:100.84, Y:-10.17, Z:-1.98 [[ 9.88712508e-01 1.48622818e-01 1.89429553e-02 1.00844188e+02] [-1.48594050e-01 9.88893954e-01 -2.92510532e-03 -1.01739385e+01] [-1.91673114e-02 7.72777679e-05 9.99816287e-01 -1.97816637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104012739 meters 0.022861504608438228 Centerline is valid? [True, True] Translation: X:100.90, Y:-10.19, Z:-1.98 [[ 9.88702332e-01 1.48832683e-01 1.77913359e-02 1.00904195e+02] [-1.48807288e-01 9.88862391e-01 -2.75018486e-03 -1.01887182e+01] [-1.80025004e-02 7.16337298e-05 9.99837939e-01 -1.98215689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164012739 meters 0.022779186418773453 Centerline is valid? [True, True] Translation: X:100.96, Y:-10.20, Z:-1.98 [[ 9.88628938e-01 1.49169333e-01 1.90087499e-02 1.00963535e+02] [-1.49140397e-01 9.88811663e-01 -2.93887625e-03 -1.02024800e+01] [-1.92344638e-02 7.04856128e-05 9.99814998e-01 -1.98073614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224012739 meters 0.02290068004216738 Centerline is valid? [True, True] Translation: X:101.02, Y:-10.21, Z:-1.98 [[ 9.88641695e-01 1.49110553e-01 1.88053512e-02 1.01022613e+02] [-1.49082218e-01 9.88820529e-01 -2.90764979e-03 -1.02141574e+01] [-1.90286786e-02 7.10803435e-05 9.99818936e-01 -1.98242423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284012739 meters 0.023025569056243925 Centerline is valid? [True, True] Translation: X:101.08, Y:-10.23, Z:-1.99 [[ 9.88676274e-01 1.49109138e-01 1.69023801e-02 1.01083255e+02] [-1.49086245e-01 9.88820743e-01 -2.61355109e-03 -1.02257936e+01] [-1.71031284e-02 6.40435685e-05 9.99853729e-01 -1.98843053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344012739 meters 0.022828404172594116 Centerline is valid? [True, True] Translation: X:101.14, Y:-10.24, Z:-1.98 [[ 9.88620527e-01 1.49186096e-01 1.93122557e-02 1.01142257e+02] [-1.49156213e-01 9.88809134e-01 -2.98672908e-03 -1.02367682e+01] [-1.95417133e-02 7.21987467e-05 9.99809040e-01 -1.98359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404012739 meters 0.02253915892942727 Centerline is valid? [True, True] Translation: X:101.20, Y:-10.25, Z:-1.98 [[ 9.88329662e-01 1.51029806e-01 1.98614407e-02 1.01201639e+02] [-1.50998577e-01 9.88529209e-01 -3.07141958e-03 -1.02457625e+01] [-2.00974901e-02 3.65258023e-05 9.99798024e-01 -1.98424195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464012739 meters 0.022515487221883703 Centerline is valid? [True, True] Translation: X:101.26, Y:-10.26, Z:-1.99 [[ 9.88088762e-01 1.52927519e-01 1.71397727e-02 1.01262053e+02] [-1.52904546e-01 9.88237408e-01 -2.65066182e-03 -1.02551246e+01] [-1.73435236e-02 -1.65999456e-06 9.99849590e-01 -1.99183223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524012739 meters 0.022234282783739158 Centerline is valid? [True, True] Translation: X:101.32, Y:-10.27, Z:-1.99 [[ 9.87900792e-01 1.53714017e-01 2.05918758e-02 1.01321926e+02] [-1.53681016e-01 9.88115378e-01 -3.18507848e-03 -1.02671632e+01] [-2.08367404e-02 -1.80388379e-05 9.99782891e-01 -1.98565703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584012739 meters 0.022647001047495067 Centerline is valid? [True, True] Translation: X:101.38, Y:-10.28, Z:-1.99 [[ 9.87581792e-01 1.55971043e-01 1.88477534e-02 1.01382092e+02] [-1.55943808e-01 9.87761626e-01 -2.91528772e-03 -1.02753661e+01] [-1.90717880e-02 -6.01053602e-05 9.99818115e-01 -1.99106210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644012739 meters 0.025099033797121237 Centerline is valid? [True, True] Translation: X:101.44, Y:-10.28, Z:-2.00 [[ 9.86798690e-01 1.61067132e-01 1.69033636e-02 1.01442462e+02] [-1.61045968e-01 9.86943443e-01 -2.61482418e-03 -1.02769910e+01] [-1.71038261e-02 -1.41913481e-04 9.99853709e-01 -1.99620852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704012739 meters 0.02897846597730887 Centerline is valid? [True, True] Translation: X:101.50, Y:-10.28, Z:-1.99 [[ 9.85674556e-01 1.67525620e-01 1.95150094e-02 1.01503040e+02] [-1.67498685e-01 9.85867679e-01 -3.01832578e-03 -1.02764267e+01] [-1.97448639e-02 -2.93651489e-04 9.99805008e-01 -1.99061488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764012739 meters 0.03193241225472168 Centerline is valid? [True, True] Translation: X:101.56, Y:-10.28, Z:-1.99 [[ 9.85102778e-01 1.70769967e-01 2.02517752e-02 1.01563156e+02] [-1.70741654e-01 9.85310854e-01 -3.13179468e-03 -1.02789127e+01] [-2.04891104e-02 -3.72681960e-04 9.99790007e-01 -1.99055953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824012739 meters 0.03456564243776316 Centerline is valid? [True, True] Translation: X:101.62, Y:-10.28, Z:-1.99 [[ 9.85119494e-01 1.70804761e-01 1.91132712e-02 1.01620522e+02] [-1.70779555e-01 9.85304831e-01 -2.95536647e-03 -1.02832674e+01] [-1.93371891e-02 -3.52766835e-04 9.99812957e-01 -1.99394575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884012739 meters 0.03499903455353126 Centerline is valid? [True, True] Translation: X:101.68, Y:-10.29, Z:-1.99 [[ 9.85019285e-01 1.71239511e-01 2.03479488e-02 1.01679643e+02] [-1.71211064e-01 9.85229354e-01 -3.14496365e-03 -1.02878358e+01] [-2.05859385e-02 -3.85944114e-04 9.99788013e-01 -1.99156406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944012739 meters 0.03700249952572133 Centerline is valid? [True, True] Translation: X:101.74, Y:-10.29, Z:-1.99 [[ 9.84725386e-01 1.72877955e-01 2.07153656e-02 1.01738865e+02] [-1.72848852e-01 9.84943160e-01 -3.20085215e-03 -1.02892389e+01] [-2.09568144e-02 -4.28666779e-04 9.99780290e-01 -1.99185712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004012739 meters 0.040338896670751086 Centerline is valid? [True, True] Translation: X:101.80, Y:-10.28, Z:-2.00 [[ 9.84010794e-01 1.77068195e-01 1.92252583e-02 1.01800203e+02] [-1.77043943e-01 9.84198467e-01 -2.96982745e-03 -1.02823433e+01] [-1.94473318e-02 -4.81373267e-04 9.99810767e-01 -1.99695092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064012739 meters 0.039772593579059365 Centerline is valid? [True, True] Translation: X:101.86, Y:-10.28, Z:-2.00 [[ 9.84141687e-01 1.76311805e-01 1.94752830e-02 1.01859835e+02] [-1.76286778e-01 9.84334254e-01 -3.00804470e-03 -1.02812761e+01] [-1.97005419e-02 -4.72892687e-04 9.99805814e-01 -1.99691746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124012739 meters 0.03411235037374626 Centerline is valid? [True, True] Translation: X:101.92, Y:-10.29, Z:-2.00 [[ 9.85128237e-01 1.70653127e-01 1.99966489e-02 1.01918110e+02] [-1.70625593e-01 9.85331098e-01 -3.08767553e-03 -1.02893387e+01] [-2.02302415e-02 -3.70183720e-04 9.99795279e-01 -1.99727731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184012739 meters 0.02588391795280613 Centerline is valid? [True, True] Translation: X:101.98, Y:-10.31, Z:-2.00 [[ 9.86740039e-01 1.61235422e-01 1.86342185e-02 1.01975441e+02] [-1.61209838e-01 9.86915960e-01 -2.87693251e-03 -1.03084243e+01] [-1.88542711e-02 -1.65234848e-04 9.99822229e-01 -2.00113795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244012739 meters 0.021979228635292686 Centerline is valid? [True, True] Translation: X:102.03, Y:-10.33, Z:-2.00 [[ 9.88131300e-01 1.52309422e-01 1.99592930e-02 1.02032369e+02] [-1.52278255e-01 9.88332859e-01 -3.08105413e-03 -1.03315920e+01] [-2.01956987e-02 5.11970990e-06 9.99796046e-01 -1.99741660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304012739 meters 0.02338724780952665 Centerline is valid? [True, True] Translation: X:102.09, Y:-10.35, Z:-2.00 [[ 9.88884198e-01 1.47595813e-01 1.79866239e-02 1.02089440e+02] [-1.47569731e-01 9.89047758e-01 -2.77612892e-03 -1.03497097e+01] [-1.81993750e-02 9.09887764e-05 9.99834374e-01 -2.00484405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364012739 meters 0.02541828131581152 Centerline is valid? [True, True] Translation: X:102.15, Y:-10.37, Z:-2.01 [[ 9.89357093e-01 1.44813372e-01 1.41996447e-02 1.02146696e+02] [-1.44796830e-01 9.89458981e-01 -2.19163462e-03 -1.03659305e+01] [-1.43673439e-02 1.12245721e-04 9.99896778e-01 -2.01391837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424012739 meters 0.023278146429568634 Centerline is valid? [True, True] Translation: X:102.21, Y:-10.37, Z:-2.01 [[ 9.89110058e-01 1.46192232e-01 1.70036812e-02 1.02206579e+02] [-1.46168727e-01 9.89256195e-01 -2.62372767e-03 -1.03722492e+01] [-1.72045655e-02 1.09748993e-04 9.99851984e-01 -2.00639414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484012739 meters 0.022700168713938044 Centerline is valid? [True, True] Translation: X:102.27, Y:-10.38, Z:-2.00 [[ 9.88762205e-01 1.48340929e-01 1.85545415e-02 1.02265745e+02] [-1.48313328e-01 9.88936278e-01 -2.86254267e-03 -1.03822020e+01] [-1.87738914e-02 7.84882130e-05 9.99823752e-01 -2.00479962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544012739 meters 0.022388471363270712 Centerline is valid? [True, True] Translation: X:102.32, Y:-10.39, Z:-2.01 [[ 9.88586291e-01 1.49471102e-01 1.88556295e-02 1.02323912e+02] [-1.49442812e-01 9.88766093e-01 -2.90855197e-03 -1.03902197e+01] [-1.90785516e-02 5.75163186e-05 9.99817986e-01 -2.00532400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604012739 meters 0.022282412932632563 Centerline is valid? [True, True] Translation: X:102.38, Y:-10.39, Z:-2.01 [[ 9.87793987e-01 1.54697717e-01 1.82114395e-02 1.02383178e+02] [-1.54672225e-01 9.87961849e-01 -2.80858629e-03 -1.03907581e+01] [-1.84266893e-02 -4.24992246e-05 9.99830213e-01 -2.00692171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664012739 meters 0.025025009819891655 Centerline is valid? [True, True] Translation: X:102.44, Y:-10.38, Z:-2.01 [[ 9.86702901e-01 1.61690362e-01 1.65412368e-02 1.02442479e+02] [-1.61670325e-01 9.86841528e-01 -2.55035670e-03 -1.03844578e+01] [-1.67359475e-02 -1.57782771e-04 9.99859932e-01 -2.01116345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724012739 meters 0.026164856680242765 Centerline is valid? [True, True] Translation: X:102.50, Y:-10.39, Z:-2.01 [[ 9.86447752e-01 1.63140661e-01 1.74916262e-02 1.02501033e+02] [-1.63118501e-01 9.86602801e-01 -2.69579922e-03 -1.03871072e+01] [-1.76970819e-02 -1.93942778e-04 9.99843376e-01 -2.01068002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784012739 meters 0.022964496791441663 Centerline is valid? [True, True] Translation: X:102.56, Y:-10.40, Z:-2.01 [[ 9.87368167e-01 1.57278507e-01 1.91722330e-02 1.02557647e+02] [-1.57250802e-01 9.87554283e-01 -2.95358431e-03 -1.04041872e+01] [-1.93981561e-02 -9.85738850e-05 9.99811833e-01 -2.00893120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844012739 meters 0.0223746347698529 Centerline is valid? [True, True] Translation: X:102.61, Y:-10.43, Z:-2.01 [[ 9.88571235e-01 1.49614597e-01 1.85036858e-02 1.02614210e+02] [-1.49587463e-01 9.88744391e-01 -2.84973610e-03 -1.04274234e+01] [-1.87217776e-02 4.92477326e-05 9.99824731e-01 -2.01047721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904012739 meters 0.024992865144132077 Centerline is valid? [True, True] Translation: X:102.67, Y:-10.45, Z:-2.02 [[ 9.89497268e-01 1.43581415e-01 1.67192379e-02 1.02672119e+02] [-1.43558408e-01 9.89638497e-01 -2.57450035e-03 -1.04496639e+01] [-1.69156519e-02 1.47273887e-04 9.99856909e-01 -2.01519502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964012739 meters 0.027388239972486076 Centerline is valid? [True, True] Translation: X:102.73, Y:-10.47, Z:-2.01 [[ 9.89983541e-01 1.39837452e-01 1.94441515e-02 1.02730233e+02] [-1.39805611e-01 9.90174442e-01 -2.99409429e-03 -1.04697264e+01] [-1.96717884e-02 2.45702585e-04 9.99806461e-01 -2.01012230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024012739 meters 0.0328899124895111 Centerline is valid? [True, True] Translation: X:102.79, Y:-10.48, Z:-2.00 [[ 9.90088555e-01 1.39054470e-01 1.97106214e-02 1.02789687e+02] [-1.39021595e-01 9.90284699e-01 -3.03512091e-03 -1.04842215e+01] [-1.99411739e-02 2.64836465e-04 9.99801120e-01 -2.00155900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084012739 meters 0.028617836335954674 Centerline is valid? [True, True] Translation: X:102.85, Y:-10.50, Z:-2.01 [[ 9.90110019e-01 1.39004370e-01 1.89719699e-02 1.02850374e+02] [-1.38973903e-01 9.90291735e-01 -2.92140277e-03 -1.04990729e+01] [-1.91938728e-02 2.55901442e-04 9.99815748e-01 -2.01372036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144012739 meters 0.03113976923777856 Centerline is valid? [True, True] Translation: X:102.91, Y:-10.52, Z:-2.02 [[ 9.90903948e-01 1.33352265e-01 1.80703972e-02 1.02909600e+02] [-1.33323633e-01 9.91068641e-01 -2.78544476e-03 -1.05171368e+01] [-1.82804493e-02 3.50897210e-04 9.99832837e-01 -2.01620882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204012739 meters 0.03991303991806937 Centerline is valid? [True, True] Translation: X:102.97, Y:-10.55, Z:-2.02 [[ 9.91512988e-01 1.29001052e-01 1.61469272e-02 1.02965801e+02] [-1.28977608e-01 9.91644382e-01 -2.48933192e-03 -1.05489444e+01] [-1.63331361e-02 3.85612881e-04 9.99866531e-01 -2.02311651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264012739 meters 0.03531464207132112 Centerline is valid? [True, True] Translation: X:103.03, Y:-10.56, Z:-2.02 [[ 9.91486014e-01 1.29178382e-01 1.63837944e-02 1.03027925e+02] [-1.29154277e-01 9.91621296e-01 -2.52537047e-03 -1.05600364e+01] [-1.65727427e-02 3.87832372e-04 9.99862587e-01 -2.02191359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324012739 meters 0.036194138584547515 Centerline is valid? [True, True] Translation: X:103.09, Y:-10.58, Z:-2.02 [[ 9.90942723e-01 1.33131055e-01 1.75682110e-02 1.03086462e+02] [-1.33103888e-01 9.91098381e-01 -2.71193500e-03 -1.05782376e+01] [-1.77728682e-02 3.48975060e-04 9.99841989e-01 -2.02142859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384012739 meters 0.029513620017408187 Centerline is valid? [True, True] Translation: X:103.15, Y:-10.58, Z:-2.03 [[ 9.90457728e-01 1.36910873e-01 1.57766122e-02 1.03147199e+02] [-1.36889439e-01 9.90583338e-01 -2.43569142e-03 -1.05846884e+01] [-1.59615219e-02 2.52797788e-04 9.99872575e-01 -2.02559811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444012739 meters 0.025971065222695024 Centerline is valid? [True, True] Translation: X:103.21, Y:-10.60, Z:-2.02 [[ 9.89880747e-01 1.40741947e-01 1.81055262e-02 1.03208266e+02] [-1.40714350e-01 9.90046290e-01 -2.79567714e-03 -1.05960989e+01] [-1.83187780e-02 2.19679642e-04 9.99832173e-01 -2.02027419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504012739 meters 0.022980038047989693 Centerline is valid? [True, True] Translation: X:103.27, Y:-10.60, Z:-2.02 [[ 9.88892241e-01 1.47549459e-01 1.79246512e-02 1.03269191e+02] [-1.47523510e-01 9.89054674e-01 -2.76872235e-03 -1.06034863e+01] [-1.81369835e-02 9.36605962e-05 9.99835507e-01 -2.02222343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564012739 meters 0.023160792371034303 Centerline is valid? [True, True] Translation: X:103.33, Y:-10.60, Z:-2.03 [[ 9.87266977e-01 1.58182884e-01 1.67955674e-02 1.03331968e+02] [-1.58161638e-01 9.87409827e-01 -2.59423618e-03 -1.06007323e+01] [-1.69944720e-02 -9.52107300e-05 9.99855579e-01 -2.02523029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624012739 meters 0.030155562461458903 Centerline is valid? [True, True] Translation: X:103.39, Y:-10.59, Z:-2.02 [[ 9.85460881e-01 1.68933812e-01 1.81167938e-02 1.03393001e+02] [-1.68910843e-01 9.85627352e-01 -2.80171635e-03 -1.05929947e+01] [-1.83297121e-02 -2.99141032e-04 9.99831952e-01 -2.02214925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684012739 meters 0.03269539724533421 Centerline is valid? [True, True] Translation: X:103.45, Y:-10.60, Z:-2.02 [[ 9.84570700e-01 1.74080740e-01 1.77885623e-02 1.03453515e+02] [-1.74059431e-01 9.84731306e-01 -2.75113166e-03 -1.05970425e+01] [-1.79958732e-02 -3.87583399e-04 9.99837986e-01 -2.02341511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744012739 meters 0.03848953501553713 Centerline is valid? [True, True] Translation: X:103.51, Y:-10.60, Z:-2.02 [[ 9.83735328e-01 1.78532481e-01 1.97726465e-02 1.03513924e+02] [-1.78507051e-01 9.83933881e-01 -3.05799036e-03 -1.05972874e+01] [-2.00009274e-02 -5.21303672e-04 9.99799826e-01 -2.02156332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804012739 meters 0.03719511980765886 Centerline is valid? [True, True] Translation: X:103.57, Y:-10.61, Z:-2.02 [[ 9.83612946e-01 1.79320086e-01 1.87050475e-02 1.03572966e+02] [-1.79297474e-01 9.83790653e-01 -2.89267803e-03 -1.06084466e+01] [-1.89205661e-02 -5.08492201e-04 9.99820861e-01 -2.02447448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864012739 meters 0.03874878700193264 Centerline is valid? [True, True] Translation: X:103.63, Y:-10.61, Z:-2.03 [[ 9.83070545e-01 1.82566179e-01 1.55529279e-02 1.03632862e+02] [-1.82550957e-01 9.83193452e-01 -2.40486623e-03 -1.06132640e+01] [-1.57305842e-02 -4.75048719e-04 9.99876154e-01 -2.03066018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924012739 meters 0.04868157082775936 Centerline is valid? [True, True] Translation: X:103.69, Y:-10.60, Z:-2.03 [[ 9.81882738e-01 1.88821843e-01 1.58934009e-02 1.03694978e+02] [-1.88806769e-01 9.82011184e-01 -2.45730996e-03 -1.06016854e+01] [-1.60714912e-02 -5.87991432e-04 9.99870672e-01 -2.03230410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984012739 meters 0.05084303391315639 Centerline is valid? [True, True] Translation: X:103.76, Y:-10.60, Z:-2.03 [[ 9.81002761e-01 1.93307216e-01 1.63065563e-02 1.03756615e+02] [-1.93291970e-01 9.81138043e-01 -2.52094082e-03 -1.05991004e+01] [-1.64862988e-02 -6.78876495e-04 9.99863861e-01 -2.03291776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044012739 meters 0.04636240393137794 Centerline is valid? [True, True] Translation: X:103.82, Y:-10.60, Z:-2.03 [[ 9.81379528e-01 1.91349037e-01 1.67262624e-02 1.03815436e+02] [-1.91332709e-01 9.81521832e-01 -2.58594163e-03 -1.06041373e+01] [-1.69120091e-02 -6.62490923e-04 9.99856762e-01 -2.03291040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104012739 meters 0.04501567105750561 Centerline is valid? [True, True] Translation: X:103.88, Y:-10.61, Z:-2.04 [[ 9.82489039e-01 1.85649428e-01 1.57980713e-02 1.03875292e+02] [-1.85634140e-01 9.82615899e-01 -2.44157148e-03 -1.06066598e+01] [-1.59767124e-02 -5.33844154e-04 9.99872222e-01 -2.03547461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164012739 meters 0.04202598552461514 Centerline is valid? [True, True] Translation: X:103.93, Y:-10.62, Z:-2.04 [[ 9.83179539e-01 1.81940624e-01 1.59876311e-02 1.03934883e+02] [-1.81924481e-01 9.83309402e-01 -2.47062119e-03 -1.06152868e+01] [-1.61702944e-02 -4.79477293e-04 9.99869137e-01 -2.03648053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224012739 meters 0.03361712300687175 Centerline is valid? [True, True] Translation: X:103.99, Y:-10.63, Z:-2.03 [[ 9.84635494e-01 1.73672540e-01 1.81876895e-02 1.03993038e+02] [-1.73650240e-01 9.84803379e-01 -2.81034262e-03 -1.06332003e+01] [-1.83993774e-02 -3.91133553e-04 9.99830641e-01 -2.03334268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284012739 meters 0.03061396965248753 Centerline is valid? [True, True] Translation: X:104.05, Y:-10.65, Z:-2.03 [[ 9.85059330e-01 1.71237083e-01 1.83297099e-02 1.04050664e+02] [-1.71214012e-01 9.85229790e-01 -2.83232688e-03 -1.06476340e+01] [-1.85439756e-02 -3.48293154e-04 9.99827985e-01 -2.03429657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344012739 meters 0.03421241727077721 Centerline is valid? [True, True] Translation: X:104.11, Y:-10.65, Z:-2.04 [[ 9.84829370e-01 1.72595277e-01 1.79438841e-02 1.04108539e+02] [-1.72573406e-01 9.84992759e-01 -2.77191816e-03 -1.06484145e+01] [-1.81530159e-02 -3.66770790e-04 9.99835153e-01 -2.03683851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404012739 meters 0.03534793786261388 Centerline is valid? [True, True] Translation: X:104.17, Y:-10.65, Z:-2.04 [[ 9.84163856e-01 1.76424471e-01 1.72020697e-02 1.04167869e+02] [-1.76404979e-01 9.84314091e-01 -2.65601103e-03 -1.06539717e+01] [-1.74008249e-02 -4.20580687e-04 9.99848506e-01 -2.03914441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464012739 meters 0.038816424976844906 Centerline is valid? [True, True] Translation: X:104.23, Y:-10.65, Z:-2.04 [[ 9.83585927e-01 1.79625525e-01 1.71287919e-02 1.04226923e+02] [-1.79606689e-01 9.83734946e-01 -2.64437441e-03 -1.06536559e+01] [-1.73251883e-02 -4.75476140e-04 9.99849795e-01 -2.04069834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524012739 meters 0.03827946542333251 Centerline is valid? [True, True] Translation: X:104.29, Y:-10.66, Z:-2.04 [[ 9.83813684e-01 1.78455433e-01 1.62570955e-02 1.04285756e+02] [-1.78438318e-01 9.83947901e-01 -2.50899354e-03 -1.06590210e+01] [-1.64438785e-02 -4.32506607e-04 9.99864697e-01 -2.04339392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584012739 meters 0.03806697513913439 Centerline is valid? [True, True] Translation: X:104.34, Y:-10.66, Z:-2.04 [[ 9.83985293e-01 1.77537911e-01 1.59133398e-02 1.04343866e+02] [-1.77521403e-01 9.84113877e-01 -2.45526488e-03 -1.06615650e+01] [-1.60964412e-02 -4.09013891e-04 9.99870360e-01 -2.04473879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644012739 meters 0.039252080237188416 Centerline is valid? [True, True] Translation: X:104.40, Y:-10.66, Z:-2.04 [[ 9.83800064e-01 1.78428860e-01 1.73371132e-02 1.04402670e+02] [-1.78409424e-01 9.83952706e-01 -2.67382825e-03 -1.06634744e+01] [-1.75359876e-02 -4.62591984e-04 9.99846126e-01 -2.04344375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704012739 meters 0.044243865709854356 Centerline is valid? [True, True] Translation: X:104.46, Y:-10.66, Z:-2.05 [[ 9.83308453e-01 1.81228438e-01 1.61474119e-02 1.04462378e+02] [-1.81211970e-01 9.83440911e-01 -2.48944601e-03 -1.06566277e+01] [-1.63311839e-02 -4.78211012e-04 9.99866523e-01 -2.04629189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764012739 meters 0.04337426601165646 Centerline is valid? [True, True] Translation: X:104.52, Y:-10.66, Z:-2.04 [[ 9.83220687e-01 1.81528252e-01 1.80159584e-02 1.04521409e+02] [-1.81507819e-01 9.83385582e-01 -2.77659408e-03 -1.06579378e+01] [-1.82206640e-02 -5.40032577e-04 9.99833844e-01 -2.04363851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824012739 meters 0.03704677026811623 Centerline is valid? [True, True] Translation: X:104.58, Y:-10.67, Z:-2.04 [[ 9.84363595e-01 1.75083809e-01 1.93383891e-02 1.04580219e+02] [-1.75059042e-01 9.84553429e-01 -2.97942793e-03 -1.06709194e+01] [-1.95613269e-02 -4.52519464e-04 9.99808557e-01 -2.04209441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884012739 meters 0.03193659832449762 Centerline is valid? [True, True] Translation: X:104.64, Y:-10.68, Z:-2.04 [[ 9.85292100e-01 1.69785310e-01 1.92983383e-02 1.04637707e+02] [-1.69759628e-01 9.85481014e-01 -2.97322099e-03 -1.06832927e+01] [-1.95229553e-02 -3.46587599e-04 9.99809349e-01 -2.04294139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944012739 meters 0.03323239121860157 Centerline is valid? [True, True] Translation: X:104.70, Y:-10.70, Z:-2.03 [[ 9.86292884e-01 1.63885606e-01 1.91795648e-02 1.04696027e+02] [-1.63859136e-01 9.86479324e-01 -2.95427964e-03 -1.07023577e+01] [-1.94044080e-02 -2.28961914e-04 9.99811691e-01 -2.03455173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004012739 meters 0.022760254554733062 Centerline is valid? [True, True] Translation: X:104.75, Y:-10.72, Z:-2.04 [[ 9.87278524e-01 1.57812644e-01 1.93980561e-02 1.04750871e+02] [-1.57784405e-01 9.87469066e-01 -2.98737835e-03 -1.07244282e+01] [-1.96264265e-02 -1.11336263e-04 9.99807377e-01 -2.04489516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064012739 meters 0.02155388249524749 Centerline is valid? [True, True] Translation: X:104.81, Y:-10.75, Z:-2.05 [[ 9.88000358e-01 1.53456080e-01 1.75078563e-02 1.04806576e+02] [-1.53432408e-01 9.88155469e-01 -2.69540240e-03 -1.07461324e+01] [-1.77141098e-02 -2.32140094e-05 9.99843093e-01 -2.05044674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124012739 meters 0.021770417465507595 Centerline is valid? [True, True] Translation: X:104.86, Y:-10.76, Z:-2.06 [[ 9.88457773e-01 1.50671166e-01 1.57933501e-02 1.04861788e+02] [-1.50651557e-01 9.88583936e-01 -2.43091608e-03 -1.07643622e+01] [-1.59793212e-02 2.35651122e-05 9.99872322e-01 -2.05691605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184012739 meters 0.022561878064094404 Centerline is valid? [True, True] Translation: X:104.92, Y:-10.78, Z:-2.06 [[ 9.88765415e-01 1.48788648e-01 1.43140266e-02 1.04918354e+02] [-1.48772355e-01 9.88869019e-01 -2.20240180e-03 -1.07837929e+01] [-1.44823898e-02 4.81272816e-05 9.99895124e-01 -2.06115861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244012739 meters 0.021766172167854567 Centerline is valid? [True, True] Translation: X:104.98, Y:-10.80, Z:-2.06 [[ 9.88395113e-01 1.50999127e-01 1.65639203e-02 1.04975897e+02] [-1.50977633e-01 9.88533896e-01 -2.54773478e-03 -1.07993341e+01] [-1.67587024e-02 1.73871231e-05 9.99859563e-01 -2.05628570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304012739 meters 0.021647979081428646 Centerline is valid? [True, True] Translation: X:105.03, Y:-10.81, Z:-2.05 [[ 9.87995886e-01 1.53470661e-01 1.76319555e-02 1.05034737e+02] [-1.53446714e-01 9.88153204e-01 -2.71115977e-03 -1.08117049e+01] [-1.78391568e-02 -2.69509380e-05 9.99840869e-01 -2.05460239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364012739 meters 0.02288950135902153 Centerline is valid? [True, True] Translation: X:105.09, Y:-10.82, Z:-2.05 [[ 9.87155995e-01 1.58680439e-01 1.85353875e-02 1.05093218e+02] [-1.58654902e-01 9.87329986e-01 -2.84961509e-03 -1.08200449e+01] [-1.87527220e-02 -1.27715460e-04 9.99824144e-01 -2.05397422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424012739 meters 0.02632352277810923 Centerline is valid? [True, True] Translation: X:105.15, Y:-10.83, Z:-2.05 [[ 9.86124879e-01 1.64859418e-01 1.94703644e-02 1.05152531e+02] [-1.64832457e-01 9.86317041e-01 -2.99260034e-03 -1.08286833e+01] [-1.96973105e-02 -2.58270353e-04 9.99805956e-01 -2.05357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484012739 meters 0.03263606607064162 Centerline is valid? [True, True] Translation: X:105.21, Y:-10.83, Z:-2.06 [[ 9.84999779e-01 1.71468389e-01 1.93397625e-02 1.05212137e+02] [-1.71443069e-01 9.85189546e-01 -2.97204825e-03 -1.08296688e+01] [-1.95629442e-02 -3.88201369e-04 9.99808552e-01 -2.05612451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544012739 meters 0.0430294183747946 Centerline is valid? [True, True] Translation: X:105.27, Y:-10.82, Z:-2.06 [[ 9.83420893e-01 1.80398084e-01 1.84357788e-02 1.05273203e+02] [-1.80376642e-01 9.83593534e-01 -2.83309151e-03 -1.08207866e+01] [-1.86443971e-02 -5.39262489e-04 9.99826033e-01 -2.05906404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604012739 meters 0.044010515266641737 Centerline is valid? [True, True] Translation: X:105.33, Y:-10.82, Z:-2.06 [[ 9.82351822e-01 1.86095930e-01 1.87936968e-02 1.05334186e+02] [-1.86074696e-01 9.82531358e-01 -2.88763286e-03 -1.08241151e+01] [-1.90027731e-02 -6.60360017e-04 9.99819213e-01 -2.05858600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664012739 meters 0.05119051641291479 Centerline is valid? [True, True] Translation: X:105.40, Y:-10.81, Z:-2.06 [[ 9.81281030e-01 1.91456066e-01 2.07873829e-02 1.05396649e+02] [-1.91431290e-01 9.81500820e-01 -3.19391776e-03 -1.08091866e+01] [-2.10143283e-02 -8.45224616e-04 9.99778817e-01 -2.05819332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724012739 meters 0.04737504179592077 Centerline is valid? [True, True] Translation: X:105.46, Y:-10.82, Z:-2.06 [[ 9.81968519e-01 1.87985714e-01 1.99799701e-02 1.05455913e+02] [-1.87962112e-01 9.82171483e-01 -3.06963307e-03 -1.08159141e+01] [-2.02008040e-02 -7.41194327e-04 9.99795668e-01 -2.06043286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784012739 meters 0.039550780263574004 Centerline is valid? [True, True] Translation: X:105.51, Y:-10.83, Z:-2.07 [[ 9.83582557e-01 1.79669891e-01 1.68547974e-02 1.05514325e+02] [-1.79651879e-01 9.83726841e-01 -2.58916081e-03 -1.08282454e+01] [-1.70457109e-02 -4.81342632e-04 9.99854595e-01 -2.06655745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844012739 meters 0.03278259229139247 Centerline is valid? [True, True] Translation: X:105.57, Y:-10.84, Z:-2.07 [[ 9.84878053e-01 1.72430730e-01 1.68185595e-02 1.05573367e+02] [-1.72411746e-01 9.85021582e-01 -2.58320105e-03 -1.08418304e+01] [-1.70120673e-02 -3.55579188e-04 9.99855221e-01 -2.06865805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904012739 meters 0.026791248689900512 Centerline is valid? [True, True] Translation: X:105.63, Y:-10.86, Z:-2.06 [[ 9.86105497e-01 1.64976316e-01 1.94618848e-02 1.05631626e+02] [-1.64949444e-01 9.86297494e-01 -2.98911771e-03 -1.08585483e+01] [-1.96883418e-02 -2.62641673e-04 9.99806131e-01 -2.06468169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964012739 meters 0.022269653676870917 Centerline is valid? [True, True] Translation: X:105.69, Y:-10.88, Z:-2.07 [[ 9.87531167e-01 1.56330498e-01 1.85194422e-02 1.05688383e+02] [-1.56304647e-01 9.87704798e-01 -2.84418070e-03 -1.08815654e+01] [-1.87363741e-02 -8.59577849e-05 9.99824455e-01 -2.06793698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024012739 meters 0.02177722200096802 Centerline is valid? [True, True] Translation: X:105.75, Y:-10.90, Z:-2.07 [[ 9.88431607e-01 1.50497308e-01 1.88020868e-02 1.05745334e+02] [-1.50469614e-01 9.88610419e-01 -2.88713067e-03 -1.09019272e+01] [-1.90224443e-02 2.45884563e-05 9.99819057e-01 -2.06913642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084012739 meters 0.022665763089321337 Centerline is valid? [True, True] Translation: X:105.80, Y:-10.92, Z:-2.07 [[ 9.89092212e-01 1.45968149e-01 1.97457908e-02 1.05803645e+02] [-1.45936713e-01 9.89289283e-01 -3.03153735e-03 -1.09235455e+01] [-1.99768071e-02 1.16834187e-04 9.99800437e-01 -2.06785623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144012739 meters 0.02513672407796471 Centerline is valid? [True, True] Translation: X:105.86, Y:-10.95, Z:-2.07 [[ 9.89754541e-01 1.41418240e-01 1.96679902e-02 1.05861053e+02] [-1.41386152e-01 9.89949917e-01 -3.01958638e-03 -1.09473855e+01] [-1.98973499e-02 2.07867873e-04 9.99802007e-01 -2.07045851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204012739 meters 0.024501739610490833 Centerline is valid? [True, True] Translation: X:105.92, Y:-10.96, Z:-2.07 [[ 9.89688299e-01 1.41892243e-01 1.95872991e-02 1.05921392e+02] [-1.41860506e-01 9.89882090e-01 -3.00741494e-03 -1.09573079e+01] [-1.98158455e-02 1.97739215e-04 9.99803627e-01 -2.07087001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264012739 meters 0.022212419303247178 Centerline is valid? [True, True] Translation: X:105.98, Y:-10.96, Z:-2.07 [[ 9.88816020e-01 1.47893713e-01 1.92439246e-02 1.05981538e+02] [-1.47864206e-01 9.89003258e-01 -2.95516671e-03 -1.09609026e+01] [-1.94693547e-02 7.66285545e-05 9.99810451e-01 -2.07299875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324012739 meters 0.021749801940209416 Centerline is valid? [True, True] Translation: X:106.04, Y:-10.96, Z:-2.08 [[ 9.88330081e-01 1.51267426e-01 1.79392405e-02 1.06041795e+02] [-1.51242339e-01 9.88492876e-01 -2.75486933e-03 -1.09642452e+01] [-1.81495334e-02 9.54754050e-06 9.99835284e-01 -2.07667376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384012739 meters 0.02204903063574403 Centerline is valid? [True, True] Translation: X:106.10, Y:-10.98, Z:-2.08 [[ 9.88619001e-01 1.49332629e-01 1.82273696e-02 1.06100038e+02] [-1.49306409e-01 9.88787016e-01 -2.79864826e-03 -1.09799223e+01] [-1.84409159e-02 4.53337498e-05 9.99829951e-01 -2.07796118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444012739 meters 0.022949813983348284 Centerline is valid? [True, True] Translation: X:106.16, Y:-11.00, Z:-2.08 [[ 9.89040077e-01 1.46333756e-01 1.96509183e-02 1.06158611e+02] [-1.46302693e-01 9.89235270e-01 -3.01696250e-03 -1.09953675e+01] [-1.98808649e-02 1.08914554e-04 9.99802350e-01 -2.07698518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504012739 meters 0.022054586609786587 Centerline is valid? [True, True] Translation: X:106.22, Y:-11.01, Z:-2.08 [[ 9.88617907e-01 1.49216881e-01 1.92082509e-02 1.06219227e+02] [-1.49187746e-01 9.88804490e-01 -2.94897687e-03 -1.10052315e+01] [-1.94332418e-02 4.97756916e-05 9.99811155e-01 -2.07854208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564012739 meters 0.022188521008859284 Centerline is valid? [True, True] Translation: X:106.28, Y:-11.01, Z:-2.08 [[ 9.87771449e-01 1.54746968e-01 1.89984583e-02 1.06278546e+02] [-1.54719478e-01 9.87954135e-01 -2.91728195e-03 -1.10058034e+01] [-1.92210459e-02 -5.78237233e-05 9.99815257e-01 -2.08063805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624012739 meters 0.02682174206656036 Centerline is valid? [True, True] Translation: X:106.34, Y:-11.00, Z:-2.08 [[ 9.86247940e-01 1.64075815e-01 1.98526547e-02 1.06339163e+02] [-1.64047699e-01 9.86447700e-01 -3.04771836e-03 -1.10017522e+01] [-2.00836624e-02 -2.50976359e-04 9.99798271e-01 -2.07993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684012739 meters 0.03256175860893686 Centerline is valid? [True, True] Translation: X:106.40, Y:-11.00, Z:-2.08 [[ 9.85013327e-01 1.71124071e-01 2.15707774e-02 1.06401526e+02] [-1.71092581e-01 9.85249394e-01 -3.31072307e-03 -1.09955497e+01] [-2.18191397e-02 -4.29493621e-04 9.99761842e-01 -2.07693846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744012739 meters 0.03786762107884038 Centerline is valid? [True, True] Translation: X:106.46, Y:-10.99, Z:-2.08 [[ 9.84166489e-01 1.75966848e-01 2.12600767e-02 1.06462012e+02] [-1.75937387e-01 9.84395951e-01 -3.26301256e-03 -1.09907271e+01] [-2.15025155e-02 -5.29094738e-04 9.99768654e-01 -2.07839992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804012739 meters 0.040126649561329115 Centerline is valid? [True, True] Translation: X:106.52, Y:-10.99, Z:-2.08 [[ 9.83940665e-01 1.77440322e-01 1.93830008e-02 1.06520465e+02] [-1.77416127e-01 9.84131429e-01 -2.97456196e-03 -1.09879715e+01] [-1.96032275e-02 -5.12064451e-04 9.99807707e-01 -2.08344693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864012739 meters 0.03545939257737787 Centerline is valid? [True, True] Translation: X:106.58, Y:-11.00, Z:-2.08 [[ 9.84212756e-01 1.75829770e-01 2.02272628e-02 1.06578844e+02] [-1.75803114e-01 9.84420459e-01 -3.10252468e-03 -1.09965098e+01] [-2.04576475e-02 -5.02471421e-04 9.99790594e-01 -2.08315164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924012739 meters 0.035331241428249574 Centerline is valid? [True, True] Translation: X:106.64, Y:-11.00, Z:-2.08 [[ 9.84624746e-01 1.73497220e-01 2.03180733e-02 1.06637180e+02] [-1.73469848e-01 9.84834253e-01 -3.11547347e-03 -1.10006093e+01] [-2.05504605e-02 -4.57000805e-04 9.99788713e-01 -2.08485854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984012739 meters 0.031063717606009802 Centerline is valid? [True, True] Translation: X:106.70, Y:-11.01, Z:-2.09 [[ 9.85300953e-01 1.69774683e-01 1.89364555e-02 1.06696304e+02] [-1.69750236e-01 9.85482842e-01 -2.90276997e-03 -1.10064909e+01] [-1.91543689e-02 -3.54365773e-04 9.99816475e-01 -2.08917830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044012739 meters 0.030401826008730395 Centerline is valid? [True, True] Translation: X:106.76, Y:-11.01, Z:-2.09 [[ 9.85409407e-01 1.69045251e-01 1.97990968e-02 1.06755132e+02] [-1.69018393e-01 9.85608226e-01 -3.03428659e-03 -1.10116577e+01] [-2.00270844e-02 -3.56396964e-04 9.99799374e-01 -2.08890969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104012739 meters 0.030565546427507813 Centerline is valid? [True, True] Translation: X:106.81, Y:-11.01, Z:-2.09 [[ 9.85498473e-01 1.68594181e-01 1.92031777e-02 1.06813714e+02] [-1.68568846e-01 9.85685491e-01 -2.94209303e-03 -1.10140036e+01] [-1.94243134e-02 -3.37629326e-04 9.99811273e-01 -2.09109410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164012739 meters 0.029751987323188754 Centerline is valid? [True, True] Translation: X:106.87, Y:-11.02, Z:-2.09 [[ 9.85747666e-01 1.67250909e-01 1.81293493e-02 1.06872512e+02] [-1.67228120e-01 9.85914320e-01 -2.77655619e-03 -1.10197885e+01] [-1.83383666e-02 -2.94753220e-04 9.99831795e-01 -2.09388160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224012739 meters 0.02578569030104557 Centerline is valid? [True, True] Translation: X:106.93, Y:-11.03, Z:-2.09 [[ 9.86490975e-01 1.62545919e-01 2.03563553e-02 1.06930430e+02] [-1.62516206e-01 9.86700952e-01 -3.11658024e-03 -1.10333349e+01] [-2.05922226e-02 -2.33759359e-04 9.99787930e-01 -2.09107036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284012739 meters 0.023840167580494977 Centerline is valid? [True, True] Translation: X:106.99, Y:-11.05, Z:-2.09 [[ 9.87010477e-01 1.59379801e-01 2.02088538e-02 1.06988637e+02] [-1.59349868e-01 9.87217327e-01 -3.09331272e-03 -1.10454203e+01] [-2.04435422e-02 -1.67146112e-04 9.99790995e-01 -2.09213501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344012739 meters 0.022883386467875577 Centerline is valid? [True, True] Translation: X:107.05, Y:-11.05, Z:-2.10 [[ 9.87414121e-01 1.57136698e-01 1.79279418e-02 1.07045692e+02] [-1.57112779e-01 9.87576856e-01 -2.74371628e-03 -1.10542722e+01] [-1.81363589e-02 -1.07524568e-04 9.99835517e-01 -2.09752927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404012739 meters 0.02191029263001924 Centerline is valid? [True, True] Translation: X:107.10, Y:-11.07, Z:-2.10 [[ 9.87919822e-01 1.53855153e-01 1.85206962e-02 1.07103733e+02] [-1.53829074e-01 9.88093411e-01 -2.83313968e-03 -1.10659002e+01] [-1.87360710e-02 -5.01066968e-05 9.99824463e-01 -2.09757626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464012739 meters 0.02151864160627314 Centerline is valid? [True, True] Translation: X:107.16, Y:-11.08, Z:-2.10 [[ 9.88406547e-01 1.50497871e-01 2.00720709e-02 1.07160513e+02] [-1.50466566e-01 9.88610333e-01 -3.06948993e-03 -1.10801263e+01] [-2.03054084e-02 1.37283647e-05 9.99793824e-01 -2.09529742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524012739 meters 0.021775163164303325 Centerline is valid? [True, True] Translation: X:107.22, Y:-11.09, Z:-2.10 [[ 9.88692809e-01 1.48756821e-01 1.89192452e-02 1.07218257e+02] [-1.48728711e-01 9.88873807e-01 -2.89212014e-03 -1.10914050e+01] [-1.91389686e-02 4.55834478e-05 9.99816832e-01 -2.09900359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584012739 meters 0.02237393787976779 Centerline is valid? [True, True] Translation: X:107.27, Y:-11.10, Z:-2.10 [[ 9.89117848e-01 1.45906048e-01 1.89025810e-02 1.07274345e+02] [-1.45877483e-01 9.89298446e-01 -2.88872526e-03 -1.11046244e+01] [-1.91217765e-02 9.98287765e-05 9.99817157e-01 -2.09923262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644012739 meters 0.02284182938419943 Centerline is valid? [True, True] Translation: X:107.33, Y:-11.12, Z:-2.10 [[ 9.89352277e-01 1.44206610e-01 1.96602344e-02 1.07332207e+02] [-1.44175397e-01 9.89547591e-01 -3.00334776e-03 -1.11182167e+01] [-1.98878402e-02 1.36846856e-04 9.99802208e-01 -2.09924449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704012739 meters 0.024317752564999934 Centerline is valid? [True, True] Translation: X:107.39, Y:-11.13, Z:-2.10 [[ 9.89703692e-01 1.41956519e-01 1.83016263e-02 1.07388678e+02] [-1.41929102e-01 9.89872880e-01 -2.79498050e-03 -1.11337868e+01] [-1.85130492e-02 1.68669145e-04 9.99828605e-01 -2.10346416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764012739 meters 0.022934064324303085 Centerline is valid? [True, True] Translation: X:107.45, Y:-11.14, Z:-2.10 [[ 9.89454450e-01 1.43665271e-01 1.84439923e-02 1.07447372e+02] [-1.43637733e-01 9.89626329e-01 -2.81609276e-03 -1.11412645e+01] [-1.86572351e-02 1.37142265e-04 9.99825929e-01 -2.10313519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824012739 meters 0.022933096353752673 Centerline is valid? [True, True] Translation: X:107.50, Y:-11.15, Z:-2.11 [[ 9.89369710e-01 1.44332498e-01 1.77681589e-02 1.07504334e+02] [-1.44307064e-01 9.89529239e-01 -2.71210297e-03 -1.11507330e+01] [-1.79735574e-02 1.19201684e-04 9.99838455e-01 -2.10617477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884012739 meters 0.027826818446694965 Centerline is valid? [True, True] Translation: X:107.56, Y:-11.16, Z:-2.10 [[ 9.89409352e-01 1.44184697e-01 1.67304103e-02 1.07562260e+02] [-1.44162143e-01 9.89550787e-01 -2.55273261e-03 -1.11626796e+01] [-1.69236557e-02 1.13805719e-04 9.99856778e-01 -2.09844741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944012739 meters 0.022758677588685945 Centerline is valid? [True, True] Translation: X:107.62, Y:-11.17, Z:-2.10 [[ 9.89195230e-01 1.45141798e-01 2.06556271e-02 1.07619641e+02] [-1.45107652e-01 9.89410857e-01 -3.15038926e-03 -1.11709160e+01] [-2.08941549e-02 1.19060479e-04 9.99781686e-01 -2.10264876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004012739 meters 0.02197448024499433 Centerline is valid? [True, True] Translation: X:107.68, Y:-11.17, Z:-2.11 [[ 9.88869560e-01 1.47566432e-01 1.90037026e-02 1.07678911e+02] [-1.47537998e-01 9.89052144e-01 -2.89736262e-03 -1.11741495e+01] [-1.92232063e-02 6.13454615e-05 9.99815215e-01 -2.10717082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064012739 meters 0.021893087246789778 Centerline is valid? [True, True] Translation: X:107.74, Y:-11.18, Z:-2.11 [[ 9.88465734e-01 1.50263977e-01 1.88740451e-02 1.07738019e+02] [-1.50236438e-01 9.88645911e-01 -2.87671569e-03 -1.11772925e+01] [-1.90920142e-02 7.96558578e-06 9.99817731e-01 -2.10904266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124012739 meters 0.022423997657848704 Centerline is valid? [True, True] Translation: X:107.79, Y:-11.19, Z:-2.11 [[ 9.88907073e-01 1.47187625e-01 1.99650928e-02 1.07794088e+02] [-1.47156202e-01 9.89108588e-01 -3.04202277e-03 -1.11919845e+01] [-2.01953929e-02 7.02905838e-05 9.99796050e-01 -2.10821214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184012739 meters 0.02576414528045162 Centerline is valid? [True, True] Translation: X:107.85, Y:-11.21, Z:-2.11 [[ 9.90103459e-01 1.39164542e-01 1.81209917e-02 1.07851253e+02] [-1.39137331e-01 9.90269249e-01 -2.75999777e-03 -1.12143957e+01] [-1.83287547e-02 2.11376915e-04 9.99831992e-01 -2.11299727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244012739 meters 0.029972640521018886 Centerline is valid? [True, True] Translation: X:107.91, Y:-11.23, Z:-2.12 [[ 9.90892218e-01 1.33588577e-01 1.69323526e-02 1.07909624e+02] [-1.33564008e-01 9.91036834e-01 -2.57873459e-03 -1.12344360e+01] [-1.71250746e-02 2.93695150e-04 9.99853312e-01 -2.11700386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304012739 meters 0.03168296379034901 Centerline is valid? [True, True] Translation: X:107.97, Y:-11.25, Z:-2.12 [[ 9.91312314e-01 1.30312147e-01 1.78505281e-02 1.07968252e+02] [-1.30284310e-01 9.91472949e-01 -2.71856931e-03 -1.12510682e+01] [-1.80525783e-02 3.69307491e-04 9.99836971e-01 -2.11616872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364012739 meters 0.032225643139269275 Centerline is valid? [True, True] Translation: X:108.03, Y:-11.27, Z:-2.11 [[ 9.91398908e-01 1.29156883e-01 2.11353794e-02 1.08028365e+02] [-1.29117591e-01 9.91624065e-01 -3.21899310e-03 -1.12683056e+01] [-2.13741060e-02 4.62356976e-04 9.99771441e-01 -2.11098889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424012739 meters 0.031490781608362044 Centerline is valid? [True, True] Translation: X:108.09, Y:-11.28, Z:-2.11 [[ 9.91145807e-01 1.31267818e-01 1.99686921e-02 1.08088525e+02] [-1.31233108e-01 9.91346863e-01 -3.04447660e-03 -1.12817083e+01] [-2.01955420e-02 3.96966683e-04 9.99795970e-01 -2.11460693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484012739 meters 0.03191556821222984 Centerline is valid? [True, True] Translation: X:108.15, Y:-11.30, Z:-2.11 [[ 9.91186921e-01 1.30818498e-01 2.08568619e-02 1.08149049e+02] [-1.30780456e-01 9.91406242e-01 -3.18350252e-03 -1.12988477e+01] [-2.10940841e-02 4.27776147e-04 9.99777404e-01 -2.11436561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544012739 meters 0.0353843962292314 Centerline is valid? [True, True] Translation: X:108.21, Y:-11.32, Z:-2.12 [[ 9.91719786e-01 1.26942184e-01 1.94306126e-02 1.08206953e+02] [-1.26908363e-01 9.91910003e-01 -2.96890852e-03 -1.13227410e+01] [-1.96502987e-02 4.78418094e-04 9.99806800e-01 -2.11924260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604012739 meters 0.03752412194277908 Centerline is valid? [True, True] Translation: X:108.27, Y:-11.34, Z:-2.12 [[ 9.91907754e-01 1.25757659e-01 1.74361390e-02 1.08265962e+02] [-1.25730246e-01 9.92060890e-01 -2.66395439e-03 -1.13420056e+01] [-1.76327243e-02 4.50146961e-04 9.99844430e-01 -2.12440873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664012739 meters 0.0370371025525404 Centerline is valid? [True, True] Translation: X:108.33, Y:-11.36, Z:-2.12 [[ 9.91739986e-01 1.26981973e-01 1.80936122e-02 1.08325767e+02] [-1.26952605e-01 9.91904924e-01 -2.76723512e-03 -1.13620858e+01] [-1.82985321e-02 4.47346505e-04 9.99832468e-01 -2.12365082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724012739 meters 0.03880203620896861 Centerline is valid? [True, True] Translation: X:108.39, Y:-11.37, Z:-2.11 [[ 9.91035033e-01 1.32338344e-01 1.83337225e-02 1.08386591e+02] [-1.32309047e-01 9.91204538e-01 -2.80722007e-03 -1.13694962e+01] [-1.85439718e-02 3.56336095e-04 9.99827982e-01 -2.11143507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784012739 meters 0.027180906085341842 Centerline is valid? [True, True] Translation: X:108.45, Y:-11.38, Z:-2.13 [[ 9.90083104e-01 1.39177921e-01 1.91037710e-02 1.08446290e+02] [-1.39147377e-01 9.90267363e-01 -2.92536920e-03 -1.13758408e+01] [-1.93249877e-02 2.38118993e-04 9.99813227e-01 -2.12506701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844012739 meters 0.023343814030618235 Centerline is valid? [True, True] Translation: X:108.51, Y:-11.38, Z:-2.12 [[ 9.89132214e-01 1.45656352e-01 2.00422124e-02 1.08508714e+02] [-1.45624062e-01 9.89335238e-01 -3.06906437e-03 -1.13758117e+01] [-2.02754957e-02 1.17082057e-04 9.99794424e-01 -2.12392716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904012739 meters 0.022206869704738636 Centerline is valid? [True, True] Translation: X:108.57, Y:-11.38, Z:-2.12 [[ 9.88314720e-01 1.51114811e-01 1.99581800e-02 1.08571041e+02] [-1.51083883e-01 9.88516218e-01 -3.05716940e-03 -1.13754106e+01] [-2.01909682e-02 6.08618418e-06 9.99796142e-01 -2.12437960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964012739 meters 0.02366381621169436 Centerline is valid? [True, True] Translation: X:108.63, Y:-11.37, Z:-2.13 [[ 9.87358030e-01 1.57352473e-01 1.90871571e-02 1.08631460e+02] [-1.57325341e-01 9.87542498e-01 -2.92422774e-03 -1.13678188e+01] [-1.93095133e-02 -1.15633763e-04 9.99813547e-01 -2.12812723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024012739 meters 0.024852895370217905 Centerline is valid? [True, True] Translation: X:108.69, Y:-11.37, Z:-2.12 [[ 9.86851928e-01 1.60203861e-01 2.14008333e-02 1.08691026e+02] [-1.60170440e-01 9.87083930e-01 -3.27787001e-03 -1.13661266e+01] [-2.16495461e-02 -1.93008549e-04 9.99765602e-01 -2.12399186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084012739 meters 0.025217275468777296 Centerline is valid? [True, True] Translation: X:108.75, Y:-11.37, Z:-2.13 [[ 9.86925120e-01 1.59856407e-01 2.06091540e-02 1.08749809e+02] [-1.59825357e-01 9.87140262e-01 -3.15570049e-03 -1.13655995e+01] [-2.08485846e-02 -1.79425305e-04 9.99782629e-01 -2.12858839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144012739 meters 0.024223940838802253 Centerline is valid? [True, True] Translation: X:108.81, Y:-11.37, Z:-2.13 [[ 9.86923662e-01 1.59934052e-01 2.00694879e-02 1.08808462e+02] [-1.59904645e-01 9.87127686e-01 -3.07196023e-03 -1.13706274e+01] [-2.03024582e-02 -1.77414096e-04 9.99793868e-01 -2.12999264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204012739 meters 0.02465922269521695 Centerline is valid? [True, True] Translation: X:108.87, Y:-11.37, Z:-2.13 [[ 9.86652155e-01 1.61453714e-01 2.12184546e-02 1.08867843e+02] [-1.61421218e-01 9.86880261e-01 -3.24673900e-03 -1.13712253e+01] [-2.14642721e-02 -2.21706742e-04 9.99769591e-01 -2.12778544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264012739 meters 0.028440920882917112 Centerline is valid? [True, True] Translation: X:108.93, Y:-11.36, Z:-2.13 [[ 9.86383276e-01 1.63298698e-01 1.95337553e-02 1.08926940e+02] [-1.63271537e-01 9.86576645e-01 -2.98806755e-03 -1.13638737e+01] [-1.97594943e-02 -2.41926400e-04 9.99804733e-01 -2.13405085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324012739 meters 0.025750822744896935 Centerline is valid? [True, True] Translation: X:108.99, Y:-11.37, Z:-2.13 [[ 9.86403011e-01 1.63049334e-01 2.05915991e-02 1.08985438e+02] [-1.63019124e-01 9.86617885e-01 -3.14854768e-03 -1.13698068e+01] [-2.08294086e-02 -2.51087548e-04 9.99783013e-01 -2.13338989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384012739 meters 0.02596598304199159 Centerline is valid? [True, True] Translation: X:109.04, Y:-11.37, Z:-2.14 [[ 9.86560307e-01 1.62380950e-01 1.81985523e-02 1.09043967e+02] [-1.62357255e-01 9.86728120e-01 -2.78188027e-03 -1.13715423e+01] [-1.84087477e-02 -2.10174350e-04 9.99830523e-01 -2.13836363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444012739 meters 0.025736836583649083 Centerline is valid? [True, True] Translation: X:109.10, Y:-11.37, Z:-2.14 [[ 9.86591602e-01 1.62061267e-01 1.93172402e-02 1.09103523e+02] [-1.62034533e-01 9.86780674e-01 -2.95161263e-03 -1.13733721e+01] [-1.95402213e-02 -2.18023746e-04 9.99809048e-01 -2.13742753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504012739 meters 0.02468272051947204 Centerline is valid? [True, True] Translation: X:109.16, Y:-11.38, Z:-2.14 [[ 9.86958212e-01 1.59734778e-01 1.99571528e-02 1.09161265e+02] [-1.59705788e-01 9.87159951e-01 -3.04840098e-03 -1.13793458e+01] [-2.01878376e-02 -1.78628424e-04 9.99796189e-01 -2.13787789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564012739 meters 0.0238080753043 Centerline is valid? [True, True] Translation: X:109.22, Y:-11.39, Z:-2.14 [[ 9.87209427e-01 1.58104328e-01 2.05077879e-02 1.09219551e+02] [-1.58073389e-01 9.87422401e-01 -3.13126363e-03 -1.13887040e+01] [-2.07449155e-02 -1.50522565e-04 9.99784790e-01 -2.13786920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624012739 meters 0.023140013715821854 Centerline is valid? [True, True] Translation: X:109.28, Y:-11.40, Z:-2.14 [[ 9.87444484e-01 1.56453563e-01 2.18099631e-02 1.09277582e+02] [-1.56418192e-01 9.87685308e-01 -3.32899544e-03 -1.13985614e+01] [-2.20622133e-02 -1.24276802e-04 9.99756592e-01 -2.13592693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684012739 meters 0.023379482439907864 Centerline is valid? [True, True] Translation: X:109.34, Y:-11.40, Z:-2.14 [[ 9.87406688e-01 1.56808388e-01 2.09562147e-02 1.09335349e+02] [-1.56775832e-01 9.87629036e-01 -3.19772053e-03 -1.14044670e+01] [-2.11983955e-02 -1.27977358e-04 9.99775281e-01 -2.13816227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744012739 meters 0.024004908730584557 Centerline is valid? [True, True] Translation: X:109.39, Y:-11.41, Z:-2.14 [[ 9.87139113e-01 1.58484820e-01 2.09507403e-02 1.09393328e+02] [-1.58452684e-01 9.87361400e-01 -3.19566786e-03 -1.14142322e+01] [-2.11924171e-02 -1.65132290e-04 9.99775402e-01 -2.13947966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804012739 meters 0.02532692686825271 Centerline is valid? [True, True] Translation: X:109.45, Y:-11.42, Z:-2.14 [[ 9.86750182e-01 1.61089585e-01 1.93448661e-02 1.09451974e+02] [-1.61062704e-01 9.86939767e-01 -2.94987501e-03 -1.14192792e+01] [-1.95674118e-02 -2.04946740e-04 9.99808519e-01 -2.14389845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864012739 meters 0.028609388080198018 Centerline is valid? [True, True] Translation: X:109.51, Y:-11.42, Z:-2.15 [[ 9.85972872e-01 1.65907260e-01 1.82284385e-02 1.09511617e+02] [-1.65884230e-01 9.86141319e-01 -2.77881521e-03 -1.14197363e+01] [-1.84368420e-02 -2.83974051e-04 9.99829987e-01 -2.14702336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924012739 meters 0.035419688980035814 Centerline is valid? [True, True] Translation: X:109.57, Y:-11.41, Z:-2.15 [[ 9.84600834e-01 1.73821692e-01 1.86337643e-02 1.09572550e+02] [-1.73799060e-01 9.84777042e-01 -2.83963197e-03 -1.14097074e+01] [-1.88436929e-02 -4.42626701e-04 9.99822344e-01 -2.14694917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984012739 meters 0.036784391750451735 Centerline is valid? [True, True] Translation: X:109.63, Y:-11.41, Z:-2.15 [[ 9.84143263e-01 1.76416137e-01 1.84223943e-02 1.09632642e+02] [-1.76394473e-01 9.84315554e-01 -2.80719609e-03 -1.14112506e+01] [-1.86286839e-02 -4.86925405e-04 9.99826352e-01 -2.14856281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044012739 meters 0.03578485715204598 Centerline is valid? [True, True] Translation: X:109.69, Y:-11.42, Z:-2.15 [[ 9.84506019e-01 1.74291037e-01 1.92492482e-02 1.09690616e+02] [-1.74266987e-01 9.84694072e-01 -2.93275513e-03 -1.14165561e+01] [-1.94657735e-02 -4.67193401e-04 9.99810415e-01 -2.14927033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104012739 meters 0.0389790993532561 Centerline is valid? [True, True] Translation: X:109.75, Y:-11.41, Z:-2.15 [[ 9.84197553e-01 1.76214206e-01 1.74278399e-02 1.09749094e+02] [-1.76194817e-01 9.84351738e-01 -2.65389771e-03 -1.14144651e+01] [-1.76227790e-02 -4.58735441e-04 9.99844602e-01 -2.15167030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164012739 meters 0.04089211079061561 Centerline is valid? [True, True] Translation: X:109.81, Y:-11.42, Z:-2.15 [[ 9.83773958e-01 1.78581047e-01 1.72513446e-02 1.09808988e+02] [-1.78562432e-01 9.83925080e-01 -2.62591560e-03 -1.14161283e+01] [-1.74429693e-02 -4.97134659e-04 9.99847736e-01 -2.15331315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224012739 meters 0.04797835996415898 Centerline is valid? [True, True] Translation: X:109.87, Y:-11.40, Z:-2.15 [[ 9.82399687e-01 1.85819812e-01 1.90224360e-02 1.09872494e+02] [-1.85798542e-01 9.82583595e-01 -2.89497514e-03 -1.14023669e+01] [-1.92290773e-02 -6.90318203e-04 9.99814866e-01 -2.15198567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284012739 meters 0.04332160341411167 Centerline is valid? [True, True] Translation: X:109.93, Y:-11.41, Z:-2.15 [[ 9.82856464e-01 1.83222194e-01 2.05620542e-02 1.09932386e+02] [-1.83196774e-01 9.83071284e-01 -3.12927581e-03 -1.14078406e+01] [-2.07873178e-02 -6.91273026e-04 9.99783681e-01 -2.15043397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344012739 meters 0.040075427654339114 Centerline is valid? [True, True] Translation: X:109.99, Y:-11.42, Z:-2.15 [[ 9.83766798e-01 1.78195680e-01 2.11940181e-02 1.09990848e+02] [-1.78167523e-01 9.83994886e-01 -3.22471875e-03 -1.14157725e+01] [-2.14294364e-02 -6.03714466e-04 9.99770181e-01 -2.14956951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404012739 meters 0.03633983666028939 Centerline is valid? [True, True] Translation: X:110.05, Y:-11.42, Z:-2.15 [[ 9.84795238e-01 1.72664677e-01 1.91114896e-02 1.10050055e+02] [-1.72640746e-01 9.84980568e-01 -2.90752506e-03 -1.14201912e+01] [-1.93264728e-02 -4.36104988e-04 9.99813131e-01 -2.15417079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464012739 meters 0.031506425806739735 Centerline is valid? [True, True] Translation: X:110.11, Y:-11.43, Z:-2.16 [[ 9.85407458e-01 1.69223728e-01 1.83158991e-02 1.10108855e+02] [-1.69201156e-01 9.85577600e-01 -2.78633151e-03 -1.14268191e+01] [-1.85232533e-02 -3.53399454e-04 9.99828367e-01 -2.15622403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524012739 meters 0.02386789852303985 Centerline is valid? [True, True] Translation: X:110.17, Y:-11.45, Z:-2.15 [[ 9.87033067e-01 1.59126535e-01 2.10824727e-02 1.10166048e+02] [-1.59094400e-01 9.87258177e-01 -3.20360202e-03 -1.14472278e+01] [-2.13236217e-02 -1.92042215e-04 9.99772607e-01 -2.15169818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584012739 meters 0.02215146094198457 Centerline is valid? [True, True] Translation: X:110.22, Y:-11.47, Z:-2.15 [[ 9.88966981e-01 1.46669475e-01 2.07936505e-02 1.10221014e+02] [-1.46635467e-01 9.89185554e-01 -3.15920656e-03 -1.14747160e+01] [-2.10321379e-02 7.52643263e-05 9.99778797e-01 -2.15436175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644012739 meters 0.026474518228983047 Centerline is valid? [True, True] Translation: X:110.28, Y:-11.50, Z:-2.16 [[ 9.90377606e-01 1.37331468e-01 1.70957748e-02 1.10275564e+02] [-1.37307099e-01 9.90525122e-01 -2.59672559e-03 -1.15010110e+01] [-1.72904065e-02 2.24367635e-04 9.99850485e-01 -2.16113331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704012739 meters 0.026134594756588192 Centerline is valid? [True, True] Translation: X:110.33, Y:-11.51, Z:-2.16 [[ 9.90585730e-01 1.35870629e-01 1.67057774e-02 1.10332803e+02] [-1.35847163e-01 9.90726558e-01 -2.53681516e-03 -1.15138217e+01] [-1.68955360e-02 2.43500431e-04 9.99857231e-01 -2.16242553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764012739 meters 0.025078915134912606 Centerline is valid? [True, True] Translation: X:110.39, Y:-11.53, Z:-2.16 [[ 9.90154866e-01 1.38702393e-01 1.88411287e-02 1.10389502e+02] [-1.38673076e-01 9.90334084e-01 -2.86000809e-03 -1.15296890e+01] [-1.90557019e-02 2.19093649e-04 9.99818400e-01 -2.15873214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824012739 meters 0.0227003736730845 Centerline is valid? [True, True] Translation: X:110.45, Y:-11.54, Z:-2.16 [[ 9.89388974e-01 1.44069201e-01 1.88022080e-02 1.10447370e+02] [-1.44040991e-01 9.89567609e-01 -2.85317817e-03 -1.15397749e+01] [-1.90171111e-02 1.14614344e-04 9.99819152e-01 -2.16110555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884012739 meters 0.021595558363505088 Centerline is valid? [True, True] Translation: X:110.51, Y:-11.55, Z:-2.16 [[ 9.88569385e-01 1.49491561e-01 1.95663886e-02 1.10505132e+02] [-1.49462092e-01 9.88763001e-01 -2.96817657e-03 -1.15484264e+01] [-1.97902385e-02 9.81512163e-06 9.99804154e-01 -2.16016182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944012739 meters 0.021929213551624614 Centerline is valid? [True, True] Translation: X:110.56, Y:-11.56, Z:-2.16 [[ 9.88092190e-01 1.52670036e-01 1.91228481e-02 1.10562111e+02] [-1.52642500e-01 9.88277217e-01 -2.89998565e-03 -1.15615145e+01] [-1.93414160e-02 -5.35061569e-05 9.99812936e-01 -2.16342844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004012739 meters 0.022105712317711197 Centerline is valid? [True, True] Translation: X:110.62, Y:-11.57, Z:-2.17 [[ 9.88007380e-01 1.53310705e-01 1.83642377e-02 1.10619910e+02] [-1.53285437e-01 9.88178032e-01 -2.78409783e-03 -1.15738854e+01] [-1.85739683e-02 -6.42609963e-05 9.99827487e-01 -2.16585441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064012739 meters 0.022271727429413496 Centerline is valid? [True, True] Translation: X:110.68, Y:-11.59, Z:-2.16 [[ 9.87743455e-01 1.54911742e-01 1.91107113e-02 1.10677181e+02] [-1.54884696e-01 9.87928308e-01 -2.89628917e-03 -1.15866531e+01] [-1.93286819e-02 -9.91660457e-05 9.99813179e-01 -2.16487106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124012739 meters 0.023216307961523276 Centerline is valid? [True, True] Translation: X:110.73, Y:-11.60, Z:-2.17 [[ 9.87411366e-01 1.56995648e-01 1.92655352e-02 1.10734429e+02] [-1.56968577e-01 9.87599284e-01 -2.91880933e-03 -1.15975778e+01] [-1.94848691e-02 -1.42018141e-04 9.99810142e-01 -2.16666910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184012739 meters 0.02331373874034076 Centerline is valid? [True, True] Translation: X:110.79, Y:-11.61, Z:-2.17 [[ 9.87310989e-01 1.57738632e-01 1.83176279e-02 1.10791384e+02] [-1.57714308e-01 9.87480887e-01 -2.77411522e-03 -1.16113501e+01] [-1.85258925e-02 -1.50037558e-04 9.99828370e-01 -2.16878923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244012739 meters 0.023826874048831673 Centerline is valid? [True, True] Translation: X:110.85, Y:-11.62, Z:-2.17 [[ 9.87240417e-01 1.58372590e-01 1.65674719e-02 1.10848595e+02] [-1.58352793e-01 9.87379411e-01 -2.50838454e-03 -1.16220781e+01] [-1.67556400e-02 -1.47126850e-04 9.99859604e-01 -2.17391669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304012739 meters 0.02397266043745591 Centerline is valid? [True, True] Translation: X:110.91, Y:-11.63, Z:-2.17 [[ 9.87114727e-01 1.59055027e-01 1.74932813e-02 1.10906483e+02] [-1.59033083e-01 9.87269705e-01 -2.64738182e-03 -1.16335008e+01] [-1.76916661e-02 -1.68740876e-04 9.99843476e-01 -2.17228139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364012739 meters 0.024550762136792532 Centerline is valid? [True, True] Translation: X:110.96, Y:-11.64, Z:-2.17 [[ 9.87068426e-01 1.59110293e-01 1.94893906e-02 1.10962693e+02] [-1.59083086e-01 9.87260796e-01 -2.94841106e-03 -1.16440339e+01] [-1.97102338e-02 -1.90148928e-04 9.99805716e-01 -2.17105328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424012739 meters 0.02305425507812346 Centerline is valid? [True, True] Translation: X:111.02, Y:-11.66, Z:-2.18 [[ 9.87490724e-01 1.56740354e-01 1.71619147e-02 1.11018778e+02] [-1.56718924e-01 9.87639836e-01 -2.59492160e-03 -1.16631569e+01] [-1.73565195e-02 -1.27135798e-04 9.99849356e-01 -2.17663999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484012739 meters 0.022360064298004353 Centerline is valid? [True, True] Translation: X:111.07, Y:-11.68, Z:-2.18 [[ 9.87963295e-01 1.53755204e-01 1.69665889e-02 1.11074329e+02] [-1.53733832e-01 9.88108968e-01 -2.56460148e-03 -1.16798361e+01] [-1.71591595e-02 -7.46065952e-05 9.99852768e-01 -2.17902887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544012739 meters 0.021592897840765533 Centerline is valid? [True, True] Translation: X:111.13, Y:-11.70, Z:-2.18 [[ 9.88286807e-01 1.51528300e-01 1.81207367e-02 1.11130861e+02] [-1.51503569e-01 9.88452919e-01 -2.73784764e-03 -1.16999372e+01] [-1.83263565e-02 -3.95775740e-05 9.99832057e-01 -2.17694853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604012739 meters 0.021568730058587893 Centerline is valid? [True, True] Translation: X:111.19, Y:-11.72, Z:-2.18 [[ 9.88410409e-01 1.50861017e-01 1.69061417e-02 1.11187083e+02] [-1.50839405e-01 9.88554982e-01 -2.55362680e-03 -1.17167039e+01] [-1.70978933e-02 -2.60810368e-05 9.99853820e-01 -2.17880199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664012739 meters 0.02168544891924831 Centerline is valid? [True, True] Translation: X:111.24, Y:-11.73, Z:-2.18 [[ 9.88124121e-01 1.52513825e-01 1.87150835e-02 1.11243970e+02] [-1.52487663e-01 9.88301335e-01 -2.82547975e-03 -1.17276967e+01] [-1.89270667e-02 -6.18946405e-05 9.99820865e-01 -2.17643068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724012739 meters 0.023001885480427895 Centerline is valid? [True, True] Translation: X:111.30, Y:-11.73, Z:-2.17 [[ 9.87443103e-01 1.56650327e-01 2.04154936e-02 1.11303006e+02] [-1.56620105e-01 9.87654115e-01 -3.08089176e-03 -1.17330197e+01] [-2.06460690e-02 -1.55271428e-04 9.99786835e-01 -2.17455959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784012739 meters 0.029824140022179486 Centerline is valid? [True, True] Translation: X:111.36, Y:-11.73, Z:-2.18 [[ 9.86030341e-01 1.65547216e-01 1.83925342e-02 1.11363976e+02] [-1.65524247e-01 9.86201817e-01 -2.77477628e-03 -1.17286232e+01] [-1.85981071e-02 -3.08396767e-04 9.99826993e-01 -2.17919202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844012739 meters 0.03399860511859347 Centerline is valid? [True, True] Translation: X:111.42, Y:-11.73, Z:-2.18 [[ 9.85266465e-01 1.69977495e-01 1.89114641e-02 1.11423688e+02] [-1.69954031e-01 9.85447862e-01 -2.85286871e-03 -1.17281199e+01] [-1.91211853e-02 -4.03243683e-04 9.99817092e-01 -2.18055078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904012739 meters 0.0351080183607437 Centerline is valid? [True, True] Translation: X:111.48, Y:-11.73, Z:-2.19 [[ 9.85281442e-01 1.70170483e-01 1.62014238e-02 1.11481342e+02] [-1.70153295e-01 9.85414575e-01 -2.44367878e-03 -1.17332800e+01] [-1.63809611e-02 -3.49014280e-04 9.99865762e-01 -2.18794245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964012739 meters 0.03172969059455496 Centerline is valid? [True, True] Translation: X:111.54, Y:-11.74, Z:-2.19 [[ 9.85371406e-01 1.69593595e-01 1.67691782e-02 1.11538921e+02] [-1.69575114e-01 9.85514022e-01 -2.52829186e-03 -1.17437419e+01] [-1.69550423e-02 -3.52328796e-04 9.99856191e-01 -2.18652591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024012739 meters 0.03182334761549043 Centerline is valid? [True, True] Translation: X:111.60, Y:-11.75, Z:-2.19 [[ 9.85371728e-01 1.69543100e-01 1.72538548e-02 1.11596319e+02] [-1.69523541e-01 9.85522707e-01 -2.60056556e-03 -1.17502320e+01] [-1.74449736e-02 -3.62410779e-04 9.99847759e-01 -2.18752573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084012739 meters 0.03145430670357539 Centerline is valid? [True, True] Translation: X:111.66, Y:-11.75, Z:-2.19 [[ 9.85474352e-01 1.68958489e-01 1.71268735e-02 1.11655745e+02] [-1.68939152e-01 9.85623105e-01 -2.58010939e-03 -1.17534839e+01] [-1.73165737e-02 -3.50767857e-04 9.99849995e-01 -2.18893516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144012739 meters 0.02716690226548628 Centerline is valid? [True, True] Translation: X:111.71, Y:-11.77, Z:-2.19 [[ 9.86436638e-01 1.63221935e-01 1.73596801e-02 1.11714263e+02] [-1.63201197e-01 9.86589345e-01 -2.61422204e-03 -1.17666809e+01] [-1.75535738e-02 -2.54356173e-04 9.99845892e-01 -2.19000597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20401273899999 meters 0.02402763436468809 Centerline is valid? [True, True] Translation: X:111.77, Y:-11.78, Z:-2.19 [[ 9.87322359e-01 1.57840615e-01 1.67600523e-02 1.11771561e+02] [-1.57820510e-01 9.87464590e-01 -2.52385369e-03 -1.17777189e+01] [-1.69483248e-02 -1.53222829e-04 9.99856355e-01 -2.19270050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264012739 meters 0.02162497554312594 Centerline is valid? [True, True] Translation: X:111.83, Y:-11.79, Z:-2.19 [[ 9.88413033e-01 1.50834912e-01 1.69854757e-02 1.11828775e+02] [-1.50813241e-01 9.88558965e-01 -2.55697652e-03 -1.17905144e+01] [-1.71768256e-02 -3.42857231e-05 9.99852467e-01 -2.19366718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324012739 meters 0.021423716363446206 Centerline is valid? [True, True] Translation: X:111.89, Y:-11.80, Z:-2.19 [[ 9.88954507e-01 1.47153780e-01 1.77411578e-02 1.11885517e+02] [-1.47129560e-01 9.89113626e-01 -2.66986611e-03 -1.18018537e+01] [-1.79409018e-02 3.01273660e-05 9.99839049e-01 -2.19373405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384012739 meters 0.023167704365607632 Centerline is valid? [True, True] Translation: X:111.94, Y:-11.82, Z:-2.19 [[ 9.89817629e-01 1.41235038e-01 1.77122818e-02 1.11942379e+02] [-1.41209969e-01 9.89976083e-01 -2.66444124e-03 -1.18182093e+01] [-1.79110478e-02 1.36160162e-04 9.99839575e-01 -2.19478387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444012739 meters 0.02860499017945724 Centerline is valid? [True, True] Translation: X:112.00, Y:-11.84, Z:-2.20 [[ 9.91010226e-01 1.32693889e-01 1.70606163e-02 1.11998566e+02] [-1.32669378e-01 9.91157028e-01 -2.56555801e-03 -1.18400028e+01] [-1.72501836e-02 2.79072864e-04 9.99851166e-01 -2.19739069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504012739 meters 0.03743919164776613 Centerline is valid? [True, True] Translation: X:112.06, Y:-11.87, Z:-2.19 [[ 9.92178237e-01 1.23504396e-01 1.81386249e-02 1.12056011e+02] [-1.23475162e-01 9.92343916e-01 -2.72715769e-03 -1.18664561e+01] [-1.83365700e-02 4.66156863e-04 9.99831762e-01 -2.18659944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564012739 meters 0.03960984180597374 Centerline is valid? [True, True] Translation: X:112.11, Y:-11.89, Z:-2.20 [[ 9.92845512e-01 1.17950188e-01 1.85887930e-02 1.12114100e+02] [-1.17918511e-01 9.93019342e-01 -2.79488196e-03 -1.18881647e+01] [-1.87886879e-02 5.82923213e-04 9.99823307e-01 -2.19632441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624012739 meters 0.04546467282756944 Centerline is valid? [True, True] Translation: X:112.17, Y:-11.91, Z:-2.20 [[ 9.93056785e-01 1.16532682e-01 1.60734596e-02 1.12172392e+02] [-1.16508813e-01 9.93186718e-01 -2.41666366e-03 -1.19088437e+01] [-1.62455669e-02 5.27184540e-04 9.99867893e-01 -2.20271389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684012739 meters 0.04103702323312147 Centerline is valid? [True, True] Translation: X:112.23, Y:-11.92, Z:-2.20 [[ 9.92936339e-01 1.17425827e-01 1.69883104e-02 1.12234614e+02] [-1.17399295e-01 9.93081508e-01 -2.55418472e-03 -1.19160933e+01] [-1.71707042e-02 5.41727169e-04 9.99852426e-01 -2.20104067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744012739 meters 0.04687686307057891 Centerline is valid? [True, True] Translation: X:112.30, Y:-11.93, Z:-2.19 [[ 9.93079692e-01 1.16081073e-01 1.78300415e-02 1.12295396e+02] [-1.16051574e-01 9.93239563e-01 -2.68384860e-03 -1.19340506e+01] [-1.80210466e-02 5.96071156e-04 9.99837430e-01 -2.18695934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804012739 meters 0.04201193878151276 Centerline is valid? [True, True] Translation: X:112.35, Y:-11.95, Z:-2.20 [[ 9.93240041e-01 1.14557949e-01 1.87269199e-02 1.12354664e+02] [-1.14525073e-01 9.93416349e-01 -2.82218406e-03 -1.19533008e+01] [-1.89269320e-02 6.58404337e-04 9.99820653e-01 -2.20043724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864012739 meters 0.03993839894146999 Centerline is valid? [True, True] Translation: X:112.41, Y:-11.97, Z:-2.20 [[ 9.92760494e-01 1.18536485e-01 1.93830893e-02 1.12413158e+02] [-1.18501957e-01 9.92949512e-01 -2.92436988e-03 -1.19673046e+01] [-1.95930736e-02 6.06264870e-04 9.99807853e-01 -2.19950187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924012739 meters 0.031702745210353996 Centerline is valid? [True, True] Translation: X:112.47, Y:-11.97, Z:-2.20 [[ 9.91521465e-01 1.28490201e-01 1.93766162e-02 1.12474104e+02] [-1.28457594e-01 9.91710694e-01 -2.92339409e-03 -1.19688492e+01] [-1.95916250e-02 4.09534503e-04 9.99807982e-01 -2.20075214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984012739 meters 0.03250425976792318 Centerline is valid? [True, True] Translation: X:112.54, Y:-11.96, Z:-2.19 [[ 9.90369613e-01 1.37341865e-01 1.74711789e-02 1.12536372e+02] [-1.37316731e-01 9.90523683e-01 -2.63586466e-03 -1.19646464e+01] [-1.76676310e-02 2.11395094e-04 9.99843893e-01 -2.19069652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044012739 meters 0.021480669219812145 Centerline is valid? [True, True] Translation: X:112.60, Y:-11.95, Z:-2.21 [[ 9.88264977e-01 1.51684473e-01 1.80043390e-02 1.12597234e+02] [-1.51660151e-01 9.88428965e-01 -2.71664286e-03 -1.19508034e+01] [-1.82080827e-02 -4.57777757e-05 9.99834218e-01 -2.20561996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104012739 meters 0.022154030001916264 Centerline is valid? [True, True] Translation: X:112.66, Y:-11.95, Z:-2.20 [[ 9.87862279e-01 1.54150123e-01 1.91274080e-02 1.12655749e+02] [-1.54123148e-01 9.88047433e-01 -2.88534445e-03 -1.19548583e+01] [-1.93435626e-02 -9.76533935e-05 9.99812891e-01 -2.20478470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164012739 meters 0.02240035962191124 Centerline is valid? [True, True] Translation: X:112.72, Y:-11.96, Z:-2.21 [[ 9.87666679e-01 1.55437369e-01 1.88083754e-02 1.12715573e+02] [-1.55411532e-01 9.87845742e-01 -2.83654034e-03 -1.19599289e+01] [-1.90206779e-02 -1.21482062e-04 9.99819083e-01 -2.20584321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224012739 meters 0.0236054106679613 Centerline is valid? [True, True] Translation: X:112.77, Y:-11.96, Z:-2.21 [[ 9.87328418e-01 1.57678204e-01 1.78935321e-02 1.12774456e+02] [-1.57655194e-01 9.87490536e-01 -2.69823365e-03 -1.19594926e+01] [-1.80951462e-02 -1.56965521e-04 9.99836257e-01 -2.20908773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284012739 meters 0.023858346813205252 Centerline is valid? [True, True] Translation: X:112.83, Y:-11.96, Z:-2.21 [[ 9.87222389e-01 1.58271499e-01 1.84956261e-02 1.12833503e+02] [-1.58247041e-01 9.87395616e-01 -2.78781505e-03 -1.19609481e+01] [-1.87037318e-02 -1.74684665e-04 9.99825055e-01 -2.20877972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344012739 meters 0.021763874920008447 Centerline is valid? [True, True] Translation: X:112.89, Y:-11.97, Z:-2.21 [[ 9.88122738e-01 1.52581101e-01 1.82335510e-02 1.12891291e+02] [-1.52556378e-01 9.88290951e-01 -2.74743995e-03 -1.19722977e+01] [-1.84392609e-02 -6.68366144e-05 9.99829980e-01 -2.21189394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404012739 meters 0.02148939893677531 Centerline is valid? [True, True] Translation: X:112.95, Y:-11.99, Z:-2.21 [[ 9.89011939e-01 1.46654575e-01 1.86499290e-02 1.12947883e+02] [-1.46627673e-01 9.89187765e-01 -2.80923043e-03 -1.19876879e+01] [-1.88602681e-02 4.37667477e-05 9.99822128e-01 -2.21246947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464012739 meters 0.024498870514334383 Centerline is valid? [True, True] Translation: X:113.01, Y:-12.01, Z:-2.21 [[ 9.90090919e-01 1.39123310e-01 1.90964872e-02 1.13006211e+02] [-1.39093717e-01 9.90275047e-01 -2.87574999e-03 -1.20062766e+01] [-1.93108586e-02 1.91052578e-04 9.99813510e-01 -2.21271896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524012739 meters 0.026418429250401422 Centerline is valid? [True, True] Translation: X:113.06, Y:-12.02, Z:-2.21 [[ 9.90379234e-01 1.36816293e-01 2.07430571e-02 1.13064304e+02] [-1.36780870e-01 9.90596404e-01 -3.12370207e-03 -1.20203196e+01] [-2.09753711e-02 2.56396268e-04 9.99779960e-01 -2.21089622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584012739 meters 0.025724819186366325 Centerline is valid? [True, True] Translation: X:113.12, Y:-12.03, Z:-2.22 [[ 9.90435343e-01 1.36649071e-01 1.91013996e-02 1.13123849e+02] [-1.36619006e-01 9.90619490e-01 -2.87627540e-03 -1.20280048e+01] [-1.93152590e-02 2.39150586e-04 9.99813414e-01 -2.21628078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644012739 meters 0.028108253935745682 Centerline is valid? [True, True] Translation: X:113.18, Y:-12.04, Z:-2.22 [[ 9.90857605e-01 1.33678475e-01 1.82008805e-02 1.13183054e+02] [-1.33650677e-01 9.91024715e-01 -2.74065235e-03 -1.20410057e+01] [-1.84038886e-02 2.83036222e-04 9.99830594e-01 -2.21946574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70401273899999 meters 0.03216236454947614 Centerline is valid? [True, True] Translation: X:113.24, Y:-12.06, Z:-2.22 [[ 9.91415906e-01 1.29291732e-01 1.94460740e-02 1.13242227e+02] [-1.29259154e-01 9.91606523e-01 -2.92828534e-03 -1.20609690e+01] [-1.96614570e-02 3.89565582e-04 9.99806619e-01 -2.21856355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764012739 meters 0.0359512160055009 Centerline is valid? [True, True] Translation: X:113.30, Y:-12.08, Z:-2.22 [[ 9.91923466e-01 1.25435815e-01 1.88067414e-02 1.13301216e+02] [-1.25404596e-01 9.92101633e-01 -2.83489078e-03 -1.20786821e+01] [-1.90137957e-02 4.53542879e-04 9.99819119e-01 -2.22192262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824012739 meters 0.036657884936431163 Centerline is valid? [True, True] Translation: X:113.36, Y:-12.10, Z:-2.22 [[ 9.92433388e-01 1.21233605e-01 1.94521041e-02 1.13360317e+02] [-1.21199395e-01 9.92623850e-01 -2.93239072e-03 -1.20976177e+01] [-1.96641268e-02 5.52619203e-04 9.99806490e-01 -2.22153714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884012739 meters 0.03930067395409093 Centerline is valid? [True, True] Translation: X:113.42, Y:-12.12, Z:-2.22 [[ 9.92573030e-01 1.19831186e-01 2.09587032e-02 1.13418327e+02] [-1.19791145e-01 9.92794085e-01 -3.16014690e-03 -1.21212513e+01] [-2.11863607e-02 6.26009535e-04 9.99775348e-01 -2.22036220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944012739 meters 0.037556636529586025 Centerline is valid? [True, True] Translation: X:113.48, Y:-12.14, Z:-2.22 [[ 9.92241293e-01 1.22472400e-01 2.13945845e-02 1.13476932e+02] [-1.22431221e-01 9.92471747e-01 -3.22907445e-03 -1.21353944e+01] [-2.16289932e-02 5.84655912e-04 9.99765895e-01 -2.22208712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004012739 meters 0.031104612471965744 Centerline is valid? [True, True] Translation: X:113.54, Y:-12.14, Z:-2.22 [[ 9.91485520e-01 1.28576006e-01 2.06076376e-02 1.13537791e+02] [-1.28539112e-01 9.91699562e-01 -3.11053558e-03 -1.21405540e+01] [-2.08365255e-02 4.35163538e-04 9.99782801e-01 -2.22429534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064012739 meters 0.02281468891691173 Centerline is valid? [True, True] Translation: X:113.60, Y:-12.14, Z:-2.23 [[ 9.89664426e-01 1.42196302e-01 1.85616625e-02 1.13599097e+02] [-1.42168756e-01 9.89838469e-01 -2.80195129e-03 -1.21353376e+01] [-1.87714747e-02 1.34103035e-04 9.99823791e-01 -2.22928118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124012739 meters 0.022112780442226674 Centerline is valid? [True, True] Translation: X:113.66, Y:-12.12, Z:-2.23 [[ 9.87780800e-01 1.54512675e-01 2.03696807e-02 1.13660891e+02] [-1.54482120e-01 9.87990800e-01 -3.07462871e-03 -1.21227773e+01] [-2.06001262e-02 -1.09692252e-04 9.99787789e-01 -2.22698840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184012739 meters 0.026388840005264983 Centerline is valid? [True, True] Translation: X:113.72, Y:-12.12, Z:-2.23 [[ 9.86467234e-01 1.62572147e-01 2.12765769e-02 1.13722566e+02] [-1.62540693e-01 9.86696616e-01 -3.21099758e-03 -1.21160086e+01] [-2.15155452e-02 -2.90765649e-04 9.99768472e-01 -2.22784888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244012739 meters 0.02860410946201674 Centerline is valid? [True, True] Translation: X:113.78, Y:-12.11, Z:-2.23 [[ 9.85741393e-01 1.66910012e-01 2.13296702e-02 1.13783346e+02] [-1.66879427e-01 9.85972058e-01 -3.21848209e-03 -1.21105094e+01] [-2.15676557e-02 -3.86892116e-04 9.99767316e-01 -2.22943552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304012739 meters 0.029593959264056842 Centerline is valid? [True, True] Translation: X:113.84, Y:-12.11, Z:-2.23 [[ 9.85903237e-01 1.66037145e-01 2.06512340e-02 1.13841767e+02] [-1.66008300e-01 9.86119434e-01 -3.11536011e-03 -1.21094834e+01] [-2.08818486e-02 -3.56832614e-04 9.99781887e-01 -2.23190389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364012739 meters 0.02699287563808192 Centerline is valid? [True, True] Translation: X:113.90, Y:-12.11, Z:-2.23 [[ 9.86422070e-01 1.62843863e-01 2.12926109e-02 1.13900805e+02] [-1.62812482e-01 9.86651806e-01 -3.21078014e-03 -1.21145816e+01] [-2.15312489e-02 -2.99518425e-04 9.99768131e-01 -2.23123267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424012739 meters 0.024098849860926606 Centerline is valid? [True, True] Translation: X:113.96, Y:-12.13, Z:-2.23 [[ 9.87094502e-01 1.58791693e-01 2.07278349e-02 1.13958809e+02] [-1.58761081e-01 9.87312086e-01 -3.12465688e-03 -1.21255584e+01] [-2.09610114e-02 -2.06441845e-04 9.99780273e-01 -2.23395991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484012739 meters 0.023296992613758363 Centerline is valid? [True, True] Translation: X:114.02, Y:-12.13, Z:-2.23 [[ 9.87342891e-01 1.57134341e-01 2.15131020e-02 1.14017614e+02] [-1.57100996e-01 9.87577221e-01 -3.24195221e-03 -1.21311041e+01] [-2.17552715e-02 -1.78811279e-04 9.99763310e-01 -2.23352982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544012739 meters 0.022154457807560715 Centerline is valid? [True, True] Translation: X:114.08, Y:-12.14, Z:-2.23 [[ 9.87754186e-01 1.54400679e-01 2.24075354e-02 1.14076083e+02] [-1.54363825e-01 9.88008307e-01 -3.37561846e-03 -1.21386390e+01] [-2.26600289e-02 -1.24631615e-04 9.99743221e-01 -2.23319971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604012739 meters 0.02124556554117381 Centerline is valid? [True, True] Translation: X:114.13, Y:-12.15, Z:-2.23 [[ 9.88669265e-01 1.48392962e-01 2.26409548e-02 1.14133045e+02] [-1.48353784e-01 9.88928475e-01 -3.40970482e-03 -1.21514588e+01] [-2.28962611e-02 1.21990354e-05 9.99737846e-01 -2.23473438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664012739 meters 0.022228579966739315 Centerline is valid? [True, True] Translation: X:114.19, Y:-12.17, Z:-2.23 [[ 9.89495211e-01 1.42660220e-01 2.33942052e-02 1.14191417e+02] [-1.42616808e-01 9.89771711e-01 -3.52232141e-03 -1.21657520e+01] [-2.36574177e-02 1.48913302e-04 9.99720113e-01 -2.23449918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724012739 meters 0.02547569233054579 Centerline is valid? [True, True] Translation: X:114.25, Y:-12.19, Z:-2.24 [[ 9.90278634e-01 1.37274507e-01 2.24485393e-02 1.14249380e+02] [-1.37233159e-01 9.90533008e-01 -3.37949485e-03 -1.21854723e+01] [-2.26999376e-02 2.65957575e-04 9.99742288e-01 -2.23761259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784012739 meters 0.02572657431438966 Centerline is valid? [True, True] Translation: X:114.31, Y:-12.20, Z:-2.24 [[ 9.90536688e-01 1.35730110e-01 2.03569650e-02 1.14309859e+02] [-1.35695779e-01 9.90745811e-01 -3.06486001e-03 -1.21993385e+01] [-2.05845716e-02 2.73502075e-04 9.99788078e-01 -2.24268480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844012739 meters 0.02429562665487882 Centerline is valid? [True, True] Translation: X:114.37, Y:-12.21, Z:-2.25 [[ 9.90255384e-01 1.37954233e-01 1.90500636e-02 1.14369696e+02] [-1.37924518e-01 9.90438581e-01 -2.87129082e-03 -1.22111401e+01] [-1.92640247e-02 2.15840348e-04 9.99814408e-01 -2.24586262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904012739 meters 0.022708067679049666 Centerline is valid? [True, True] Translation: X:114.43, Y:-12.22, Z:-2.25 [[ 9.89699709e-01 1.41879352e-01 1.90980587e-02 1.14429186e+02] [-1.41850213e-01 9.89883948e-01 -2.87877255e-03 -1.22214104e+01] [-1.93133002e-02 1.40056663e-04 9.99813471e-01 -2.24699008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964012739 meters 0.027321780133483922 Centerline is valid? [True, True] Translation: X:114.49, Y:-12.24, Z:-2.24 [[ 9.89493088e-01 1.43249290e-01 1.95721559e-02 1.14488531e+02] [-1.43218954e-01 9.89686631e-01 -2.95023624e-03 -1.22368125e+01] [-1.97929203e-02 1.16134689e-04 9.99804094e-01 -2.23811423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024012739 meters 0.022473495012124107 Centerline is valid? [True, True] Translation: X:114.55, Y:-12.25, Z:-2.25 [[ 9.89485023e-01 1.43131700e-01 2.08015600e-02 1.14546627e+02] [-1.43097406e-01 9.89703643e-01 -3.13555928e-03 -1.22526457e+01] [-2.10361776e-02 1.25939662e-04 9.99778707e-01 -2.24592759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084012739 meters 0.021866267523116677 Centerline is valid? [True, True] Translation: X:114.61, Y:-12.26, Z:-2.25 [[ 9.89233308e-01 1.45007667e-01 1.97544499e-02 1.14605469e+02] [-1.44977108e-01 9.89430528e-01 -2.97796496e-03 -1.22635944e+01] [-1.99774836e-02 8.19591016e-05 9.99800427e-01 -2.24986276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144012739 meters 0.021154446336819687 Centerline is valid? [True, True] Translation: X:114.67, Y:-12.26, Z:-2.25 [[ 9.88443284e-01 1.50311137e-01 1.96579875e-02 1.14665606e+02] [-1.50281928e-01 9.88638742e-01 -2.96321714e-03 -1.22629483e+01] [-1.98800526e-02 -2.52681808e-05 9.99802372e-01 -2.25022665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20401273899999 meters 0.022136836537117795 Centerline is valid? [True, True] Translation: X:114.73, Y:-12.26, Z:-2.24 [[ 9.87698295e-01 1.54627892e-01 2.32871917e-02 1.14725896e+02] [-1.54588115e-01 9.87972771e-01 -3.50963354e-03 -1.22648043e+01] [-2.35497986e-02 -1.33464007e-04 9.99722656e-01 -2.24446631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264012739 meters 0.02775351044495178 Centerline is valid? [True, True] Translation: X:114.79, Y:-12.27, Z:-2.24 [[ 9.87700554e-01 1.54967784e-01 2.07990754e-02 1.14785885e+02] [-1.54936138e-01 9.87919516e-01 -3.13421104e-03 -1.22728102e+01] [-2.10335143e-02 -1.26866431e-04 9.99778763e-01 -2.24221802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324012739 meters 0.021161103218305274 Centerline is valid? [True, True] Translation: X:114.84, Y:-12.29, Z:-2.25 [[ 9.88560691e-01 1.49382472e-01 2.07999539e-02 1.14844022e+02] [-1.49349586e-01 9.88779489e-01 -3.13434342e-03 -1.22923776e+01] [-2.10347837e-02 -7.97580340e-06 9.99778744e-01 -2.25196177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384012739 meters 0.021661794151256217 Centerline is valid? [True, True] Translation: X:114.90, Y:-12.31, Z:-2.25 [[ 9.89260474e-01 1.44670407e-01 2.08371565e-02 1.14902989e+02] [-1.44636355e-01 9.89479896e-01 -3.14004558e-03 -1.23092309e+01] [-2.10722191e-02 9.25126030e-05 9.99777952e-01 -2.25257622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444012739 meters 0.024590109646009068 Centerline is valid? [True, True] Translation: X:114.96, Y:-12.34, Z:-2.26 [[ 9.90357862e-01 1.37184776e-01 1.92780159e-02 1.14961210e+02] [-1.37154156e-01 9.90545447e-01 -2.90790168e-03 -1.23369367e+01] [-1.94946707e-02 2.35803288e-04 9.99809933e-01 -2.25730841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504012739 meters 0.02592108089436263 Centerline is valid? [True, True] Translation: X:115.02, Y:-12.35, Z:-2.26 [[ 9.90598235e-01 1.35674570e-01 1.75370571e-02 1.15020781e+02] [-1.35648949e-01 9.90753426e-01 -2.64786751e-03 -1.23512272e+01] [-1.77341476e-02 2.44089518e-04 9.99842708e-01 -2.26242360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564012739 meters 0.02581260314300132 Centerline is valid? [True, True] Translation: X:115.08, Y:-12.37, Z:-2.26 [[ 9.90522218e-01 1.36279595e-01 1.71350087e-02 1.15082360e+02] [-1.36255181e-01 9.90670389e-01 -2.58974627e-03 -1.23681556e+01] [-1.73280753e-02 2.30467516e-04 9.99849831e-01 -2.26379903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624012739 meters 0.02694855691859717 Centerline is valid? [True, True] Translation: X:115.14, Y:-12.39, Z:-2.26 [[ 9.90714364e-01 1.34546844e-01 1.95498353e-02 1.15142396e+02] [-1.34514639e-01 9.90907188e-01 -2.95911417e-03 -1.23874905e+01] [-1.97702118e-02 3.01897872e-04 9.99804505e-01 -2.26034290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684012739 meters 0.030675689105554023 Centerline is valid? [True, True] Translation: X:115.20, Y:-12.41, Z:-2.26 [[ 9.91088211e-01 1.31516737e-01 2.11543329e-02 1.15200243e+02] [-1.31478255e-01 9.91313871e-01 -3.20584544e-03 -1.24136695e+01] [-2.13922059e-02 3.95940862e-04 9.99771082e-01 -2.25988348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744012739 meters 0.03130549563176313 Centerline is valid? [True, True] Translation: X:115.26, Y:-12.43, Z:-2.26 [[ 9.91099871e-01 1.31408709e-01 2.12790189e-02 1.15259665e+02] [-1.31369674e-01 9.91328194e-01 -3.22810618e-03 -1.24325208e+01] [-2.15186926e-02 4.03957851e-04 9.99768365e-01 -2.25983400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804012739 meters 0.026739424529464848 Centerline is valid? [True, True] Translation: X:115.32, Y:-12.44, Z:-2.26 [[ 9.90640517e-01 1.34998581e-01 2.01680370e-02 1.15319967e+02] [-1.34964193e-01 9.90845743e-01 -3.06286365e-03 -1.24434145e+01] [-2.03968959e-02 3.12233988e-04 9.99791913e-01 -2.26356917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864012739 meters 0.025562614742210582 Centerline is valid? [True, True] Translation: X:115.38, Y:-12.45, Z:-2.27 [[ 9.90348329e-01 1.37091841e-01 2.03964153e-02 1.15381439e+02] [-1.37057102e-01 9.90558304e-01 -3.09808006e-03 -1.24533481e+01] [-2.06285600e-02 2.72704852e-04 9.99787171e-01 -2.26527198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924012739 meters 0.023067970280437194 Centerline is valid? [True, True] Translation: X:115.44, Y:-12.46, Z:-2.26 [[ 9.89614620e-01 1.42136201e-01 2.14523503e-02 1.15442090e+02] [-1.42098871e-01 9.89847093e-01 -3.26236870e-03 -1.24646857e+01] [-2.16982472e-02 1.80133017e-04 9.99764549e-01 -2.26371271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984012739 meters 0.021613835590138394 Centerline is valid? [True, True] Translation: X:115.50, Y:-12.48, Z:-2.27 [[ 9.89072124e-01 1.46068971e-01 2.00047319e-02 1.15503387e+02] [-1.46037248e-01 9.89274405e-01 -3.04542645e-03 -1.24755627e+01] [-2.02350115e-02 9.07104110e-05 9.99795247e-01 -2.26692491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044012739 meters 0.02127417508277747 Centerline is valid? [True, True] Translation: X:115.56, Y:-12.49, Z:-2.27 [[ 9.88753676e-01 1.48128009e-01 2.05975940e-02 1.15563433e+02] [-1.48094746e-01 9.88968195e-01 -3.13943398e-03 -1.24900934e+01] [-2.08354035e-02 5.37314314e-05 9.99782918e-01 -2.26690437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104012739 meters 0.031192371245553435 Centerline is valid? [True, True] Translation: X:115.63, Y:-12.50, Z:-2.26 [[ 9.88122003e-01 1.52480600e-01 1.90937954e-02 1.15625062e+02] [-1.52452773e-01 9.88306463e-01 -2.91315164e-03 -1.24974301e+01] [-1.93147205e-02 -3.23528144e-05 9.99813453e-01 -2.25743424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164012739 meters 0.021666016803288644 Centerline is valid? [True, True] Translation: X:115.69, Y:-12.50, Z:-2.27 [[ 9.87696166e-01 1.55287240e-01 1.84974805e-02 1.15686849e+02] [-1.55261577e-01 9.87869357e-01 -2.82427054e-03 -1.25026457e+01] [-1.87116673e-02 -8.24268105e-05 9.99824918e-01 -2.27262449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224012739 meters 0.021734941750054464 Centerline is valid? [True, True] Translation: X:115.75, Y:-12.51, Z:-2.27 [[ 9.87570285e-01 1.55963456e-01 1.95021428e-02 1.15748301e+02] [-1.55934992e-01 9.87762821e-01 -2.98114471e-03 -1.25124492e+01] [-1.97284412e-02 -9.69765503e-05 9.99805371e-01 -2.27183855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284012739 meters 0.020906868724526947 Centerline is valid? [True, True] Translation: X:115.81, Y:-12.53, Z:-2.27 [[ 9.88015368e-01 1.52830864e-01 2.16416046e-02 1.15809538e+02] [-1.52794966e-01 9.88252359e-01 -3.31246744e-03 -1.25260334e+01] [-2.18936140e-02 -3.39595008e-05 9.99760306e-01 -2.26889352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344012739 meters 0.020923441974579272 Centerline is valid? [True, True] Translation: X:115.87, Y:-12.54, Z:-2.27 [[ 9.88330513e-01 1.50787148e-01 2.15877850e-02 1.15871381e+02] [-1.50750860e-01 9.88566253e-01 -3.30793046e-03 -1.25382058e+01] [-2.18397491e-02 1.49514515e-05 9.99761484e-01 -2.26954043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404012739 meters 0.020801078525107666 Centerline is valid? [True, True] Translation: X:115.93, Y:-12.54, Z:-2.27 [[ 9.88069596e-01 1.52436426e-01 2.19455858e-02 1.15934980e+02] [-1.52399236e-01 9.88313278e-01 -3.36710550e-03 -1.25417183e+01] [-2.22023834e-02 -1.75559350e-05 9.99753497e-01 -2.26997156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464012739 meters 0.021355363552071745 Centerline is valid? [True, True] Translation: X:116.00, Y:-12.54, Z:-2.28 [[ 9.87631411e-01 1.55703202e-01 1.84582932e-02 1.15998524e+02] [-1.55677406e-01 9.87803881e-01 -2.83507215e-03 -1.25438980e+01] [-1.86746035e-02 -7.35329060e-05 9.99825612e-01 -2.27754136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524012739 meters 0.021406593203635242 Centerline is valid? [True, True] Translation: X:116.06, Y:-12.55, Z:-2.28 [[ 9.87536152e-01 1.56270444e-01 1.87588881e-02 1.16061192e+02] [-1.56243833e-01 9.87714302e-01 -2.88499399e-03 -1.25486832e+01] [-1.89792613e-02 -8.19247089e-05 9.99819874e-01 -2.27842065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584012739 meters 0.020875432047893126 Centerline is valid? [True, True] Translation: X:116.12, Y:-12.56, Z:-2.27 [[ 9.87622293e-01 1.55358872e-01 2.15830365e-02 1.16124482e+02] [-1.55323322e-01 9.87858095e-01 -3.32409536e-03 -1.25550386e+01] [-2.18374050e-02 -6.93982333e-05 9.99761533e-01 -2.27387643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644012739 meters 0.020643613745855088 Centerline is valid? [True, True] Translation: X:116.18, Y:-12.57, Z:-2.28 [[ 9.88031117e-01 1.52775225e-01 2.13129556e-02 1.16184965e+02] [-1.52739870e-01 9.88260963e-01 -3.28659316e-03 -1.25666315e+01] [-2.15648721e-02 -8.08175720e-06 9.99767451e-01 -2.27655801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70401273899999 meters 0.021063165074376142 Centerline is valid? [True, True] Translation: X:116.25, Y:-12.58, Z:-2.28 [[ 9.88507175e-01 1.50101489e-01 1.79751929e-02 1.16246566e+02] [-1.50075850e-01 9.88670593e-01 -2.77453700e-03 -1.25804171e+01] [-1.81880067e-02 4.50073811e-05 9.99834584e-01 -2.28489801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764012739 meters 0.021089416916164602 Centerline is valid? [True, True] Translation: X:116.31, Y:-12.59, Z:-2.28 [[ 9.88543005e-01 1.49739929e-01 1.89915947e-02 1.16308067e+02] [-1.49711169e-01 9.88725417e-01 -2.93527860e-03 -1.25947290e+01] [-1.92170008e-02 5.83952941e-05 9.99815335e-01 -2.28282813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824012739 meters 0.020572000510252774 Centerline is valid? [True, True] Translation: X:116.37, Y:-12.60, Z:-2.28 [[ 9.88074455e-01 1.52652355e-01 2.01526490e-02 1.16368789e+02] [-1.52620491e-01 9.88279950e-01 -3.11881623e-03 -1.26026620e+01] [-2.03925535e-02 5.91546105e-06 9.99792050e-01 -2.28297345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884012739 meters 0.020720135219536806 Centerline is valid? [True, True] Translation: X:116.43, Y:-12.62, Z:-2.28 [[ 9.87869764e-01 1.54056168e-01 1.94942884e-02 1.16430065e+02] [-1.54026570e-01 9.88062091e-01 -3.01979839e-03 -1.26178057e+01] [-1.97267860e-02 -1.94708595e-05 9.99805408e-01 -2.28486826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944012739 meters 0.020867462863209493 Centerline is valid? [True, True] Translation: X:116.49, Y:-12.63, Z:-2.29 [[ 9.87783143e-01 1.54797925e-01 1.79461410e-02 1.16492506e+02] [-1.54772907e-01 9.87946153e-01 -2.78309612e-03 -1.26278603e+01] [-1.81606385e-02 -2.84809944e-05 9.99835082e-01 -2.29047152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004012739 meters 0.021507840565364204 Centerline is valid? [True, True] Translation: X:116.55, Y:-12.64, Z:-2.29 [[ 9.87169304e-01 1.58467615e-01 1.96158239e-02 1.16553218e+02] [-1.58438367e-01 9.87364170e-01 -3.04612788e-03 -1.26374153e+01] [-1.98506743e-02 -1.00855171e-04 9.99802951e-01 -2.28678885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064012739 meters 0.0236755782572225 Centerline is valid? [True, True] Translation: X:116.62, Y:-12.64, Z:-2.28 [[ 9.86394671e-01 1.63038497e-01 2.10713437e-02 1.16615208e+02] [-1.63005716e-01 9.86619687e-01 -3.27560922e-03 -1.26422363e+01] [-2.13234530e-02 -2.03705999e-04 9.99772609e-01 -2.28481626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124012739 meters 0.029630138171193875 Centerline is valid? [True, True] Translation: X:116.68, Y:-12.64, Z:-2.29 [[ 9.85151951e-01 1.70532074e-01 1.98606492e-02 1.16677934e+02] [-1.70504410e-01 9.85352067e-01 -3.09048642e-03 -1.26379586e+01] [-2.00967588e-02 -3.41729555e-04 9.99797981e-01 -2.28976768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184012739 meters 0.03136556519921247 Centerline is valid? [True, True] Translation: X:116.74, Y:-12.64, Z:-2.29 [[ 9.84407732e-01 1.74872396e-01 1.90016342e-02 1.16738537e+02] [-1.74847874e-01 9.84591020e-01 -2.95724245e-03 -1.26447721e+01] [-1.92259784e-02 -4.11263000e-04 9.99815079e-01 -2.29200047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244012739 meters 0.0307318744237542 Centerline is valid? [True, True] Translation: X:116.80, Y:-12.65, Z:-2.30 [[ 9.84714962e-01 1.73306531e-01 1.73577343e-02 1.16798915e+02] [-1.73285828e-01 9.84867872e-01 -2.70117914e-03 -1.26547176e+01] [-1.75632068e-02 -3.47957855e-04 9.99845694e-01 -2.29730580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304012739 meters 0.02693068741794521 Centerline is valid? [True, True] Translation: X:116.86, Y:-12.67, Z:-2.30 [[ 9.85506087e-01 1.68654755e-01 1.82572011e-02 1.16858232e+02] [-1.68630992e-01 9.85675148e-01 -2.84441955e-03 -1.26718947e+01] [-1.84753943e-02 -2.75537152e-04 9.99829277e-01 -2.29629507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364012739 meters 0.024162955091255045 Centerline is valid? [True, True] Translation: X:116.92, Y:-12.69, Z:-2.30 [[ 9.86348744e-01 1.63649965e-01 1.82987658e-02 1.16917366e+02] [-1.63625224e-01 9.86518452e-01 -2.85133750e-03 -1.26879859e+01] [-1.85186913e-02 -1.81726494e-04 9.99828498e-01 -2.29761148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424012739 meters 0.021424731292741476 Centerline is valid? [True, True] Translation: X:116.98, Y:-12.71, Z:-2.30 [[ 9.87321361e-01 1.57584363e-01 1.90708877e-02 1.16976473e+02] [-1.57556351e-01 9.87505526e-01 -2.97196458e-03 -1.27110130e+01] [-1.93009422e-02 -7.04553664e-05 9.99813717e-01 -2.29813627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484012739 meters 0.021098527604538123 Centerline is valid? [True, True] Translation: X:117.04, Y:-12.73, Z:-2.30 [[ 9.88198156e-01 1.51896090e-01 1.97985490e-02 1.17036725e+02] [-1.51864688e-01 9.88396467e-01 -3.08879690e-03 -1.27317909e+01] [-2.00379920e-02 4.56429321e-05 9.99799218e-01 -2.29827379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544012739 meters 0.02327430712394756 Centerline is valid? [True, True] Translation: X:117.10, Y:-12.76, Z:-2.29 [[ 9.89100278e-01 1.45615354e-01 2.18359543e-02 1.17095683e+02] [-1.45575525e-01 9.89341261e-01 -3.41116974e-03 -1.27553229e+01] [-2.20999293e-02 1.95208422e-04 9.99755748e-01 -2.29464425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604012739 meters 0.02567907813512686 Centerline is valid? [True, True] Translation: X:117.15, Y:-12.78, Z:-2.30 [[ 9.89639514e-01 1.41989941e-01 2.12718033e-02 1.17154060e+02] [-1.41951233e-01 9.89868063e-01 -3.32641902e-03 -1.27805343e+01] [-2.15285967e-02 2.72397004e-04 9.99768196e-01 -2.29817477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664012739 meters 0.025403811931297378 Centerline is valid? [True, True] Translation: X:117.21, Y:-12.80, Z:-2.30 [[ 9.89728123e-01 1.41809091e-01 1.81224548e-02 1.17214912e+02] [-1.41780947e-01 9.89893997e-01 -2.83500408e-03 -1.27961041e+01] [-1.83413385e-02 2.36464469e-04 9.99831756e-01 -2.30495845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724012739 meters 0.02441923329149484 Centerline is valid? [True, True] Translation: X:117.27, Y:-12.81, Z:-2.31 [[ 9.89371386e-01 1.44417699e-01 1.69643171e-02 1.17274630e+02] [-1.44393365e-01 9.89516799e-01 -2.65711861e-03 -1.28090613e+01] [-1.71702117e-02 1.79342292e-04 9.99852565e-01 -2.30771768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784012739 meters 0.02416528606435626 Centerline is valid? [True, True] Translation: X:117.34, Y:-12.82, Z:-2.31 [[ 9.89277108e-01 1.45100079e-01 1.66364258e-02 1.17336970e+02] [-1.45076730e-01 9.89416969e-01 -2.60826618e-03 -1.28191123e+01] [-1.68388216e-02 1.66739768e-04 9.99858203e-01 -2.30946294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844012739 meters 0.02344028431657676 Centerline is valid? [True, True] Translation: X:117.40, Y:-12.83, Z:-2.31 [[ 9.89052171e-01 1.46450157e-01 1.81150100e-02 1.17397269e+02] [-1.46422625e-01 9.89218037e-01 -2.84418273e-03 -1.28303175e+01] [-1.83362257e-02 1.60597796e-04 9.99831864e-01 -2.30856605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904012739 meters 0.022407624841572597 Centerline is valid? [True, True] Translation: X:117.46, Y:-12.84, Z:-2.31 [[ 9.88649385e-01 1.49122068e-01 1.83030991e-02 1.17459230e+02] [-1.49094387e-01 9.88818788e-01 -2.87536686e-03 -1.28356964e+01] [-1.85272290e-02 1.13840328e-04 9.99828350e-01 -2.30940846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964012739 meters 0.02181179319443195 Centerline is valid? [True, True] Translation: X:117.52, Y:-12.84, Z:-2.32 [[ 9.88302162e-01 1.51693537e-01 1.57450961e-02 1.17522291e+02] [-1.51673347e-01 9.88427573e-01 -2.47554327e-03 -1.28384515e+01] [-1.59384110e-02 5.84733378e-05 9.99872974e-01 -2.31524930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024012739 meters 0.0211573186763876 Centerline is valid? [True, True] Translation: X:117.58, Y:-12.84, Z:-2.31 [[ 9.88049713e-01 1.52925422e-01 1.92764057e-02 1.17583492e+02] [-1.52895302e-01 9.88237731e-01 -3.03546368e-03 -1.28445540e+01] [-1.95138710e-02 5.19171508e-05 9.99809585e-01 -2.30983767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084012739 meters 0.021605997706727918 Centerline is valid? [True, True] Translation: X:117.65, Y:-12.86, Z:-2.31 [[ 9.88260082e-01 1.51640229e-01 1.86346771e-02 1.17645862e+02] [-1.51611801e-01 9.88435751e-01 -2.93719475e-03 -1.28559465e+01] [-1.88645780e-02 7.74753751e-05 9.99822045e-01 -2.31406475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144012739 meters 0.021870389842959467 Centerline is valid? [True, True] Translation: X:117.71, Y:-12.87, Z:-2.32 [[ 9.88365350e-01 1.51129922e-01 1.71371380e-02 1.17708062e+02] [-1.51105752e-01 9.88513905e-01 -2.70408403e-03 -1.28662381e+01] [-1.73489673e-02 8.31028237e-05 9.99849492e-01 -2.31716363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20401273899999 meters 0.02191810709508951 Centerline is valid? [True, True] Translation: X:117.77, Y:-12.88, Z:-2.32 [[ 9.88362826e-01 1.51199692e-01 1.66606222e-02 1.17770584e+02] [-1.51176806e-01 9.88503235e-01 -2.63194492e-03 -1.28751159e+01] [-1.68670282e-02 8.26168809e-05 9.99857738e-01 -2.31912873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264012739 meters 0.021359311114204825 Centerline is valid? [True, True] Translation: X:117.83, Y:-12.88, Z:-2.31 [[ 9.88158191e-01 1.52173213e-01 1.96647592e-02 1.17831769e+02] [-1.52141429e-01 9.88353837e-01 -3.11108903e-03 -1.28844865e+01] [-1.99091646e-02 8.24235343e-05 9.99801790e-01 -2.31471054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324012739 meters 0.02077349988834645 Centerline is valid? [True, True] Translation: X:117.89, Y:-12.89, Z:-2.31 [[ 9.87673542e-01 1.55114700e-01 2.09857941e-02 1.17894343e+02] [-1.55079086e-01 9.87896467e-01 -3.32387055e-03 -1.28886948e+01] [-2.12473731e-02 2.84412307e-05 9.99774249e-01 -2.31399393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384012739 meters 0.021997323545194264 Centerline is valid? [True, True] Translation: X:117.96, Y:-12.88, Z:-2.32 [[ 9.86595121e-01 1.62300960e-01 1.69842536e-02 1.17956406e+02] [-1.62278651e-01 9.86741298e-01 -2.69274985e-03 -1.28837145e+01] [-1.71961003e-02 -9.95278919e-05 9.99852131e-01 -2.32278479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444012739 meters 0.023402456460489707 Centerline is valid? [True, True] Translation: X:118.02, Y:-12.89, Z:-2.32 [[ 9.86052962e-01 1.65460181e-01 1.79578404e-02 1.18019205e+02] [-1.65435762e-01 9.86216458e-01 -2.84724709e-03 -1.28860954e+01] [-1.81814238e-02 -1.63332576e-04 9.99834691e-01 -2.32226150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504012739 meters 0.02477693683109194 Centerline is valid? [True, True] Translation: X:118.08, Y:-12.89, Z:-2.32 [[ 9.85697165e-01 1.67645005e-01 1.72119646e-02 1.18081939e+02] [-1.67622859e-01 9.85847410e-01 -2.73165467e-03 -1.28877310e+01] [-1.74263190e-02 -1.92534455e-04 9.99848132e-01 -2.32490206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564012739 meters 0.023239256599481704 Centerline is valid? [True, True] Translation: X:118.14, Y:-12.89, Z:-2.32 [[ 9.86053855e-01 1.65349013e-01 1.89076314e-02 1.18142501e+02] [-1.65321801e-01 9.86235102e-01 -3.00415528e-03 -1.28943702e+01] [-1.91441039e-02 -1.63584785e-04 9.99816721e-01 -2.32330388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624012739 meters 0.021708844043758658 Centerline is valid? [True, True] Translation: X:118.20, Y:-12.90, Z:-2.32 [[ 9.86476385e-01 1.62778197e-01 1.91729251e-02 1.18204291e+02] [-1.62749672e-01 9.86662681e-01 -3.04929712e-03 -1.29045727e+01] [-1.94135687e-02 -1.12327674e-04 9.99811533e-01 -2.32416864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684012739 meters 0.02090970486040005 Centerline is valid? [True, True] Translation: X:118.26, Y:-12.92, Z:-2.33 [[ 9.87352088e-01 1.57510294e-01 1.80655048e-02 1.18264085e+02] [-1.57484072e-01 9.87517345e-01 -2.87400825e-03 -1.29169699e+01] [-1.82926852e-02 -7.37121018e-06 9.99832675e-01 -2.32791470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744012739 meters 0.02305426232876982 Centerline is valid? [True, True] Translation: X:118.32, Y:-12.94, Z:-2.33 [[ 9.88540106e-01 1.49668872e-01 1.96898065e-02 1.18322789e+02] [-1.49636096e-01 9.88736166e-01 -3.13584558e-03 -1.29416728e+01] [-1.99373622e-02 1.53603337e-04 9.99801219e-01 -2.32571035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804012739 meters 0.026346389633080853 Centerline is valid? [True, True] Translation: X:118.38, Y:-12.96, Z:-2.33 [[ 9.89145593e-01 1.45787167e-01 1.83602470e-02 1.18381365e+02] [-1.45757949e-01 9.89315953e-01 -2.92680454e-03 -1.29629103e+01] [-1.85907758e-02 2.18883870e-04 9.99827153e-01 -2.32966341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864012739 meters 0.029327475335172395 Centerline is valid? [True, True] Translation: X:118.44, Y:-12.99, Z:-2.33 [[ 9.89927344e-01 1.40105241e-01 2.03561866e-02 1.18439679e+02] [-1.40068056e-01 9.90136551e-01 -3.24824468e-03 -1.29887646e+01] [-2.06105005e-02 3.64274748e-04 9.99787515e-01 -2.32690137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924012739 meters 0.030545386266136596 Centerline is valid? [True, True] Translation: X:118.50, Y:-13.01, Z:-2.33 [[ 9.90037746e-01 1.39207069e-01 2.11341667e-02 1.18497867e+02] [-1.39166769e-01 9.90263214e-01 -3.37296888e-03 -1.30110084e+01] [-2.13979289e-02 3.98192809e-04 9.99770959e-01 -2.32661519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984012739 meters 0.030220746648630524 Centerline is valid? [True, True] Translation: X:118.56, Y:-13.03, Z:-2.33 [[ 9.89949481e-01 1.40271213e-01 1.80003221e-02 1.18557449e+02] [-1.40242134e-01 9.90113066e-01 -2.87399068e-03 -1.30307368e+01] [-1.82254923e-02 3.20702004e-04 9.99833850e-01 -2.33410997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044012739 meters 0.02648393627761586 Centerline is valid? [True, True] Translation: X:118.62, Y:-13.04, Z:-2.33 [[ 9.89248460e-01 1.44862001e-01 2.00620385e-02 1.18618484e+02] [-1.44826747e-01 9.89451833e-01 -3.20683822e-03 -1.30409470e+01] [-2.03149698e-02 2.66839994e-04 9.99793594e-01 -2.32972289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104012739 meters 0.023997998964436246 Centerline is valid? [True, True] Translation: X:118.68, Y:-13.05, Z:-2.33 [[ 9.88688496e-01 1.48621963e-01 2.01636036e-02 1.18679715e+02] [-1.48587118e-01 9.88894067e-01 -3.22377274e-03 -1.30487144e+01] [-2.04187914e-02 1.91255271e-04 9.99791496e-01 -2.33140875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164012739 meters 0.02355842835103176 Centerline is valid? [True, True] Translation: X:118.74, Y:-13.06, Z:-2.33 [[ 9.88561109e-01 1.49490785e-01 1.99859684e-02 1.18739821e+02] [-1.49456665e-01 9.88763103e-01 -3.19855823e-03 -1.30601667e+01] [-2.02395431e-02 1.74934093e-04 9.99795144e-01 -2.33322203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224012739 meters 0.021629213921688907 Centerline is valid? [True, True] Translation: X:118.80, Y:-13.06, Z:-2.33 [[ 9.88035086e-01 1.52731239e-01 2.14438026e-02 1.18802720e+02] [-1.52692651e-01 9.88267754e-01 -3.43513714e-03 -1.30637356e+01] [-2.17168714e-02 1.19724959e-04 9.99764154e-01 -2.32988140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284012739 meters 0.020449266095680332 Centerline is valid? [True, True] Translation: X:118.87, Y:-13.06, Z:-2.33 [[ 9.87013741e-01 1.59130837e-01 2.19374478e-02 1.18866188e+02] [-1.59091998e-01 9.87257503e-01 -3.51567085e-03 -1.30590657e+01] [-2.22173616e-02 -2.00569609e-05 9.99753164e-01 -2.33159880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344012739 meters 0.02596126329291743 Centerline is valid? [True, True] Translation: X:118.93, Y:-13.04, Z:-2.34 [[ 9.85244333e-01 1.70026093e-01 1.96145669e-02 1.18930939e+02] [-1.69997140e-01 9.85439533e-01 -3.14638625e-03 -1.30417258e+01] [-1.98639374e-02 -2.34461038e-04 9.99802665e-01 -2.33855279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404012739 meters 0.028578803315280333 Centerline is valid? [True, True] Translation: X:118.99, Y:-13.04, Z:-2.34 [[ 9.84350409e-01 1.75048389e-01 2.03060146e-02 1.18994764e+02] [-1.75018391e-01 9.84559771e-01 -3.25897006e-03 -1.30377743e+01] [-2.05629625e-02 -3.45957495e-04 9.99788500e-01 -2.33844228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464012739 meters 0.026565697365926344 Centerline is valid? [True, True] Translation: X:119.06, Y:-13.04, Z:-2.34 [[ 9.84793424e-01 1.72650200e-01 1.93344164e-02 1.19056845e+02] [-1.72622527e-01 9.84983162e-01 -3.10379435e-03 -1.30437726e+01] [-1.95799454e-02 -2.80959563e-04 9.99808255e-01 -2.34227870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524012739 meters 0.023004636894574403 Centerline is valid? [True, True] Translation: X:119.12, Y:-13.06, Z:-2.35 [[ 9.85695982e-01 1.67489388e-01 1.87279263e-02 1.19117132e+02] [-1.67462432e-01 9.85873864e-01 -3.00958473e-03 -1.30560163e+01] [-1.89674466e-02 -1.69688500e-04 9.99820087e-01 -2.34547589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584012739 meters 0.02177261005802419 Centerline is valid? [True, True] Translation: X:119.18, Y:-13.07, Z:-2.34 [[ 9.86129549e-01 1.64778953e-01 1.99100168e-02 1.19177552e+02] [-1.64747925e-01 9.86330513e-01 -3.20000902e-03 -1.30658658e+01] [-2.01651513e-02 -1.24510505e-04 9.99796655e-01 -2.34445774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644012739 meters 0.021180807653971144 Centerline is valid? [True, True] Translation: X:119.24, Y:-13.07, Z:-2.34 [[ 9.86308071e-01 1.63611858e-01 2.06772466e-02 1.19238630e+02] [-1.63578067e-01 9.86524784e-01 -3.32657612e-03 -1.30743162e+01] [-2.09428835e-02 -1.01315153e-04 9.99780669e-01 -2.34445705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70401273899999 meters 0.021026489298812494 Centerline is valid? [True, True] Translation: X:119.30, Y:-13.08, Z:-2.34 [[ 9.86233688e-01 1.63958663e-01 2.14632340e-02 1.19301390e+02] [-1.63922265e-01 9.86467204e-01 -3.45631466e-03 -1.30840621e+01] [-2.17394691e-02 -1.09567976e-04 9.99763664e-01 -2.34438988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764012739 meters 0.021050995506652345 Centerline is valid? [True, True] Translation: X:119.36, Y:-13.09, Z:-2.35 [[ 9.86120335e-01 1.64622623e-01 2.15887923e-02 1.19363815e+02] [-1.64585867e-01 9.86356618e-01 -3.48067568e-03 -1.30905752e+01] [-2.18672461e-02 -1.20845015e-04 9.99760876e-01 -2.34593762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824012739 meters 0.02076703363741173 Centerline is valid? [True, True] Translation: X:119.42, Y:-13.10, Z:-2.35 [[ 9.86436566e-01 1.62776319e-01 2.11369534e-02 1.19424164e+02] [-1.62740575e-01 9.86662994e-01 -3.41182962e-03 -1.31017527e+01] [-2.14104148e-02 -7.42864638e-05 9.99770768e-01 -2.34801122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884012739 meters 0.020354369577232724 Centerline is valid? [True, True] Translation: X:119.49, Y:-13.11, Z:-2.35 [[ 9.86732755e-01 1.60893900e-01 2.17169049e-02 1.19485640e+02] [-1.60855634e-01 9.86971708e-01 -3.50901001e-03 -1.31149654e+01] [-2.19985490e-02 -3.08313919e-05 9.99758002e-01 -2.34904985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944012739 meters 0.020889037239724673 Centerline is valid? [True, True] Translation: X:119.55, Y:-13.12, Z:-2.35 [[ 9.86329483e-01 1.63285147e-01 2.21836017e-02 1.19548202e+02] [-1.63245721e-01 9.86578914e-01 -3.58895215e-03 -1.31190882e+01] [-2.24718963e-02 -8.14887362e-05 9.99747472e-01 -2.34876210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004012739 meters 0.022472077799331292 Centerline is valid? [True, True] Translation: X:119.61, Y:-13.12, Z:-2.36 [[ 9.85665556e-01 1.67755678e-01 1.79288679e-02 1.19611609e+02] [-1.67730616e-01 9.85828591e-01 -2.90327544e-03 -1.31176328e+01] [-1.81618315e-02 -1.45561459e-04 9.99835050e-01 -2.35962253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064012739 meters 0.022244239057566537 Centerline is valid? [True, True] Translation: X:119.67, Y:-13.13, Z:-2.36 [[ 9.85707029e-01 1.67586632e-01 1.72155349e-02 1.19674096e+02] [-1.67563453e-01 9.85857344e-01 -2.79040916e-03 -1.31252862e+01] [-1.74396968e-02 -1.34168553e-04 9.99847908e-01 -2.36156362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124012739 meters 0.02285712213045487 Centerline is valid? [True, True] Translation: X:119.74, Y:-13.12, Z:-2.36 [[ 9.85819621e-01 1.66856778e-01 1.78462794e-02 1.19735930e+02] [-1.66831681e-01 9.85981136e-01 -2.89644425e-03 -1.31234089e+01] [-1.80793862e-02 -1.21953229e-04 9.99836547e-01 -2.36232288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184012739 meters 0.022587990917606108 Centerline is valid? [True, True] Translation: X:119.80, Y:-13.12, Z:-2.36 [[ 9.85469731e-01 1.68754129e-01 1.92731325e-02 1.19797826e+02] [-1.68725154e-01 9.85658164e-01 -3.13148412e-03 -1.31242948e+01] [-1.95251713e-02 -1.65879429e-04 9.99809352e-01 -2.36026338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244012739 meters 0.022158925877951135 Centerline is valid? [True, True] Translation: X:119.86, Y:-13.13, Z:-2.36 [[ 9.85620881e-01 1.67644239e-01 2.11397347e-02 1.19858229e+02] [-1.67609112e-01 9.85847546e-01 -3.43530017e-03 -1.31256466e+01] [-2.14164639e-02 -1.57308586e-04 9.99770629e-01 -2.35810862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304012739 meters 0.02062864970126801 Centerline is valid? [True, True] Translation: X:119.92, Y:-13.14, Z:-2.36 [[ 9.86335058e-01 1.63218860e-01 2.24222501e-02 1.19918702e+02] [-1.63178194e-01 9.86589884e-01 -3.64382518e-03 -1.31399537e+01] [-2.27163062e-02 -6.47897516e-05 9.99741949e-01 -2.35709022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364012739 meters 0.02095814837055974 Centerline is valid? [True, True] Translation: X:119.98, Y:-13.16, Z:-2.36 [[ 9.87456104e-01 1.55994634e-01 2.44154873e-02 1.19979366e+02] [-1.55944096e-01 9.87757896e-01 -3.97216737e-03 -1.31559709e+01] [-2.47362271e-02 1.14889827e-04 9.99694006e-01 -2.35611848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424012739 meters 0.021830148377690952 Centerline is valid? [True, True] Translation: X:120.04, Y:-13.17, Z:-2.36 [[ 9.87825003e-01 1.54279285e-01 1.99916355e-02 1.20039986e+02] [-1.54244992e-01 9.88027269e-01 -3.25538606e-03 -1.31667285e+01] [-2.02545196e-02 1.32142082e-04 9.99794847e-01 -2.36406048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484012739 meters 0.021140553031846015 Centerline is valid? [True, True] Translation: X:120.10, Y:-13.17, Z:-2.37 [[ 9.87446754e-01 1.56678368e-01 2.00199098e-02 1.20102395e+02] [-1.56644393e-01 9.87649676e-01 -3.26380854e-03 -1.31718584e+01] [-2.02840256e-02 8.68305251e-05 9.99794254e-01 -2.36623928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544012739 meters 0.020382106410482034 Centerline is valid? [True, True] Translation: X:120.16, Y:-13.18, Z:-2.36 [[ 9.86834712e-01 1.60225426e-01 2.20241565e-02 1.20164766e+02] [-1.60185100e-01 9.87080449e-01 -3.59463387e-03 -1.31753227e+01] [-2.23155661e-02 1.93677688e-05 9.99750977e-01 -2.36306949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604012739 meters 0.02060350904530232 Centerline is valid? [True, True] Translation: X:120.23, Y:-13.19, Z:-2.37 [[ 9.86874103e-01 1.60225654e-01 2.01803104e-02 1.20226688e+02] [-1.60191731e-01 9.87080412e-01 -3.29692231e-03 -1.31858054e+01] [-2.04478407e-02 2.09283749e-05 9.99790921e-01 -2.36829984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664012739 meters 0.02057273356324451 Centerline is valid? [True, True] Translation: X:120.29, Y:-13.19, Z:-2.37 [[ 9.86765397e-01 1.61043001e-01 1.89526655e-02 1.20286805e+02] [-1.61013160e-01 9.86947391e-01 -3.10005161e-03 -1.31927801e+01] [-1.92045254e-02 7.39508801e-06 9.99815576e-01 -2.37014201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724012739 meters 0.021550810750192287 Centerline is valid? [True, True] Translation: X:120.35, Y:-13.19, Z:-2.37 [[ 9.85768454e-01 1.67009247e-01 1.91955071e-02 1.20347842e+02] [-1.66979743e-01 9.85955323e-01 -3.14096277e-03 -1.31896368e+01] [-1.94504822e-02 -1.08998833e-04 9.99810816e-01 -2.37006391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784012739 meters 0.022552529710171222 Centerline is valid? [True, True] Translation: X:120.41, Y:-13.19, Z:-2.37 [[ 9.85352588e-01 1.69327346e-01 2.02120556e-02 1.20407579e+02] [-1.69295133e-01 9.85559853e-01 -3.30678506e-03 -1.31910488e+01] [-2.04801197e-02 -1.63453422e-04 9.99790247e-01 -2.36974416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844012739 meters 0.02049918461242138 Centerline is valid? [True, True] Translation: X:120.47, Y:-13.21, Z:-2.37 [[ 9.86516250e-01 1.62301725e-01 2.10674554e-02 1.20465128e+02] [-1.62265140e-01 9.86741177e-01 -3.44596361e-03 -1.32067407e+01] [-2.13474115e-02 -1.90144969e-05 9.99772118e-01 -2.36867197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904012739 meters 0.02105397964556043 Centerline is valid? [True, True] Translation: X:120.52, Y:-13.22, Z:-2.37 [[ 9.87327348e-01 1.57406704e-01 2.01949990e-02 1.20524741e+02] [-1.57372067e-01 9.87533859e-01 -3.30302752e-03 -1.32243322e+01] [-2.04631639e-02 8.30406755e-05 9.99790604e-01 -2.37068603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964012739 meters 0.02153351633132022 Centerline is valid? [True, True] Translation: X:120.58, Y:-13.24, Z:-2.37 [[ 9.87551219e-01 1.55938708e-01 2.06327233e-02 1.20584606e+02] [-1.55902222e-01 9.87766726e-01 -3.37510430e-03 -1.32359291e+01] [-2.09066269e-02 1.16400955e-04 9.99781426e-01 -2.37160006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024012739 meters 0.020579698047644954 Centerline is valid? [True, True] Translation: X:120.65, Y:-13.24, Z:-2.38 [[ 9.86599118e-01 1.62002212e-01 1.94284389e-02 1.20645659e+02] [-1.61971036e-01 9.86790395e-01 -3.17810726e-03 -1.32363828e+01] [-1.96866573e-02 -1.13265481e-05 9.99806199e-01 -2.37519373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084012739 meters 0.021273605110370075 Centerline is valid? [True, True] Translation: X:120.70, Y:-13.24, Z:-2.38 [[ 9.86041648e-01 1.65605790e-01 1.72217924e-02 1.20704919e+02] [-1.65581842e-01 9.86192028e-01 -2.81721693e-03 -1.32415204e+01] [-1.74505418e-02 -7.37228825e-05 9.99847725e-01 -2.38056220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144012739 meters 0.021246269059758734 Centerline is valid? [True, True] Translation: X:120.76, Y:-13.25, Z:-2.38 [[ 9.86016787e-01 1.65559356e-01 1.89998787e-02 1.20762074e+02] [-1.65530209e-01 9.86199824e-01 -3.10757822e-03 -1.32548589e+01] [-1.92521657e-02 -8.09295877e-05 9.99814657e-01 -2.37953448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20401273899999 meters 0.02246108442175721 Centerline is valid? [True, True] Translation: X:120.82, Y:-13.26, Z:-2.38 [[ 9.85496384e-01 1.68748839e-01 1.79082711e-02 1.20821637e+02] [-1.68723483e-01 9.85659074e-01 -2.92839346e-03 -1.32618570e+01] [-1.81456129e-02 -1.35624710e-04 9.99835346e-01 -2.38205155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264012739 meters 0.025383104389483404 Centerline is valid? [True, True] Translation: X:120.88, Y:-13.27, Z:-2.38 [[ 9.84665103e-01 1.73635574e-01 1.68914618e-02 1.20879778e+02] [-1.73613739e-01 9.84809952e-01 -2.76181735e-03 -1.32656711e+01] [-1.71144294e-02 -2.13124669e-04 9.99853515e-01 -2.38488244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324012739 meters 0.026930402712862386 Centerline is valid? [True, True] Translation: X:120.94, Y:-13.27, Z:-2.38 [[ 9.84312316e-01 1.75374571e-01 1.93138277e-02 1.20937029e+02] [-1.75346379e-01 9.84501743e-01 -3.15679538e-03 -1.32714345e+01] [-1.95681187e-02 -2.79337185e-04 9.99808487e-01 -2.38113383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384012739 meters 0.0283804118457022 Centerline is valid? [True, True] Translation: X:121.00, Y:-13.28, Z:-2.38 [[ 9.83827559e-01 1.77924584e-01 2.06440662e-02 1.20995309e+02] [-1.77892957e-01 9.84044063e-01 -3.37324229e-03 -1.32772418e+01] [-2.09148535e-02 -3.53745250e-04 9.99781198e-01 -2.38029565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444012739 meters 0.028089791533775554 Centerline is valid? [True, True] Translation: X:121.05, Y:-13.29, Z:-2.38 [[ 9.84039910e-01 1.76883390e-01 1.94350659e-02 1.21052934e+02] [-1.76855181e-01 9.84231765e-01 -3.17440427e-03 -1.32852599e+01] [-1.96901086e-02 -3.13451613e-04 9.99806082e-01 -2.38393213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504012739 meters 0.02676095991234523 Centerline is valid? [True, True] Translation: X:121.11, Y:-13.30, Z:-2.38 [[ 9.84452930e-01 1.74587142e-01 1.92810465e-02 1.21109799e+02] [-1.74558961e-01 9.84641691e-01 -3.14806477e-03 -1.32962161e+01] [-1.95345338e-02 -2.66557860e-04 9.99809147e-01 -2.38439324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564012739 meters 0.02567883751917361 Centerline is valid? [True, True] Translation: X:121.17, Y:-13.31, Z:-2.38 [[ 9.84634064e-01 1.73376049e-01 2.08927341e-02 1.21167945e+02] [-1.73342715e-01 9.84855662e-01 -3.40989572e-03 -1.33076135e+01] [-2.11675218e-02 -2.64103779e-04 9.99775908e-01 -2.38301471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624012739 meters 0.02573289911226826 Centerline is valid? [True, True] Translation: X:121.23, Y:-13.32, Z:-2.38 [[ 9.84581596e-01 1.73659675e-01 2.10094734e-02 1.21226229e+02] [-1.73626053e-01 9.84805688e-01 -3.42795510e-03 -1.33171580e+01] [-2.12855465e-02 -2.72690436e-04 9.99773400e-01 -2.38307029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684012739 meters 0.02886115347273584 Centerline is valid? [True, True] Translation: X:121.29, Y:-13.32, Z:-2.39 [[ 9.84021038e-01 1.76954069e-01 1.97447391e-02 1.21285025e+02] [-1.76925053e-01 9.84219057e-01 -3.22072100e-03 -1.33154666e+01] [-2.00030682e-02 -3.24081800e-04 9.99799866e-01 -2.38633147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744012739 meters 0.030749390267361357 Centerline is valid? [True, True] Translation: X:121.34, Y:-13.32, Z:-2.39 [[ 9.83557855e-01 1.79602567e-01 1.88908324e-02 1.21343659e+02] [-1.79576515e-01 9.83739186e-01 -3.08039246e-03 -1.33179215e+01] [-1.91368985e-02 -3.62605646e-04 9.99816807e-01 -2.39003686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804012739 meters 0.029817082678923166 Centerline is valid? [True, True] Translation: X:121.40, Y:-13.32, Z:-2.39 [[ 9.83598507e-01 1.79431787e-01 1.83905093e-02 1.21401376e+02] [-1.79407090e-01 9.83770355e-01 -2.99753948e-03 -1.33221148e+01] [-1.86298918e-02 -3.51012409e-04 9.99826387e-01 -2.39155635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864012739 meters 0.02918756762167759 Centerline is valid? [True, True] Translation: X:121.46, Y:-13.32, Z:-2.39 [[ 9.83584821e-01 1.79457205e-01 1.88682571e-02 1.21460123e+02] [-1.79431240e-01 9.83765714e-01 -3.07399830e-03 -1.33231013e+01] [-1.91135956e-02 -3.62016702e-04 9.99817253e-01 -2.39123351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924012739 meters 0.028980382935454938 Centerline is valid? [True, True] Translation: X:121.52, Y:-13.32, Z:-2.39 [[ 9.83711094e-01 1.78762947e-01 1.88756962e-02 1.21520427e+02] [-1.78736862e-01 9.83892111e-01 -3.07376918e-03 -1.33209619e+01] [-1.91211246e-02 -3.50081854e-04 9.99817113e-01 -2.39191276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984012739 meters 0.031296662827155944 Centerline is valid? [True, True] Translation: X:121.58, Y:-13.32, Z:-2.39 [[ 9.83918479e-01 1.77576032e-01 1.92660353e-02 1.21579136e+02] [-1.77548647e-01 9.84107027e-01 -3.13636858e-03 -1.33184419e+01] [-1.95167846e-02 -3.34727503e-04 9.99809473e-01 -2.39224121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044012739 meters 0.024658018582632543 Centerline is valid? [True, True] Translation: X:121.64, Y:-13.33, Z:-2.39 [[ 9.84913497e-01 1.72044622e-01 1.86024487e-02 1.21637122e+02] [-1.72018126e-01 9.85089133e-01 -3.02718415e-03 -1.33316498e+01] [-1.88458808e-02 -2.18443836e-04 9.99822377e-01 -2.39437909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104012739 meters 0.02106508101234293 Centerline is valid? [True, True] Translation: X:121.69, Y:-13.35, Z:-2.40 [[ 9.86596759e-01 1.62106827e-01 1.86604234e-02 1.21693171e+02] [-1.62078393e-01 9.86773214e-01 -3.03621447e-03 -1.33470844e+01] [-1.89057971e-02 -2.89320845e-05 9.99821269e-01 -2.39543226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164012739 meters 0.02317350544559717 Centerline is valid? [True, True] Translation: X:121.75, Y:-13.37, Z:-2.40 [[ 9.88269788e-01 1.51459960e-01 1.95629120e-02 1.21749486e+02] [-1.51426645e-01 9.88463377e-01 -3.18179780e-03 -1.33700830e+01] [-1.98191370e-02 1.82128502e-04 9.99803565e-01 -2.39516512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224012739 meters 0.028347757573771077 Centerline is valid? [True, True] Translation: X:121.81, Y:-13.39, Z:-2.40 [[ 9.89345829e-01 1.44454210e-01 1.81055702e-02 1.21805931e+02] [-1.44424512e-01 9.89511441e-01 -2.94409777e-03 -1.33924596e+01] [-1.83409562e-02 2.97842707e-04 9.99831746e-01 -2.39869087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284012739 meters 0.030659673081132845 Centerline is valid? [True, True] Translation: X:121.86, Y:-13.41, Z:-2.40 [[ 9.89775172e-01 1.41336738e-01 1.92102975e-02 1.21864501e+02] [-1.41302724e-01 9.89961506e-01 -3.12347386e-03 -1.34108483e+01] [-1.94589167e-02 3.77069518e-04 9.99810586e-01 -2.39730828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344012739 meters 0.031150552546835283 Centerline is valid? [True, True] Translation: X:121.92, Y:-13.43, Z:-2.40 [[ 9.89989864e-01 1.40066107e-01 1.73653500e-02 1.21923027e+02] [-1.40038117e-01 9.90142088e-01 -2.82349696e-03 -1.34256152e+01] [-1.75896401e-02 3.63422461e-04 9.99845224e-01 -2.40065399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404012739 meters 0.031041426032490327 Centerline is valid? [True, True] Translation: X:121.98, Y:-13.44, Z:-2.40 [[ 9.90018598e-01 1.39702806e-01 1.86091981e-02 1.21982165e+02] [-1.39670599e-01 9.90193400e-01 -3.02573887e-03 -1.34404967e+01] [-1.88494094e-02 3.96379914e-04 9.99822256e-01 -2.39866481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464012739 meters 0.03056692952729917 Centerline is valid? [True, True] Translation: X:122.04, Y:-13.45, Z:-2.40 [[ 9.89853623e-01 1.40770871e-01 1.93227030e-02 1.22042481e+02] [-1.40736349e-01 9.90042125e-01 -3.14172940e-03 -1.34543583e+01] [-1.95725539e-02 3.90445550e-04 9.99808363e-01 -2.39890031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524012739 meters 0.026198218328699358 Centerline is valid? [True, True] Translation: X:122.10, Y:-13.46, Z:-2.40 [[ 9.88984638e-01 1.46771979e-01 1.91669241e-02 1.22102567e+02] [-1.46739129e-01 9.89170316e-01 -3.11688126e-03 -1.34604615e+01] [-1.94168232e-02 2.70009938e-04 9.99811439e-01 -2.39940152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584012739 meters 0.02547837690321774 Centerline is valid? [True, True] Translation: X:122.16, Y:-13.47, Z:-2.40 [[ 9.88523737e-01 1.49735079e-01 2.00056839e-02 1.22161104e+02] [-1.49699896e-01 9.88726129e-01 -3.25328069e-03 -1.34712354e+01] [-2.02672726e-02 2.21096383e-04 9.99794573e-01 -2.40003596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644012739 meters 0.02451608324396537 Centerline is valid? [True, True] Translation: X:122.22, Y:-13.48, Z:-2.40 [[ 9.88601195e-01 1.49366877e-01 1.89000762e-02 1.22220519e+02] [-1.49335413e-01 9.88781821e-01 -3.07326112e-03 -1.34825091e+01] [-1.91470952e-02 2.15778930e-04 9.99816654e-01 -2.40285611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70401273899999 meters 0.028525043072475803 Centerline is valid? [True, True] Translation: X:122.28, Y:-13.51, Z:-2.40 [[ 9.89252848e-01 1.44870180e-01 1.97846729e-02 1.22278677e+02] [-1.44834803e-01 9.89450621e-01 -3.21703739e-03 -1.35063000e+01] [-2.00420096e-02 3.16954196e-04 9.99799089e-01 -2.40255924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764012739 meters 0.02998072129747476 Centerline is valid? [True, True] Translation: X:122.34, Y:-13.53, Z:-2.40 [[ 9.89704194e-01 1.41797632e-01 1.94689270e-02 1.22338522e+02] [-1.41762720e-01 9.89895596e-01 -3.16878133e-03 -1.35262899e+01] [-1.97215308e-02 3.76188124e-04 9.99805441e-01 -2.40417342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824012739 meters 0.030073445231612168 Centerline is valid? [True, True] Translation: X:122.40, Y:-13.54, Z:-2.41 [[ 9.89731810e-01 1.41754535e-01 1.83465721e-02 1.22399458e+02] [-1.41723515e-01 9.89901776e-01 -2.98666513e-03 -1.35414242e+01] [-1.85846777e-02 3.55856802e-04 9.99827227e-01 -2.40705790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884012739 meters 0.028767686455381046 Centerline is valid? [True, True] Translation: X:122.46, Y:-13.55, Z:-2.41 [[ 9.89193163e-01 1.45481659e-01 1.82201343e-02 1.22458746e+02] [-1.45451626e-01 9.89360907e-01 -2.96993297e-03 -1.35539278e+01] [-1.84583593e-02 2.87689240e-04 9.99829589e-01 -2.40978793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944012739 meters 0.022879084432616294 Centerline is valid? [True, True] Translation: X:122.52, Y:-13.55, Z:-2.41 [[ 9.88013536e-01 1.53073295e-01 1.99454101e-02 1.22521686e+02] [-1.53038843e-01 9.88214825e-01 -3.25141523e-03 -1.35504544e+01] [-2.02080548e-02 1.60019765e-04 9.99795784e-01 -2.40728496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004012739 meters 0.021491889866209632 Centerline is valid? [True, True] Translation: X:122.58, Y:-13.55, Z:-2.40 [[ 9.87285999e-01 1.57351565e-01 2.25131507e-02 1.22582058e+02] [-1.57308768e-01 9.87542646e-01 -3.67059970e-03 -1.35511669e+01] [-2.28102710e-02 8.24156929e-05 9.99739809e-01 -2.40383369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064012739 meters 0.021612776812038815 Centerline is valid? [True, True] Translation: X:122.64, Y:-13.56, Z:-2.41 [[ 9.87254005e-01 1.57462347e-01 2.31330868e-02 1.22642055e+02] [-1.57417181e-01 9.87524988e-01 -3.77206024e-03 -1.35570984e+01] [-2.34384587e-02 8.24362538e-05 9.99725278e-01 -2.40504511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124012739 meters 0.02253218876825563 Centerline is valid? [True, True] Translation: X:122.70, Y:-13.57, Z:-2.41 [[ 9.87758757e-01 1.54328042e-01 2.27044886e-02 1.22702160e+02] [-1.54283700e-01 9.88019651e-01 -3.70247014e-03 -1.35670663e+01] [-2.30038759e-02 1.54214794e-04 9.99735364e-01 -2.40776301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184012739 meters 0.025297292633605008 Centerline is valid? [True, True] Translation: X:122.76, Y:-13.58, Z:-2.41 [[ 9.88663049e-01 1.48540821e-01 2.19317049e-02 1.22762492e+02] [-1.48498010e-01 9.88906237e-01 -3.57700313e-03 -1.35814284e+01] [-2.22197308e-02 2.79636289e-04 9.99753072e-01 -2.41111200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244012739 meters 0.032176330538361636 Centerline is valid? [True, True] Translation: X:122.82, Y:-13.61, Z:-2.41 [[ 9.89777499e-01 1.40966316e-01 2.16564181e-02 1.22818861e+02] [-1.40922736e-01 9.90014293e-01 -3.53308449e-03 -1.36072471e+01] [-2.19382094e-02 4.45085834e-04 9.99759229e-01 -2.41347397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304012739 meters 0.03436227212757204 Centerline is valid? [True, True] Translation: X:122.88, Y:-13.63, Z:-2.41 [[ 9.90414287e-01 1.36067744e-01 2.37720191e-02 1.22877427e+02] [-1.36013821e-01 9.90699349e-01 -3.87827239e-03 -1.36254669e+01] [-2.40786316e-02 6.07773241e-04 9.99709883e-01 -2.41176856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364012739 meters 0.036159633000393675 Centerline is valid? [True, True] Translation: X:122.94, Y:-13.65, Z:-2.42 [[ 9.90529722e-01 1.35557635e-01 2.17944474e-02 1.22935929e+02] [-1.35512177e-01 9.90769299e-01 -3.55611408e-03 -1.36458605e+01] [-2.20753278e-02 5.69023667e-04 9.99756148e-01 -2.41698471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424012739 meters 0.03575141866647549 Centerline is valid? [True, True] Translation: X:123.00, Y:-13.66, Z:-2.42 [[ 9.90424629e-01 1.36152820e-01 2.28356045e-02 1.22996821e+02] [-1.36102987e-01 9.90687673e-01 -3.72970557e-03 -1.36597863e+01] [-2.31307618e-02 5.85998280e-04 9.99732276e-01 -2.41671508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484012739 meters 0.03425886092403923 Centerline is valid? [True, True] Translation: X:123.06, Y:-13.68, Z:-2.42 [[ 9.90417830e-01 1.36140647e-01 2.32001358e-02 1.23058098e+02] [-1.36089113e-01 9.90689338e-01 -3.79322451e-03 -1.36751127e+01] [-2.35005392e-02 5.99591290e-04 9.99723644e-01 -2.41773861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544012739 meters 0.03641214478491181 Centerline is valid? [True, True] Translation: X:123.12, Y:-13.70, Z:-2.42 [[ 9.90471371e-01 1.35761342e-01 2.31370212e-02 1.23116054e+02] [-1.35709881e-01 9.90741381e-01 -3.78732661e-03 -1.36981340e+01] [-2.34369769e-02 6.11316179e-04 9.99725129e-01 -2.41832988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604012739 meters 0.034405892666642755 Centerline is valid? [True, True] Translation: X:123.18, Y:-13.71, Z:-2.42 [[ 9.90160238e-01 1.37582300e-01 2.55697975e-02 1.23176324e+02] [-1.37519938e-01 9.90490137e-01 -4.18998052e-03 -1.37147019e+01] [-2.59030994e-02 6.32395136e-04 9.99664258e-01 -2.41525615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664012739 meters 0.028258257598040012 Centerline is valid? [True, True] Translation: X:123.24, Y:-13.72, Z:-2.42 [[ 9.89245148e-01 1.44009669e-01 2.55978961e-02 1.23236576e+02] [-1.43949228e-01 9.89576170e-01 -4.19806565e-03 -1.37224357e+01] [-2.59356300e-02 4.68118706e-04 9.99663505e-01 -2.41654315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724012739 meters 0.02308739494555052 Centerline is valid? [True, True] Translation: X:123.30, Y:-13.73, Z:-2.42 [[ 9.87832878e-01 1.53736541e-01 2.34793679e-02 1.23296356e+02] [-1.53688428e-01 9.88111855e-01 -3.85090949e-03 -1.37258893e+01] [-2.37922672e-02 1.95547878e-04 9.99716905e-01 -2.42151160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784012739 meters 0.02125712892953932 Centerline is valid? [True, True] Translation: X:123.36, Y:-13.73, Z:-2.42 [[ 9.86764923e-01 1.60478261e-01 2.32747561e-02 1.23357972e+02] [-1.60432836e-01 9.87039374e-01 -3.81815855e-03 -1.37277199e+01] [-2.35858322e-02 3.35897798e-05 9.99721815e-01 -2.42277519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844012739 meters 0.022286508799329644 Centerline is valid? [True, True] Translation: X:123.42, Y:-13.73, Z:-2.43 [[ 9.85559890e-01 1.67799042e-01 2.26976694e-02 1.23420742e+02] [-1.67757701e-01 9.85821213e-01 -3.72698778e-03 -1.37252544e+01] [-2.30012289e-02 -1.34539168e-04 9.99735428e-01 -2.42602349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904012739 meters 0.025017385588110348 Centerline is valid? [True, True] Translation: X:123.48, Y:-13.72, Z:-2.43 [[ 9.84664215e-01 1.72790471e-01 2.40797909e-02 1.23482244e+02] [-1.72745350e-01 9.84958570e-01 -3.95730382e-03 -1.37219838e+01] [-2.44013808e-02 -2.63056442e-04 9.99702207e-01 -2.42540378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964012739 meters 0.025338601908459397 Centerline is valid? [True, True] Translation: X:123.54, Y:-13.72, Z:-2.43 [[ 9.84484771e-01 1.73874169e-01 2.36116346e-02 1.23543473e+02] [-1.73831092e-01 9.84767837e-01 -3.88059986e-03 -1.37216173e+01] [-2.39267144e-02 -2.84044757e-04 9.99713675e-01 -2.42843379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024012739 meters 0.02464902838293691 Centerline is valid? [True, True] Translation: X:123.60, Y:-13.73, Z:-2.43 [[ 9.84752467e-01 1.72471327e-01 2.27204865e-02 1.23603439e+02] [-1.72431068e-01 9.85014509e-01 -3.73410859e-03 -1.37252709e+01] [-2.30240356e-02 -2.40545101e-04 9.99734883e-01 -2.43160894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084012739 meters 0.0225242109502378 Centerline is valid? [True, True] Translation: X:123.66, Y:-13.74, Z:-2.43 [[ 9.85565195e-01 1.67590901e-01 2.39695020e-02 1.23662373e+02] [-1.67544654e-01 9.85856618e-01 -3.93917590e-03 -1.37375080e+01] [-2.42906622e-02 -1.33647236e-04 9.99704929e-01 -2.43072080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144012739 meters 0.021324118660028594 Centerline is valid? [True, True] Translation: X:123.72, Y:-13.76, Z:-2.43 [[ 9.86531710e-01 1.61806283e-01 2.39564390e-02 1.23722755e+02] [-1.61758358e-01 9.86822541e-01 -3.93789883e-03 -1.37559188e+01] [-2.42779307e-02 9.70783932e-06 9.99705248e-01 -2.43306807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20401273899999 meters 0.02229798962464742 Centerline is valid? [True, True] Translation: X:123.78, Y:-13.77, Z:-2.44 [[ 9.87294383e-01 1.57309319e-01 2.24405873e-02 1.23781534e+02] [-1.57266025e-01 9.87549373e-01 -3.69225044e-03 -1.37745468e+01] [-2.27420133e-02 1.16196149e-04 9.99741360e-01 -2.43680887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264012739 meters 0.023578190294217084 Centerline is valid? [True, True] Translation: X:123.84, Y:-13.79, Z:-2.43 [[ 9.87587169e-01 1.55273948e-01 2.36977765e-02 1.23840956e+02] [-1.55224989e-01 9.87871434e-01 -3.90291429e-03 -1.37911751e+01] [-2.40163773e-02 1.75980986e-04 9.99711550e-01 -2.43474631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324012739 meters 0.025374196089011685 Centerline is valid? [True, True] Translation: X:123.90, Y:-13.81, Z:-2.44 [[ 9.88425650e-01 1.49601857e-01 2.51797331e-02 1.23900063e+02] [-1.49544638e-01 9.88746262e-01 -4.15098659e-03 -1.38119629e+01] [-2.55173623e-02 3.37447550e-04 9.99674322e-01 -2.43556815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384012739 meters 0.027175144305386097 Centerline is valid? [True, True] Translation: X:123.96, Y:-13.83, Z:-2.44 [[ 9.88859310e-01 1.46889251e-01 2.41000449e-02 1.23960116e+02] [-1.46835936e-01 9.89152866e-01 -3.97681724e-03 -1.38289219e+01] [-2.44227802e-02 3.93760102e-04 9.99701642e-01 -2.43906993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444012739 meters 0.033220169572607816 Centerline is valid? [True, True] Translation: X:124.02, Y:-13.86, Z:-2.45 [[ 9.89310640e-01 1.44189328e-01 2.17691364e-02 1.24017189e+02] [-1.44145099e-01 9.89550030e-01 -3.59561434e-03 -1.38564530e+01] [-2.20600987e-02 4.19265204e-04 9.99756558e-01 -2.44501288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504012739 meters 0.03877285789633775 Centerline is valid? [True, True] Translation: X:124.08, Y:-13.88, Z:-2.44 [[ 9.89663283e-01 1.41691736e-01 2.21367989e-02 1.24077157e+02] [-1.41645300e-01 9.89910711e-01 -3.65970852e-03 -1.38769462e+01] [-2.24320047e-02 4.86305627e-04 9.99748253e-01 -2.43648625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564012739 meters 0.04159823246296789 Centerline is valid? [True, True] Translation: X:124.13, Y:-13.91, Z:-2.44 [[ 9.90244388e-01 1.37374732e-01 2.33288495e-02 1.24131663e+02] [-1.37321938e-01 9.90518956e-01 -3.85781008e-03 -1.39118586e+01] [-2.36376333e-02 6.16611960e-04 9.99720402e-01 -2.44472350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624012739 meters 0.03959092374957185 Centerline is valid? [True, True] Translation: X:124.19, Y:-13.93, Z:-2.45 [[ 9.90933618e-01 1.32449970e-01 2.25292967e-02 1.24189578e+02] [-1.32399459e-01 9.91189438e-01 -3.72564954e-03 -1.39340147e+01] [-2.28242631e-02 7.09004678e-04 9.99739241e-01 -2.44898811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684012739 meters 0.04156187788648896 Centerline is valid? [True, True] Translation: X:124.25, Y:-13.96, Z:-2.45 [[ 9.90940811e-01 1.32244791e-01 2.34013815e-02 1.24247348e+02] [-1.32190211e-01 9.91216810e-01 -3.87089591e-03 -1.39616206e+01] [-2.37077486e-02 7.42395166e-04 9.99718656e-01 -2.44752941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744012739 meters 0.039039940727156344 Centerline is valid? [True, True] Translation: X:124.31, Y:-13.98, Z:-2.45 [[ 9.90628064e-01 1.34752964e-01 2.23087051e-02 1.24306261e+02] [-1.34703929e-01 9.90879010e-01 -3.69322804e-03 -1.39800291e+01] [-2.26029011e-02 6.53545101e-04 9.99744308e-01 -2.45081744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804012739 meters 0.035856882905783656 Centerline is valid? [True, True] Translation: X:124.37, Y:-14.00, Z:-2.44 [[ 9.90081684e-01 1.37983150e-01 2.64368981e-02 1.24365556e+02] [-1.37915414e-01 9.90434338e-01 -4.37738483e-03 -1.39964245e+01] [-2.67880170e-02 6.87912809e-04 9.99640900e-01 -2.44499945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864012739 meters 0.031063711428763952 Centerline is valid? [True, True] Translation: X:124.43, Y:-14.00, Z:-2.45 [[ 9.89214588e-01 1.44070653e-01 2.64224563e-02 1.24425776e+02] [-1.44005144e-01 9.89567266e-01 -4.37555770e-03 -1.40041934e+01] [-2.67771873e-02 5.23395885e-04 9.99641290e-01 -2.44546515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924012739 meters 0.0243419086148488 Centerline is valid? [True, True] Translation: X:124.49, Y:-14.00, Z:-2.45 [[ 9.87849591e-01 1.53815150e-01 2.22280254e-02 1.24486556e+02] [-1.53771250e-01 9.88099616e-01 -3.68115200e-03 -1.40031263e+01] [-2.25297203e-02 2.18393252e-04 9.99746150e-01 -2.45459455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984012739 meters 0.021464871749298096 Centerline is valid? [True, True] Translation: X:124.55, Y:-14.00, Z:-2.45 [[ 9.86532559e-01 1.61651234e-01 2.49477250e-02 1.24548843e+02] [-1.61598425e-01 9.86847950e-01 -4.13189073e-03 -1.40028673e+01] [-2.52875365e-02 4.47316640e-05 9.99680218e-01 -2.45062001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04401273899998 meters 0.022659977578956755 Centerline is valid? [True, True] Translation: X:124.61, Y:-14.00, Z:-2.45 [[ 9.85240359e-01 1.69452233e-01 2.42358138e-02 1.24613163e+02] [-1.69404691e-01 9.85538390e-01 -4.01647697e-03 -1.39976648e+01] [-2.45659259e-02 -1.48465342e-04 9.99698201e-01 -2.45249920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10401273899998 meters 0.024841852326050424 Centerline is valid? [True, True] Translation: X:124.68, Y:-14.00, Z:-2.46 [[ 9.84500265e-01 1.73936575e-01 2.24787909e-02 1.24675589e+02] [-1.73896767e-01 9.84756829e-01 -3.72868682e-03 -1.39985115e+01] [-2.27846979e-02 -2.38095901e-04 9.99740367e-01 -2.45762543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164012739 meters 0.027906628821744484 Centerline is valid? [True, True] Translation: X:124.74, Y:-14.00, Z:-2.46 [[ 9.83824172e-01 1.77755804e-01 2.22007384e-02 1.24738382e+02] [-1.77717868e-01 9.84074577e-01 -3.68606207e-03 -1.39952639e+01] [-2.25024012e-02 -3.19030918e-04 9.99746738e-01 -2.45890461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224012739 meters 0.028639392318713843 Centerline is valid? [True, True] Translation: X:124.80, Y:-14.00, Z:-2.46 [[ 9.83124663e-01 1.81606635e-01 2.20210537e-02 1.24800884e+02] [-1.81570207e-01 9.83371176e-01 -3.65926804e-03 -1.39985332e+01] [-2.23194168e-02 -4.00850623e-04 9.99750810e-01 -2.46152298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284012739 meters 0.031762414099147165 Centerline is valid? [True, True] Translation: X:124.86, Y:-14.00, Z:-2.46 [[ 9.82737742e-01 1.83545284e-01 2.31874720e-02 1.24863573e+02] [-1.83505398e-01 9.83011145e-01 -3.85461487e-03 -1.39961074e+01] [-2.35010397e-02 -4.66950759e-04 9.99723703e-01 -2.45997194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344012739 meters 0.030581478856476923 Centerline is valid? [True, True] Translation: X:124.93, Y:-14.01, Z:-2.46 [[ 9.82830150e-01 1.82920934e-01 2.41832060e-02 1.24925110e+02] [-1.82877262e-01 9.83127516e-01 -4.02412282e-03 -1.40055366e+01] [-2.45112715e-02 -4.67529259e-04 9.99699444e-01 -2.45983797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404012739 meters 0.030762146097754274 Centerline is valid? [True, True] Translation: X:124.99, Y:-14.01, Z:-2.46 [[ 9.82957862e-01 1.82216344e-01 2.43114145e-02 1.24985994e+02] [-1.82171895e-01 9.83258360e-01 -4.04942452e-03 -1.40128037e+01] [-2.46422729e-02 -4.48442790e-04 9.99696233e-01 -2.46024281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464012739 meters 0.029538043319804804 Centerline is valid? [True, True] Translation: X:125.05, Y:-14.02, Z:-2.46 [[ 9.82813092e-01 1.82963101e-01 2.45546465e-02 1.25048224e+02] [-1.82917896e-01 9.83119670e-01 -4.09376425e-03 -1.40183706e+01] [-2.48891638e-02 -4.68079173e-04 9.99690107e-01 -2.46238515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52401273899997 meters 0.031541004961272684 Centerline is valid? [True, True] Translation: X:125.11, Y:-14.02, Z:-2.47 [[ 9.82551214e-01 1.84544886e-01 2.31580666e-02 1.25109863e+02] [-1.84505030e-01 9.82823971e-01 -3.86460686e-03 -1.40201206e+01] [-2.34734964e-02 -4.75605595e-04 9.99724346e-01 -2.46545409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58401273899997 meters 0.033776635887988106 Centerline is valid? [True, True] Translation: X:125.17, Y:-14.02, Z:-2.47 [[ 9.82322518e-01 1.86035132e-01 2.08182810e-02 1.25170985e+02] [-1.86003198e-01 9.82542987e-01 -3.47697239e-03 -1.40204533e+01] [-2.11016950e-02 -4.56758560e-04 9.99777230e-01 -2.47053881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64401273899998 meters 0.031758817511521334 Centerline is valid? [True, True] Translation: X:125.23, Y:-14.03, Z:-2.47 [[ 9.82517374e-01 1.84891516e-01 2.17884856e-02 1.25231700e+02] [-1.84856248e-01 9.82758833e-01 -3.63929746e-03 -1.40272359e+01] [-2.20857019e-02 -4.52064720e-04 9.99755979e-01 -2.47017990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70401273899998 meters 0.029124938221288293 Centerline is valid? [True, True] Translation: X:125.29, Y:-14.04, Z:-2.47 [[ 9.83131329e-01 1.81552025e-01 2.21732141e-02 1.25291724e+02] [-1.81514639e-01 9.83381267e-01 -3.70409086e-03 -1.40402652e+01] [-2.24772085e-02 -3.83155183e-04 9.99747282e-01 -2.47002977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76401273899998 meters 0.024045541903138155 Centerline is valid? [True, True] Translation: X:125.35, Y:-14.06, Z:-2.47 [[ 9.84413837e-01 1.74413327e-01 2.25696320e-02 1.25350996e+02] [-1.74372702e-01 9.84672505e-01 -3.77085695e-03 -1.40558629e+01] [-2.28813838e-02 -2.23443954e-04 9.99738162e-01 -2.46993436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82401273899998 meters 0.022658522920060747 Centerline is valid? [True, True] Translation: X:125.41, Y:-14.07, Z:-2.47 [[ 9.84728970e-01 1.72370662e-01 2.44379039e-02 1.25411111e+02] [-1.72322372e-01 9.85032141e-01 -4.08424014e-03 -1.40721608e+01] [-2.47761239e-02 -1.89327981e-04 9.99693007e-01 -2.46737627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88401273899999 meters 0.022338864998197847 Centerline is valid? [True, True] Translation: X:125.47, Y:-14.09, Z:-2.47 [[ 9.84810594e-01 1.71879136e-01 2.46100948e-02 1.25471441e+02] [-1.71829903e-01 9.85118030e-01 -4.11727106e-03 -1.40871462e+01] [-2.49515210e-02 -1.74018038e-04 9.99688647e-01 -2.46852859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944012739 meters 0.02350627211562969 Centerline is valid? [True, True] Translation: X:125.53, Y:-14.10, Z:-2.47 [[ 9.84441058e-01 1.74043599e-01 2.41791181e-02 1.25531526e+02] [-1.73996632e-01 9.84737923e-01 -4.04911168e-03 -1.40968971e+01] [-2.45148165e-02 -2.20973315e-04 9.99699442e-01 -2.46922077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004012739 meters 0.0277401355165807 Centerline is valid? [True, True] Translation: X:125.59, Y:-14.10, Z:-2.47 [[ 9.83201824e-01 1.81100026e-01 2.27366278e-02 1.25594394e+02] [-1.81060331e-01 9.83464612e-01 -3.80966102e-03 -1.40955794e+01] [-2.30505985e-02 -3.71035700e-04 9.99734231e-01 -2.47321497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064012739 meters 0.03664760015135099 Centerline is valid? [True, True] Translation: X:125.66, Y:-14.09, Z:-2.47 [[ 9.81623745e-01 1.89541870e-01 2.21066412e-02 1.25656392e+02] [-1.89506413e-01 9.81872485e-01 -3.70712906e-03 -1.40873596e+01] [-2.24085589e-02 -5.50344371e-04 9.99748745e-01 -2.47455815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124012739 meters 0.037554913025110735 Centerline is valid? [True, True] Translation: X:125.72, Y:-14.09, Z:-2.48 [[ 9.81253469e-01 1.91583528e-01 2.09136594e-02 1.25715406e+02] [-1.91552264e-01 9.81476150e-01 -3.50676816e-03 -1.40925492e+01] [-2.11980969e-02 -5.65030383e-04 9.99775135e-01 -2.47846773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184012739 meters 0.03645754776108921 Centerline is valid? [True, True] Translation: X:125.77, Y:-14.10, Z:-2.48 [[ 9.81471081e-01 1.90380426e-01 2.16750989e-02 1.25774728e+02] [-1.90346568e-01 9.81710232e-01 -3.63367377e-03 -1.41010479e+01] [-2.19704467e-02 -5.59434943e-04 9.99758464e-01 -2.47791398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244012739 meters 0.03514217672268118 Centerline is valid? [True, True] Translation: X:125.83, Y:-14.11, Z:-2.48 [[ 9.81620046e-01 1.89600566e-01 2.17648892e-02 1.25833864e+02] [-1.89566247e-01 9.81861155e-01 -3.64821320e-03 -1.41078080e+01] [-2.20618025e-02 -5.44729159e-04 9.99756460e-01 -2.47992081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30401273899997 meters 0.03683820260786279 Centerline is valid? [True, True] Translation: X:125.89, Y:-14.11, Z:-2.48 [[ 9.81635817e-01 1.89694790e-01 2.01744710e-02 1.25891651e+02] [-1.89665333e-01 9.81842976e-01 -3.38118182e-03 -1.41103982e+01] [-2.04495552e-02 -5.07308578e-04 9.99790757e-01 -2.48330848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36401273899997 meters 0.03665641180698914 Centerline is valid? [True, True] Translation: X:125.95, Y:-14.11, Z:-2.48 [[ 9.81130335e-01 1.92069566e-01 2.21934171e-02 1.25951285e+02] [-1.92034555e-01 9.81381121e-01 -3.71816199e-03 -1.41141275e+01] [-2.24943463e-02 -6.13901466e-04 9.99746782e-01 -2.48000642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42401273899998 meters 0.038193123785765046 Centerline is valid? [True, True] Translation: X:126.01, Y:-14.12, Z:-2.48 [[ 9.81050897e-01 1.92377080e-01 2.30260190e-02 1.26009469e+02] [-1.92339500e-01 9.81320866e-01 -3.85665605e-03 -1.41155619e+01] [-2.33378451e-02 -6.45237110e-04 9.99727427e-01 -2.48086863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48401273899998 meters 0.038768152392918566 Centerline is valid? [True, True] Translation: X:126.07, Y:-14.12, Z:-2.48 [[ 9.81167630e-01 1.91856819e-01 2.23840112e-02 1.26067088e+02] [-1.91821200e-01 9.81422733e-01 -3.74781544e-03 -1.41213189e+01] [-2.26872214e-02 -6.16492688e-04 9.99742422e-01 -2.48270612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54401273899998 meters 0.04204422961619762 Centerline is valid? [True, True] Translation: X:126.13, Y:-14.12, Z:-2.49 [[ 9.80895851e-01 1.93297329e-01 2.18968690e-02 1.26126478e+02] [-1.93263630e-01 9.81140019e-01 -3.66498931e-03 -1.41168603e+01] [-2.21923271e-02 -6.36895590e-04 9.99753517e-01 -2.48542691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60401273899998 meters 0.038508446199255565 Centerline is valid? [True, True] Translation: X:126.18, Y:-14.13, Z:-2.49 [[ 9.80825368e-01 1.93762861e-01 2.09177124e-02 1.26184440e+02] [-1.93732240e-01 9.81048199e-01 -3.49995052e-03 -1.41277224e+01] [-2.11994445e-02 -6.19595012e-04 9.99775075e-01 -2.48863144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664012739 meters 0.040734421064445366 Centerline is valid? [True, True] Translation: X:126.24, Y:-14.13, Z:-2.49 [[ 9.80872581e-01 1.93339407e-01 2.25577795e-02 1.26243529e+02] [-1.93303711e-01 9.81131713e-01 -3.77316877e-03 -1.41278522e+01] [-2.28616551e-02 -6.59504696e-04 9.99738421e-01 -2.48673494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724012739 meters 0.040507590547937525 Centerline is valid? [True, True] Translation: X:126.30, Y:-14.13, Z:-2.49 [[ 9.81091260e-01 1.92210413e-01 2.26957570e-02 1.26302001e+02] [-1.92174008e-01 9.81353529e-01 -3.79488293e-03 -1.41299925e+01] [-2.30019772e-02 -6.38408112e-04 9.99735216e-01 -2.48828068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784012739 meters 0.03680129959337077 Centerline is valid? [True, True] Translation: X:126.36, Y:-14.14, Z:-2.50 [[ 9.81698804e-01 1.89417049e-01 1.97139356e-02 1.26361467e+02] [-1.89389039e-01 9.81896600e-01 -3.29530401e-03 -1.41375335e+01] [-1.99812331e-02 -4.98607295e-04 9.99800231e-01 -2.49572921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844012739 meters 0.03072130479051274 Centerline is valid? [True, True] Translation: X:126.42, Y:-14.15, Z:-2.49 [[ 9.82795861e-01 1.83434310e-01 2.15441472e-02 1.26419587e+02] [-1.83399425e-01 9.83031884e-01 -3.60094673e-03 -1.41512748e+01] [-2.18391208e-02 -4.12188674e-04 9.99761413e-01 -2.49419192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904012739 meters 0.02819034701573975 Centerline is valid? [True, True] Translation: X:126.48, Y:-14.16, Z:-2.49 [[ 9.83637794e-01 1.78850341e-01 2.16620851e-02 1.26477794e+02] [-1.78813972e-01 9.83876241e-01 -3.62014451e-03 -1.41618171e+01] [-2.19602750e-02 -3.12572525e-04 9.99758795e-01 -2.49386274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964012739 meters 0.02885427015272813 Centerline is valid? [True, True] Translation: X:126.54, Y:-14.17, Z:-2.49 [[ 9.83551312e-01 1.79251674e-01 2.22632954e-02 1.26535817e+02] [-1.79213375e-01 9.83803196e-01 -3.72001509e-03 -1.41656203e+01] [-2.25695201e-02 -3.31054583e-04 9.99745221e-01 -2.49405042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02401273899997 meters 0.028176991699990925 Centerline is valid? [True, True] Translation: X:126.59, Y:-14.17, Z:-2.49 [[ 9.83288435e-01 1.80435259e-01 2.42274847e-02 1.26593859e+02] [-1.80390296e-01 9.83586785e-01 -4.04680797e-03 -1.41741708e+01] [-2.45600207e-02 -3.91223674e-04 9.99698281e-01 -2.49215371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08401273899997 meters 0.027857137016967338 Centerline is valid? [True, True] Translation: X:126.65, Y:-14.18, Z:-2.49 [[ 9.83282088e-01 1.80410219e-01 2.46675555e-02 1.26651992e+02] [-1.80363630e-01 9.83591375e-01 -4.11912435e-03 -1.41819896e+01] [-2.50059270e-02 -3.98868667e-04 9.99687223e-01 -2.49168898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14401273899998 meters 0.026552551444378174 Centerline is valid? [True, True] Translation: X:126.71, Y:-14.19, Z:-2.49 [[ 9.83695385e-01 1.78154584e-01 2.45832095e-02 1.26708167e+02] [-1.78107640e-01 9.84002453e-01 -4.10381419e-03 -1.41944159e+01] [-2.49210517e-02 -3.41554331e-04 9.99689364e-01 -2.49410917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20401273899998 meters 0.02745235507459782 Centerline is valid? [True, True] Translation: X:126.77, Y:-14.20, Z:-2.49 [[ 9.83547348e-01 1.78904166e-01 2.50582152e-02 1.26765720e+02] [-1.78855671e-01 9.83866436e-01 -4.18160744e-03 -1.42016130e+01] [-2.54020438e-02 -3.68994963e-04 9.99677248e-01 -2.49325782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26401273899998 meters 0.028488243841890463 Centerline is valid? [True, True] Translation: X:126.82, Y:-14.21, Z:-2.50 [[ 9.83337315e-01 1.80180993e-01 2.41357626e-02 1.26824463e+02] [-1.80136419e-01 9.83633397e-01 -4.02635284e-03 -1.42093971e+01] [-2.44662144e-02 -3.88466867e-04 9.99700582e-01 -2.49679683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32401273899998 meters 0.03242007485542984 Centerline is valid? [True, True] Translation: X:126.88, Y:-14.21, Z:-2.50 [[ 9.82669293e-01 1.84114624e-01 2.15143400e-02 1.26884282e+02] [-1.84080169e-01 9.82904683e-01 -3.58814102e-03 -1.42104279e+01] [-2.18071747e-02 -4.34407339e-04 9.99762101e-01 -2.50304882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38401273899999 meters 0.03437019929652764 Centerline is valid? [True, True] Translation: X:126.94, Y:-14.21, Z:-2.50 [[ 9.82121185e-01 1.86964830e-01 2.19574510e-02 1.26944133e+02] [-1.86929677e-01 9.82366476e-01 -3.66098529e-03 -1.42107181e+01] [-2.22547393e-02 -5.08968020e-04 9.99752203e-01 -2.50343111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444012739 meters 0.033329339859877995 Centerline is valid? [True, True] Translation: X:127.00, Y:-14.22, Z:-2.51 [[ 9.82057315e-01 1.87366536e-01 2.13824789e-02 1.27002774e+02] [-1.87333311e-01 9.82289940e-01 -3.56436742e-03 -1.42158944e+01] [-2.16716371e-02 -5.05237474e-04 9.99765015e-01 -2.50555097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504012739 meters 0.03148524811075222 Centerline is valid? [True, True] Translation: X:127.06, Y:-14.22, Z:-2.51 [[ 9.82786972e-01 1.83409461e-01 2.21525763e-02 1.27061789e+02] [-1.83372818e-01 9.83036511e-01 -3.69166006e-03 -1.42193895e+01] [-2.24538767e-02 -4.34064943e-04 9.99747786e-01 -2.50541420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564012739 meters 0.024534949338394476 Centerline is valid? [True, True] Translation: X:127.12, Y:-14.24, Z:-2.50 [[ 9.84464459e-01 1.74018130e-01 2.33969860e-02 1.27118680e+02] [-1.73974615e-01 9.84742421e-01 -3.89832277e-03 -1.42365103e+01] [-2.37183835e-02 -2.32721412e-04 9.99718652e-01 -2.50373705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624012739 meters 0.021045051150623453 Centerline is valid? [True, True] Translation: X:127.18, Y:-14.25, Z:-2.50 [[ 9.85597894e-01 1.67313433e-01 2.45562085e-02 1.27175228e+02] [-1.67263433e-01 9.85903753e-01 -4.09077174e-03 -1.42537210e+01] [-2.48944992e-02 -7.54997406e-05 9.99690081e-01 -2.50414396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684012739 meters 0.020905684016232766 Centerline is valid? [True, True] Translation: X:127.23, Y:-14.26, Z:-2.51 [[ 9.85816786e-01 1.66162718e-01 2.35630087e-02 1.27232829e+02] [-1.66116380e-01 9.86098347e-01 -3.92420265e-03 -1.42618905e+01] [-2.38875001e-02 -4.56568627e-05 9.99714652e-01 -2.50758178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744012739 meters 0.020898194468326522 Centerline is valid? [True, True] Translation: X:127.29, Y:-14.27, Z:-2.51 [[ 9.86043234e-01 1.64848850e-01 2.33151531e-02 1.27290933e+02] [-1.64803146e-01 9.86318841e-01 -3.88161496e-03 -1.42737758e+01] [-2.36360546e-02 -1.49704029e-05 9.99720629e-01 -2.50963332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80401273899997 meters 0.021208727642268037 Centerline is valid? [True, True] Translation: X:127.35, Y:-14.29, Z:-2.51 [[ 9.86612575e-01 1.61198526e-01 2.47115972e-02 1.27347907e+02] [-1.61146066e-01 9.86921998e-01 -4.11289947e-03 -1.42890381e+01] [-2.50514122e-02 7.56616729e-05 9.99686161e-01 -2.50875102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86401273899997 meters 0.021420888248525793 Centerline is valid? [True, True] Translation: X:127.40, Y:-14.30, Z:-2.51 [[ 9.86823027e-01 1.60189929e-01 2.27925563e-02 1.27404214e+02] [-1.60145056e-01 9.87086206e-01 -3.79247503e-03 -1.42995944e+01] [-2.31057343e-02 9.23864697e-05 9.99733023e-01 -2.51348765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92401273899998 meters 0.021671802512693777 Centerline is valid? [True, True] Translation: X:127.46, Y:-14.31, Z:-2.51 [[ 9.87068917e-01 1.58606214e-01 2.32168515e-02 1.27461757e+02] [-1.58559248e-01 9.87341912e-01 -3.86173254e-03 -1.43113577e+01] [-2.35354654e-02 1.30549628e-04 9.99722994e-01 -2.51494499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98401273899998 meters 0.023207894728175152 Centerline is valid? [True, True] Translation: X:127.52, Y:-14.33, Z:-2.52 [[ 9.87462006e-01 1.56058401e-01 2.37605383e-02 1.27518396e+02] [-1.56008499e-01 9.87747811e-01 -3.95101470e-03 -1.43292152e+01] [-2.40860087e-02 1.94630989e-04 9.99709871e-01 -2.51520797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04401273899998 meters 0.02422061198452359 Centerline is valid? [True, True] Translation: X:127.58, Y:-14.34, Z:-2.51 [[ 9.87705525e-01 1.54453276e-01 2.41243074e-02 1.27575051e+02] [-1.54401377e-01 9.88000066e-01 -4.01062254e-03 -1.43446560e+01] [-2.44542711e-02 2.36487748e-04 9.99700922e-01 -2.51497754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10401273899998 meters 0.024470780897077986 Centerline is valid? [True, True] Translation: X:127.63, Y:-14.36, Z:-2.52 [[ 9.87704541e-01 1.54361229e-01 2.47457077e-02 1.27633688e+02] [-1.54306613e-01 9.88014449e-01 -4.11312880e-03 -1.43552938e+01] [-2.50840244e-02 2.44129655e-04 9.99685317e-01 -2.51529086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164012739 meters 0.022733097377111267 Centerline is valid? [True, True] Translation: X:127.69, Y:-14.36, Z:-2.52 [[ 9.87292875e-01 1.57385694e-01 2.19664062e-02 1.27692617e+02] [-1.57343417e-01 9.87537200e-01 -3.65070590e-03 -1.43617636e+01] [-2.22672122e-02 1.48046504e-04 9.99752044e-01 -2.52310412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224012739 meters 0.027633312172645735 Centerline is valid? [True, True] Translation: X:127.75, Y:-14.37, Z:-2.51 [[ 9.87075918e-01 1.58662797e-01 2.25221785e-02 1.27751046e+02] [-1.58618704e-01 9.87332822e-01 -3.74227432e-03 -1.43689199e+01] [-2.28306458e-02 1.21470092e-04 9.99739339e-01 -2.51439032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284012739 meters 0.02720990514107069 Centerline is valid? [True, True] Translation: X:127.81, Y:-14.38, Z:-2.51 [[ 9.87345193e-01 1.56733017e-01 2.41708819e-02 1.27808141e+02] [-1.56681683e-01 9.87640992e-01 -4.01500969e-03 -1.43824354e+01] [-2.45014384e-02 1.77066059e-04 9.99699779e-01 -2.51450929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344012739 meters 0.03374069404129792 Centerline is valid? [True, True] Translation: X:127.86, Y:-14.40, Z:-2.52 [[ 9.88085055e-01 1.52292963e-01 2.22436148e-02 1.27864512e+02] [-1.52248385e-01 9.88335360e-01 -3.69397353e-03 -1.44042925e+01] [-2.25467173e-02 2.63405608e-04 9.99745756e-01 -2.51674966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404012739 meters 0.027834934848167285 Centerline is valid? [True, True] Translation: X:127.92, Y:-14.42, Z:-2.53 [[ 9.88497649e-01 1.49492735e-01 2.28980128e-02 1.27921058e+02] [-1.49444750e-01 9.88762767e-01 -3.80234518e-03 -1.44223585e+01] [-2.32091255e-02 3.36621460e-04 9.99730575e-01 -2.52730767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464012739 meters 0.02788764266609466 Centerline is valid? [True, True] Translation: X:127.98, Y:-14.44, Z:-2.52 [[ 9.88595950e-01 1.48633827e-01 2.42081192e-02 1.27980977e+02] [-1.48579946e-01 9.88892230e-01 -4.01950148e-03 -1.44385802e+01] [-2.45366549e-02 3.76821846e-04 9.99698860e-01 -2.52458375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52401273899997 meters 0.024653055224886818 Centerline is valid? [True, True] Translation: X:128.04, Y:-14.45, Z:-2.52 [[ 9.87649284e-01 1.54577028e-01 2.55897434e-02 1.28040458e+02] [-1.54518798e-01 9.87980710e-01 -4.24940798e-03 -1.44459012e+01] [-2.59390337e-02 2.42828349e-04 9.99663497e-01 -2.52192314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58401273899997 meters 0.02174703484700235 Centerline is valid? [True, True] Translation: X:128.10, Y:-14.44, Z:-2.52 [[ 9.86192956e-01 1.63670103e-01 2.52101157e-02 1.28101665e+02] [-1.63616558e-01 9.86515128e-01 -4.18625070e-03 -1.44393906e+01] [-2.55553246e-02 3.65858725e-06 9.99673409e-01 -2.52439773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64401273899998 meters 0.022912335157906118 Centerline is valid? [True, True] Translation: X:128.16, Y:-14.44, Z:-2.52 [[ 9.85175145e-01 1.69561867e-01 2.60519918e-02 1.28161362e+02] [-1.69506766e-01 9.85519533e-01 -4.32518176e-03 -1.44356331e+01] [-2.64081326e-02 -1.54927301e-04 9.99651232e-01 -2.52328842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70401273899998 meters 0.023946576615578516 Centerline is valid? [True, True] Translation: X:128.22, Y:-14.44, Z:-2.52 [[ 9.84925417e-01 1.71007364e-01 2.60462193e-02 1.28219932e+02] [-1.70952835e-01 9.85269731e-01 -4.32257684e-03 -1.44377921e+01] [-2.64017440e-02 -1.95259242e-04 9.99651394e-01 -2.52414102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76401273899998 meters 0.02369989715345325 Centerline is valid? [True, True] Translation: X:128.28, Y:-14.44, Z:-2.53 [[ 9.84921415e-01 1.71187410e-01 2.49935273e-02 1.28278205e+02] [-1.71137292e-01 9.85238465e-01 -4.14655266e-03 -1.44439506e+01] [-2.53344221e-02 -1.93296083e-04 9.99679013e-01 -2.53020845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82401273899998 meters 0.022808416271831392 Centerline is valid? [True, True] Translation: X:128.34, Y:-14.45, Z:-2.53 [[ 9.85271228e-01 1.69245504e-01 2.44246999e-02 1.28336902e+02] [-1.69197075e-01 9.85573914e-01 -4.05096806e-03 -1.44522964e+01] [-2.47579552e-02 -1.41285494e-04 9.99693465e-01 -2.53265489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88401273899999 meters 0.023197324542869314 Centerline is valid? [True, True] Translation: X:128.39, Y:-14.46, Z:-2.54 [[ 9.85352687e-01 1.69019514e-01 2.26381459e-02 1.28394894e+02] [-1.68977886e-01 9.85612697e-01 -3.75318655e-03 -1.44565608e+01] [-2.29468058e-02 -1.27133589e-04 9.99736679e-01 -2.53708859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944012739 meters 0.0234125762214173 Centerline is valid? [True, True] Translation: X:128.45, Y:-14.46, Z:-2.54 [[ 9.85067461e-01 1.70562862e-01 2.34607645e-02 1.28454255e+02] [-1.70518623e-01 9.85346782e-01 -3.88821328e-03 -1.44608254e+01] [-2.37801736e-02 -1.70344861e-04 9.99717197e-01 -2.53872389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004012739 meters 0.02329332077266977 Centerline is valid? [True, True] Translation: X:128.51, Y:-14.46, Z:-2.54 [[ 9.85209271e-01 1.69794344e-01 2.30775323e-02 1.28512465e+02] [-1.69751354e-01 9.85479507e-01 -3.82359844e-03 -1.44640536e+01] [-2.33916605e-02 -1.50397720e-04 9.99726366e-01 -2.54021782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064012739 meters 0.02264014992846819 Centerline is valid? [True, True] Translation: X:128.57, Y:-14.47, Z:-2.54 [[ 9.85444668e-01 1.68611234e-01 2.16577722e-02 1.28571056e+02] [-1.68573111e-01 9.85682626e-01 -3.58718841e-03 -1.44724624e+01] [-2.19525300e-02 -1.15942342e-04 9.99759007e-01 -2.54456646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124012739 meters 0.022355505373741216 Centerline is valid? [True, True] Translation: X:128.63, Y:-14.48, Z:-2.54 [[ 9.85695107e-01 1.66995397e-01 2.27528957e-02 1.28629501e+02] [-1.66952917e-01 9.85957672e-01 -3.76742898e-03 -1.44791921e+01] [-2.30625354e-02 -8.51259997e-05 9.99734021e-01 -2.54443256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184012739 meters 0.022336246527240696 Centerline is valid? [True, True] Translation: X:128.69, Y:-14.48, Z:-2.54 [[ 9.85635306e-01 1.67198584e-01 2.38259702e-02 1.28687815e+02] [-1.67152092e-01 9.85923234e-01 -3.94383105e-03 -1.44832790e+01] [-2.41499805e-02 -9.53816301e-05 9.99708342e-01 -2.54306426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244012739 meters 0.022666093319097125 Centerline is valid? [True, True] Translation: X:128.75, Y:-14.48, Z:-2.54 [[ 9.85462338e-01 1.68195499e-01 2.39636228e-02 1.28746699e+02] [-1.68148804e-01 9.85753650e-01 -3.96494339e-03 -1.44847983e+01] [-2.42891142e-02 -1.22152111e-04 9.99704968e-01 -2.54485162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30401273899997 meters 0.022746580421679978 Centerline is valid? [True, True] Translation: X:128.81, Y:-14.49, Z:-2.54 [[ 9.85358610e-01 1.68610260e-01 2.52782319e-02 1.28805836e+02] [-1.68558469e-01 9.85682789e-01 -4.18118204e-03 -1.44894972e+01] [-2.56213083e-02 -1.40896348e-04 9.99671710e-01 -2.54310699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36401273899997 meters 0.023725648870833744 Centerline is valid? [True, True] Translation: X:128.86, Y:-14.49, Z:-2.55 [[ 9.85006853e-01 1.70867035e-01 2.37898315e-02 1.28864930e+02] [-1.70821848e-01 9.85294078e-01 -3.93390394e-03 -1.44919207e+01] [-2.41121546e-02 -1.88900640e-04 9.99709242e-01 -2.54674794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42401273899998 meters 0.02367057179223751 Centerline is valid? [True, True] Translation: X:128.92, Y:-14.49, Z:-2.55 [[ 9.84944691e-01 1.71127311e-01 2.44826451e-02 1.28924295e+02] [-1.71079564e-01 9.85248904e-01 -4.04725973e-03 -1.44939567e+01] [-2.48140959e-02 -2.02153250e-04 9.99692062e-01 -2.54723988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48401273899998 meters 0.022496136615579424 Centerline is valid? [True, True] Translation: X:128.98, Y:-14.51, Z:-2.55 [[ 9.85643103e-01 1.67034678e-01 2.46391895e-02 1.28981456e+02] [-1.66985069e-01 9.85951016e-01 -4.07192128e-03 -1.45065933e+01] [-2.49731859e-02 -1.00915620e-04 9.99688116e-01 -2.54870463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54401273899998 meters 0.02223367493963783 Centerline is valid? [True, True] Translation: X:129.04, Y:-14.52, Z:-2.55 [[ 9.86624097e-01 1.61347399e-01 2.32359120e-02 1.29037872e+02] [-1.61301728e-01 9.86897672e-01 -3.83892398e-03 -1.45225522e+01] [-2.35508678e-02 3.95821455e-05 9.99722639e-01 -2.55185884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60401273899998 meters 0.02272645156201265 Centerline is valid? [True, True] Translation: X:129.10, Y:-14.53, Z:-2.55 [[ 9.87197323e-01 1.57886164e-01 2.26584110e-02 1.29095052e+02] [-1.57841848e-01 9.87457313e-01 -3.74243345e-03 -1.45349883e+01] [-2.29650921e-02 1.18074811e-04 9.99736261e-01 -2.55318308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664012739 meters 0.02264785503337426 Centerline is valid? [True, True] Translation: X:129.15, Y:-14.54, Z:-2.55 [[ 9.87088312e-01 1.58557506e-01 2.27196151e-02 1.29153566e+02] [-1.58513152e-01 9.87349739e-01 -3.75145638e-03 -1.45424877e+01] [-2.30270276e-02 1.01660935e-04 9.99734838e-01 -2.55488656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724012739 meters 0.022300184484449828 Centerline is valid? [True, True] Translation: X:129.21, Y:-14.55, Z:-2.55 [[ 9.86819591e-01 1.60120091e-01 2.34232874e-02 1.29212065e+02] [-1.60073415e-01 9.87097539e-01 -3.86649538e-03 -1.45480948e+01] [-2.37401729e-02 6.60877835e-05 9.99718160e-01 -2.55398038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784012739 meters 0.02228439829081495 Centerline is valid? [True, True] Translation: X:129.27, Y:-14.56, Z:-2.56 [[ 9.86667058e-01 1.61046521e-01 2.34975622e-02 1.29269402e+02] [-1.60999840e-01 9.86946815e-01 -3.87754902e-03 -1.45566558e+01] [-2.38153100e-02 4.27461350e-05 9.99716374e-01 -2.55504226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844012739 meters 0.02270712053099752 Centerline is valid? [True, True] Translation: X:129.33, Y:-14.57, Z:-2.55 [[ 9.86986685e-01 1.58900384e-01 2.46566791e-02 1.29325885e+02] [-1.58848359e-01 9.87294616e-01 -4.06701405e-03 -1.45706023e+01] [-2.49896566e-02 9.74157096e-05 9.99687705e-01 -2.55424871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904012739 meters 0.024102488611690717 Centerline is valid? [True, True] Translation: X:129.38, Y:-14.59, Z:-2.55 [[ 9.87615011e-01 1.54615265e-01 2.66591503e-02 1.29382103e+02] [-1.54552926e-01 9.87974732e-01 -4.39569459e-03 -1.45894224e+01] [-2.70182083e-02 2.21004287e-04 9.99634917e-01 -2.55269396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964012739 meters 0.025765128768823965 Centerline is valid? [True, True] Translation: X:129.44, Y:-14.61, Z:-2.56 [[ 9.88156298e-01 1.51168758e-01 2.63654536e-02 1.29439220e+02] [-1.51106591e-01 9.88507921e-01 -4.34601824e-03 -1.46066478e+01] [-2.67194419e-02 3.10551486e-04 9.99642924e-01 -2.55522475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02401273899997 meters 0.02914535678352111 Centerline is valid? [True, True] Translation: X:129.50, Y:-14.63, Z:-2.56 [[ 9.89015229e-01 1.45628195e-01 2.53240159e-02 1.29496136e+02] [-1.45569050e-01 9.89339292e-01 -4.17342156e-03 -1.46325108e+01] [-2.56618118e-02 4.41184534e-04 9.99670584e-01 -2.55906795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08401273899997 meters 0.028890578628976246 Centerline is valid? [True, True] Translation: X:129.55, Y:-14.64, Z:-2.56 [[ 9.89099877e-01 1.45398373e-01 2.32539573e-02 1.29554725e+02] [-1.45348442e-01 9.89373107e-01 -3.83219873e-03 -1.46426519e+01] [-2.35640355e-02 4.10500833e-04 9.99722245e-01 -2.56480271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14401273899998 meters 0.02706884653503356 Centerline is valid? [True, True] Translation: X:129.61, Y:-14.65, Z:-2.57 [[ 9.88752600e-01 1.47738281e-01 2.32743582e-02 1.29613568e+02] [-1.47688925e-01 9.89026428e-01 -3.83494931e-03 -1.46506246e+01] [-2.35855242e-02 3.54451167e-04 9.99721760e-01 -2.56549961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20401273899998 meters 0.025532473263240877 Centerline is valid? [True, True] Translation: X:129.67, Y:-14.66, Z:-2.57 [[ 9.88211080e-01 1.51326729e-01 2.32181683e-02 1.29671598e+02] [-1.51278622e-01 9.88483763e-01 -3.82478536e-03 -1.46575325e+01] [-2.35295746e-02 2.67282771e-04 9.99723106e-01 -2.56746874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26401273899998 meters 0.024910305841754316 Centerline is valid? [True, True] Translation: X:129.73, Y:-14.67, Z:-2.57 [[ 9.87966478e-01 1.53108308e-01 2.19108369e-02 1.29728075e+02] [-1.53065928e-01 9.88209391e-01 -3.60837872e-03 -1.46686752e+01] [-2.22049675e-02 2.11154644e-04 9.99753417e-01 -2.57286962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32401273899998 meters 0.02464321680360783 Centerline is valid? [True, True] Translation: X:129.79, Y:-14.68, Z:-2.57 [[ 9.87904704e-01 1.53656928e-01 2.08289389e-02 1.29785456e+02] [-1.53618777e-01 9.88124240e-01 -3.42900641e-03 -1.46807515e+01] [-2.11084700e-02 1.87815440e-04 9.99777174e-01 -2.57470781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38401273899999 meters 0.023227268696733618 Centerline is valid? [True, True] Translation: X:129.84, Y:-14.69, Z:-2.57 [[ 9.87184714e-01 1.58123526e-01 2.15241916e-02 1.29843371e+02] [-1.58083870e-01 9.87419334e-01 -3.54236547e-03 -1.46872456e+01] [-2.18135343e-02 9.43415216e-05 9.99762052e-01 -2.57426030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444012739 meters 0.0229029362913494 Centerline is valid? [True, True] Translation: X:129.90, Y:-14.69, Z:-2.57 [[ 9.86139407e-01 1.64386123e-01 2.25005142e-02 1.29902878e+02] [-1.64344448e-01 9.86396067e-01 -3.70166135e-03 -1.46873809e+01] [-2.28029205e-02 -4.74804632e-05 9.99739978e-01 -2.57388779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504012739 meters 0.023482060804130317 Centerline is valid? [True, True] Translation: X:129.96, Y:-14.69, Z:-2.58 [[ 9.85768945e-01 1.66739476e-01 2.13900465e-02 1.29959712e+02] [-1.66702388e-01 9.86000983e-01 -3.51797422e-03 -1.46948608e+01] [-2.16771921e-02 -9.78621046e-05 9.99765017e-01 -2.57743481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564012739 meters 0.023684464094413337 Centerline is valid? [True, True] Translation: X:130.02, Y:-14.71, Z:-2.58 [[ 9.85608320e-01 1.67457552e-01 2.31129399e-02 1.30017429e+02] [-1.67414479e-01 9.85879279e-01 -3.79988733e-03 -1.47051381e+01] [-2.34228883e-02 -1.24240223e-04 9.99725639e-01 -2.57549721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624012739 meters 0.023977756661838375 Centerline is valid? [True, True] Translation: X:130.07, Y:-14.72, Z:-2.57 [[ 9.85484963e-01 1.67994209e-01 2.44403930e-02 1.30074760e+02] [-1.67946243e-01 9.85787971e-01 -4.01685115e-03 -1.47153664e+01] [-2.47678532e-02 -1.46125774e-04 9.99693219e-01 -2.57376777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684012739 meters 0.02587664643107773 Centerline is valid? [True, True] Translation: X:130.13, Y:-14.72, Z:-2.57 [[ 9.84787201e-01 1.71977785e-01 2.48558035e-02 1.30132294e+02] [-1.71929479e-01 9.85100796e-01 -4.08363406e-03 -1.47201095e+01] [-2.51877662e-02 -2.51934802e-04 9.99682706e-01 -2.57396607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744012739 meters 0.028896205056689904 Centerline is valid? [True, True] Translation: X:130.19, Y:-14.72, Z:-2.58 [[ 9.83840931e-01 1.77299080e-01 2.49411122e-02 1.30192489e+02] [-1.77252183e-01 9.84156941e-01 -4.09634897e-03 -1.47225967e+01] [-2.52722475e-02 -3.90710794e-04 9.99680529e-01 -2.57542844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80401273899997 meters 0.03293551795157691 Centerline is valid? [True, True] Translation: X:130.25, Y:-14.72, Z:-2.58 [[ 9.82979755e-01 1.82327331e-01 2.25287697e-02 1.30253069e+02] [-1.82290398e-01 9.83237776e-01 -3.69964678e-03 -1.47207016e+01] [-2.28256841e-02 -4.70100513e-04 9.99739350e-01 -2.58133687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86401273899997 meters 0.03399400724512942 Centerline is valid? [True, True] Translation: X:130.31, Y:-14.73, Z:-2.58 [[ 9.82998811e-01 1.82264552e-01 2.22029311e-02 1.30309977e+02] [-1.82228680e-01 9.83249419e-01 -3.64539576e-03 -1.47250782e+01] [-2.24954456e-02 -4.62591141e-04 9.99746838e-01 -2.58321199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92401273899998 meters 0.02871008330341427 Centerline is valid? [True, True] Translation: X:130.37, Y:-14.74, Z:-2.59 [[ 9.83942875e-01 1.77046206e-01 2.26066235e-02 1.30367865e+02] [-1.77007702e-01 9.84202478e-01 -3.70896529e-03 -1.47442603e+01] [-2.29061531e-02 -3.52136512e-04 9.99737558e-01 -2.58541824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98401273899998 meters 0.025781673919958534 Centerline is valid? [True, True] Translation: X:130.43, Y:-14.76, Z:-2.59 [[ 9.84817334e-01 1.72229985e-01 2.17175274e-02 1.30425264e+02] [-1.72193285e-01 9.85056739e-01 -3.56280069e-03 -1.47596641e+01] [-2.20066179e-02 -2.30904523e-04 9.99757798e-01 -2.58785378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04401273899998 meters 0.024572336316333394 Centerline is valid? [True, True] Translation: X:130.48, Y:-14.77, Z:-2.59 [[ 9.85241335e-01 1.69857650e-01 2.11634037e-02 1.30483024e+02] [-1.69822269e-01 9.85468593e-01 -3.47112369e-03 -1.47705259e+01] [-2.14454665e-02 -1.74122679e-04 9.99770004e-01 -2.59009605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10401273899998 meters 0.024216960751331864 Centerline is valid? [True, True] Translation: X:130.54, Y:-14.78, Z:-2.59 [[ 9.85478244e-01 1.68465716e-01 2.12587439e-02 1.30540291e+02] [-1.68429714e-01 9.85707503e-01 -3.48569952e-03 -1.47804373e+01] [-2.15421243e-02 -1.45523117e-04 9.99767931e-01 -2.59056402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164012739 meters 0.024057763327939456 Centerline is valid? [True, True] Translation: X:130.60, Y:-14.79, Z:-2.59 [[ 9.85501970e-01 1.68097719e-01 2.30005328e-02 1.30597447e+02] [-1.68055511e-01 9.85770325e-01 -3.76976346e-03 -1.47879315e+01] [-2.33069313e-02 -1.50256967e-04 9.99728345e-01 -2.58909384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224012739 meters 0.023666059973948324 Centerline is valid? [True, True] Translation: X:130.65, Y:-14.80, Z:-2.59 [[ 9.85813885e-01 1.66419737e-01 2.18049201e-02 1.30654730e+02] [-1.66381425e-01 9.86054998e-01 -3.57234235e-03 -1.47986078e+01] [-2.20953587e-02 -1.06268977e-04 9.99755862e-01 -2.59336640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284012739 meters 0.022942934782163218 Centerline is valid? [True, True] Translation: X:130.71, Y:-14.81, Z:-2.60 [[ 9.86558666e-01 1.62182434e-01 1.99713790e-02 1.30710951e+02] [-1.62149443e-01 9.86760791e-01 -3.27108267e-03 -1.48136958e+01] [-2.02374859e-02 -1.12330257e-05 9.99795201e-01 -2.59705244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344012739 meters 0.023109734316381837 Centerline is valid? [True, True] Translation: X:130.77, Y:-14.83, Z:-2.60 [[ 9.87023412e-01 1.59112342e-01 2.16344085e-02 1.30768660e+02] [-1.59072920e-01 9.87260482e-01 -3.54211575e-03 -1.48285380e+01] [-2.19223909e-02 5.47026393e-05 9.99759674e-01 -2.59568415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404012739 meters 0.02312444203812913 Centerline is valid? [True, True] Translation: X:130.83, Y:-14.84, Z:-2.59 [[ 9.87058707e-01 1.58670910e-01 2.32088602e-02 1.30825937e+02] [-1.58625445e-01 9.87331524e-01 -3.79874897e-03 -1.48403402e+01] [-2.35175903e-02 6.80724686e-05 9.99723421e-01 -2.59345138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464012739 meters 0.023167209080807355 Centerline is valid? [True, True] Translation: X:130.88, Y:-14.84, Z:-2.59 [[ 9.86202635e-01 1.63708679e-01 2.45729672e-02 1.30884722e+02] [-1.63659305e-01 9.86508725e-01 -4.02078949e-03 -1.48417776e+01] [-2.48996847e-02 -5.62815344e-05 9.99689953e-01 -2.59310869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52401273899997 meters 0.023177938616502528 Centerline is valid? [True, True] Translation: X:130.94, Y:-14.85, Z:-2.59 [[ 9.86133058e-01 1.64157589e-01 2.43695918e-02 1.30941513e+02] [-1.64109204e-01 9.86434124e-01 -3.98595695e-03 -1.48487047e+01] [-2.46933220e-02 -6.85903945e-05 9.99695071e-01 -2.59397404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58401273899997 meters 0.023015992211417393 Centerline is valid? [True, True] Translation: X:131.00, Y:-14.86, Z:-2.60 [[ 9.86280338e-01 1.63502577e-01 2.27596674e-02 1.30999545e+02] [-1.63460246e-01 9.86542906e-01 -3.72065291e-03 -1.48578894e+01] [-2.30617247e-02 -5.06940275e-05 9.99734042e-01 -2.59969495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64401273899998 meters 0.02322748579096178 Centerline is valid? [True, True] Translation: X:131.06, Y:-14.88, Z:-2.60 [[ 9.87127024e-01 1.58319355e-01 2.26984576e-02 1.31055795e+02] [-1.58275903e-01 9.87387957e-01 -3.70963648e-03 -1.48765358e+01] [-2.29994909e-02 6.92635524e-05 9.99735474e-01 -2.60155455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70401273899998 meters 0.026171879539993496 Centerline is valid? [True, True] Translation: X:131.11, Y:-14.90, Z:-2.60 [[ 9.88340179e-01 1.50381111e-01 2.38581508e-02 1.31112253e+02] [-1.50330814e-01 9.88628065e-01 -3.89814640e-03 -1.49020409e+01] [-2.41730450e-02 2.66079485e-04 9.99707754e-01 -2.60013953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76401273899998 meters 0.03116819750412277 Centerline is valid? [True, True] Translation: X:131.17, Y:-14.93, Z:-2.60 [[ 9.89002899e-01 1.45835791e-01 2.46005867e-02 1.31168171e+02] [-1.45780921e-01 9.89308734e-01 -4.01891764e-03 -1.49281558e+01] [-2.49236773e-02 3.88424996e-04 9.99689281e-01 -2.59958389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82401273899998 meters 0.030578995578526245 Centerline is valid? [True, True] Translation: X:131.23, Y:-14.94, Z:-2.60 [[ 9.88910633e-01 1.46620115e-01 2.36284012e-02 1.31225940e+02] [-1.46569728e-01 9.89192811e-01 -3.85979933e-03 -1.49446674e+01] [-2.39389688e-02 3.53788259e-04 9.99713359e-01 -2.60391301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88401273899999 meters 0.024911640900381213 Centerline is valid? [True, True] Translation: X:131.29, Y:-14.95, Z:-2.61 [[ 9.88059348e-01 1.52417835e-01 2.25283904e-02 1.31286474e+02] [-1.52373546e-01 9.88316125e-01 -3.67966966e-03 -1.49474039e+01] [-2.28260188e-02 2.03001267e-04 9.99739432e-01 -2.60763893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944012739 meters 0.02303347156232998 Centerline is valid? [True, True] Translation: X:131.35, Y:-14.95, Z:-2.60 [[ 9.87143581e-01 1.57922749e-01 2.46567728e-02 1.31345410e+02] [-1.57871422e-01 9.87451466e-01 -4.02683460e-03 -1.49526570e+01] [-2.49832952e-02 8.24641338e-05 9.99687865e-01 -2.60490736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004012739 meters 0.022912813344423525 Centerline is valid? [True, True] Translation: X:131.40, Y:-14.96, Z:-2.61 [[ 9.86476842e-01 1.62435758e-01 2.18646677e-02 1.31401702e+02] [-1.62396528e-01 9.86719121e-01 -3.56989031e-03 -1.49632069e+01] [-2.21541635e-02 -2.91319979e-05 9.99754566e-01 -2.61247787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064012739 meters 0.023427223856320928 Centerline is valid? [True, True] Translation: X:131.46, Y:-14.97, Z:-2.61 [[ 9.86076903e-01 1.64847923e-01 2.18518545e-02 1.31459212e+02] [-1.64809360e-01 9.86318993e-01 -3.56650604e-03 -1.49707665e+01] [-2.21408302e-02 -8.45409236e-05 9.99754858e-01 -2.61327962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124012739 meters 0.02351020898504055 Centerline is valid? [True, True] Translation: X:131.52, Y:-14.98, Z:-2.61 [[ 9.86105447e-01 1.64451934e-01 2.34863565e-02 1.31516341e+02] [-1.64407309e-01 9.86385094e-01 -3.83173712e-03 -1.49823603e+01] [-2.37967286e-02 -8.28318191e-05 9.99716814e-01 -2.61082633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184012739 meters 0.02298635035357677 Centerline is valid? [True, True] Translation: X:131.57, Y:-15.00, Z:-2.61 [[ 9.86393972e-01 1.62775938e-01 2.30418234e-02 1.31574238e+02] [-1.62732556e-01 9.86663059e-01 -3.75803601e-03 -1.49999497e+01] [-2.33462338e-02 -4.27507645e-05 9.99727439e-01 -2.61483874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244012739 meters 0.02290331070577344 Centerline is valid? [True, True] Translation: X:131.63, Y:-15.01, Z:-2.62 [[ 9.86615869e-01 1.61384421e-01 2.33280029e-02 1.31630897e+02] [-1.61339580e-01 9.86891620e-01 -3.80411691e-03 -1.50144303e+01] [-2.36361358e-02 -1.05280749e-05 9.99720627e-01 -2.61500029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30401273899997 meters 0.02279250204281414 Centerline is valid? [True, True] Translation: X:131.69, Y:-15.03, Z:-2.62 [[ 9.86659788e-01 1.61342766e-01 2.17019656e-02 1.31689337e+02] [-1.61303965e-01 9.86898430e-01 -3.53826195e-03 -1.50280922e+01] [-2.19885087e-02 -9.55230223e-06 9.99758223e-01 -2.61867543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36401273899997 meters 0.023694071476387232 Centerline is valid? [True, True] Translation: X:131.75, Y:-15.03, Z:-2.62 [[ 9.85769987e-01 1.66471188e-01 2.33425822e-02 1.31749228e+02] [-1.66427749e-01 9.86046310e-01 -3.80508811e-03 -1.50278576e+01] [-2.36503046e-02 -1.33911751e-04 9.99720283e-01 -2.61672110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42401273899998 meters 0.02712273720307794 Centerline is valid? [True, True] Translation: X:131.81, Y:-15.03, Z:-2.62 [[ 9.84691101e-01 1.72712476e-01 2.35337187e-02 1.31808490e+02] [-1.72670130e-01 9.84972242e-01 -3.83510760e-03 -1.50262005e+01] [-2.38424306e-02 -2.87173948e-04 9.99715688e-01 -2.61739333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48401273899998 meters 0.02997092631866351 Centerline is valid? [True, True] Translation: X:131.87, Y:-15.03, Z:-2.62 [[ 9.84077657e-01 1.76134780e-01 2.38265315e-02 1.31867576e+02] [-1.76092405e-01 9.84365988e-01 -3.88163592e-03 -1.50253199e+01] [-2.41377183e-02 -3.75840054e-04 9.99708572e-01 -2.61797029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54401273899998 meters 0.03022557569665056 Centerline is valid? [True, True] Translation: X:131.93, Y:-15.03, Z:-2.62 [[ 9.84137131e-01 1.76067650e-01 2.17782138e-02 1.31926206e+02] [-1.76032257e-01 9.84378009e-01 -3.54678564e-03 -1.50288897e+01] [-2.20624690e-02 -3.43144693e-04 9.99756535e-01 -2.62401070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60401273899998 meters 0.03002802592138223 Centerline is valid? [True, True] Translation: X:131.98, Y:-15.03, Z:-2.62 [[ 9.84258723e-01 1.75256963e-01 2.27983124e-02 1.31984076e+02] [-1.75217986e-01 9.84522666e-01 -3.71174539e-03 -1.50338188e+01] [-2.30959645e-02 -3.41356612e-04 9.99733194e-01 -2.62376033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664012739 meters 0.02736940943039793 Centerline is valid? [True, True] Translation: X:132.04, Y:-15.05, Z:-2.63 [[ 9.84744131e-01 1.72724052e-01 2.11044461e-02 1.32041485e+02] [-1.72690101e-01 9.84970219e-01 -3.43451063e-03 -1.50450300e+01] [-2.13804735e-02 -2.62414747e-04 9.99771377e-01 -2.62953450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724012739 meters 0.024695940320248966 Centerline is valid? [True, True] Translation: X:132.10, Y:-15.06, Z:-2.63 [[ 9.85486434e-01 1.68403993e-01 2.13678170e-02 1.32098486e+02] [-1.68368196e-01 9.85718046e-01 -3.47635129e-03 -1.50601606e+01] [-2.16480743e-02 -1.71763771e-04 9.99765638e-01 -2.62996817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784012739 meters 0.023748197772806345 Centerline is valid? [True, True] Translation: X:132.16, Y:-15.07, Z:-2.63 [[ 9.85839766e-01 1.66202503e-01 2.22864215e-02 1.32156481e+02] [-1.66163024e-01 9.86091634e-01 -3.62468544e-03 -1.50716312e+01] [-2.25788855e-02 -1.29820129e-04 9.99745056e-01 -2.62956014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844012739 meters 0.022792131678694698 Centerline is valid? [True, True] Translation: X:132.21, Y:-15.09, Z:-2.64 [[ 9.86767001e-01 1.60978747e-01 1.94095045e-02 1.32211683e+02] [-1.60947808e-01 9.86957873e-01 -3.15598809e-03 -1.50935250e+01] [-1.96644103e-02 -9.69230574e-06 9.99806637e-01 -2.63744752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904012739 meters 0.026735577113278387 Centerline is valid? [True, True] Translation: X:132.27, Y:-15.11, Z:-2.63 [[ 9.86949943e-01 1.59911461e-01 1.89244457e-02 1.32269913e+02] [-1.59881874e-01 9.87131361e-01 -3.07601759e-03 -1.51059978e+01] [-1.91728043e-02 1.01995413e-05 9.99816185e-01 -2.62983732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964012739 meters 0.022944064891448904 Centerline is valid? [True, True] Translation: X:132.33, Y:-15.11, Z:-2.64 [[ 9.86441154e-01 1.62792992e-01 2.07916421e-02 1.32328459e+02] [-1.62757940e-01 9.86660245e-01 -3.37842966e-03 -1.51144338e+01] [-2.10642714e-02 -5.13827973e-05 9.99778122e-01 -2.63669531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02401273899997 meters 0.02301181945974344 Centerline is valid? [True, True] Translation: X:132.39, Y:-15.12, Z:-2.64 [[ 9.86323562e-01 1.63461393e-01 2.11235498e-02 1.32386280e+02] [-1.63425389e-01 9.86549729e-01 -3.43133046e-03 -1.51231406e+01] [-2.14003224e-02 -6.77222610e-05 9.99770985e-01 -2.63680375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08401273899997 meters 0.022778404645859642 Centerline is valid? [True, True] Translation: X:132.44, Y:-15.14, Z:-2.64 [[ 9.86581841e-01 1.61757180e-01 2.21559281e-02 1.32443834e+02] [-1.61717165e-01 9.86830590e-01 -3.59791582e-03 -1.51380181e+01] [-2.24461363e-02 -3.33554545e-05 9.99748053e-01 -2.63783682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14401273899998 meters 0.022664401602767767 Centerline is valid? [True, True] Translation: X:132.50, Y:-15.15, Z:-2.64 [[ 9.86682944e-01 1.61058399e-01 2.27367554e-02 1.32501219e+02] [-1.61016098e-01 9.86944878e-01 -3.69111511e-03 -1.51492090e+01] [-2.30344093e-02 -1.90233148e-05 9.99734673e-01 -2.63762345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20401273899998 meters 0.022772941011347324 Centerline is valid? [True, True] Translation: X:132.56, Y:-15.17, Z:-2.64 [[ 9.87114163e-01 1.58114039e-01 2.46085346e-02 1.32558914e+02] [-1.58063595e-01 9.87420857e-01 -3.99397106e-03 -1.51654243e+01] [-2.49304832e-02 5.27919434e-05 9.99689186e-01 -2.63656068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26401273899998 meters 0.02372354411357907 Centerline is valid? [True, True] Translation: X:132.62, Y:-15.18, Z:-2.64 [[ 9.87845065e-01 1.53907006e-01 2.17889985e-02 1.32617802e+02] [-1.53866432e-01 9.88085327e-01 -3.53657527e-03 -1.51836684e+01] [-2.20736934e-02 1.40992971e-04 9.99756336e-01 -2.64336408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32401273899998 meters 0.02358705649435915 Centerline is valid? [True, True] Translation: X:132.68, Y:-15.20, Z:-2.65 [[ 9.87731527e-01 1.54837470e-01 2.02925866e-02 1.32675924e+02] [-1.54802465e-01 9.87939950e-01 -3.29413752e-03 -1.51961601e+01] [-2.05579129e-02 1.12381041e-04 9.99788657e-01 -2.64717412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38401273899999 meters 0.02263847062876859 Centerline is valid? [True, True] Translation: X:132.74, Y:-15.20, Z:-2.65 [[ 9.86729272e-01 1.61059367e-01 2.06209691e-02 1.32735266e+02] [-1.61024583e-01 9.86944720e-01 -3.34718301e-03 -1.51970563e+01] [-2.08908517e-02 -1.77195048e-05 9.99781762e-01 -2.64706729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444012739 meters 0.023430826597996248 Centerline is valid? [True, True] Translation: X:132.79, Y:-15.20, Z:-2.65 [[ 9.86111524e-01 1.64951709e-01 1.93648034e-02 1.32794575e+02] [-1.64921801e-01 9.86301640e-01 -3.14243218e-03 -1.51988737e+01] [-1.96178869e-02 -9.48896760e-05 9.99807546e-01 -2.65170593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504012739 meters 0.023999529228783983 Centerline is valid? [True, True] Translation: X:132.85, Y:-15.20, Z:-2.65 [[ 9.85894291e-01 1.66148285e-01 2.01790738e-02 1.32851830e+02] [-1.66116080e-01 9.86100772e-01 -3.27358503e-03 -1.52047852e+01] [-2.04425008e-02 -1.24659837e-04 9.99791022e-01 -2.65189282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564012739 meters 0.023387208477723735 Centerline is valid? [True, True] Translation: X:132.91, Y:-15.22, Z:-2.65 [[ 9.86088097e-01 1.64937083e-01 2.06403421e-02 1.32909390e+02] [-1.64903151e-01 9.86304085e-01 -3.34708367e-03 -1.52159937e+01] [-2.09097119e-02 -1.03138081e-04 9.99781363e-01 -2.65257267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624012739 meters 0.022607729353233488 Centerline is valid? [True, True] Translation: X:132.97, Y:-15.23, Z:-2.65 [[ 9.86778012e-01 1.60849215e-01 1.99169581e-02 1.32966950e+02] [-1.60816805e-01 9.86978992e-01 -3.22886905e-03 -1.52298170e+01] [-2.01769803e-02 -1.68045778e-05 9.99796424e-01 -2.65493212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684012739 meters 0.022619492083548676 Centerline is valid? [True, True] Translation: X:133.02, Y:-15.24, Z:-2.65 [[ 9.87057213e-01 1.59065562e-01 2.04010948e-02 1.33024490e+02] [-1.59031195e-01 9.87268022e-01 -3.30637612e-03 -1.52420314e+01] [-2.06672791e-02 1.91719123e-05 9.99786409e-01 -2.65450059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744012739 meters 0.022705752373623073 Centerline is valid? [True, True] Translation: X:133.08, Y:-15.25, Z:-2.66 [[ 9.87027692e-01 1.59371909e-01 1.94147013e-02 1.33082967e+02] [-1.59340858e-01 9.87218615e-01 -3.14587965e-03 -1.52456431e+01] [-1.96679194e-02 1.15151657e-05 9.99806568e-01 -2.65869637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80401273899997 meters 0.022790545665525432 Centerline is valid? [True, True] Translation: X:133.14, Y:-15.26, Z:-2.66 [[ 9.87229964e-01 1.57887318e-01 2.11800111e-02 1.33140541e+02] [-1.57850044e-01 9.87457135e-01 -3.43083913e-03 -1.52552817e+01] [-2.14560391e-02 4.37615026e-05 9.99769792e-01 -2.65622995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86401273899997 meters 0.023354681314703522 Centerline is valid? [True, True] Translation: X:133.20, Y:-15.27, Z:-2.66 [[ 9.87663018e-01 1.54984659e-01 2.23945849e-02 1.33197641e+02] [-1.54942270e-01 9.87916871e-01 -3.62629549e-03 -1.52711765e+01] [-2.26860084e-02 1.11690141e-04 9.99742633e-01 -2.65566761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92401273899998 meters 0.025687858939769735 Centerline is valid? [True, True] Translation: X:133.26, Y:-15.30, Z:-2.66 [[ 9.88555139e-01 1.49236291e-01 2.20741029e-02 1.33255822e+02] [-1.49193683e-01 9.88801533e-01 -3.57394932e-03 -1.52950329e+01] [-2.23602697e-02 2.39729267e-04 9.99749949e-01 -2.65776867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98401273899998 meters 0.02753954736293866 Centerline is valid? [True, True] Translation: X:133.32, Y:-15.32, Z:-2.66 [[ 9.89003233e-01 1.46375228e-01 2.11399575e-02 1.33315237e+02] [-1.46335483e-01 9.89229098e-01 -3.42331999e-03 -1.53186340e+01] [-2.14133504e-02 2.92148644e-04 9.99770665e-01 -2.66091629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04401273899998 meters 0.025706892542935275 Centerline is valid? [True, True] Translation: X:133.38, Y:-15.33, Z:-2.66 [[ 9.88465654e-01 1.49859575e-01 2.18576866e-02 1.33375901e+02] [-1.49817854e-01 9.88707265e-01 -3.54325651e-03 -1.53332606e+01] [-2.21418445e-02 2.27715664e-04 9.99754813e-01 -2.66099143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10401273899998 meters 0.02414759070628189 Centerline is valid? [True, True] Translation: X:133.44, Y:-15.35, Z:-2.66 [[ 9.87969917e-01 1.53193529e-01 2.11467548e-02 1.33436954e+02] [-1.53155170e-01 9.88196195e-01 -3.43134775e-03 -1.53455369e+01] [-2.14228029e-02 1.51333533e-04 9.99770494e-01 -2.66384099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164012739 meters 0.022662763197473564 Centerline is valid? [True, True] Translation: X:133.50, Y:-15.36, Z:-2.67 [[ 9.86719055e-01 1.61111169e-01 2.07050183e-02 1.33495844e+02] [-1.61076070e-01 9.86936265e-01 -3.36287938e-03 -1.53565539e+01] [-2.09763309e-02 -1.68658023e-05 9.99779972e-01 -2.66655518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224012739 meters 0.02354969693656837 Centerline is valid? [True, True] Translation: X:133.55, Y:-15.36, Z:-2.67 [[ 9.86209803e-01 1.64498816e-01 1.81759225e-02 1.33554704e+02] [-1.64472339e-01 9.86377277e-01 -2.95233370e-03 -1.53642612e+01] [-1.84139723e-02 -7.78160456e-05 9.99830445e-01 -2.67300618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284012739 meters 0.02588765373605297 Centerline is valid? [True, True] Translation: X:133.61, Y:-15.37, Z:-2.68 [[ 9.85392117e-01 1.69460659e-01 1.68955587e-02 1.33613712e+02] [-1.69438511e-01 9.85536940e-01 -2.74426114e-03 -1.53696806e+01] [-1.71162415e-02 -1.58585017e-04 9.99853494e-01 -2.67595846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344012739 meters 0.027653944676013915 Centerline is valid? [True, True] Translation: X:133.67, Y:-15.38, Z:-2.67 [[ 9.84865426e-01 1.71942648e-01 2.18132685e-02 1.33672377e+02] [-1.71906359e-01 9.85106927e-01 -3.54205692e-03 -1.53776775e+01] [-2.20974325e-02 -2.61390162e-04 9.99755788e-01 -2.66755464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404012739 meters 0.029957713935283316 Centerline is valid? [True, True] Translation: X:133.73, Y:-15.38, Z:-2.67 [[ 9.84405871e-01 1.74707250e-01 2.05538003e-02 1.33732696e+02] [-1.74675651e-01 9.84620375e-01 -3.33667889e-03 -1.53781371e+01] [-2.08206326e-02 -3.05602180e-04 9.99783180e-01 -2.67047326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464012739 meters 0.03098882757632367 Centerline is valid? [True, True] Translation: X:133.79, Y:-15.38, Z:-2.68 [[ 9.84309441e-01 1.75357500e-01 1.96130506e-02 1.33790440e+02] [-1.75328865e-01 9.84504776e-01 -3.18356077e-03 -1.53809897e+01] [-1.98674032e-02 -3.05124978e-04 9.99802577e-01 -2.67511188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52401273899997 meters 0.026860414526023224 Centerline is valid? [True, True] Translation: X:133.85, Y:-15.39, Z:-2.68 [[ 9.85196993e-01 1.70244137e-01 2.00952576e-02 1.33847726e+02] [-1.70213035e-01 9.85401893e-01 -3.26069290e-03 -1.53926669e+01] [-2.03570187e-02 -2.08049950e-04 9.99792753e-01 -2.67532700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58401273899997 meters 0.023751576888198945 Centerline is valid? [True, True] Translation: X:133.91, Y:-15.41, Z:-2.68 [[ 9.86080405e-01 1.64961180e-01 2.08144893e-02 1.33905138e+02] [-1.64926649e-01 9.86300055e-01 -3.37669994e-03 -1.54101130e+01] [-2.10863563e-02 -1.03166320e-04 9.99777653e-01 -2.67526942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64401273899998 meters 0.023510073583859942 Centerline is valid? [True, True] Translation: X:133.96, Y:-15.44, Z:-2.68 [[ 9.87710639e-01 1.55100622e-01 1.92740741e-02 1.33964960e+02] [-1.55069145e-01 9.87898672e-01 -3.12621747e-03 -1.54364868e+01] [-1.95257105e-02 9.89840751e-05 9.99809350e-01 -2.68034527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70401273899998 meters 0.024081776829301245 Centerline is valid? [True, True] Translation: X:134.03, Y:-15.45, Z:-2.68 [[ 9.87929335e-01 1.53583425e-01 2.01931043e-02 1.34025894e+02] [-1.53548475e-01 9.88135675e-01 -3.27930400e-03 -1.54522519e+01] [-2.04571735e-02 1.39100256e-04 9.99790720e-01 -2.68003714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76401273899998 meters 0.023354018673699937 Centerline is valid? [True, True] Translation: X:134.09, Y:-15.46, Z:-2.68 [[ 9.87559382e-01 1.55859579e-01 2.08388747e-02 1.34087265e+02] [-1.55822788e-01 9.87779217e-01 -3.38774804e-03 -1.54636899e+01] [-2.11122203e-02 9.84308120e-05 9.99777107e-01 -2.67821255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82401273899998 meters 0.02298969135053455 Centerline is valid? [True, True] Translation: X:134.15, Y:-15.48, Z:-2.68 [[ 9.87213440e-01 1.58070909e-01 2.05721031e-02 1.34148126e+02] [-1.58035462e-01 9.87427762e-01 -3.34780202e-03 -1.54761678e+01] [-2.08426558e-02 5.38733250e-05 9.99782767e-01 -2.68171044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88401273899999 meters 0.022844352998203414 Centerline is valid? [True, True] Translation: X:134.21, Y:-15.49, Z:-2.68 [[ 9.87022683e-01 1.59288887e-01 2.03291120e-02 1.34209019e+02] [-1.59254461e-01 9.87232014e-01 -3.31166494e-03 -1.54883344e+01] [-2.05970616e-02 3.11866435e-05 9.99787858e-01 -2.68380069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944012739 meters 0.0228955708016156 Centerline is valid? [True, True] Translation: X:134.27, Y:-15.50, Z:-2.69 [[ 9.86796678e-01 1.60827920e-01 1.91493486e-02 1.34270759e+02] [-1.60797623e-01 9.86982462e-01 -3.12157720e-03 -1.55012550e+01] [-1.94021080e-02 1.19228355e-06 9.99811761e-01 -2.68752347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004012739 meters 0.022956632643677043 Centerline is valid? [True, True] Translation: X:134.33, Y:-15.52, Z:-2.69 [[ 9.86555394e-01 1.62250662e-01 1.95748971e-02 1.34331636e+02] [-1.62219208e-01 9.86749574e-01 -3.19476837e-03 -1.55157311e+01] [-1.98338747e-02 -2.36083311e-05 9.99803289e-01 -2.68726566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064012739 meters 0.023667836643140785 Centerline is valid? [True, True] Translation: X:134.39, Y:-15.52, Z:-2.69 [[ 9.85866476e-01 1.66269596e-01 2.05356355e-02 1.34392763e+02] [-1.66235770e-01 9.86080327e-01 -3.35537004e-03 -1.55249597e+01] [-2.08076821e-02 -1.05810327e-04 9.99783491e-01 -2.68700857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124012739 meters 0.02608972045428481 Centerline is valid? [True, True] Translation: X:134.45, Y:-15.53, Z:-2.69 [[ 9.85183135e-01 1.70283442e-01 2.04387051e-02 1.34452831e+02] [-1.70250728e-01 9.85395106e-01 -3.34288657e-03 -1.55329685e+01] [-2.07094383e-02 -1.86348971e-04 9.99785519e-01 -2.68879383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184012739 meters 0.028160361769947084 Centerline is valid? [True, True] Translation: X:134.51, Y:-15.54, Z:-2.69 [[ 9.84231925e-01 1.75719665e-01 2.02513661e-02 1.34514269e+02] [-1.75688692e-01 9.84440202e-01 -3.31248452e-03 -1.55382329e+01] [-2.05183276e-02 -2.97683012e-04 9.99789433e-01 -2.69059869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244012739 meters 0.030521626341664294 Centerline is valid? [True, True] Translation: X:134.57, Y:-15.54, Z:-2.69 [[ 9.83689248e-01 1.78833364e-01 1.93414584e-02 1.34574821e+02] [-1.78805704e-01 9.83879316e-01 -3.16412202e-03 -1.55421924e+01] [-1.95955114e-02 -3.45850273e-04 9.99807930e-01 -2.69355061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30401273899997 meters 0.03152776506486046 Centerline is valid? [True, True] Translation: X:134.63, Y:-15.55, Z:-2.70 [[ 9.83459081e-01 1.80165194e-01 1.86745491e-02 1.34634884e+02] [-1.80139650e-01 9.83636301e-01 -3.05502052e-03 -1.55485505e+01] [-1.89193728e-02 -3.59539064e-04 9.99820948e-01 -2.69645998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36401273899997 meters 0.031358809728309546 Centerline is valid? [True, True] Translation: X:134.69, Y:-15.56, Z:-2.70 [[ 9.83893935e-01 1.77743613e-01 1.89719112e-02 1.34693746e+02] [-1.77716798e-01 9.84076779e-01 -3.10368139e-03 -1.55576523e+01] [-1.92214768e-02 -3.17934023e-04 9.99815200e-01 -2.69788726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42401273899998 meters 0.027869309334671463 Centerline is valid? [True, True] Translation: X:134.75, Y:-15.57, Z:-2.70 [[ 9.84355441e-01 1.74952637e-01 2.08791724e-02 1.34752665e+02] [-1.74919537e-01 9.84576808e-01 -3.41543096e-03 -1.55709478e+01] [-2.11546875e-02 -2.90177102e-04 9.99776172e-01 -2.69648165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48401273899998 meters 0.02484132543907829 Centerline is valid? [True, True] Translation: X:134.81, Y:-15.59, Z:-2.70 [[ 9.85479885e-01 1.68772033e-01 1.85848795e-02 1.34811398e+02] [-1.68744708e-01 9.85655103e-01 -3.04009011e-03 -1.55884158e+01] [-1.88313635e-02 -1.40152417e-04 9.99822664e-01 -2.70206233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54401273899998 meters 0.023168922497897475 Centerline is valid? [True, True] Translation: X:134.87, Y:-15.61, Z:-2.70 [[ 9.86383984e-01 1.63165030e-01 2.05866117e-02 1.34871112e+02] [-1.63130267e-01 9.86598790e-01 -3.36813682e-03 -1.56110616e+01] [-2.08602883e-02 -3.60232468e-05 9.99782400e-01 -2.69912464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60401273899998 meters 0.023039251374667523 Centerline is valid? [True, True] Translation: X:134.93, Y:-15.63, Z:-2.70 [[ 9.86609945e-01 1.61575674e-01 2.22287605e-02 1.34932212e+02] [-1.61534647e-01 9.86860325e-01 -3.64090690e-03 -1.56276640e+01] [-2.25249638e-02 1.43996628e-06 9.99746281e-01 -2.69651224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664012739 meters 0.02414887132060135 Centerline is valid? [True, True] Translation: X:134.99, Y:-15.63, Z:-2.70 [[ 9.85660235e-01 1.67485347e-01 2.05562452e-02 1.34993721e+02] [-1.67451469e-01 9.85874558e-01 -3.37062758e-03 -1.56289566e+01] [-2.08304098e-02 -1.19879884e-04 9.99783016e-01 -2.69977734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724012739 meters 0.026117692394613107 Centerline is valid? [True, True] Translation: X:135.05, Y:-15.64, Z:-2.70 [[ 9.84960744e-01 1.71601519e-01 2.01308596e-02 1.35054959e+02] [-1.71569826e-01 9.85166422e-01 -3.30394231e-03 -1.56356644e+01] [-2.03992084e-02 -1.99594591e-04 9.99791895e-01 -2.70241638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784012739 meters 0.02571965214963259 Centerline is valid? [True, True] Translation: X:135.12, Y:-15.65, Z:-2.71 [[ 9.84995071e-01 1.71492192e-01 1.93684931e-02 1.35115607e+02] [-1.71462827e-01 9.85185461e-01 -3.17913136e-03 -1.56504092e+01] [-1.96267540e-02 -1.89547863e-04 9.99807359e-01 -2.70540212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844012739 meters 0.026082734092801953 Centerline is valid? [True, True] Translation: X:135.18, Y:-15.66, Z:-2.71 [[ 9.84890388e-01 1.72197800e-01 1.84076190e-02 1.35176536e+02] [-1.72171346e-01 9.85062374e-01 -3.02430259e-03 -1.56633427e+01] [-1.86534311e-02 -1.90657982e-04 9.99825991e-01 -2.70828326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904012739 meters 0.03253691360965203 Centerline is valid? [True, True] Translation: X:135.24, Y:-15.66, Z:-2.70 [[ 9.83345904e-01 1.80609142e-01 2.02773726e-02 1.35237442e+02] [-1.80578750e-01 9.83554875e-01 -3.33515666e-03 -1.56559593e+01] [-2.05462684e-02 -3.82049949e-04 9.99788830e-01 -2.70379391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964012739 meters 0.03831919489308817 Centerline is valid? [True, True] Translation: X:135.30, Y:-15.65, Z:-2.70 [[ 9.81931483e-01 1.88095575e-01 2.07513100e-02 1.35299786e+02] [-1.88065423e-01 9.82150574e-01 -3.41262574e-03 -1.56506972e+01] [-2.10228108e-02 -5.51639240e-04 9.99778844e-01 -2.70491478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02401273899997 meters 0.03893549291967485 Centerline is valid? [True, True] Translation: X:135.36, Y:-15.66, Z:-2.71 [[ 9.81840183e-01 1.88619422e-01 2.03117993e-02 1.35358255e+02] [-1.88590648e-01 9.82050106e-01 -3.34024534e-03 -1.56554408e+01] [-2.05772398e-02 -5.51028310e-04 9.99788114e-01 -2.70834592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08401273899997 meters 0.03242846925589923 Centerline is valid? [True, True] Translation: X:135.42, Y:-15.67, Z:-2.71 [[ 9.83120930e-01 1.81980524e-01 1.88766009e-02 1.35416896e+02] [-1.81954466e-01 9.83302060e-01 -3.10335157e-03 -1.56721175e+01] [-1.91261501e-02 -3.83711956e-04 9.99817005e-01 -2.71243256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14401273899998 meters 0.029391982346352444 Centerline is valid? [True, True] Translation: X:135.47, Y:-15.68, Z:-2.72 [[ 9.84116374e-01 1.76605754e-01 1.80380291e-02 1.35474843e+02] [-1.76581059e-01 9.84281635e-01 -2.96535739e-03 -1.56849168e+01] [-1.82782000e-02 -2.66917517e-04 9.99832904e-01 -2.71584840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20401273899998 meters 0.026207993652747764 Centerline is valid? [True, True] Translation: X:135.53, Y:-15.70, Z:-2.72 [[ 9.84792042e-01 1.72868615e-01 1.73515627e-02 1.35533457e+02] [-1.72845169e-01 9.84944875e-01 -2.85334112e-03 -1.57005273e+01] [-1.75835859e-02 -1.89186148e-04 9.99845379e-01 -2.71884640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26401273899998 meters 0.024847159339469155 Centerline is valid? [True, True] Translation: X:135.59, Y:-15.71, Z:-2.72 [[ 9.85121916e-01 1.70725624e-01 1.96868618e-02 1.35592709e+02] [-1.70695013e-01 9.85318594e-01 -3.23736447e-03 -1.57145867e+01] [-1.99505321e-02 -1.71250446e-04 9.99800954e-01 -2.71569964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32401273899998 meters 0.024079323754799167 Centerline is valid? [True, True] Translation: X:135.65, Y:-15.73, Z:-2.72 [[ 9.85506153e-01 1.68534923e-01 1.93288063e-02 1.35652443e+02] [-1.68504996e-01 9.85695675e-01 -3.17834976e-03 -1.57285864e+01] [-1.95879837e-02 -1.24717188e-04 9.99808129e-01 -2.71760994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38401273899999 meters 0.02316103627942702 Centerline is valid? [True, True] Translation: X:135.71, Y:-15.74, Z:-2.72 [[ 9.86022245e-01 1.65469825e-01 1.94902273e-02 1.35711950e+02] [-1.65438736e-01 9.86214851e-01 -3.20802537e-03 -1.57444811e+01] [-1.97523830e-02 -6.12541977e-05 9.99804901e-01 -2.71907175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444012739 meters 0.02289286299590152 Centerline is valid? [True, True] Translation: X:135.77, Y:-15.76, Z:-2.72 [[ 9.86562073e-01 1.62204368e-01 1.96219205e-02 1.35772424e+02] [-1.62172175e-01 9.86757185e-01 -3.23154341e-03 -1.57636732e+01] [-1.98862415e-02 5.98863980e-06 9.99802249e-01 -2.72053183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504012739 meters 0.022939564331173036 Centerline is valid? [True, True] Translation: X:135.83, Y:-15.78, Z:-2.72 [[ 9.86782670e-01 1.60778448e-01 2.02547081e-02 1.35832280e+02] [-1.60743758e-01 9.86990521e-01 -3.33991207e-03 -1.57812364e+01] [-2.05281908e-02 3.99494451e-05 9.99789274e-01 -2.72038279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564012739 meters 0.0229946101164482 Centerline is valid? [True, True] Translation: X:135.89, Y:-15.80, Z:-2.72 [[ 9.86786258e-01 1.60940806e-01 1.87333520e-02 1.35893679e+02] [-1.60911102e-01 9.86964060e-01 -3.09220012e-03 -1.57958511e+01] [-1.89868063e-02 3.69362697e-05 9.99819734e-01 -2.72403866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624012739 meters 0.022828682825838224 Centerline is valid? [True, True] Translation: X:135.95, Y:-15.81, Z:-2.72 [[ 9.86322886e-01 1.63464252e-01 2.11330023e-02 1.35954674e+02] [-1.63426926e-01 9.86549258e-01 -3.49305560e-03 -1.58080514e+01] [-2.14197375e-02 -8.42093659e-06 9.99770571e-01 -2.72153830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684012739 meters 0.02299246263920236 Centerline is valid? [True, True] Translation: X:136.02, Y:-15.82, Z:-2.73 [[ 9.85953278e-01 1.65870051e-01 1.95770096e-02 1.36015948e+02] [-1.65838427e-01 9.86147617e-01 -3.23925365e-03 -1.58184116e+01] [-1.98431165e-02 -5.28677132e-05 9.99803105e-01 -2.72535567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74401273899997 meters 0.023020178841600052 Centerline is valid? [True, True] Translation: X:136.08, Y:-15.83, Z:-2.73 [[ 9.85796699e-01 1.66830264e-01 1.93010656e-02 1.36078178e+02] [-1.66799643e-01 9.85985628e-01 -3.19699316e-03 -1.58294766e+01] [-1.95639285e-02 -6.78255562e-05 9.99808606e-01 -2.72654186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80401273899997 meters 0.022865343059752335 Centerline is valid? [True, True] Translation: X:136.14, Y:-15.84, Z:-2.72 [[ 9.85835481e-01 1.66430195e-01 2.07218478e-02 1.36140010e+02] [-1.66394719e-01 9.86053237e-01 -3.43668657e-03 -1.58428779e+01] [-2.10048135e-02 -5.99984867e-05 9.99779373e-01 -2.72441262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86401273899997 meters 0.022769972211684097 Centerline is valid? [True, True] Translation: X:136.20, Y:-15.85, Z:-2.72 [[ 9.85758912e-01 1.66603546e-01 2.28610351e-02 1.36200831e+02] [-1.66560301e-01 9.86023962e-01 -3.79628464e-03 -1.58543814e+01] [-2.31740029e-02 -6.55194715e-05 9.99731445e-01 -2.72244102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92401273899998 meters 0.022831452623414197 Centerline is valid? [True, True] Translation: X:136.26, Y:-15.87, Z:-2.73 [[ 9.85786215e-01 1.66606432e-01 2.16295089e-02 1.36262122e+02] [-1.66567645e-01 9.86023475e-01 -3.59531481e-03 -1.58673984e+01] [-2.19262061e-02 -5.85645812e-05 9.99759590e-01 -2.72629192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98401273899998 meters 0.02281989275719379 Centerline is valid? [True, True] Translation: X:136.32, Y:-15.88, Z:-2.73 [[ 9.86049983e-01 1.65370298e-01 1.89233985e-02 1.36322054e+02] [-1.65340365e-01 9.86231547e-01 -3.14641043e-03 -1.58814076e+01] [-1.91831754e-02 -2.62836575e-05 9.99815986e-01 -2.73261573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04401273899998 meters 0.022794080804035877 Centerline is valid? [True, True] Translation: X:136.38, Y:-15.90, Z:-2.73 [[ 9.86276623e-01 1.63831457e-01 2.04371186e-02 1.36382334e+02] [-1.63796157e-01 9.86488344e-01 -3.40073902e-03 -1.58967585e+01] [-2.07181273e-02 6.54790287e-06 9.99785357e-01 -2.73033280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10401273899998 meters 0.023077949051690062 Centerline is valid? [True, True] Translation: X:136.44, Y:-15.91, Z:-2.74 [[ 9.86564117e-01 1.62238737e-01 1.92311120e-02 1.36444189e+02] [-1.62207116e-01 9.86751534e-01 -3.20324064e-03 -1.59111956e+01] [-1.94960190e-02 4.07790589e-05 9.99809934e-01 -2.73563361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164012739 meters 0.023020602445181965 Centerline is valid? [True, True] Translation: X:136.51, Y:-15.92, Z:-2.74 [[ 9.86129351e-01 1.64947517e-01 1.84721168e-02 1.36506055e+02] [-1.64918757e-01 9.86302345e-01 -3.08007786e-03 -1.59211141e+01] [-1.87271433e-02 -9.04335813e-06 9.99824632e-01 -2.73843089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224012739 meters 0.02324878712688435 Centerline is valid? [True, True] Translation: X:136.57, Y:-15.93, Z:-2.74 [[ 9.85907082e-01 1.66439736e-01 1.68831401e-02 1.36567992e+02] [-1.66415879e-01 9.86051628e-01 -2.81817863e-03 -1.59280089e+01] [-1.71167047e-02 -3.11603327e-05 9.99853498e-01 -2.74255997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284012739 meters 0.023413686952672406 Centerline is valid? [True, True] Translation: X:136.63, Y:-15.93, Z:-2.74 [[ 9.85525649e-01 1.68585135e-01 1.78395094e-02 1.36631158e+02] [-1.68558786e-01 9.85687094e-01 -2.98127273e-03 -1.59349116e+01] [-1.80867724e-02 -6.88853021e-05 9.99836419e-01 -2.74088857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344012739 meters 0.024864596964131055 Centerline is valid? [True, True] Translation: X:136.69, Y:-15.94, Z:-2.74 [[ 9.84613397e-01 1.73598347e-01 2.00017854e-02 1.36693684e+02] [-1.73566168e-01 9.84816522e-01 -3.34704646e-03 -1.59356043e+01] [-2.02791305e-02 -1.76086456e-04 9.99794342e-01 -2.73913896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404012739 meters 0.027424631502504595 Centerline is valid? [True, True] Translation: X:136.76, Y:-15.93, Z:-2.74 [[ 9.84062862e-01 1.76804960e-01 1.89812927e-02 1.36756073e+02] [-1.76776521e-01 9.84245881e-01 -3.17917101e-03 -1.59345506e+01] [-1.92443523e-02 -2.26942749e-04 9.99814785e-01 -2.74155968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464012739 meters 0.02679350319036157 Centerline is valid? [True, True] Translation: X:136.82, Y:-15.94, Z:-2.74 [[ 9.83978818e-01 1.76963043e-01 2.16741091e-02 1.36818564e+02] [-1.76925918e-01 9.84217463e-01 -3.63388309e-03 -1.59358177e+01] [-2.19750997e-02 -2.59047672e-04 9.99758485e-01 -2.73732840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52401273899997 meters 0.025809735572479765 Centerline is valid? [True, True] Translation: X:136.88, Y:-15.94, Z:-2.74 [[ 9.84296980e-01 1.75172044e-01 2.17763513e-02 1.36879524e+02] [-1.75134114e-01 9.84537814e-01 -3.65175105e-03 -1.59442034e+01] [-2.20793260e-02 -2.19374470e-04 9.99756198e-01 -2.73939567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58401273899997 meters 0.023186194812595953 Centerline is valid? [True, True] Translation: X:136.94, Y:-15.97, Z:-2.74 [[ 9.86364426e-01 1.63383856e-01 1.97720727e-02 1.36938755e+02] [-1.63350160e-01 9.86562575e-01 -3.31837888e-03 -1.59662063e+01] [-2.00485565e-02 4.33596410e-05 9.99799007e-01 -2.74443230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64401273899998 meters 0.024098648781033155 Centerline is valid? [True, True] Translation: X:137.00, Y:-15.98, Z:-2.74 [[ 9.86935046e-01 1.59803731e-01 2.05421925e-02 1.36998465e+02] [-1.59766507e-01 9.87148799e-01 -3.45125917e-03 -1.59823291e+01] [-2.08297247e-02 1.24214298e-04 9.99783030e-01 -2.74452126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70401273899998 meters 0.024882530209002943 Centerline is valid? [True, True] Translation: X:137.06, Y:-16.00, Z:-2.75 [[ 9.87293177e-01 1.57802504e-01 1.87230233e-02 1.37059657e+02] [-1.57771193e-01 9.87470681e-01 -3.14708581e-03 -1.59951178e+01] [-1.89850546e-02 1.53142621e-04 9.99819756e-01 -2.74930837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76401273899998 meters 0.030930472526935537 Centerline is valid? [True, True] Translation: X:137.12, Y:-16.00, Z:-2.73 [[ 9.86937850e-01 1.59954257e-01 1.91915494e-02 1.37122206e+02] [-1.59921702e-01 9.87124421e-01 -3.22913699e-03 -1.60022423e+01] [-1.94609613e-02 1.17812274e-04 9.99810611e-01 -2.73430200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82401273899998 meters 0.023079762098213517 Centerline is valid? [True, True] Translation: X:137.18, Y:-16.00, Z:-2.74 [[ 9.86281587e-01 1.63637686e-01 2.17103555e-02 1.37184698e+02] [-1.63596824e-01 9.86520504e-01 -3.65713863e-03 -1.60047723e+01] [-2.20161565e-02 5.52232884e-05 9.99757614e-01 -2.74466787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88401273899999 meters 0.022956621422242782 Centerline is valid? [True, True] Translation: X:137.25, Y:-16.00, Z:-2.75 [[ 9.85557525e-01 1.68107531e-01 2.04015184e-02 1.37248312e+02] [-1.68072335e-01 9.85768663e-01 -3.44003303e-03 -1.60028962e+01] [-2.06894729e-02 -3.85803855e-05 9.99785949e-01 -2.74780966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944012739 meters 0.02481311271854155 Centerline is valid? [True, True] Translation: X:137.31, Y:-16.00, Z:-2.75 [[ 9.84569607e-01 1.73776100e-01 2.06047754e-02 1.37310104e+02] [-1.73741360e-01 9.84785176e-01 -3.47809320e-03 -1.59962519e+01] [-2.08956868e-02 -1.55476834e-04 9.99781649e-01 -2.74893154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004012739 meters 0.025554110813771454 Centerline is valid? [True, True] Translation: X:137.37, Y:-16.00, Z:-2.75 [[ 9.84216852e-01 1.75905227e-01 1.93530153e-02 1.37371180e+02] [-1.75874995e-01 9.84407088e-01 -3.26657011e-03 -1.59998740e+01] [-1.96258522e-02 -1.88698129e-04 9.99807377e-01 -2.75315972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064012739 meters 0.025366768863270873 Centerline is valid? [True, True] Translation: X:137.43, Y:-16.01, Z:-2.76 [[ 9.84379974e-01 1.75173232e-01 1.76183240e-02 1.37431113e+02] [-1.75148060e-01 9.84537614e-01 -2.97377384e-03 -1.60066457e+01] [-1.78668283e-02 -1.58491863e-04 9.99840363e-01 -2.75863904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124012739 meters 0.024407532948411602 Centerline is valid? [True, True] Translation: X:137.49, Y:-16.01, Z:-2.76 [[ 9.84909469e-01 1.72090080e-01 1.83940925e-02 1.37489293e+02] [-1.72062104e-01 9.85081211e-01 -3.10475058e-03 -1.60135130e+01] [-1.86539717e-02 -1.07028014e-04 9.99825994e-01 -2.75843710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184012739 meters 0.024445619752634738 Centerline is valid? [True, True] Translation: X:137.55, Y:-16.02, Z:-2.76 [[ 9.84969983e-01 1.71810730e-01 1.77540502e-02 1.37548514e+02] [-1.71784627e-01 9.85129973e-01 -2.99643739e-03 -1.60189381e+01] [-1.80048671e-02 -9.84720070e-05 9.99837894e-01 -2.76045281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24401273899997 meters 0.02442308790831264 Centerline is valid? [True, True] Translation: X:137.61, Y:-16.03, Z:-2.76 [[ 9.85025511e-01 1.71491085e-01 1.77637236e-02 1.37606710e+02] [-1.71464917e-01 9.85185667e-01 -2.99725156e-03 -1.60252551e+01] [-1.80145679e-02 -9.34861388e-05 9.99837720e-01 -2.76218076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30401273899997 meters 0.023899095284418075 Centerline is valid? [True, True] Translation: X:137.67, Y:-16.03, Z:-2.76 [[ 9.85186774e-01 1.70401039e-01 1.92485441e-02 1.37665418e+02] [-1.70370123e-01 9.85374791e-01 -3.24678363e-03 -1.60339108e+01] [-1.95202854e-02 -8.06885279e-05 9.99809458e-01 -2.76047735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36401273899997 meters 0.023762142446851955 Centerline is valid? [True, True] Translation: X:137.73, Y:-16.04, Z:-2.76 [[ 9.85222738e-01 1.70068180e-01 2.03216769e-02 1.37725366e+02] [-1.70033661e-01 9.85432295e-01 -3.42727243e-03 -1.60382320e+01] [-2.06085067e-02 -7.87423916e-05 9.99787619e-01 -2.75955707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42401273899998 meters 0.02380720012088369 Centerline is valid? [True, True] Translation: X:137.78, Y:-16.04, Z:-2.76 [[ 9.85090007e-01 1.70712474e-01 2.13290838e-02 1.37783735e+02] [-1.70674611e-01 9.85320883e-01 -3.59658712e-03 -1.60409228e+01] [-2.16299740e-02 -9.73710651e-05 9.99766040e-01 -2.75857594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48401273899998 meters 0.024022000363325125 Centerline is valid? [True, True] Translation: X:137.84, Y:-16.05, Z:-2.76 [[ 9.84972118e-01 1.71474284e-01 2.06517940e-02 1.37843035e+02] [-1.71438980e-01 9.85188590e-01 -3.48117899e-03 -1.60456802e+01] [-2.09428445e-02 -1.11658271e-04 9.99780668e-01 -2.76154515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54401273899998 meters 0.024958158394586538 Centerline is valid? [True, True] Translation: X:137.90, Y:-16.04, Z:-2.76 [[ 9.84716358e-01 1.73118848e-01 1.90672168e-02 1.37902106e+02] [-1.73089079e-01 9.84900932e-01 -3.21322339e-03 -1.60399324e+01] [-1.93355891e-02 -1.36213356e-04 9.99813041e-01 -2.76480095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60401273899998 meters 0.025738526308289423 Centerline is valid? [True, True] Translation: X:137.96, Y:-16.04, Z:-2.76 [[ 9.84430289e-01 1.74700485e-01 1.94099794e-02 1.37960465e+02] [-1.74669973e-01 9.84621608e-01 -3.26950749e-03 -1.60393104e+01] [-1.96826697e-02 -1.71738368e-04 9.99806263e-01 -2.76455993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664012739 meters 0.026429592219220775 Centerline is valid? [True, True] Translation: X:138.02, Y:-16.04, Z:-2.77 [[ 9.84237233e-01 1.75801482e-01 1.92589560e-02 1.38020899e+02] [-1.75771675e-01 9.84425620e-01 -3.24293751e-03 -1.60373614e+01] [-1.95291229e-02 -1.93359099e-04 9.99809270e-01 -2.76561643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724012739 meters 0.025968099228972943 Centerline is valid? [True, True] Translation: X:138.08, Y:-16.04, Z:-2.77 [[ 9.84472470e-01 1.74549902e-01 1.86087930e-02 1.38079002e+02] [-1.74521866e-01 9.84648315e-01 -3.13264461e-03 -1.60427506e+01] [-1.88699195e-02 -1.63638896e-04 9.99821934e-01 -2.76906401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784012739 meters 0.024731869995294826 Centerline is valid? [True, True] Translation: X:138.14, Y:-16.05, Z:-2.77 [[ 9.84952490e-01 1.71811614e-01 1.86911910e-02 1.38137881e+02] [-1.71782857e-01 9.85129817e-01 -3.14541825e-03 -1.60477678e+01] [-1.89536689e-02 -1.12738646e-04 9.99820357e-01 -2.76927506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844012739 meters 0.02410420557616543 Centerline is valid? [True, True] Translation: X:138.20, Y:-16.06, Z:-2.77 [[ 9.85207794e-01 1.70383916e-01 1.83009412e-02 1.38195876e+02] [-1.70356116e-01 9.85377752e-01 -3.07893888e-03 -1.60560981e+01] [-1.85579419e-02 -8.42826669e-05 9.99827783e-01 -2.77126379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904012739 meters 0.023864218312853205 Centerline is valid? [True, True] Translation: X:138.25, Y:-16.06, Z:-2.78 [[ 9.85634301e-01 1.68003892e-01 1.73123266e-02 1.38253733e+02] [-1.67978661e-01 9.85786331e-01 -2.91182514e-03 -1.60633038e+01] [-1.75554529e-02 -3.81067039e-05 9.99845890e-01 -2.77572627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964012739 meters 0.02385911888294875 Centerline is valid? [True, True] Translation: X:138.31, Y:-16.07, Z:-2.78 [[ 9.85935890e-01 1.66322348e-01 1.63492329e-02 1.38311009e+02] [-1.66299626e-01 9.86071436e-01 -2.74918567e-03 -1.60707086e+01] [-1.65787626e-02 -8.35049446e-06 9.99862563e-01 -2.77866584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02401273899997 meters 0.02462188235557751 Centerline is valid? [True, True] Translation: X:138.37, Y:-16.08, Z:-2.78 [[ 9.86975974e-01 1.60043784e-01 1.62607994e-02 1.38368927e+02] [-1.60020473e-01 9.87109912e-01 -2.73312340e-03 -1.60831651e+01] [-1.64886157e-02 9.54663035e-05 9.99864049e-01 -2.77956202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08401273899997 meters 0.028083805056226093 Centerline is valid? [True, True] Translation: X:138.43, Y:-16.10, Z:-2.78 [[ 9.88270204e-01 1.51627617e-01 1.81953402e-02 1.38426662e+02] [-1.51597020e-01 9.88437654e-01 -3.05726266e-03 -1.61009038e+01] [-1.84485248e-02 2.63042243e-04 9.99829777e-01 -2.77688923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14401273899998 meters 0.035535815176473216 Centerline is valid? [True, True] Translation: X:138.48, Y:-16.13, Z:-2.77 [[ 9.89762111e-01 1.41259520e-01 2.04135205e-02 1.38483938e+02] [-1.41218812e-01 9.89972467e-01 -3.42942301e-03 -1.61252476e+01] [-2.06932619e-02 5.11539844e-04 9.99785741e-01 -2.77363272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20401273899998 meters 0.05018581811539152 Centerline is valid? [True, True] Translation: X:138.54, Y:-16.15, Z:-2.76 [[ 9.91005662e-01 1.32558444e-01 1.83312998e-02 1.38542355e+02] [-1.32524130e-01 9.91174995e-01 -3.07952090e-03 -1.61481347e+01] [-1.85777425e-02 6.22483081e-04 9.99827225e-01 -2.76316057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26401273899998 meters 0.04840788071495568 Centerline is valid? [True, True] Translation: X:138.60, Y:-16.17, Z:-2.78 [[ 9.91970604e-01 1.24828397e-01 2.03025176e-02 1.38599718e+02] [-1.24784678e-01 9.92177982e-01 -3.41110807e-03 -1.61732519e+01] [-2.05695141e-02 8.50275810e-04 9.99788064e-01 -2.77673367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32401273899998 meters 0.05332191642644299 Centerline is valid? [True, True] Translation: X:138.66, Y:-16.20, Z:-2.78 [[ 9.92671843e-01 1.19089726e-01 2.05000021e-02 1.38657488e+02] [-1.19043928e-01 9.92883014e-01 -3.44444695e-03 -1.61999209e+01] [-2.07643021e-02 9.78804727e-04 9.99783920e-01 -2.77735535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38401273899999 meters 0.05985763381537651 Centerline is valid? [True, True] Translation: X:138.71, Y:-16.23, Z:-2.78 [[ 9.92847538e-01 1.17656043e-01 2.02687267e-02 1.38714060e+02] [-1.17610966e-01 9.93053906e-01 -3.40599332e-03 -1.62310767e+01] [-2.05286739e-02 9.97807561e-04 9.99788767e-01 -2.77821386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444012739 meters 0.054010222503357984 Centerline is valid? [True, True] Translation: X:138.77, Y:-16.24, Z:-2.78 [[ 9.92354383e-01 1.21729556e-01 2.03640225e-02 1.38774481e+02] [-1.21684844e-01 9.92562878e-01 -3.42515847e-03 -1.62393960e+01] [-2.06295158e-02 9.20978126e-04 9.99786765e-01 -2.77855813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504012739 meters 0.04549013529397179 Centerline is valid? [True, True] Translation: X:138.83, Y:-16.25, Z:-2.78 [[ 9.91106793e-01 1.31447755e-01 2.07077723e-02 1.38834692e+02] [-1.31403635e-01 9.91322830e-01 -3.48298814e-03 -1.62451084e+01] [-2.09859184e-02 7.30936645e-04 9.99779504e-01 -2.78004050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564012739 meters 0.03508969430913883 Centerline is valid? [True, True] Translation: X:138.90, Y:-16.25, Z:-2.78 [[ 9.89814246e-01 1.41083664e-01 1.90567091e-02 1.38896552e+02] [-1.41048082e-01 9.89997558e-01 -3.20526130e-03 -1.62457446e+01] [-1.93183055e-02 4.84701022e-04 9.99813267e-01 -2.78429483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624012739 meters 0.031273976999744775 Centerline is valid? [True, True] Translation: X:138.96, Y:-16.25, Z:-2.79 [[ 9.88522604e-01 1.49986124e-01 1.80893628e-02 1.38956512e+02] [-1.49955546e-01 9.88688058e-01 -3.04277954e-03 -1.62474661e+01] [-1.83411117e-02 2.95256074e-04 9.99831744e-01 -2.78684752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684012739 meters 0.026806613000247493 Centerline is valid? [True, True] Translation: X:139.02, Y:-16.25, Z:-2.79 [[ 9.87637602e-01 1.55913387e-01 1.62167478e-02 1.39016816e+02] [-1.55889613e-01 9.87770716e-01 -2.72769535e-03 -1.62465383e+01] [-1.64437128e-02 1.65951967e-04 9.99864779e-01 -2.79111843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74401273899997 meters 0.025082004098267635 Centerline is valid? [True, True] Translation: X:139.08, Y:-16.25, Z:-2.79 [[ 9.87042172e-01 1.59448549e-01 1.79975461e-02 1.39076633e+02] [-1.59419860e-01 9.87206233e-01 -3.02685449e-03 -1.62493689e+01] [-1.82499173e-02 1.18466741e-04 9.99833449e-01 -2.78825457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80401273899997 meters 0.023969314478655655 Centerline is valid? [True, True] Translation: X:139.14, Y:-16.25, Z:-2.79 [[ 9.86367964e-01 1.63343837e-01 1.99256075e-02 1.39136519e+02] [-1.63309496e-01 9.86569201e-01 -3.34964601e-03 -1.62482030e+01] [-2.02051347e-02 4.99425896e-05 9.99795854e-01 -2.78518054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86401273899997 meters 0.02369600056136959 Centerline is valid? [True, True] Translation: X:139.19, Y:-16.25, Z:-2.79 [[ 9.86055824e-01 1.65251053e-01 1.96468997e-02 1.39194424e+02] [-1.65218062e-01 9.86251534e-01 -3.30191628e-03 -1.62513599e+01] [-1.99224301e-02 9.85107830e-06 9.99801529e-01 -2.78717329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92401273899998 meters 0.02464850638315445 Centerline is valid? [True, True] Translation: X:139.25, Y:-16.27, Z:-2.79 [[ 9.86949530e-01 1.59767038e-01 2.01275423e-02 1.39250865e+02] [-1.59731295e-01 9.87154739e-01 -3.38153035e-03 -1.62710193e+01] [-2.04092558e-02 1.22401395e-04 9.99791702e-01 -2.78670521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98401273899998 meters 0.029435946736658107 Centerline is valid? [True, True] Translation: X:139.31, Y:-16.30, Z:-2.79 [[ 9.88313278e-01 1.51081748e-01 2.02773460e-02 1.39308436e+02] [-1.51043661e-01 9.88521226e-01 -3.40573912e-03 -1.62991165e+01] [-2.05591319e-02 3.03172620e-04 9.99788593e-01 -2.78814609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04401273899998 meters 0.0308669284538508 Centerline is valid? [True, True] Translation: X:139.37, Y:-16.32, Z:-2.79 [[ 9.88603672e-01 1.49431715e-01 1.82467271e-02 1.39366703e+02] [-1.49400586e-01 9.88772001e-01 -3.06510629e-03 -1.63150977e+01] [-1.84998770e-02 3.04103598e-04 9.99828816e-01 -2.79170956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10401273899998 meters 0.028007651959870074 Centerline is valid? [True, True] Translation: X:139.43, Y:-16.32, Z:-2.79 [[ 9.88096704e-01 1.52561868e-01 1.97428240e-02 1.39426349e+02] [-1.52526048e-01 9.88293886e-01 -3.31643267e-03 -1.63198555e+01] [-2.00176734e-02 2.65661270e-04 9.99799591e-01 -2.78982233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164012739 meters 0.027746938557994937 Centerline is valid? [True, True] Translation: X:139.49, Y:-16.33, Z:-2.79 [[ 9.87796323e-01 1.54430384e-01 2.02405767e-02 1.39485483e+02] [-1.54393137e-01 9.88003645e-01 -3.39955348e-03 -1.63290171e+01] [-2.05227579e-02 2.33060283e-04 9.99789359e-01 -2.79040087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224012739 meters 0.025981465243444562 Centerline is valid? [True, True] Translation: X:139.55, Y:-16.33, Z:-2.80 [[ 9.87517513e-01 1.56521108e-01 1.76154297e-02 1.39545792e+02] [-1.56493232e-01 9.87674600e-01 -2.95849436e-03 -1.63320485e+01] [-1.78613793e-02 1.64869460e-04 9.99840459e-01 -2.79563826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284012739 meters 0.02599345002850508 Centerline is valid? [True, True] Translation: X:139.60, Y:-16.34, Z:-2.79 [[ 9.87578241e-01 1.55951434e-01 1.91929081e-02 1.39604433e+02] [-1.55918243e-01 9.87764706e-01 -3.22295869e-03 -1.63398267e+01] [-1.94607023e-02 1.90399351e-04 9.99810604e-01 -2.79411709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344012739 meters 0.025984603666532022 Centerline is valid? [True, True] Translation: X:139.66, Y:-16.35, Z:-2.80 [[ 9.87498647e-01 1.56660840e-01 1.74299818e-02 1.39662767e+02] [-1.56633591e-01 9.87652447e-01 -2.92613016e-03 -1.63480920e+01] [-1.76731741e-02 1.59428937e-04 9.99843805e-01 -2.79779613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404012739 meters 0.025205671745237784 Centerline is valid? [True, True] Translation: X:139.72, Y:-16.35, Z:-2.80 [[ 9.87200021e-01 1.58372222e-01 1.88243894e-02 1.39720401e+02] [-1.58340763e-01 9.87379471e-01 -3.15951279e-03 -1.63532581e+01] [-1.90871947e-02 1.38402913e-04 9.99817813e-01 -2.79635215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464012739 meters 0.025140382782990692 Centerline is valid? [True, True] Translation: X:139.78, Y:-16.37, Z:-2.80 [[ 9.87197681e-01 1.58381352e-01 1.88702496e-02 1.39777931e+02] [-1.58349763e-01 9.87378007e-01 -3.16610015e-03 -1.63652203e+01] [-1.91335206e-02 1.37467183e-04 9.99816928e-01 -2.79762200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52401273899997 meters 0.024973336039360396 Centerline is valid? [True, True] Translation: X:139.84, Y:-16.38, Z:-2.80 [[ 9.87220767e-01 1.58328784e-01 1.80873600e-02 1.39835423e+02] [-1.58299767e-01 9.87386438e-01 -3.03396057e-03 -1.63761980e+01] [-1.83395772e-02 1.31964015e-04 9.99831807e-01 -2.79963756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58401273899997 meters 0.024032052377540643 Centerline is valid? [True, True] Translation: X:139.89, Y:-16.39, Z:-2.80 [[ 9.86871790e-01 1.60362435e-01 1.91822534e-02 1.39893588e+02] [-1.60330201e-01 9.87058195e-01 -3.21667643e-03 -1.63859966e+01] [-1.94498344e-02 9.89526893e-05 9.99810829e-01 -2.79742177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64401273899998 meters 0.023743581964897786 Centerline is valid? [True, True] Translation: X:139.95, Y:-16.39, Z:-2.80 [[ 9.86772468e-01 1.61027433e-01 1.87152833e-02 1.39951814e+02] [-1.60996885e-01 9.86949927e-01 -3.13753750e-03 -1.63940805e+01] [-1.89762771e-02 8.29333159e-05 9.99819931e-01 -2.79926304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70401273899998 meters 0.023344165958886675 Centerline is valid? [True, True] Translation: X:140.01, Y:-16.40, Z:-2.81 [[ 9.86459951e-01 1.63173867e-01 1.64637315e-02 1.40009750e+02] [-1.63150536e-01 9.86597328e-01 -2.75946388e-03 -1.64001235e+01] [-1.66933459e-02 3.60339727e-05 9.99860656e-01 -2.80516057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76401273899998 meters 0.023246638678089074 Centerline is valid? [True, True] Translation: X:140.07, Y:-16.41, Z:-2.80 [[ 9.86436622e-01 1.63119343e-01 1.82994796e-02 1.40067937e+02] [-1.63090532e-01 9.86606344e-01 -3.06595387e-03 -1.64121657e+01] [-1.85544990e-02 3.98973213e-05 9.99827850e-01 -2.80220332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82401273899998 meters 0.02400781963900533 Centerline is valid? [True, True] Translation: X:140.12, Y:-16.43, Z:-2.81 [[ 9.86882664e-01 1.60560018e-01 1.68252376e-02 1.40124269e+02] [-1.60535303e-01 9.87026076e-01 -2.81819314e-03 -1.64281585e+01] [-1.70594373e-02 8.01813385e-05 9.99854474e-01 -2.80762704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88401273899999 meters 0.023854516416923047 Centerline is valid? [True, True] Translation: X:140.18, Y:-16.44, Z:-2.81 [[ 9.87004925e-01 1.59858215e-01 1.63288075e-02 1.40181856e+02] [-1.59834849e-01 9.87139982e-01 -2.73454040e-03 -1.64399018e+01] [-1.65559575e-02 8.90923614e-05 9.99862937e-01 -2.80744529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944012739 meters 0.023475992318158913 Centerline is valid? [True, True] Translation: X:140.24, Y:-16.45, Z:-2.81 [[ 9.86819271e-01 1.61017705e-01 1.61562575e-02 1.40239705e+02] [-1.60994999e-01 9.86951516e-01 -2.70487539e-03 -1.64505156e+01] [-1.63809756e-02 6.81465115e-05 9.99865820e-01 -2.80915640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004012739 meters 0.023151564133549858 Centerline is valid? [True, True] Translation: X:140.30, Y:-16.46, Z:-2.81 [[ 9.86683340e-01 1.61748014e-01 1.71338050e-02 1.40297786e+02] [-1.61722602e-01 9.86832091e-01 -2.86764773e-03 -1.64624723e+01] [-1.73720250e-02 5.85367099e-05 9.99849093e-01 -2.80818311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064012739 meters 0.02280526155019498 Centerline is valid? [True, True] Translation: X:140.36, Y:-16.46, Z:-2.81 [[ 9.85902240e-01 1.66418917e-01 1.73642260e-02 1.40356719e+02] [-1.66393556e-01 9.86055142e-01 -2.90538960e-03 -1.64626570e+01] [-1.76055961e-02 -2.48651853e-05 9.99845009e-01 -2.80626826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124012739 meters 0.02462224673076588 Centerline is valid? [True, True] Translation: X:140.42, Y:-16.46, Z:-2.81 [[ 9.84826485e-01 1.72699303e-01 1.70805737e-02 1.40415594e+02] [-1.72675726e-01 9.84974585e-01 -2.85682697e-03 -1.64585747e+01] [-1.73173030e-02 -1.35921593e-04 9.99850035e-01 -2.80905951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184012739 meters 0.02477709773422227 Centerline is valid? [True, True] Translation: X:140.47, Y:-16.46, Z:-2.81 [[ 9.84522666e-01 1.74206990e-01 1.91584354e-02 1.40474405e+02] [-1.74177638e-01 9.84709039e-01 -3.20306187e-03 -1.64622835e+01] [-1.94234803e-02 -1.83484005e-04 9.99811330e-01 -2.80568393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24401273899997 meters 0.02421244818179046 Centerline is valid? [True, True] Translation: X:140.53, Y:-16.47, Z:-2.81 [[ 9.84991023e-01 1.71780141e-01 1.68602263e-02 1.40530883e+02] [-1.71757065e-01 9.85135305e-01 -2.81815390e-03 -1.64738347e+01] [-1.70937071e-02 -1.20006692e-04 9.99853885e-01 -2.81097828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30401273899997 meters 0.02381994194982647 Centerline is valid? [True, True] Translation: X:140.59, Y:-16.48, Z:-2.81 [[ 9.85106756e-01 1.71077193e-01 1.72416454e-02 1.40589146e+02] [-1.71052972e-01 9.85257622e-01 -2.88078582e-03 -1.64808381e+01] [-1.74802993e-02 -1.11353114e-04 9.99847202e-01 -2.81232299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36401273899997 meters 0.025619142835725 Centerline is valid? [True, True] Translation: X:140.65, Y:-16.48, Z:-2.81 [[ 9.84360450e-01 1.75244571e-01 1.79957062e-02 1.40648771e+02] [-1.75218897e-01 9.84524912e-01 -3.00591297e-03 -1.64813830e+01] [-1.82439910e-02 -1.94285954e-04 9.99833546e-01 -2.81001012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42401273899998 meters 0.026226142160969343 Centerline is valid? [True, True] Translation: X:140.71, Y:-16.48, Z:-2.81 [[ 9.84147763e-01 1.76502540e-01 1.73215057e-02 1.40707609e+02] [-1.76478962e-01 9.84300162e-01 -2.89251172e-03 -1.64842481e+01] [-1.75600965e-02 -2.10222412e-04 9.99845788e-01 -2.81242950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48401273899998 meters 0.025623133358055303 Centerline is valid? [True, True] Translation: X:140.76, Y:-16.49, Z:-2.82 [[ 9.84504462e-01 1.74517486e-01 1.71642539e-02 1.40764357e+02] [-1.74494046e-01 9.84654059e-01 -2.86552031e-03 -1.64929470e+01] [-1.74009357e-02 -1.73942587e-04 9.99848577e-01 -2.81593936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54401273899998 meters 0.022837346461604468 Centerline is valid? [True, True] Translation: X:140.82, Y:-16.51, Z:-2.82 [[ 9.85858838e-01 1.66956685e-01 1.44158628e-02 1.40820604e+02] [-1.66939356e-01 9.85964231e-01 -2.40563059e-03 -1.65117055e+01] [-1.46151612e-02 -3.49626845e-05 9.99893192e-01 -2.82098952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60401273899998 meters 0.0229519593094284 Centerline is valid? [True, True] Translation: X:140.88, Y:-16.52, Z:-2.83 [[ 9.86205166e-01 1.65135497e-01 1.13858375e-02 1.40878392e+02] [-1.65124570e-01 9.86270890e-01 -1.89967040e-03 -1.65237910e+01] [-1.15432231e-02 -6.61675956e-06 9.99933375e-01 -2.82733889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664012739 meters 0.022799549600642812 Centerline is valid? [True, True] Translation: X:140.94, Y:-16.53, Z:-2.83 [[ 9.86196649e-01 1.65066809e-01 1.30045747e-02 1.40935407e+02] [-1.65052557e-01 9.86282388e-01 -2.16904508e-03 -1.65327468e+01] [-1.31842203e-02 -7.33332409e-06 9.99913084e-01 -2.82745860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724012739 meters 0.022407577795742505 Centerline is valid? [True, True] Translation: X:140.99, Y:-16.54, Z:-2.82 [[ 9.86009450e-01 1.65973396e-01 1.54336299e-02 1.40994072e+02] [-1.65953453e-01 9.86130230e-01 -2.57294814e-03 -1.65415603e+01] [-1.56466099e-02 -2.43129931e-05 9.99877584e-01 -2.82203969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784012739 meters 0.02293801896748446 Centerline is valid? [True, True] Translation: X:141.05, Y:-16.55, Z:-2.83 [[ 9.85770013e-01 1.67498262e-01 1.42060889e-02 1.41051350e+02] [-1.67481532e-01 9.85872370e-01 -2.36776273e-03 -1.65475633e+01] [-1.44019867e-02 -4.51880272e-05 9.99896285e-01 -2.82654119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844012739 meters 0.023103615048840086 Centerline is valid? [True, True] Translation: X:141.11, Y:-16.56, Z:-2.83 [[ 9.85601757e-01 1.68502740e-01 1.40000816e-02 1.41109906e+02] [-1.68486606e-01 9.85701183e-01 -2.33253326e-03 -1.65552156e+01] [-1.41929352e-02 -5.98773502e-05 9.99899273e-01 -2.82662479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904012739 meters 0.02339252670205078 Centerline is valid? [True, True] Translation: X:141.17, Y:-16.56, Z:-2.83 [[ 9.85283913e-01 1.70244614e-01 1.52441146e-02 1.41169590e+02] [-1.70225706e-01 9.85401828e-01 -2.53898697e-03 -1.65578635e+01] [-1.54538273e-02 -9.33171460e-05 9.99880578e-01 -2.82536850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964012739 meters 0.024126597955410667 Centerline is valid? [True, True] Translation: X:141.23, Y:-16.56, Z:-2.82 [[ 9.85010622e-01 1.71664325e-01 1.68947815e-02 1.41227589e+02] [-1.71641323e-01 9.85155492e-01 -2.81303191e-03 -1.65608420e+01] [-1.71268840e-02 -1.28976336e-04 9.99853316e-01 -2.82434089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02401273899997 meters 0.02531461789546689 Centerline is valid? [True, True] Translation: X:141.29, Y:-16.56, Z:-2.83 [[ 9.84704872e-01 1.73561592e-01 1.52541401e-02 1.41286394e+02] [-1.73543082e-01 9.84823006e-01 -2.53900424e-03 -1.65642984e+01] [-1.54633017e-02 -1.47080641e-04 9.99880425e-01 -2.82790184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08401273899997 meters 0.025159020444006672 Centerline is valid? [True, True] Translation: X:141.34, Y:-16.57, Z:-2.83 [[ 9.84501937e-01 1.74605837e-01 1.63932377e-02 1.41344768e+02] [-1.74584617e-01 9.84638396e-01 -2.72777576e-03 -1.65693522e+01] [-1.66176968e-02 -1.76506612e-04 9.99861901e-01 -2.82611243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14401273899998 meters 0.027070985849240264 Centerline is valid? [True, True] Translation: X:141.40, Y:-16.57, Z:-2.83 [[ 9.84259484e-01 1.76091565e-01 1.50009470e-02 1.41403765e+02] [-1.76073979e-01 9.84373774e-01 -2.49550508e-03 -1.65690679e+01] [-1.52059762e-02 -1.85051883e-04 9.99884365e-01 -2.83087999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20401273899998 meters 0.02779673066339904 Centerline is valid? [True, True] Translation: X:141.46, Y:-16.57, Z:-2.83 [[ 9.84265778e-01 1.76095604e-01 1.45332848e-02 1.41462299e+02] [-1.76079111e-01 9.84373052e-01 -2.41683231e-03 -1.65701806e+01] [-1.47317675e-02 -1.80202534e-04 9.99891465e-01 -2.83482162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26401273899998 meters 0.023896779061596617 Centerline is valid? [True, True] Translation: X:141.52, Y:-16.58, Z:-2.83 [[ 9.85240868e-01 1.70443543e-01 1.57933565e-02 1.41520069e+02] [-1.70423348e-01 9.85367438e-01 -2.62577350e-03 -1.65846846e+01] [-1.60098053e-02 -1.04537321e-04 9.99871829e-01 -2.83202396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32401273899998 meters 0.022513085517186383 Centerline is valid? [True, True] Translation: X:141.58, Y:-16.60, Z:-2.84 [[ 9.86218233e-01 1.64851491e-01 1.40564285e-02 1.41577044e+02] [-1.64834960e-01 9.86318400e-01 -2.33459707e-03 -1.66003136e+01] [-1.42489759e-02 -1.45686347e-05 9.99898478e-01 -2.83598481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38401273899999 meters 0.022573340206917106 Centerline is valid? [True, True] Translation: X:141.63, Y:-16.61, Z:-2.84 [[ 9.86739444e-01 1.61645123e-01 1.47011235e-02 1.41632006e+02] [-1.61626690e-01 9.86848952e-01 -2.44130237e-03 -1.66149887e+01] [-1.49024129e-02 3.28354244e-05 9.99888952e-01 -2.83766815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444012739 meters 0.02271866886466277 Centerline is valid? [True, True] Translation: X:141.69, Y:-16.63, Z:-2.84 [[ 9.86893819e-01 1.60902858e-01 1.22825324e-02 1.41690134e+02] [-1.60889956e-01 9.86970247e-01 -2.03793241e-03 -1.66263837e+01] [-1.24504031e-02 3.50868110e-05 9.99922490e-01 -2.84173704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504012739 meters 0.023726806459109642 Centerline is valid? [True, True] Translation: X:141.75, Y:-16.65, Z:-2.85 [[ 9.87416328e-01 1.57718386e-01 1.15717496e-02 1.41745526e+02] [-1.57706720e-01 9.87484129e-01 -1.91958430e-03 -1.66452642e+01] [-1.17296728e-02 7.04862028e-05 9.99931203e-01 -2.84571694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564012739 meters 0.024965961189640975 Centerline is valid? [True, True] Translation: X:141.80, Y:-16.67, Z:-2.85 [[ 9.87910821e-01 1.54514717e-01 1.25464219e-02 1.41800480e+02] [-1.54500754e-01 9.87990480e-01 -2.08049713e-03 -1.66656671e+01] [-1.27172129e-02 1.16913977e-04 9.99919126e-01 -2.84586506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624012739 meters 0.025168007238923165 Centerline is valid? [True, True] Translation: X:141.86, Y:-16.68, Z:-2.85 [[ 9.88052650e-01 1.53507708e-01 1.36873877e-02 1.41856637e+02] [-1.53491009e-01 9.88147440e-01 -2.26852739e-03 -1.66836590e+01] [-1.38733936e-02 1.40533545e-04 9.99903750e-01 -2.84517750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684012739 meters 0.02357102453420545 Centerline is valid? [True, True] Translation: X:141.91, Y:-16.69, Z:-2.85 [[ 9.87379803e-01 1.57850864e-01 1.28152143e-02 1.41913889e+02] [-1.57836603e-01 9.87462961e-01 -2.12306907e-03 -1.66914548e+01] [-1.29896777e-02 7.35656292e-05 9.99915628e-01 -2.84832340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74401273899997 meters 0.022141188357358874 Centerline is valid? [True, True] Translation: X:141.97, Y:-16.69, Z:-2.85 [[ 9.86369096e-01 1.63862977e-01 1.49976785e-02 1.41973409e+02] [-1.63844156e-01 9.86483109e-01 -2.48351637e-03 -1.66949198e+01] [-1.52019129e-02 -7.61817920e-06 9.99884444e-01 -2.84521595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80401273899997 meters 0.022222520201590594 Centerline is valid? [True, True] Translation: X:142.03, Y:-16.71, Z:-2.85 [[ 9.86652998e-01 1.62257212e-01 1.37280384e-02 1.42029727e+02] [-1.62241295e-01 9.86748497e-01 -2.27275908e-03 -1.67110993e+01] [-1.39148928e-02 1.51698365e-05 9.99903183e-01 -2.84934839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86401273899997 meters 0.022669089442742582 Centerline is valid? [True, True] Translation: X:142.09, Y:-16.73, Z:-2.85 [[ 9.87206974e-01 1.58787303e-01 1.44562504e-02 1.42086713e+02] [-1.58769295e-01 9.87312812e-01 -2.39229700e-03 -1.67298442e+01] [-1.46527076e-02 6.64836006e-05 9.99892641e-01 -2.84952133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92401273899998 meters 0.023856403144751397 Centerline is valid? [True, True] Translation: X:142.14, Y:-16.75, Z:-2.85 [[ 9.87822697e-01 1.54850841e-01 1.50843313e-02 1.42142602e+02] [-1.54830786e-01 9.87937852e-01 -2.49552134e-03 -1.67492851e+01] [-1.52888155e-02 1.29613751e-04 9.99883111e-01 -2.85108338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98401273899998 meters 0.024262933157571966 Centerline is valid? [True, True] Translation: X:142.20, Y:-16.76, Z:-2.85 [[ 9.87919120e-01 1.54193549e-01 1.54971718e-02 1.42199056e+02] [-1.54172314e-01 9.88040652e-01 -2.56285330e-03 -1.67643505e+01] [-1.57070112e-02 1.42656927e-04 9.99876627e-01 -2.85197369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04401273899998 meters 0.023462083281649632 Centerline is valid? [True, True] Translation: X:142.26, Y:-16.77, Z:-2.85 [[ 9.87672848e-01 1.55840212e-01 1.47028428e-02 1.42257573e+02] [-1.55821295e-01 9.87782272e-01 -2.43060963e-03 -1.67726218e+01] [-1.49019942e-02 1.09631137e-04 9.99888953e-01 -2.85485221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10401273899998 meters 0.023011315796875438 Centerline is valid? [True, True] Translation: X:142.31, Y:-16.78, Z:-2.86 [[ 9.87383900e-01 1.57711285e-01 1.41486384e-02 1.42314648e+02] [-1.57693967e-01 9.87485263e-01 -2.33844707e-03 -1.67804200e+01] [-1.43403714e-02 7.77900654e-05 9.99897169e-01 -2.85716606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164012739 meters 0.02279067025526836 Centerline is valid? [True, True] Translation: X:142.37, Y:-16.79, Z:-2.86 [[ 9.87332439e-01 1.58030193e-01 1.41814008e-02 1.42372987e+02] [-1.58012841e-01 9.87434278e-01 -2.34289040e-03 -1.67896335e+01] [-1.43734487e-02 7.23682609e-05 9.99896694e-01 -2.85947174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224012739 meters 0.024174212444356795 Centerline is valid? [True, True] Translation: X:142.43, Y:-16.81, Z:-2.86 [[ 9.87888020e-01 1.54557585e-01 1.37554592e-02 1.42429409e+02] [-1.54540931e-01 9.87983775e-01 -2.27198434e-03 -1.68058463e+01] [-1.39413229e-02 1.18684651e-04 9.99902808e-01 -2.86156153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284012739 meters 0.02522826290062338 Centerline is valid? [True, True] Translation: X:142.49, Y:-16.82, Z:-2.87 [[ 9.88110468e-01 1.53300212e-01 1.16939450e-02 1.42485728e+02] [-1.53288095e-01 9.88179656e-01 -1.93087524e-03 -1.68229385e+01] [-1.18517221e-02 1.15375484e-04 9.99929759e-01 -2.86805571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344012739 meters 0.023490751598976695 Centerline is valid? [True, True] Translation: X:142.54, Y:-16.83, Z:-2.86 [[ 9.87691293e-01 1.55801663e-01 1.38474155e-02 1.42543711e+02] [-1.55784929e-01 9.87788354e-01 -2.28563993e-03 -1.68346182e+01] [-1.40344222e-02 1.00288026e-04 9.99901508e-01 -2.86447839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404012739 meters 0.021829074940567194 Centerline is valid? [True, True] Translation: X:142.60, Y:-16.84, Z:-2.86 [[ 9.86480676e-01 1.63229668e-01 1.45585706e-02 1.42602253e+02] [-1.63211988e-01 9.86588098e-01 -2.40234759e-03 -1.68355656e+01] [-1.47554469e-02 -6.26377651e-06 9.99891132e-01 -2.86429834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464012739 meters 0.025651248994919003 Centerline is valid? [True, True] Translation: X:142.66, Y:-16.83, Z:-2.86 [[ 9.84535809e-01 1.74336537e-01 1.72050105e-02 1.42663678e+02] [-1.74313561e-01 9.84686107e-01 -2.83770472e-03 -1.68294294e+01] [-1.74362504e-02 -2.05244733e-04 9.99847956e-01 -2.86103192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52401273899997 meters 0.032408957061244414 Centerline is valid? [True, True] Translation: X:142.73, Y:-16.82, Z:-2.87 [[ 9.82939654e-01 1.83219283e-01 1.61347809e-02 1.42725546e+02] [-1.83200278e-01 9.83072011e-01 -2.66078163e-03 -1.68230330e+01] [-1.63491580e-02 -3.40508567e-04 9.99866286e-01 -2.86538323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58401273899997 meters 0.032539309446039666 Centerline is valid? [True, True] Translation: X:142.78, Y:-16.83, Z:-2.87 [[ 9.83075417e-01 1.82532239e-01 1.56430612e-02 1.42783470e+02] [-1.82514287e-01 9.83199817e-01 -2.57972686e-03 -1.68291192e+01] [-1.58511382e-02 -3.19016110e-04 9.99874312e-01 -2.86740185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64401273899998 meters 0.028329746005639794 Centerline is valid? [True, True] Translation: X:142.84, Y:-16.85, Z:-2.87 [[ 9.84253894e-01 1.76149715e-01 1.46816261e-02 1.42840106e+02] [-1.76133206e-01 9.84363366e-01 -2.42016912e-03 -1.68469230e+01] [-1.48783670e-02 -2.03860992e-04 9.99889290e-01 -2.87148393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70401273899998 meters 0.025763250237287205 Centerline is valid? [True, True] Translation: X:142.90, Y:-16.86, Z:-2.87 [[ 9.84714518e-01 1.73541579e-01 1.48539156e-02 1.42897586e+02] [-1.73524388e-01 9.84826529e-01 -2.44834329e-03 -1.68622971e+01] [-1.50534195e-02 -1.66597423e-04 9.99886677e-01 -2.87183750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76401273899998 meters 0.026785369607748275 Centerline is valid? [True, True] Translation: X:142.96, Y:-16.87, Z:-2.87 [[ 9.84449201e-01 1.74902630e-01 1.63963664e-02 1.42956905e+02] [-1.74881886e-01 9.84585713e-01 -2.70171058e-03 -1.68669223e+01] [-1.66161644e-02 -2.07730645e-04 9.99861920e-01 -2.87020465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82401273899998 meters 0.02805815443799998 Centerline is valid? [True, True] Translation: X:143.01, Y:-16.87, Z:-2.88 [[ 9.84203083e-01 1.76562585e-01 1.30363269e-02 1.43014838e+02] [-1.76549622e-01 9.84289398e-01 -2.14773838e-03 -1.68729456e+01] [-1.32107286e-02 -1.87747855e-04 9.99912717e-01 -2.87750096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88401273899999 meters 0.02816394929418841 Centerline is valid? [True, True] Translation: X:143.07, Y:-16.88, Z:-2.88 [[ 9.84086818e-01 1.77297105e-01 1.17843715e-02 1.43073322e+02] [-1.77286573e-01 9.84157357e-01 -1.94080430e-03 -1.68796923e+01] [-1.19417749e-02 -1.79290917e-04 9.99928678e-01 -2.88114749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944012739 meters 0.02998297500033812 Centerline is valid? [True, True] Translation: X:143.13, Y:-16.88, Z:-2.88 [[ 9.83504568e-01 1.80233968e-01 1.53128008e-02 1.43132627e+02] [-1.80216556e-01 9.83623728e-01 -2.52087317e-03 -1.68839568e+01] [-1.55163812e-02 -2.80329958e-04 9.99879574e-01 -2.87590425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004012739 meters 0.03211341663677953 Centerline is valid? [True, True] Translation: X:143.19, Y:-16.89, Z:-2.88 [[ 9.83066491e-01 1.82585313e-01 1.55845120e-02 1.43191789e+02] [-1.82567585e-01 9.83189961e-01 -2.56482769e-03 -1.68851559e+01] [-1.57908356e-02 -3.23830562e-04 9.99875265e-01 -2.87729990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064012739 meters 0.03460666820009996 Centerline is valid? [True, True] Translation: X:143.25, Y:-16.89, Z:-2.88 [[ 9.82787084e-01 1.84286622e-01 1.29610018e-02 1.43250346e+02] [-1.84274513e-01 9.82872502e-01 -2.13267920e-03 -1.68861804e+01] [-1.31320366e-02 -2.92412728e-04 9.99913728e-01 -2.88363800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124012739 meters 0.03264822412395662 Centerline is valid? [True, True] Translation: X:143.31, Y:-16.89, Z:-2.88 [[ 9.82896062e-01 1.83596331e-01 1.44124112e-02 1.43309375e+02] [-1.83581300e-01 9.83001672e-01 -2.37045222e-03 -1.68915320e+01] [-1.46026306e-02 -3.15941021e-04 9.99893326e-01 -2.88174250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184012739 meters 0.029787128066899853 Centerline is valid? [True, True] Translation: X:143.37, Y:-16.90, Z:-2.88 [[ 9.83560814e-01 1.79948635e-01 1.50536898e-02 1.43367194e+02] [-1.79931821e-01 9.83675970e-01 -2.47514052e-03 -1.69007654e+01] [-1.52533511e-02 -2.74186587e-04 9.99883623e-01 -2.88184161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24401273899997 meters 0.02701147755468042 Centerline is valid? [True, True] Translation: X:143.43, Y:-16.91, Z:-2.88 [[ 9.84212860e-01 1.76340729e-01 1.51325106e-02 1.43425800e+02] [-1.76323324e-01 9.84329162e-01 -2.48729974e-03 -1.69102458e+01] [-1.53339837e-02 -2.20182172e-04 9.99882403e-01 -2.88284303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30401273899997 meters 0.025830589524502998 Centerline is valid? [True, True] Translation: X:143.48, Y:-16.92, Z:-2.89 [[ 9.84561791e-01 1.74392323e-01 1.50132463e-02 1.43483010e+02] [-1.74374971e-01 9.84676232e-01 -2.46727271e-03 -1.69179307e+01] [-1.52134603e-02 -1.88751953e-04 9.99884251e-01 -2.88522355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36401273899997 meters 0.02517763955940978 Centerline is valid? [True, True] Translation: X:143.54, Y:-16.93, Z:-2.88 [[ 9.84701723e-01 1.73514907e-01 1.59716735e-02 1.43541328e+02] [-1.73495171e-01 9.84831225e-01 -2.62368358e-03 -1.69270688e+01] [-1.61846510e-02 -1.87462468e-04 9.99869002e-01 -2.88381322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42401273899998 meters 0.025259997478285137 Centerline is valid? [True, True] Translation: X:143.60, Y:-16.94, Z:-2.88 [[ 9.84571909e-01 1.74204129e-01 1.64643980e-02 1.43599189e+02] [-1.74183267e-01 9.84709540e-01 -2.70380498e-03 -1.69358571e+01] [-1.66836638e-02 -2.05732210e-04 9.99860797e-01 -2.88426032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48401273899998 meters 0.025844700424894007 Centerline is valid? [True, True] Translation: X:143.66, Y:-16.94, Z:-2.88 [[ 9.84463230e-01 1.74699387e-01 1.76712375e-02 1.43656393e+02] [-1.74675450e-01 9.84621791e-01 -2.90107907e-03 -1.69418930e+01] [-1.79063023e-02 -2.30725695e-04 9.99839643e-01 -2.88440154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54401273899998 meters 0.024749885894774965 Centerline is valid? [True, True] Translation: X:143.71, Y:-16.95, Z:-2.89 [[ 9.84885878e-01 1.72528818e-01 1.52844502e-02 1.43713824e+02] [-1.72510662e-01 9.85004456e-01 -2.50841239e-03 -1.69537430e+01] [-1.54880250e-02 -1.66230686e-04 9.99880040e-01 -2.89008756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60401273899998 meters 0.023830501439620424 Centerline is valid? [True, True] Translation: X:143.77, Y:-16.96, Z:-2.89 [[ 9.85257875e-01 1.70411154e-01 1.50651410e-02 1.43770887e+02] [-1.70393276e-01 9.85373037e-01 -2.47189932e-03 -1.69639684e+01] [-1.52660229e-02 -1.31540446e-04 9.99883459e-01 -2.89161602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664012739 meters 0.0254838446596235 Centerline is valid? [True, True] Translation: X:143.83, Y:-16.96, Z:-2.89 [[ 9.84806187e-01 1.72967501e-01 1.54601693e-02 1.43830172e+02] [-1.72949011e-01 9.84927516e-01 -2.53524394e-03 -1.69633989e+01] [-1.56656610e-02 -1.77097077e-04 9.99877270e-01 -2.89128222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724012739 meters 0.028843388372430015 Centerline is valid? [True, True] Translation: X:143.89, Y:-16.96, Z:-2.89 [[ 9.83945099e-01 1.77672209e-01 1.68709483e-02 1.43891517e+02] [-1.77650902e-01 9.84089686e-01 -2.76538267e-03 -1.69575681e+01] [-1.70938579e-02 -2.76154461e-04 9.99853851e-01 -2.88972128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784012739 meters 0.025632384929535658 Centerline is valid? [True, True] Translation: X:143.95, Y:-16.97, Z:-2.89 [[ 9.84493393e-01 1.74336543e-01 1.94815204e-02 1.43949711e+02] [-1.74307486e-01 9.84686095e-01 -3.19285513e-03 -1.69698303e+01] [-1.97398136e-02 -2.52430066e-04 9.99805119e-01 -2.88642217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844012739 meters 0.021332407994348882 Centerline is valid? [True, True] Translation: X:144.01, Y:-16.99, Z:-2.89 [[ 9.86120328e-01 1.64880750e-01 1.95201883e-02 1.44005724e+02] [-1.64849785e-01 9.86313507e-01 -3.19601965e-03 -1.69949327e+01] [-1.97799875e-02 -6.62389107e-05 9.99804355e-01 -2.88869951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904012739 meters 0.021405518931183674 Centerline is valid? [True, True] Translation: X:144.06, Y:-17.01, Z:-2.90 [[ 9.86909900e-01 1.60441129e-01 1.63552558e-02 1.44060722e+02] [-1.60418784e-01 9.87045411e-01 -2.67764926e-03 -1.70138135e+01] [-1.65729852e-02 1.89083242e-05 9.99862658e-01 -2.89554113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964012739 meters 0.02125926757524552 Centerline is valid? [True, True] Translation: X:144.12, Y:-17.02, Z:-2.89 [[ 9.86433016e-01 1.63140418e-01 1.83059867e-02 1.44118748e+02] [-1.63112913e-01 9.86602860e-01 -2.99577075e-03 -1.70222159e+01] [-1.85494701e-02 -3.08156294e-05 9.99827943e-01 -2.89263440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02401273899997 meters 0.02185681121649242 Centerline is valid? [True, True] Translation: X:144.18, Y:-17.03, Z:-2.90 [[ 9.85984377e-01 1.65891888e-01 1.77395229e-02 1.44175394e+02] [-1.65866518e-01 9.86143942e-01 -2.90229356e-03 -1.70334778e+01] [-1.79751900e-02 -8.07767881e-05 9.99838430e-01 -2.89570994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08401273899997 meters 0.023045346124355468 Centerline is valid? [True, True] Translation: X:144.23, Y:-17.04, Z:-2.90 [[ 9.85480808e-01 1.68998036e-01 1.63474905e-02 1.44233201e+02] [-1.68976933e-01 9.85616380e-01 -2.67365817e-03 -1.70434405e+01] [-1.65641973e-02 -1.27509991e-04 9.99862796e-01 -2.89965259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14401273899998 meters 0.027689554522417628 Centerline is valid? [True, True] Translation: X:144.29, Y:-17.04, Z:-2.90 [[ 9.84658677e-01 1.73833060e-01 1.51445554e-02 1.44292843e+02] [-1.73815532e-01 9.84775116e-01 -2.47618359e-03 -1.70428419e+01] [-1.53444239e-02 -1.94163285e-04 9.99882249e-01 -2.90372335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20401273899998 meters 0.031617878415475725 Centerline is valid? [True, True] Translation: X:144.35, Y:-17.04, Z:-2.90 [[ 9.83431180e-01 1.80522334e-01 1.65771561e-02 1.44353339e+02] [-1.80502293e-01 9.83570831e-01 -2.70969388e-03 -1.70442120e+01] [-1.67939674e-02 -3.27417222e-04 9.99858918e-01 -2.90161950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26401273899998 meters 0.03270826923193059 Centerline is valid? [True, True] Translation: X:144.41, Y:-17.05, Z:-2.91 [[ 9.83418509e-01 1.80762410e-01 1.45940547e-02 1.44411041e+02] [-1.80746905e-01 9.83526749e-01 -2.38545389e-03 -1.70485618e+01] [-1.47848435e-02 -2.91930697e-04 9.99890656e-01 -2.90695097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32401273899998 meters 0.025746733912562395 Centerline is valid? [True, True] Translation: X:144.47, Y:-17.07, Z:-2.91 [[ 9.84815904e-01 1.72850064e-01 1.61397538e-02 1.44467934e+02] [-1.72830057e-01 9.84948130e-01 -2.63683391e-03 -1.70723310e+01] [-1.63525972e-02 -1.92638608e-04 9.99866269e-01 -2.90633675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38401273899999 meters 0.02154471317773643 Centerline is valid? [True, True] Translation: X:144.52, Y:-17.10, Z:-2.91 [[ 9.86450352e-01 1.63171820e-01 1.70487897e-02 1.44522673e+02] [-1.63148050e-01 9.86597667e-01 -2.78527908e-03 -1.70969382e+01] [-1.72747751e-02 -3.39372544e-05 9.99850779e-01 -2.90591272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444012739 meters 0.021711423494721705 Centerline is valid? [True, True] Translation: X:144.58, Y:-17.12, Z:-2.91 [[ 9.87243877e-01 1.58229800e-01 1.76877769e-02 1.44578401e+02] [-1.58203440e-01 9.87402313e-01 -2.88860947e-03 -1.71179900e+01] [-1.79220159e-02 5.34948595e-05 9.99839386e-01 -2.90569539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504012739 meters 0.021923575094162748 Centerline is valid? [True, True] Translation: X:144.63, Y:-17.13, Z:-2.91 [[ 9.87313993e-01 1.57933464e-01 1.63737436e-02 1.44634164e+02] [-1.57910852e-01 9.87449755e-01 -2.67292411e-03 -1.71329672e+01] [-1.65903933e-02 5.34235584e-05 9.99862369e-01 -2.90957060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564012739 meters 0.021737592757905676 Centerline is valid? [True, True] Translation: X:144.69, Y:-17.14, Z:-2.90 [[ 9.87185877e-01 1.58450005e-01 1.89113954e-02 1.44691874e+02] [-1.58419960e-01 9.87367000e-01 -3.08589665e-03 -1.71449967e+01] [-1.91614481e-02 5.04110721e-05 9.99816401e-01 -2.90468433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624012739 meters 0.022205461616166485 Centerline is valid? [True, True] Translation: X:144.75, Y:-17.16, Z:-2.91 [[ 9.87535688e-01 1.56220004e-01 1.91983437e-02 1.44749002e+02] [-1.56188636e-01 9.87722280e-01 -3.13182724e-03 -1.71596508e+01] [-1.94518859e-02 9.42280412e-05 9.99810790e-01 -2.90585206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684012739 meters 0.023177548914125757 Centerline is valid? [True, True] Translation: X:144.81, Y:-17.18, Z:-2.91 [[ 9.88030209e-01 1.53082501e-01 1.90277131e-02 1.44805449e+02] [-1.53051124e-01 9.88213400e-01 -3.10307579e-03 -1.71761865e+01] [-1.92784676e-02 1.53719749e-04 9.99814141e-01 -2.90858407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74401273899997 meters 0.027028696731985664 Centerline is valid? [True, True] Translation: X:144.86, Y:-17.19, Z:-2.90 [[ 9.88097412e-01 1.52866459e-01 1.71857607e-02 1.44863409e+02] [-1.52840844e-01 9.88246844e-01 -2.80194180e-03 -1.71865052e+01] [-1.74120967e-02 1.41905269e-04 9.99848388e-01 -2.90472163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80401273899997 meters 0.023524256378686603 Centerline is valid? [True, True] Translation: X:144.92, Y:-17.20, Z:-2.91 [[ 9.88088321e-01 1.52840573e-01 1.79228766e-02 1.44919358e+02] [-1.52812725e-01 9.88250847e-01 -2.92123530e-03 -1.71994914e+01] [-1.81587812e-02 1.47594875e-04 9.99835105e-01 -2.91201773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86401273899997 meters 0.023444669971596954 Centerline is valid? [True, True] Translation: X:144.98, Y:-17.22, Z:-2.91 [[ 9.87979378e-01 1.53414836e-01 1.89904457e-02 1.44977474e+02] [-1.53383701e-01 9.88161863e-01 -3.09397851e-03 -1.72161147e+01] [-1.92402964e-02 1.43962119e-04 9.99814878e-01 -2.91238433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92401273899998 meters 0.023144974925901993 Centerline is valid? [True, True] Translation: X:145.04, Y:-17.23, Z:-2.91 [[ 9.87839837e-01 1.54365329e-01 1.85419113e-02 1.45035242e+02] [-1.54335823e-01 9.88013831e-01 -3.02047497e-03 -1.72296318e+01] [-1.87859215e-02 1.22064346e-04 9.99823522e-01 -2.91367124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98401273899998 meters 0.022462982060015978 Centerline is valid? [True, True] Translation: X:145.09, Y:-17.24, Z:-2.92 [[ 9.87354152e-01 1.57708032e-01 1.61231487e-02 1.45093410e+02] [-1.57686173e-01 9.87485784e-01 -2.62618444e-03 -1.72379219e+01] [-1.63355506e-02 5.05764844e-05 9.99866565e-01 -2.91926369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04401273899998 meters 0.022202679472320148 Centerline is valid? [True, True] Translation: X:145.15, Y:-17.24, Z:-2.92 [[ 9.86526187e-01 1.62641275e-01 1.77171815e-02 1.45151770e+02] [-1.62615685e-01 9.86685266e-01 -2.88519371e-03 -1.72419598e+01] [-1.79505335e-02 -3.47724681e-05 9.99838876e-01 -2.91633106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10401273899998 meters 0.024325830601759267 Centerline is valid? [True, True] Translation: X:145.21, Y:-17.24, Z:-2.92 [[ 9.85643697e-01 1.67931940e-01 1.74747176e-02 1.45210517e+02] [-1.67907895e-01 9.85798583e-01 -2.84464184e-03 -1.72423924e+01] [-1.77042581e-02 -1.30339749e-04 9.99843259e-01 -2.91907847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164012739 meters 0.026930183241276346 Centerline is valid? [True, True] Translation: X:145.27, Y:-17.24, Z:-2.92 [[ 9.84961339e-01 1.71882318e-01 1.75393614e-02 1.45270124e+02] [-1.71858739e-01 9.85117469e-01 -2.85416598e-03 -1.72442460e+01] [-1.77689120e-02 -2.03049379e-04 9.99842100e-01 -2.91973741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224012739 meters 0.025420320715456798 Centerline is valid? [True, True] Translation: X:145.33, Y:-17.25, Z:-2.92 [[ 9.85120830e-01 1.70890275e-01 1.82610159e-02 1.45328044e+02] [-1.70864562e-01 9.85290047e-01 -2.97074324e-03 -1.72521328e+01] [-1.85000683e-02 -1.93619432e-04 9.99828840e-01 -2.91949061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284012739 meters 0.023288025743419663 Centerline is valid? [True, True] Translation: X:145.38, Y:-17.26, Z:-2.92 [[ 9.85979944e-01 1.65720338e-01 1.95018029e-02 1.45384787e+02] [-1.65690019e-01 9.86172783e-01 -3.17159007e-03 -1.72648438e+01] [-1.97577443e-02 -1.04129899e-04 9.99804791e-01 -2.91900321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344012739 meters 0.022830992313861802 Centerline is valid? [True, True] Translation: X:145.44, Y:-17.28, Z:-2.92 [[ 9.86157194e-01 1.64703918e-01 1.91470290e-02 1.45443027e+02] [-1.64674523e-01 9.86343050e-01 -3.11274761e-03 -1.72757506e+01] [-1.93982207e-02 -8.33694236e-05 9.99811833e-01 -2.92018609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404012739 meters 0.02306467853302902 Centerline is valid? [True, True] Translation: X:145.50, Y:-17.28, Z:-2.93 [[ 9.86258749e-01 1.64293725e-01 1.73565914e-02 1.45501224e+02] [-1.64269520e-01 9.86411459e-01 -2.82092852e-03 -1.72829106e+01] [-1.75842015e-02 -6.89935007e-05 9.99845384e-01 -2.92585103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464012739 meters 0.023851290658388005 Centerline is valid? [True, True] Translation: X:145.56, Y:-17.29, Z:-2.92 [[ 9.85881001e-01 1.66417928e-01 1.85398195e-02 1.45559379e+02] [-1.66390703e-01 9.86055303e-01 -3.01230261e-03 -1.72856306e+01] [-1.87825884e-02 -1.15081679e-04 9.99823585e-01 -2.92432229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52401273899997 meters 0.023777085362592393 Centerline is valid? [True, True] Translation: X:145.62, Y:-17.30, Z:-2.92 [[ 9.86024800e-01 1.65599775e-01 1.82156193e-02 1.45617199e+02] [-1.65573374e-01 9.86193036e-01 -2.95854702e-03 -1.72958027e+01] [-1.84540516e-02 -9.88208143e-05 9.99829705e-01 -2.92450997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58401273899997 meters 0.023716746703317644 Centerline is valid? [True, True] Translation: X:145.67, Y:-17.30, Z:-2.93 [[ 9.86019566e-01 1.65551522e-01 1.89237884e-02 1.45674866e+02] [-1.65523037e-01 9.86201137e-01 -3.07267238e-03 -1.73048572e+01] [-1.91713472e-02 -1.02607846e-04 9.99816208e-01 -2.92620038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64401273899998 meters 0.02418429410770423 Centerline is valid? [True, True] Translation: X:145.73, Y:-17.31, Z:-2.93 [[ 9.85824068e-01 1.66817734e-01 1.79652844e-02 1.45733540e+02] [-1.66792294e-01 9.85987743e-01 -2.91580907e-03 -1.73099878e+01] [-1.81999589e-02 -1.21996248e-04 9.99834360e-01 -2.92827063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70401273899998 meters 0.02540351882925829 Centerline is valid? [True, True] Translation: X:145.79, Y:-17.31, Z:-2.93 [[ 9.85604914e-01 1.68206710e-01 1.70134005e-02 1.45791519e+02] [-1.68184114e-01 9.85751735e-01 -2.76058778e-03 -1.73107317e+01] [-1.72353384e-02 -1.40534794e-04 9.99851451e-01 -2.93075711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76401273899998 meters 0.024231969408529293 Centerline is valid? [True, True] Translation: X:145.85, Y:-17.32, Z:-2.92 [[ 9.85745698e-01 1.66941778e-01 2.08772985e-02 1.45849492e+02] [-1.66907500e-01 9.85966744e-01 -3.38604126e-03 -1.73213786e+01] [-2.11495938e-02 -1.46802098e-04 9.99776312e-01 -2.92403337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82401273899998 meters 0.023602590430753516 Centerline is valid? [True, True] Translation: X:145.91, Y:-17.33, Z:-2.93 [[ 9.86392682e-01 1.63174371e-01 2.00898460e-02 1.45906629e+02] [-1.63141867e-01 9.86597243e-01 -3.25737823e-03 -1.73308089e+01] [-2.03521073e-02 -6.44409311e-05 9.99792872e-01 -2.92667775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88401273899999 meters 0.023452901138554184 Centerline is valid? [True, True] Translation: X:145.96, Y:-17.35, Z:-2.93 [[ 9.87364217e-01 1.57366354e-01 1.86476396e-02 1.45962943e+02] [-1.57337334e-01 9.87540292e-01 -3.02247024e-03 -1.73475699e+01] [-1.88909306e-02 5.03090620e-05 9.99821549e-01 -2.93072339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944012739 meters 0.02524656968740418 Centerline is valid? [True, True] Translation: X:146.02, Y:-17.36, Z:-2.94 [[ 9.88072940e-01 1.53049298e-01 1.69640365e-02 1.46018236e+02] [-1.53024657e-01 9.88218548e-01 -2.74890927e-03 -1.73638994e+01] [-1.71848942e-02 1.20206998e-04 9.99852322e-01 -2.93603363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004012739 meters 0.025849746695709927 Centerline is valid? [True, True] Translation: X:146.08, Y:-17.38, Z:-2.93 [[ 9.88541903e-01 1.49890604e-01 1.78245035e-02 1.46076002e+02] [-1.49862904e-01 9.88702571e-01 -2.88734186e-03 -1.73770233e+01] [-1.80559178e-02 1.83026562e-04 9.99836962e-01 -2.93429127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064012739 meters 0.027634640166654664 Centerline is valid? [True, True] Translation: X:146.13, Y:-17.39, Z:-2.94 [[ 9.89005404e-01 1.46861556e-01 1.73203559e-02 1.46134022e+02] [-1.46834952e-01 9.89157030e-01 -2.80479228e-03 -1.73939822e+01] [-1.75444680e-02 2.30721094e-04 9.99846057e-01 -2.93719731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124012739 meters 0.028050539926094572 Centerline is valid? [True, True] Translation: X:146.19, Y:-17.41, Z:-2.94 [[ 9.88964486e-01 1.47226325e-01 1.65424901e-02 1.46190687e+02] [-1.47202113e-01 9.89102807e-01 -2.67849253e-03 -1.74094313e+01] [-1.67565681e-02 2.13844486e-04 9.99859576e-01 -2.93852372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184012739 meters 0.02542827506800888 Centerline is valid? [True, True] Translation: X:146.25, Y:-17.42, Z:-2.94 [[ 9.88197152e-01 1.52222588e-01 1.71660541e-02 1.46249141e+02] [-1.52197280e-01 9.88346228e-01 -2.77885282e-03 -1.74152049e+01] [-1.73890089e-02 1.33427703e-04 9.99848791e-01 -2.93815475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24401273899997 meters 0.024615067020454028 Centerline is valid? [True, True] Translation: X:146.31, Y:-17.43, Z:-2.94 [[ 9.87860141e-01 1.54344221e-01 1.76125818e-02 1.46306864e+02] [-1.54317932e-01 9.88017131e-01 -2.85029664e-03 -1.74250006e+01] [-1.78414593e-02 9.77572453e-05 9.99840824e-01 -2.93893561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30401273899997 meters 0.025026094515473666 Centerline is valid? [True, True] Translation: X:146.36, Y:-17.44, Z:-2.94 [[ 9.87868983e-01 1.54416451e-01 1.64448451e-02 1.46363398e+02] [-1.54393555e-01 9.88005846e-01 -2.66055631e-03 -1.74420882e+01] [-1.66584368e-02 8.93029579e-05 9.99861235e-01 -2.94305684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36401273899997 meters 0.02478678710570012 Centerline is valid? [True, True] Translation: X:146.42, Y:-17.45, Z:-2.94 [[ 9.87835073e-01 1.54664353e-01 1.61494861e-02 1.46421428e+02] [-1.54642314e-01 9.87967070e-01 -2.61226098e-03 -1.74532793e+01] [-1.63591841e-02 8.30891152e-05 9.99866176e-01 -2.94242174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42401273899998 meters 0.02486877053693907 Centerline is valid? [True, True] Translation: X:146.48, Y:-17.47, Z:-2.94 [[ 9.87602099e-01 1.56173777e-01 1.58696294e-02 1.46479420e+02] [-1.56152702e-01 9.87729593e-01 -2.56625980e-03 -1.74658460e+01] [-1.60756851e-02 5.63580663e-05 9.99870776e-01 -2.94345307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48401273899998 meters 0.031861945555601165 Centerline is valid? [True, True] Translation: X:146.54, Y:-17.47, Z:-2.93 [[ 9.86907348e-01 1.60365650e-01 1.72262867e-02 1.46539036e+02] [-1.60341470e-01 9.87057677e-01 -2.78476292e-03 -1.74690038e+01] [-1.74499188e-02 -1.37851473e-05 9.99847738e-01 -2.93308108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54401273899998 meters 0.02610632248552917 Centerline is valid? [True, True] Translation: X:146.60, Y:-17.47, Z:-2.94 [[ 9.85694361e-01 1.67696087e-01 1.68715525e-02 1.46596951e+02] [-1.67673978e-01 9.85838731e-01 -2.72665077e-03 -1.74697315e+01] [-1.70898785e-02 -1.41276025e-04 9.99853947e-01 -2.94277198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60401273899998 meters 0.030744104140968016 Centerline is valid? [True, True] Translation: X:146.66, Y:-17.47, Z:-2.94 [[ 9.84018859e-01 1.77165786e-01 1.78653297e-02 1.46658845e+02] [-1.77142576e-01 9.84180969e-01 -2.88595824e-03 -1.74671548e+01] [-1.80940105e-02 -3.24873195e-04 9.99836237e-01 -2.94271306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664012739 meters 0.037444069638856194 Centerline is valid? [True, True] Translation: X:146.72, Y:-17.46, Z:-2.95 [[ 9.82898217e-01 1.83397611e-01 1.66256262e-02 1.46719549e+02] [-1.83378400e-01 9.83038732e-01 -2.68573476e-03 -1.74617598e+01] [-1.68361918e-02 -4.08976827e-04 9.99858178e-01 -2.94554704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724012739 meters 0.04485123808540591 Centerline is valid? [True, True] Translation: X:146.78, Y:-17.45, Z:-2.94 [[ 9.81385414e-01 1.91264721e-01 1.73342596e-02 1.46782317e+02] [-1.91245066e-01 9.81538326e-01 -2.79998464e-03 -1.74516282e+01] [-1.75497784e-02 -5.67227539e-04 9.99845830e-01 -2.94454836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784012739 meters 0.05012553861368238 Centerline is valid? [True, True] Translation: X:146.85, Y:-17.44, Z:-2.95 [[ 9.80350044e-01 1.96631324e-01 1.58086710e-02 1.46845018e+02] [-1.96615673e-01 9.80477311e-01 -2.55357548e-03 -1.74422222e+01] [-1.60021561e-02 -6.04834646e-04 9.99871774e-01 -2.95015252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844012739 meters 0.04972439280815495 Centerline is valid? [True, True] Translation: X:146.90, Y:-17.44, Z:-2.95 [[ 9.80923936e-01 1.93725069e-01 1.60881828e-02 1.46904947e+02] [-1.93708467e-01 9.81055695e-01 -2.59878919e-03 -1.74419712e+01] [-1.62868540e-02 -5.67202711e-04 9.99867200e-01 -2.95051591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904012739 meters 0.04069900261127449 Centerline is valid? [True, True] Translation: X:146.96, Y:-17.46, Z:-2.95 [[ 9.82369493e-01 1.86123509e-01 1.75561530e-02 1.46963686e+02] [-1.86102533e-01 9.82526238e-01 -2.83544829e-03 -1.74553106e+01] [-1.77771245e-02 -4.81786642e-04 9.99841858e-01 -2.94811174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964012739 meters 0.03586621465775014 Centerline is valid? [True, True] Translation: X:147.02, Y:-17.47, Z:-2.95 [[ 9.83440875e-01 1.80428964e-01 1.70127661e-02 1.47022791e+02] [-1.80408421e-01 9.83587949e-01 -2.74731262e-03 -1.74679549e+01] [-1.72292465e-02 -3.67426742e-04 9.99851498e-01 -2.95040891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02401273899997 meters 0.02986816584284525 Centerline is valid? [True, True] Translation: X:147.08, Y:-17.48, Z:-2.96 [[ 9.85023423e-01 1.71842828e-01 1.41031392e-02 1.47080681e+02] [-1.71827830e-01 9.85124363e-01 -2.27739641e-03 -1.74828855e+01] [-1.42847002e-02 -1.80023004e-04 9.99897952e-01 -2.95651691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08401273899997 meters 0.02858391178082732 Centerline is valid? [True, True] Translation: X:147.14, Y:-17.49, Z:-2.96 [[ 9.85258536e-01 1.70525055e-01 1.36683334e-02 1.47138962e+02] [-1.70510843e-01 9.85353328e-01 -2.20703834e-03 -1.74898357e+01] [-1.38444932e-02 -1.56095694e-04 9.99904148e-01 -2.95772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14401273899998 meters 0.027795933955994685 Centerline is valid? [True, True] Translation: X:147.20, Y:-17.49, Z:-2.96 [[ 9.85484533e-01 1.69032322e-01 1.57578212e-02 1.47196532e+02] [-1.69013256e-01 9.85610496e-01 -2.54357675e-03 -1.74940742e+01] [-1.59610207e-02 -1.56625123e-04 9.99872603e-01 -2.95565963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20401273899998 meters 0.026446883797826115 Centerline is valid? [True, True] Translation: X:147.25, Y:-17.50, Z:-2.96 [[ 9.86044379e-01 1.65814557e-01 1.49001495e-02 1.47254853e+02] [-1.65797156e-01 9.86156946e-01 -2.40426286e-03 -1.75040743e+01] [-1.50925477e-02 -9.96925227e-05 9.99886096e-01 -2.95906579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26401273899998 meters 0.025498965704542163 Centerline is valid? [True, True] Translation: X:147.31, Y:-17.52, Z:-2.96 [[ 9.86434053e-01 1.63378406e-01 1.59798416e-02 1.47312194e+02] [-1.63358085e-01 9.86563476e-01 -2.57764711e-03 -1.75160556e+01] [-1.61862600e-02 -6.77574343e-05 9.99868992e-01 -2.95821351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32401273899998 meters 0.025426292956881247 Centerline is valid? [True, True] Translation: X:147.37, Y:-17.54, Z:-2.95 [[ 9.87851186e-01 1.54287080e-01 1.85884478e-02 1.47368741e+02] [-1.54257990e-01 9.88026056e-01 -2.99737066e-03 -1.75383429e+01] [-1.88283264e-02 9.35395625e-05 9.99822727e-01 -2.95374880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38401273899999 meters 0.027959444830363958 Centerline is valid? [True, True] Translation: X:147.42, Y:-17.56, Z:-2.96 [[ 9.88778153e-01 1.48462058e-01 1.66367356e-02 1.47423303e+02] [-1.48437942e-01 9.88918088e-01 -2.68201915e-03 -1.75591181e+01] [-1.68505469e-02 1.82399132e-04 9.99858003e-01 -2.95968910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444012739 meters 0.027802447290611543 Centerline is valid? [True, True] Translation: X:147.48, Y:-17.57, Z:-2.96 [[ 9.88786809e-01 1.48456322e-01 1.61668173e-02 1.47480552e+02] [-1.48433570e-01 9.88918950e-01 -2.60501145e-03 -1.75732930e+01] [-1.63744024e-02 1.76102555e-04 9.99865915e-01 -2.96224773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504012739 meters 0.02697061476205161 Centerline is valid? [True, True] Translation: X:147.54, Y:-17.59, Z:-2.96 [[ 9.88472935e-01 1.50425051e-01 1.71336236e-02 1.47538703e+02] [-1.50399805e-01 9.88621404e-01 -2.75999328e-03 -1.75853989e+01] [-1.73538392e-02 1.51285001e-04 9.99849399e-01 -2.96200191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564012739 meters 0.02646291871437957 Centerline is valid? [True, True] Translation: X:147.60, Y:-17.60, Z:-2.96 [[ 9.88292985e-01 1.51403796e-01 1.88113425e-02 1.47595951e+02] [-1.51373568e-01 9.88471987e-01 -3.02880597e-03 -1.75968234e+01] [-1.90530579e-02 1.45807657e-04 9.99818463e-01 -2.95999532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624012739 meters 0.027366638693394736 Centerline is valid? [True, True] Translation: X:147.65, Y:-17.62, Z:-2.96 [[ 9.88557235e-01 1.49672440e-01 1.87817593e-02 1.47652279e+02] [-1.49642016e-01 9.88735621e-01 -3.02291575e-03 -1.76173481e+01] [-1.90226416e-02 1.77784926e-04 9.99819037e-01 -2.96174781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684012739 meters 0.030046647850297214 Centerline is valid? [True, True] Translation: X:147.71, Y:-17.64, Z:-2.97 [[ 9.89294194e-01 1.45090924e-01 1.56723443e-02 1.47708684e+02] [-1.45069176e-01 9.89418301e-01 -2.52177000e-03 -1.76413071e+01] [-1.58723902e-02 2.21198340e-04 9.99874001e-01 -2.96823100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74401273899997 meters 0.03214368007483063 Centerline is valid? [True, True] Translation: X:147.76, Y:-17.67, Z:-2.97 [[ 9.89717974e-01 1.42227939e-01 1.51507667e-02 1.47764160e+02] [-1.42207284e-01 9.89833899e-01 -2.43755692e-03 -1.76686888e+01] [-1.53434312e-02 2.57944518e-04 9.99882249e-01 -2.97120115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80401273899997 meters 0.030811970408370075 Centerline is valid? [True, True] Translation: X:147.82, Y:-17.69, Z:-2.97 [[ 9.89324227e-01 1.44958920e-01 1.49828365e-02 1.47821341e+02] [-1.44939042e-01 9.89437652e-01 -2.40995239e-03 -1.76850137e+01] [-1.51739267e-02 2.12626312e-04 9.99884847e-01 -2.97292772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86401273899997 meters 0.02809336060194427 Centerline is valid? [True, True] Translation: X:147.88, Y:-17.70, Z:-2.97 [[ 9.88554737e-01 1.50114186e-01 1.50087889e-02 1.47879646e+02] [-1.50094838e-01 9.88668657e-01 -2.41377253e-03 -1.76986113e+01] [-1.52010607e-02 1.33404541e-04 9.99884448e-01 -2.97458046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92401273899998 meters 0.027021351593098705 Centerline is valid? [True, True] Translation: X:147.94, Y:-17.71, Z:-2.98 [[ 9.87985510e-01 1.53953759e-01 1.35230325e-02 1.47937523e+02] [-1.53938414e-01 9.88078051e-01 -2.17463639e-03 -1.77091342e+01] [-1.36966050e-02 6.67950708e-05 9.99906195e-01 -2.97831541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98401273899998 meters 0.02619737269748896 Centerline is valid? [True, True] Translation: X:148.00, Y:-17.72, Z:-2.97 [[ 9.87585859e-01 1.56368926e-01 1.49308297e-02 1.47995409e+02] [-1.56350503e-01 9.87698718e-01 -2.40051258e-03 -1.77186126e+01] [-1.51225270e-02 3.62695293e-05 9.99885647e-01 -2.97456627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04401273899998 meters 0.02573803056649367 Centerline is valid? [True, True] Translation: X:148.05, Y:-17.72, Z:-2.97 [[ 9.86970873e-01 1.59888308e-01 1.80062393e-02 1.48052944e+02] [-1.59862118e-01 9.87135112e-01 -2.89391209e-03 -1.77240154e+01] [-1.82372938e-02 -2.23086242e-05 9.99833686e-01 -2.97159823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10401273899998 meters 0.025826993717405575 Centerline is valid? [True, True] Translation: X:148.11, Y:-17.74, Z:-2.97 [[ 9.87062194e-01 1.59456814e-01 1.67854300e-02 1.48110461e+02] [-1.59434010e-01 9.87204905e-01 -2.69669531e-03 -1.77386231e+01] [-1.70006653e-02 -1.43624169e-05 9.99855478e-01 -2.97471482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164012739 meters 0.025857418516296395 Centerline is valid? [True, True] Translation: X:148.17, Y:-17.75, Z:-2.98 [[ 9.86962638e-01 1.60153156e-01 1.59911939e-02 1.48168137e+02] [-1.60132559e-01 9.87092177e-01 -2.56861265e-03 -1.77477000e+01] [-1.61961539e-02 -2.55860841e-05 9.99868833e-01 -2.97692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224012739 meters 0.026178202785572337 Centerline is valid? [True, True] Translation: X:148.23, Y:-17.76, Z:-2.98 [[ 9.86881168e-01 1.60683496e-01 1.56963478e-02 1.48225686e+02] [-1.60663731e-01 9.87005984e-01 -2.52042793e-03 -1.77628751e+01] [-1.58973803e-02 -3.44709398e-05 9.99873628e-01 -2.97865221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284012739 meters 0.025633514365374 Centerline is valid? [True, True] Translation: X:148.28, Y:-17.78, Z:-2.97 [[ 9.87075186e-01 1.59146426e-01 1.88412542e-02 1.48284592e+02] [-1.59117678e-01 9.87254990e-01 -3.02483256e-03 -1.77794924e+01] [-1.90825135e-02 -1.22394611e-05 9.99817912e-01 -2.97275861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344012739 meters 0.02606311434847895 Centerline is valid? [True, True] Translation: X:148.34, Y:-17.79, Z:-2.97 [[ 9.86337083e-01 1.63507246e-01 2.01131350e-02 1.48343376e+02] [-1.63475392e-01 9.86542128e-01 -3.22902336e-03 -1.77876555e+01] [-2.03704237e-02 -1.03097139e-04 9.99792496e-01 -2.97158862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404012739 meters 0.027980077212296055 Centerline is valid? [True, True] Translation: X:148.40, Y:-17.79, Z:-2.98 [[ 9.85673440e-01 1.67837627e-01 1.66853127e-02 1.48402866e+02] [-1.67816322e-01 9.85814640e-01 -2.67895227e-03 -1.77912905e+01] [-1.68982546e-02 -1.59495706e-04 9.99857202e-01 -2.97951228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464012739 meters 0.031248808287374204 Centerline is valid? [True, True] Translation: X:148.46, Y:-17.79, Z:-2.98 [[ 9.84567308e-01 1.73985724e-01 1.88728457e-02 1.48462329e+02] [-1.73959602e-01 9.84748129e-01 -3.02968173e-03 -1.77948428e+01] [-1.91121208e-02 -3.00187138e-04 9.99817302e-01 -2.97508311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52401273899997 meters 0.0361006788830951 Centerline is valid? [True, True] Translation: X:148.52, Y:-17.79, Z:-2.98 [[ 9.83616874e-01 1.79560344e-01 1.59977747e-02 1.48523008e+02] [-1.79542321e-01 9.83746900e-01 -2.56757033e-03 -1.77916158e+01] [-1.61987950e-02 -3.46772097e-04 9.99868731e-01 -2.98238372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58401273899997 meters 0.04223378959774384 Centerline is valid? [True, True] Translation: X:148.58, Y:-17.78, Z:-2.98 [[ 9.82585272e-01 1.84930851e-01 1.80766288e-02 1.48583916e+02] [-1.84908751e-01 9.82751412e-01 -2.90096481e-03 -1.77839988e+01] [-1.83013104e-02 -4.92081555e-04 9.99832396e-01 -2.97978509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64401273899998 meters 0.038881105188685344 Centerline is valid? [True, True] Translation: X:148.64, Y:-17.79, Z:-2.98 [[ 9.82788457e-01 1.83667463e-01 1.98270439e-02 1.48641853e+02] [-1.83640622e-01 9.82988300e-01 -3.18168236e-03 -1.77925731e+01] [-2.00741237e-02 -5.14129980e-04 9.99798362e-01 -2.98015059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70401273899998 meters 0.034054966178301074 Centerline is valid? [True, True] Translation: X:148.70, Y:-17.81, Z:-2.98 [[ 9.83912015e-01 1.77516012e-01 2.01298923e-02 1.48700262e+02] [-1.77487077e-01 9.84117833e-01 -3.22929475e-03 -1.78064002e+01] [-2.03834375e-02 -3.95453837e-04 9.99792158e-01 -2.98107194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76401273899998 meters 0.030115519382909302 Centerline is valid? [True, True] Translation: X:148.76, Y:-17.82, Z:-2.99 [[ 9.84914498e-01 1.72177968e-01 1.72678889e-02 1.48758547e+02] [-1.72155857e-01 9.85065829e-01 -2.77002943e-03 -1.78188306e+01] [-1.74869453e-02 -2.44526073e-04 9.99847062e-01 -2.98679001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82401273899998 meters 0.02996863146723561 Centerline is valid? [True, True] Translation: X:148.82, Y:-17.82, Z:-2.99 [[ 9.85110482e-01 1.71054318e-01 1.72557066e-02 1.48816774e+02] [-1.71032072e-01 9.85261574e-01 -2.76775860e-03 -1.78231561e+01] [-1.74748217e-02 -2.24731248e-04 9.99847278e-01 -2.98817317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88401273899999 meters 0.029677603165683644 Centerline is valid? [True, True] Translation: X:148.88, Y:-17.83, Z:-2.99 [[ 9.85304666e-01 1.70042424e-01 1.61335030e-02 1.48875419e+02] [-1.70022858e-01 9.85436724e-01 -2.58680044e-03 -1.78297982e+01] [-1.63384122e-02 -1.94277744e-04 9.99866500e-01 -2.99086403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944012739 meters 0.027524240574836843 Centerline is valid? [True, True] Translation: X:148.93, Y:-17.84, Z:-2.99 [[ 9.85926114e-01 1.66322478e-01 1.69272188e-02 1.48932970e+02] [-1.66300405e-01 9.86071404e-01 -2.71320848e-03 -1.78442397e+01] [-1.71427140e-02 -1.39980262e-04 9.99853043e-01 -2.99152848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004012739 meters 0.02806203695652221 Centerline is valid? [True, True] Translation: X:148.99, Y:-17.85, Z:-2.99 [[ 9.85798537e-01 1.67078004e-01 1.69169896e-02 1.48991160e+02] [-1.67056083e-01 9.85943668e-01 -2.71077368e-03 -1.78488791e+01] [-1.71321095e-02 -1.53809295e-04 9.99853223e-01 -2.99258189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064012739 meters 0.029730245869451784 Centerline is valid? [True, True] Translation: X:149.05, Y:-17.85, Z:-2.99 [[ 9.85127230e-01 1.70866045e-01 1.81421011e-02 1.49051182e+02] [-1.70841497e-01 9.85294240e-01 -2.90586852e-03 -1.78472666e+01] [-1.83718220e-02 -2.36773513e-04 9.99831196e-01 -2.99074771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124012739 meters 0.02947070037829784 Centerline is valid? [True, True] Translation: X:149.11, Y:-17.86, Z:-2.99 [[ 9.85190535e-01 1.70377278e-01 1.92663671e-02 1.49108356e+02] [-1.70349520e-01 9.85378873e-01 -3.08496419e-03 -1.78550918e+01] [-1.95102789e-02 -2.42738871e-04 9.99809627e-01 -2.98990528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184012739 meters 0.028317822170344016 Centerline is valid? [True, True] Translation: X:149.17, Y:-17.86, Z:-2.99 [[ 9.85529537e-01 1.68381878e-01 1.94698260e-02 1.49166056e+02] [-1.68353164e-01 9.85721817e-01 -3.11635955e-03 -1.78645546e+01] [-1.97165708e-02 -2.06542425e-04 9.99805588e-01 -2.99055533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24401273899997 meters 0.026382477750449787 Centerline is valid? [True, True] Translation: X:149.22, Y:-17.88, Z:-2.99 [[ 9.86304994e-01 1.63822220e-01 1.90981276e-02 1.49223287e+02] [-1.63793754e-01 9.86489872e-01 -3.05596957e-03 -1.78801914e+01] [-1.93407451e-02 -1.14035953e-04 9.99812944e-01 -2.99206103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30401273899997 meters 0.02543810946803007 Centerline is valid? [True, True] Translation: X:149.28, Y:-17.90, Z:-2.99 [[ 9.87490003e-01 1.56486660e-01 1.93757320e-02 1.49280486e+02] [-1.56455966e-01 9.87680072e-01 -3.09943741e-03 -1.78975891e+01] [-1.96220450e-02 2.92145914e-05 9.99807469e-01 -2.99241599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36401273899997 meters 0.02618871795507373 Centerline is valid? [True, True] Translation: X:149.34, Y:-17.91, Z:-3.00 [[ 9.87942115e-01 1.54008710e-01 1.58649089e-02 1.49338030e+02] [-1.53987824e-01 9.88069488e-01 -2.53712714e-03 -1.79120266e+01] [-1.60663720e-02 6.35319627e-05 9.99870925e-01 -3.00096862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42401273899998 meters 0.025867671362153344 Centerline is valid? [True, True] Translation: X:149.40, Y:-17.92, Z:-3.00 [[ 9.87921335e-01 1.53837498e-01 1.85865609e-02 1.49395012e+02] [-1.53808809e-01 9.88096158e-01 -2.97190028e-03 -1.79233775e+01] [-1.88224991e-02 7.72269039e-05 9.99822838e-01 -2.99764443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48401273899998 meters 0.025727700401197446 Centerline is valid? [True, True] Translation: X:149.45, Y:-17.93, Z:-3.00 [[ 9.87888324e-01 1.54096319e-01 1.81929493e-02 1.49453994e+02] [-1.54068897e-01 9.88055828e-01 -2.90782619e-03 -1.79345420e+01] [-1.84237349e-02 6.96399153e-05 9.99830266e-01 -2.99911869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54401273899998 meters 0.0255789763444183 Centerline is valid? [True, True] Translation: X:149.51, Y:-17.95, Z:-3.00 [[ 9.87776087e-01 1.54718237e-01 1.89912990e-02 1.49512042e+02] [-1.54688479e-01 9.87958635e-01 -3.03495729e-03 -1.79473951e+01] [-1.92321810e-02 6.01230958e-05 9.99815043e-01 -2.99885848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60401273899998 meters 0.025580156698259096 Centerline is valid? [True, True] Translation: X:149.57, Y:-17.96, Z:-3.00 [[ 9.87687500e-01 1.55344782e-01 1.84770166e-02 1.49569326e+02] [-1.55316731e-01 9.87860312e-01 -2.95236149e-03 -1.79616344e+01] [-1.87113454e-02 4.62207110e-05 9.99824926e-01 -3.00271278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664012739 meters 0.025543748615912073 Centerline is valid? [True, True] Translation: X:149.63, Y:-17.97, Z:-3.01 [[ 9.87128065e-01 1.59030608e-01 1.69543312e-02 1.49626385e+02] [-1.59007542e-01 9.87273653e-01 -2.70858485e-03 -1.79675491e+01] [-1.71693124e-02 -2.21464117e-05 9.99852596e-01 -3.00665155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724012739 meters 0.025969142368732753 Centerline is valid? [True, True] Translation: X:149.69, Y:-17.97, Z:-3.00 [[ 9.86591201e-01 1.62119508e-01 1.88432162e-02 1.49685090e+02] [-1.62091602e-01 9.86771127e-01 -3.00911218e-03 -1.79741785e+01] [-1.90817774e-02 -8.55635029e-05 9.99817923e-01 -3.00368831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784012739 meters 0.027482622236758552 Centerline is valid? [True, True] Translation: X:149.74, Y:-17.98, Z:-3.01 [[ 9.86064703e-01 1.65466262e-01 1.72429050e-02 1.49743495e+02] [-1.65443418e-01 9.86215442e-01 -2.75284575e-03 -1.79790668e+01] [-1.74607223e-02 -1.38241125e-04 9.99847540e-01 -3.00854561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844012739 meters 0.030049817133547124 Centerline is valid? [True, True] Translation: X:149.80, Y:-17.98, Z:-3.01 [[ 9.85380368e-01 1.69430089e-01 1.78598912e-02 1.49802648e+02] [-1.69406247e-01 9.85542185e-01 -2.85053232e-03 -1.79777420e+01] [-1.80846422e-02 -2.16718556e-04 9.99836436e-01 -3.00752021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904012739 meters 0.02963032513132167 Centerline is valid? [True, True] Translation: X:149.86, Y:-17.99, Z:-3.01 [[ 9.85034032e-01 1.71220417e-01 1.97869826e-02 1.49861446e+02] [-1.71191537e-01 9.85232709e-01 -3.15686930e-03 -1.79857471e+01] [-2.00353030e-02 -2.77740278e-04 9.99799235e-01 -3.00553613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964012739 meters 0.03189511053740248 Centerline is valid? [True, True] Translation: X:149.92, Y:-17.99, Z:-3.01 [[ 9.84489102e-01 1.74441353e-01 1.87462856e-02 1.49920487e+02] [-1.74416031e-01 9.84667512e-01 -2.98997074e-03 -1.79868278e+01] [-1.89804329e-02 -3.26059116e-04 9.99819802e-01 -3.00909549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02401273899997 meters 0.03316293332762725 Centerline is valid? [True, True] Translation: X:149.98, Y:-17.99, Z:-3.01 [[ 9.84376930e-01 1.74978104e-01 1.96143434e-02 1.49978451e+02] [-1.74950509e-01 9.84572262e-01 -3.12743053e-03 -1.79885023e+01] [-1.98589703e-02 -3.52968892e-04 9.99802729e-01 -3.00780185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08401273899997 meters 0.0298292365687396 Centerline is valid? [True, True] Translation: X:150.04, Y:-18.00, Z:-3.01 [[ 9.85133396e-01 1.70670661e-01 1.95886952e-02 1.50035692e+02] [-1.70642310e-01 9.85328095e-01 -3.12215407e-03 -1.80021441e+01] [-1.98341518e-02 -2.66921951e-04 9.99803248e-01 -3.00927423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14401273899998 meters 0.026776655477812515 Centerline is valid? [True, True] Translation: X:150.09, Y:-18.02, Z:-3.02 [[ 9.86340326e-01 1.63909319e-01 1.63247275e-02 1.50092173e+02] [-1.63888712e-01 9.86475404e-01 -2.60131093e-03 -1.80222240e+01] [-1.65303212e-02 -1.09660688e-04 9.99863359e-01 -3.01698881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20401273899998 meters 0.025061122873202682 Centerline is valid? [True, True] Translation: X:150.15, Y:-18.04, Z:-3.01 [[ 9.87162032e-01 1.58749330e-01 1.76003381e-02 1.50149522e+02] [-1.58724573e-01 9.87318920e-01 -2.80363983e-03 -1.80392275e+01] [-1.78222228e-02 -2.59593588e-05 9.99841171e-01 -3.01452637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26401273899998 meters 0.025435943721467565 Centerline is valid? [True, True] Translation: X:150.21, Y:-18.06, Z:-3.02 [[ 9.87937040e-01 1.53813569e-01 1.79385032e-02 1.50206196e+02] [-1.53787049e-01 9.88099885e-01 -2.85685023e-03 -1.80583847e+01] [-1.81644552e-02 6.36786838e-05 9.99835011e-01 -3.01542881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32401273899998 meters 0.025821606647645927 Centerline is valid? [True, True] Translation: X:150.26, Y:-18.07, Z:-3.01 [[ 9.88279325e-01 1.51512575e-01 1.86524840e-02 1.50264113e+02] [-1.51483506e-01 9.88455324e-01 -2.96985377e-03 -1.80736572e+01] [-1.88871173e-02 1.09501411e-04 9.99821616e-01 -3.01423229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38401273899999 meters 0.026272974525177486 Centerline is valid? [True, True] Translation: X:150.32, Y:-18.09, Z:-3.02 [[ 9.88416917e-01 1.50695294e-01 1.79701524e-02 1.50322726e+02] [-1.50668185e-01 9.88580252e-01 -2.86076242e-03 -1.80883480e+01] [-1.81960413e-02 1.20095713e-04 9.99834431e-01 -3.01724201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444012739 meters 0.02665754540478533 Centerline is valid? [True, True] Translation: X:150.38, Y:-18.10, Z:-3.02 [[ 9.88660940e-01 1.49213068e-01 1.68821002e-02 1.50381519e+02] [-1.49188927e-01 9.88805057e-01 -2.68754969e-03 -1.81042985e+01] [-1.70941236e-02 1.38452997e-04 9.99853875e-01 -3.01922394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504012739 meters 0.02660461154313162 Centerline is valid? [True, True] Translation: X:150.44, Y:-18.12, Z:-3.02 [[ 9.88625511e-01 1.49350960e-01 1.77169092e-02 1.50439411e+02] [-1.49324395e-01 9.88784239e-01 -2.82041615e-03 -1.81200656e+01] [-1.79394324e-02 1.42768624e-04 9.99839065e-01 -3.01752324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564012739 meters 0.024652235883423603 Centerline is valid? [True, True] Translation: X:150.50, Y:-18.12, Z:-3.02 [[ 9.87683522e-01 1.55332460e-01 1.87906052e-02 1.50499352e+02] [-1.55303653e-01 9.87862250e-01 -2.99164293e-03 -1.81221984e+01] [-1.90272288e-02 3.65468041e-05 9.99818965e-01 -3.01667092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624012739 meters 0.025574193067099217 Centerline is valid? [True, True] Translation: X:150.56, Y:-18.12, Z:-3.02 [[ 9.86508445e-01 1.62636184e-01 1.87232352e-02 1.50559911e+02] [-1.62608905e-01 9.86686100e-01 -2.98051483e-03 -1.81154623e+01] [-1.89586955e-02 -1.04261716e-04 9.99820262e-01 -3.01962615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684012739 meters 0.028120474022010483 Centerline is valid? [True, True] Translation: X:150.62, Y:-18.11, Z:-3.02 [[ 9.85403997e-01 1.69153367e-01 1.91337621e-02 1.50620736e+02] [-1.69126123e-01 9.85589713e-01 -3.04492998e-03 -1.81135450e+01] [-1.93730993e-02 -2.35532830e-04 9.99812296e-01 -3.01839579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74401273899997 meters 0.02973617847287742 Centerline is valid? [True, True] Translation: X:150.68, Y:-18.12, Z:-3.03 [[ 9.85139182e-01 1.71035304e-01 1.57390370e-02 1.50678143e+02] [-1.71017112e-01 9.85264875e-01 -2.50456034e-03 -1.81176222e+01] [-1.59354886e-02 -2.24304137e-04 9.99872997e-01 -3.02651747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80401273899997 meters 0.027997287551181062 Centerline is valid? [True, True] Translation: X:150.73, Y:-18.13, Z:-3.02 [[ 9.85492106e-01 1.68513845e-01 2.02087192e-02 1.50734934e+02] [-1.68483354e-01 9.85699258e-01 -3.21424704e-03 -1.81274173e+01] [-2.04613647e-02 -2.37217716e-04 9.99790616e-01 -3.01930306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86401273899997 meters 0.028628489461140706 Centerline is valid? [True, True] Translation: X:150.79, Y:-18.13, Z:-3.03 [[ 9.85692200e-01 1.67701605e-01 1.69428041e-02 1.50792995e+02] [-1.67680069e-01 9.85837784e-01 -2.69397237e-03 -1.81312855e+01] [-1.71546399e-02 -1.85542995e-04 9.99852831e-01 -3.02686125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92401273899998 meters 0.027260745386561577 Centerline is valid? [True, True] Translation: X:150.85, Y:-18.14, Z:-3.03 [[ 9.86031988e-01 1.65829626e-01 1.55387804e-02 1.50850021e+02] [-1.65811292e-01 9.86154407e-01 -2.46984998e-03 -1.81440086e+01] [-1.57332111e-02 -1.41154181e-04 9.99876215e-01 -3.02993730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98401273899998 meters 0.026038492076912435 Centerline is valid? [True, True] Translation: X:150.91, Y:-18.15, Z:-3.03 [[ 9.86429458e-01 1.63433700e-01 1.56955383e-02 1.50907941e+02] [-1.63414702e-01 9.86554314e-01 -2.49402308e-03 -1.81526487e+01] [-1.58921084e-02 -1.04703884e-04 9.99873707e-01 -3.03030929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04401273899998 meters 0.02552009693319784 Centerline is valid? [True, True] Translation: X:150.97, Y:-18.16, Z:-3.03 [[ 9.86664778e-01 1.61901635e-01 1.67474212e-02 1.50965361e+02] [-1.61879800e-01 9.86806898e-01 -2.66031041e-03 -1.81629790e+01] [-1.69571794e-02 -8.62346154e-05 9.99856213e-01 -3.02973338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10401273899998 meters 0.024537011359833993 Centerline is valid? [True, True] Translation: X:151.02, Y:-18.18, Z:-3.03 [[ 9.87163322e-01 1.58866130e-01 1.64355640e-02 1.51022205e+02] [-1.58844692e-01 9.87300133e-01 -2.61003317e-03 -1.81783258e+01] [-1.66414804e-02 -3.41730851e-05 9.99861520e-01 -3.02978896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164012739 meters 0.02474882294397286 Centerline is valid? [True, True] Translation: X:151.08, Y:-18.19, Z:-3.03 [[ 9.87218623e-01 1.58592667e-01 1.57402986e-02 1.51078696e+02] [-1.58572980e-01 9.87344097e-01 -2.49894633e-03 -1.81895469e+01] [-1.59374054e-02 -2.89797052e-05 9.99872991e-01 -3.03355849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224012739 meters 0.024367973103073245 Centerline is valid? [True, True] Translation: X:151.14, Y:-18.20, Z:-3.03 [[ 9.87088851e-01 1.59135055e-01 1.82108484e-02 1.51136197e+02] [-1.59108819e-01 9.87256822e-01 -2.88986193e-03 -1.82009935e+01] [-1.84386626e-02 -4.49560935e-05 9.99829992e-01 -3.02813290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284012739 meters 0.024525547310520136 Centerline is valid? [True, True] Translation: X:151.19, Y:-18.21, Z:-3.02 [[ 9.86682337e-01 1.61328400e-01 2.07632846e-02 1.51194291e+02] [-1.61294802e-01 9.86900774e-01 -3.29379605e-03 -1.82105559e+01] [-2.10226845e-02 -9.90795082e-05 9.99778994e-01 -3.02409570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344012739 meters 0.02686568831590301 Centerline is valid? [True, True] Translation: X:151.25, Y:-18.21, Z:-3.03 [[ 9.85936069e-01 1.66062582e-01 1.87959282e-02 1.51252399e+02] [-1.66035925e-01 9.86115199e-01 -2.98090586e-03 -1.82138538e+01] [-1.90299674e-02 -1.81816716e-04 9.99818897e-01 -3.02892135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404012739 meters 0.03012088089605811 Centerline is valid? [True, True] Translation: X:151.31, Y:-18.22, Z:-3.03 [[ 9.85215514e-01 1.70331395e-01 1.83740783e-02 1.51310556e+02] [-1.70306682e-01 9.85386802e-01 -2.91293195e-03 -1.82169942e+01] [-1.86017380e-02 -2.59362563e-04 9.99826939e-01 -3.03078840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464012739 meters 0.02981415137802297 Centerline is valid? [True, True] Translation: X:151.37, Y:-18.23, Z:-3.03 [[ 9.85112108e-01 1.71085221e-01 1.68517681e-02 1.51367907e+02] [-1.71064559e-01 9.85256202e-01 -2.67069774e-03 -1.82278207e+01] [-1.70602259e-02 -2.51803602e-04 9.99854432e-01 -3.03469176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52401273899997 meters 0.031035895304880413 Centerline is valid? [True, True] Translation: X:151.43, Y:-18.23, Z:-3.03 [[ 9.84814422e-01 1.72558789e-01 1.90792481e-02 1.51425078e+02] [-1.72532600e-01 9.84999170e-01 -3.02268614e-03 -1.82344279e+01] [-1.93146346e-02 -3.15007389e-04 9.99813405e-01 -3.03195407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58401273899997 meters 0.030590614073008178 Centerline is valid? [True, True] Translation: X:151.48, Y:-18.24, Z:-3.04 [[ 9.84784979e-01 1.72837217e-01 1.80510665e-02 1.51483212e+02] [-1.72813841e-01 9.84950356e-01 -2.85876222e-03 -1.82442424e+01] [-1.82735049e-02 -3.04208038e-04 9.99832979e-01 -3.03688331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64401273899998 meters 0.03173424712465205 Centerline is valid? [True, True] Translation: X:151.54, Y:-18.25, Z:-3.04 [[ 9.84673747e-01 1.73521096e-01 1.75510865e-02 1.51539883e+02] [-1.73499119e-01 9.84830104e-01 -2.77881758e-03 -1.82527242e+01] [-1.77670218e-02 -3.08869330e-04 9.99842106e-01 -3.03846437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70401273899998 meters 0.034227389913240557 Centerline is valid? [True, True] Translation: X:151.60, Y:-18.25, Z:-3.03 [[ 9.84046292e-01 1.76796988e-01 1.98927015e-02 1.51599786e+02] [-1.76769457e-01 9.84247250e-01 -3.14792012e-03 -1.82525115e+01] [-2.01358796e-02 -4.18722934e-04 9.99797165e-01 -3.03364922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76401273899998 meters 0.04046004114905155 Centerline is valid? [True, True] Translation: X:151.66, Y:-18.25, Z:-3.04 [[ 9.83003380e-01 1.82845021e-01 1.64940300e-02 1.51660831e+02] [-1.82826953e-01 9.83141646e-01 -2.60954215e-03 -1.82475973e+01] [-1.66931096e-02 -4.50364500e-04 9.99860559e-01 -3.04273319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82401273899998 meters 0.0402849422813644 Centerline is valid? [True, True] Translation: X:151.72, Y:-18.25, Z:-3.04 [[ 9.83073247e-01 1.82379796e-01 1.74528273e-02 1.51720112e+02] [-1.82359496e-01 9.83228046e-01 -2.76112015e-03 -1.82503372e+01] [-1.76636818e-02 -4.68305441e-04 9.99843875e-01 -3.04021673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88401273899999 meters 0.036257219652580004 Centerline is valid? [True, True] Translation: X:151.78, Y:-18.26, Z:-3.04 [[ 9.83932605e-01 1.77839314e-01 1.58053224e-02 1.51778345e+02] [-1.77822091e-01 9.84059478e-01 -2.49972800e-03 -1.82621052e+01] [-1.59979272e-02 -3.50971595e-04 9.99871963e-01 -3.04468408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944012739 meters 0.03432472347408262 Centerline is valid? [True, True] Translation: X:151.84, Y:-18.27, Z:-3.05 [[ 9.84411107e-01 1.75246999e-01 1.49419322e-02 1.51835703e+02] [-1.75231311e-01 9.84524456e-01 -2.36297750e-03 -1.82736932e+01] [-1.51248023e-02 -2.92153064e-04 9.99885571e-01 -3.04868482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004012739 meters 0.02905182049133679 Centerline is valid? [True, True] Translation: X:151.89, Y:-18.29, Z:-3.05 [[ 9.85262450e-01 1.70384618e-01 1.50660592e-02 1.51893463e+02] [-1.70368112e-01 9.85377610e-01 -2.38179347e-03 -1.82918999e+01] [-1.52515783e-02 -2.20084385e-04 9.99883664e-01 -3.04733546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064012739 meters 0.02903252969808101 Centerline is valid? [True, True] Translation: X:151.95, Y:-18.30, Z:-3.05 [[ 9.85455985e-01 1.69313914e-01 1.44672296e-02 1.51950512e+02] [-1.69298580e-01 9.85562155e-01 -2.28699823e-03 -1.83014933e+01] [-1.46455746e-02 -1.95545333e-04 9.99892729e-01 -3.05060660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124012739 meters 0.03083440810280319 Centerline is valid? [True, True] Translation: X:152.01, Y:-18.30, Z:-3.05 [[ 9.85101966e-01 1.71451161e-01 1.33647554e-02 1.52009516e+02] [-1.71438283e-01 9.85192598e-01 -2.11190552e-03 -1.83033500e+01] [-1.35289467e-02 -2.10788440e-04 9.99908457e-01 -3.05352727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184012739 meters 0.03684861208569042 Centerline is valid? [True, True] Translation: X:152.07, Y:-18.30, Z:-3.05 [[ 9.84252977e-01 1.76173751e-01 1.44529381e-02 1.52070026e+02] [-1.76159211e-01 9.84359040e-01 -2.28302543e-03 -1.82965177e+01] [-1.46290895e-02 -2.98943602e-04 9.99892944e-01 -3.05386641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24401273899997 meters 0.03678934472014956 Centerline is valid? [True, True] Translation: X:152.13, Y:-18.30, Z:-3.06 [[ 9.84064274e-01 1.77245032e-01 1.42022094e-02 1.52128716e+02] [-1.77231110e-01 9.84166705e-01 -2.24299536e-03 -1.83003082e+01] [-1.43749014e-02 -3.09821737e-04 9.99896628e-01 -3.05502416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30401273899997 meters 0.03042019853741929 Centerline is valid? [True, True] Translation: X:152.19, Y:-18.32, Z:-3.06 [[ 9.85098587e-01 1.71387396e-01 1.43921319e-02 1.52186808e+02] [-1.71372485e-01 9.85203689e-01 -2.27222440e-03 -1.83171763e+01] [-1.45686120e-02 -2.28050356e-04 9.99893846e-01 -3.05508622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36401273899997 meters 0.02535194609947341 Centerline is valid? [True, True] Translation: X:152.24, Y:-18.34, Z:-3.06 [[ 9.86617485e-01 1.62511174e-01 1.32686236e-02 1.52243902e+02] [-1.62497701e-01 9.86706699e-01 -2.09446011e-03 -1.83374311e+01] [-1.34326129e-02 -8.96898614e-05 9.99909774e-01 -3.05828159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42401273899998 meters 0.023630799268896333 Centerline is valid? [True, True] Translation: X:152.30, Y:-18.36, Z:-3.05 [[ 9.87707929e-01 1.55455642e-01 1.63276030e-02 1.52299490e+02] [-1.55434282e-01 9.87842874e-01 -2.57691282e-03 -1.83596990e+01] [-1.65297019e-02 7.36796818e-06 9.99863375e-01 -3.05293457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48401273899998 meters 0.024123804158996665 Centerline is valid? [True, True] Translation: X:152.36, Y:-18.38, Z:-3.06 [[ 9.88212277e-01 1.52268639e-01 1.58353151e-02 1.52355695e+02] [-1.52248151e-01 9.88339141e-01 -2.49850490e-03 -1.83782077e+01] [-1.60311057e-02 5.81557707e-05 9.99871492e-01 -3.05547198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54401273899998 meters 0.023735704764633603 Centerline is valid? [True, True] Translation: X:152.41, Y:-18.39, Z:-3.05 [[ 9.87976224e-01 1.53770657e-01 1.60488730e-02 1.52413689e+02] [-1.53749822e-01 9.88106565e-01 -2.53142721e-03 -1.83883010e+01] [-1.62472560e-02 3.34785208e-05 9.99868004e-01 -3.05485403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60401273899998 meters 0.02342067526078568 Centerline is valid? [True, True] Translation: X:152.47, Y:-18.40, Z:-3.05 [[ 9.87303716e-01 1.57625508e-01 1.96360015e-02 1.52471813e+02] [-1.57595103e-01 9.87498961e-01 -3.09607407e-03 -1.83977893e+01] [-1.98785513e-02 -3.77722336e-05 9.99802401e-01 -3.04925179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664012739 meters 0.02385381230442894 Centerline is valid? [True, True] Translation: X:152.53, Y:-18.41, Z:-3.06 [[ 9.87175899e-01 1.58780112e-01 1.65112382e-02 1.52530005e+02] [-1.58758787e-01 9.87313969e-01 -2.60274573e-03 -1.84068004e+01] [-1.67150404e-02 -5.19362798e-05 9.99860293e-01 -3.05725481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724012739 meters 0.023936956311210737 Centerline is valid? [True, True] Translation: X:152.59, Y:-18.42, Z:-3.06 [[ 9.87385126e-01 1.57664471e-01 1.45783112e-02 1.52586822e+02] [-1.57647733e-01 9.87492741e-01 -2.29746706e-03 -1.84230943e+01] [-1.47582054e-02 -2.97529170e-05 9.99891091e-01 -3.06111538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784012739 meters 0.02451409061389064 Centerline is valid? [True, True] Translation: X:152.64, Y:-18.43, Z:-3.07 [[ 9.87217465e-01 1.58882552e-01 1.25702706e-02 1.52644382e+02] [-1.58870213e-01 9.87297490e-01 -1.98054721e-03 -1.84327374e+01] [-1.27252710e-02 -4.18107663e-05 9.99919030e-01 -3.06631987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844012739 meters 0.024920107045518624 Centerline is valid? [True, True] Translation: X:152.70, Y:-18.44, Z:-3.06 [[ 9.86745267e-01 1.61604588e-01 1.47558606e-02 1.52702823e+02] [-1.61587902e-01 9.86855587e-01 -2.32404908e-03 -1.84419353e+01] [-1.49374805e-02 -9.11241210e-05 9.99888425e-01 -3.06334201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904012739 meters 0.02481154627921961 Centerline is valid? [True, True] Translation: X:152.76, Y:-18.45, Z:-3.06 [[ 9.86800515e-01 1.61205044e-01 1.54168053e-02 1.52760775e+02] [-1.61186793e-01 9.86920932e-01 -2.42738108e-03 -1.84548036e+01] [-1.56064739e-02 -8.96445059e-05 9.99878208e-01 -3.06420570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964012739 meters 0.02431877382598304 Centerline is valid? [True, True] Translation: X:152.82, Y:-18.47, Z:-3.07 [[ 9.87123754e-01 1.59335109e-01 1.41073866e-02 1.52817590e+02] [-1.59319643e-01 9.87224554e-01 -2.22062504e-03 -1.84699518e+01] [-1.42809820e-02 -5.55520752e-05 9.99898020e-01 -3.06699011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02401273899997 meters 0.024177155449755454 Centerline is valid? [True, True] Translation: X:152.87, Y:-18.49, Z:-3.07 [[ 9.88109108e-01 1.53220335e-01 1.28030923e-02 1.52873980e+02] [-1.53207093e-01 9.88192050e-01 -2.01464005e-03 -1.84910264e+01] [-1.29605978e-02 2.91596431e-05 9.99916007e-01 -3.07162028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08401273899997 meters 0.02618442880360764 Centerline is valid? [True, True] Translation: X:152.93, Y:-18.52, Z:-3.06 [[ 9.89102778e-01 1.46259901e-01 1.68444376e-02 1.52931311e+02] [-1.46235978e-01 9.89246186e-01 -2.64993573e-03 -1.85178638e+01] [-1.70508749e-02 1.57795991e-04 9.99854611e-01 -3.06417700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14401273899998 meters 0.0282429473593604 Centerline is valid? [True, True] Translation: X:152.99, Y:-18.53, Z:-3.07 [[ 9.89496941e-01 1.43723749e-01 1.54689005e-02 1.52989853e+02] [-1.43703265e-01 9.89617830e-01 -2.43348512e-03 -1.85332788e+01] [-1.56580493e-02 1.84994570e-04 9.99877388e-01 -3.06796727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20401273899998 meters 0.03064030956284176 Centerline is valid? [True, True] Translation: X:153.05, Y:-18.55, Z:-3.07 [[ 9.89893829e-01 1.41016725e-01 1.49830016e-02 1.53050012e+02] [-1.40997207e-01 9.90007189e-01 -2.35645668e-03 -1.85498519e+01] [-1.51655791e-02 2.20080563e-04 9.99884972e-01 -3.07074844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26401273899998 meters 0.03241946225718079 Centerline is valid? [True, True] Translation: X:153.11, Y:-18.57, Z:-3.07 [[ 9.90100339e-01 1.39190605e-01 1.80912947e-02 1.53109269e+02] [-1.39161779e-01 9.90265562e-01 -2.84879882e-03 -1.85690792e+01] [-1.83117121e-02 3.02979924e-04 9.99832281e-01 -3.06562461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32401273899998 meters 0.0351043139739105 Centerline is valid? [True, True] Translation: X:153.17, Y:-18.59, Z:-3.07 [[ 9.90415120e-01 1.37001918e-01 1.75603182e-02 1.53169314e+02] [-1.36974373e-01 9.90570725e-01 -2.76758523e-03 -1.85891343e+01] [-1.77739016e-02 3.35744690e-04 9.99841975e-01 -3.06713586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38401273899999 meters 0.03479175357441718 Centerline is valid? [True, True] Translation: X:153.23, Y:-18.60, Z:-3.07 [[ 9.90341632e-01 1.37692873e-01 1.62519413e-02 1.53230600e+02] [-1.37669337e-01 9.90474927e-01 -2.56358337e-03 -1.86017591e+01] [-1.64501276e-02 3.01429363e-04 9.99864642e-01 -3.07153049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444012739 meters 0.028915019639327005 Centerline is valid? [True, True] Translation: X:153.29, Y:-18.60, Z:-3.08 [[ 9.89813357e-01 1.41721435e-01 1.35850137e-02 1.53293221e+02] [-1.41705350e-01 9.89906559e-01 -2.14432222e-03 -1.86039889e+01] [-1.37517906e-02 1.97409650e-04 9.99905420e-01 -3.07688260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504012739 meters 0.027276315816377027 Centerline is valid? [True, True] Translation: X:153.35, Y:-18.62, Z:-3.07 [[ 9.89435841e-01 1.44154610e-01 1.53676370e-02 1.53353968e+02] [-1.44134263e-01 9.89555159e-01 -2.42928250e-03 -1.86220058e+01] [-1.55573168e-02 1.88616135e-04 9.99878960e-01 -3.07481274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564012739 meters 0.02842249026654015 Centerline is valid? [True, True] Translation: X:153.41, Y:-18.64, Z:-3.08 [[ 9.89130216e-01 1.46264039e-01 1.51078515e-02 1.53412276e+02] [-1.46244614e-01 9.89245575e-01 -2.38862677e-03 -1.86431389e+01] [-1.52947455e-02 1.53220996e-04 9.99883017e-01 -3.07888802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624012739 meters 0.025668093709354186 Centerline is valid? [True, True] Translation: X:153.47, Y:-18.65, Z:-3.08 [[ 9.88502586e-01 1.50518310e-01 1.43831583e-02 1.53474687e+02] [-1.50501122e-01 9.88607218e-01 -2.27623344e-03 -1.86481620e+01] [-1.45619089e-02 8.53811824e-05 9.99893966e-01 -3.08088514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684012739 meters 0.025368817579866202 Centerline is valid? [True, True] Translation: X:153.54, Y:-18.65, Z:-3.09 [[ 9.86975271e-01 1.60428194e-01 1.19418719e-02 1.53535348e+02] [-1.60417038e-01 9.87047513e-01 -1.89257552e-03 -1.86452604e+01] [-1.20908174e-02 -4.77544753e-05 9.99926902e-01 -3.08878527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74401273899997 meters 0.024782698422024935 Centerline is valid? [True, True] Translation: X:153.59, Y:-18.66, Z:-3.09 [[ 9.87132158e-01 1.59520367e-01 1.11065567e-02 1.53594606e+02] [-1.59510664e-01 9.87194637e-01 -1.75979052e-03 -1.86580108e+01] [-1.12450557e-02 -3.44684227e-05 9.99936772e-01 -3.08939670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80401273899997 meters 0.024455994056614513 Centerline is valid? [True, True] Translation: X:153.65, Y:-18.68, Z:-3.09 [[ 9.87878177e-01 1.54723087e-01 1.25488643e-02 1.53653579e+02] [-1.54710327e-01 9.87957877e-01 -1.98715820e-03 -1.86796415e+01] [-1.27052086e-02 2.16313054e-05 9.99919285e-01 -3.08883521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86401273899997 meters 0.02539183111825474 Centerline is valid? [True, True] Translation: X:153.71, Y:-18.70, Z:-3.09 [[ 9.88505712e-01 1.50533750e-01 1.40016964e-02 1.53712812e+02] [-1.50517409e-01 9.88604867e-01 -2.21964071e-03 -1.87027189e+01] [-1.41762761e-02 8.66284577e-05 9.99899508e-01 -3.08734493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92401273899998 meters 0.026937700546226212 Centerline is valid? [True, True] Translation: X:153.77, Y:-18.73, Z:-3.08 [[ 9.88942090e-01 1.47466769e-01 1.57192291e-02 1.53772229e+02] [-1.47445740e-01 9.89067000e-01 -2.49484339e-03 -1.87264505e+01] [-1.59152772e-02 1.49522278e-04 9.99873333e-01 -3.08424512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98401273899998 meters 0.02624368317244673 Centerline is valid? [True, True] Translation: X:153.83, Y:-18.74, Z:-3.08 [[ 9.88903925e-01 1.47599111e-01 1.68383090e-02 1.53833511e+02] [-1.47574952e-01 9.89047257e-01 -2.67523375e-03 -1.87414541e+01] [-1.70487455e-02 1.60636505e-04 9.99854647e-01 -3.08167685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04401273899998 meters 0.024879659674375297 Centerline is valid? [True, True] Translation: X:153.89, Y:-18.75, Z:-3.08 [[ 9.88313912e-01 1.51325238e-01 1.83380385e-02 1.53893863e+02] [-1.51297151e-01 9.88484021e-01 -2.91744777e-03 -1.87506692e+01] [-1.85683415e-02 1.08861231e-04 9.99827588e-01 -3.07952575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10401273899998 meters 0.024094898408763585 Centerline is valid? [True, True] Translation: X:153.96, Y:-18.76, Z:-3.09 [[ 9.87765556e-01 1.55270818e-01 1.44975920e-02 1.53956201e+02] [-1.55253669e-01 9.87871941e-01 -2.30784854e-03 -1.87559276e+01] [-1.46801059e-02 2.88089511e-05 9.99892241e-01 -3.08726864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164012739 meters 0.02397547150310781 Centerline is valid? [True, True] Translation: X:154.02, Y:-18.76, Z:-3.09 [[ 9.86898578e-01 1.60501883e-01 1.64420898e-02 1.54017777e+02] [-1.60480486e-01 9.87035533e-01 -2.62117073e-03 -1.87593307e+01] [-1.66496297e-02 -5.18048999e-05 9.99861384e-01 -3.08572857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224012739 meters 0.02734597434601925 Centerline is valid? [True, True] Translation: X:154.08, Y:-18.75, Z:-3.09 [[ 9.85674447e-01 1.68093465e-01 1.38011299e-02 1.54080949e+02] [-1.68079111e-01 9.85771051e-01 -2.20178195e-03 -1.87534860e+01] [-1.39748595e-02 -1.49441447e-04 9.99902336e-01 -3.09293977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284012739 meters 0.030874778487087196 Centerline is valid? [True, True] Translation: X:154.14, Y:-18.75, Z:-3.09 [[ 9.84305058e-01 1.75928474e-01 1.38825359e-02 1.54143127e+02] [-1.75914686e-01 9.84402918e-01 -2.21773157e-03 -1.87506677e+01] [-1.40561709e-02 -2.59217537e-04 9.99901174e-01 -3.09121259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344012739 meters 0.03881876250313084 Centerline is valid? [True, True] Translation: X:154.20, Y:-18.74, Z:-3.10 [[ 9.83211146e-01 1.82001819e-01 1.30836183e-02 1.54204413e+02] [-1.81990104e-01 9.83298140e-01 -2.09051450e-03 -1.87385136e+01] [-1.32455750e-02 -3.25671906e-04 9.99912220e-01 -3.09631256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404012739 meters 0.03955219411858652 Centerline is valid? [True, True] Translation: X:154.26, Y:-18.74, Z:-3.09 [[ 9.82626718e-01 1.84902575e-01 1.59928350e-02 1.54264173e+02] [-1.84885462e-01 9.82756755e-01 -2.55490058e-03 -1.87412057e+01] [-1.61894743e-02 -4.46329108e-04 9.99868842e-01 -3.08980430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464012739 meters 0.04084456360579407 Centerline is valid? [True, True] Translation: X:154.32, Y:-18.74, Z:-3.09 [[ 9.82296757e-01 1.86685873e-01 1.55391960e-02 1.54324693e+02] [-1.86669949e-01 9.82419549e-01 -2.48184241e-03 -1.87397901e+01] [-1.57293348e-02 -4.62795169e-04 9.99876179e-01 -3.09248396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52401273899997 meters 0.04313154609922393 Centerline is valid? [True, True] Translation: X:154.39, Y:-18.74, Z:-3.10 [[ 9.81910346e-01 1.88757723e-01 1.49196247e-02 1.54385169e+02] [-1.88743286e-01 9.82023572e-01 -2.38261157e-03 -1.87362206e+01] [-1.51011595e-02 -4.76468040e-04 9.99885857e-01 -3.09501062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58401273899997 meters 0.044610312403917766 Centerline is valid? [True, True] Translation: X:154.44, Y:-18.73, Z:-3.10 [[ 9.81762241e-01 1.89459460e-01 1.57484918e-02 1.54444750e+02] [-1.89443473e-01 9.81888409e-01 -2.51448299e-03 -1.87329668e+01] [-1.59396542e-02 -5.14824533e-04 9.99872823e-01 -3.09559669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64401273899998 meters 0.040252451887557945 Centerline is valid? [True, True] Translation: X:154.50, Y:-18.74, Z:-3.09 [[ 9.82627055e-01 1.84769800e-01 1.74411122e-02 1.54504370e+02] [-1.84749475e-01 9.82781707e-01 -2.78344358e-03 -1.87411656e+01] [-1.76551023e-02 -4.87149356e-04 9.99844018e-01 -3.09348712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70401273899998 meters 0.036489716434092316 Centerline is valid? [True, True] Translation: X:154.56, Y:-18.75, Z:-3.09 [[ 9.83381258e-01 1.80591807e-01 1.86520791e-02 1.54563418e+02] [-1.80567811e-01 9.83558033e-01 -2.97663274e-03 -1.87507413e+01] [-1.88829577e-02 -4.40800254e-04 9.99821604e-01 -3.09233677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76401273899998 meters 0.0318921909994112 Centerline is valid? [True, True] Translation: X:154.62, Y:-18.76, Z:-3.10 [[ 9.84247940e-01 1.76053125e-01 1.61644431e-02 1.54621409e+02] [-1.76034496e-01 9.84380619e-01 -2.57932702e-03 -1.87636483e+01] [-1.63660630e-02 -3.06802290e-04 9.99866020e-01 -3.09724500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82401273899998 meters 0.029113109138843372 Centerline is valid? [True, True] Translation: X:154.68, Y:-18.78, Z:-3.10 [[ 9.85152656e-01 1.71052856e-01 1.46684905e-02 1.54678428e+02] [-1.71036965e-01 9.85261833e-01 -2.34038025e-03 -1.87782085e+01] [-1.48526326e-02 -2.03222288e-04 9.99889673e-01 -3.10240986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88401273899999 meters 0.026095599061857055 Centerline is valid? [True, True] Translation: X:154.74, Y:-18.80, Z:-3.10 [[ 9.85743661e-01 1.67639975e-01 1.43621992e-02 1.54735665e+02] [-1.67624387e-01 9.85848273e-01 -2.29095410e-03 -1.87960963e+01] [-1.45430048e-02 -1.49161346e-04 9.99894234e-01 -3.10261526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944012739 meters 0.023959198192408243 Centerline is valid? [True, True] Translation: X:154.79, Y:-18.81, Z:-3.10 [[ 9.86737483e-01 1.61602390e-01 1.52907260e-02 1.54792480e+02] [-1.61584002e-01 9.86855949e-01 -2.43860867e-03 -1.88130825e+01] [-1.54838289e-02 -6.44701247e-05 9.99880116e-01 -3.10441542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004012739 meters 0.023641882277784115 Centerline is valid? [True, True] Translation: X:154.85, Y:-18.83, Z:-3.11 [[ 9.87674110e-01 1.55845981e-01 1.45561615e-02 1.54850330e+02] [-1.55828696e-01 9.87781367e-01 -2.32117636e-03 -1.88335641e+01] [-1.47400511e-02 2.42981288e-05 9.99891359e-01 -3.10853171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064012739 meters 0.02446087636608441 Centerline is valid? [True, True] Translation: X:154.91, Y:-18.85, Z:-3.11 [[ 9.88320825e-01 1.51607145e-01 1.54019897e-02 1.54910612e+02] [-1.51587291e-01 9.88440825e-01 -2.45522634e-03 -1.88532717e+01] [-1.55961853e-02 9.18054300e-05 9.99878368e-01 -3.10609673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124012739 meters 0.02550833677556407 Centerline is valid? [True, True] Translation: X:154.97, Y:-18.87, Z:-3.11 [[ 9.88677083e-01 1.49324369e-01 1.48276392e-02 1.54969502e+02] [-1.49305668e-01 9.88788257e-01 -2.36652119e-03 -1.88720951e+01] [-1.50147748e-02 1.25874693e-04 9.99887264e-01 -3.10864549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184012739 meters 0.02484379983827339 Centerline is valid? [True, True] Translation: X:155.03, Y:-18.88, Z:-3.11 [[ 9.88480159e-01 1.50447534e-01 1.65080206e-02 1.55031340e+02] [-1.50424479e-01 9.88617987e-01 -2.63660455e-03 -1.88829229e+01] [-1.67167967e-02 1.23020887e-04 9.99860257e-01 -3.10570498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24401273899997 meters 0.023643394763120364 Centerline is valid? [True, True] Translation: X:155.09, Y:-18.89, Z:-3.11 [[ 9.87793199e-01 1.54884449e-01 1.65953096e-02 1.55091480e+02] [-1.54861764e-01 9.87932591e-01 -2.65120921e-03 -1.88920953e+01] [-1.68056783e-02 4.88675107e-05 9.99858773e-01 -3.10754410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30401273899997 meters 0.023169563036809376 Centerline is valid? [True, True] Translation: X:155.15, Y:-18.90, Z:-3.11 [[ 9.87220774e-01 1.58482489e-01 1.66866159e-02 1.55152335e+02] [-1.58460016e-01 9.87361788e-01 -2.66887733e-03 -1.89013003e+01] [-1.68986972e-02 -9.39026352e-06 9.99857207e-01 -3.10789826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36401273899997 meters 0.02394349469247571 Centerline is valid? [True, True] Translation: X:155.21, Y:-18.91, Z:-3.11 [[ 9.86656369e-01 1.62028306e-01 1.60011479e-02 1.55213403e+02] [-1.62008102e-01 9.86786108e-01 -2.55959564e-03 -1.89089178e+01] [-1.62044374e-02 -6.68742632e-05 9.99868697e-01 -3.10922363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42401273899998 meters 0.0276045119265825 Centerline is valid? [True, True] Translation: X:155.27, Y:-18.91, Z:-3.12 [[ 9.85457956e-01 1.69389818e-01 1.34054553e-02 1.55274062e+02] [-1.69376310e-01 9.85549119e-01 -2.14486891e-03 -1.89056278e+01] [-1.35750536e-02 -1.56888421e-04 9.99907842e-01 -3.11693268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48401273899998 meters 0.02910305361573073 Centerline is valid? [True, True] Translation: X:155.33, Y:-18.91, Z:-3.11 [[ 9.84784935e-01 1.72959697e-01 1.68396915e-02 1.55333186e+02] [-1.72938906e-01 9.84928869e-01 -2.69420552e-03 -1.89111780e+01] [-1.70518872e-02 -2.59024813e-04 9.99854572e-01 -3.11052847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54401273899998 meters 0.034901930005850665 Centerline is valid? [True, True] Translation: X:155.39, Y:-18.91, Z:-3.11 [[ 9.83749523e-01 1.78893578e-01 1.52958613e-02 1.55393740e+02] [-1.78877152e-01 9.83868375e-01 -2.44643809e-03 -1.89074103e+01] [-1.54867663e-02 -3.29397811e-04 9.99880019e-01 -3.11479268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60401273899998 meters 0.03476828568636946 Centerline is valid? [True, True] Translation: X:155.45, Y:-18.91, Z:-3.11 [[ 9.83291388e-01 1.81268300e-01 1.67287377e-02 1.55451738e+02] [-1.81249001e-01 9.83433598e-01 -2.67529999e-03 -1.89142957e+01] [-1.69365498e-02 -4.01467563e-04 9.99856486e-01 -3.11339531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664012739 meters 0.03545150416184536 Centerline is valid? [True, True] Translation: X:155.51, Y:-18.92, Z:-3.11 [[ 9.83345339e-01 1.80879852e-01 1.77319615e-02 1.55509404e+02] [-1.80858128e-01 9.83505111e-01 -2.83454615e-03 -1.89230115e+01] [-1.79521871e-02 -4.19631613e-04 9.99838758e-01 -3.11413871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724012739 meters 0.034724042678446976 Centerline is valid? [True, True] Translation: X:155.57, Y:-18.94, Z:-3.12 [[ 9.83629839e-01 1.79513080e-01 1.57287833e-02 1.55566307e+02] [-1.79495823e-01 9.83755524e-01 -2.51367509e-03 -1.89375982e+01] [-1.59245150e-02 -3.50725075e-04 9.99873135e-01 -3.11972753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784012739 meters 0.031046774422866602 Centerline is valid? [True, True] Translation: X:155.62, Y:-18.96, Z:-3.12 [[ 9.84444561e-01 1.74871886e-01 1.69920365e-02 1.55623552e+02] [-1.74851070e-01 9.84591151e-01 -2.71459591e-03 -1.89568805e+01] [-1.72049153e-02 -2.98706581e-04 9.99851940e-01 -3.11786809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844012739 meters 0.030367355809051498 Centerline is valid? [True, True] Translation: X:155.68, Y:-18.97, Z:-3.12 [[ 9.84742990e-01 1.73223831e-01 1.65755330e-02 1.55681075e+02] [-1.73203795e-01 9.84882447e-01 -2.64771682e-03 -1.89709934e+01] [-1.67835991e-02 -2.63624641e-04 9.99859111e-01 -3.12018579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904012739 meters 0.031779836427567175 Centerline is valid? [True, True] Translation: X:155.74, Y:-18.98, Z:-3.12 [[ 9.84400191e-01 1.75316418e-01 1.48464749e-02 1.55739743e+02] [-1.75300590e-01 9.84512103e-01 -2.37101151e-03 -1.89806273e+01] [-1.50322115e-02 -2.68571627e-04 9.99886974e-01 -3.12416422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964012739 meters 0.03477378688964495 Centerline is valid? [True, True] Translation: X:155.80, Y:-18.98, Z:-3.13 [[ 9.84039879e-01 1.77321823e-01 1.49160353e-02 1.55798509e+02] [-1.77306081e-01 9.84152875e-01 -2.38182807e-03 -1.89838578e+01] [-1.51020091e-02 -3.00889957e-04 9.99885913e-01 -3.12528313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02401273899997 meters 0.036596815710356355 Centerline is valid? [True, True] Translation: X:155.86, Y:-18.99, Z:-3.12 [[ 9.83518781e-01 1.80098463e-01 1.59797232e-02 1.55858407e+02] [-1.80080772e-01 9.83648518e-01 -2.55107018e-03 -1.89850851e+01] [-1.61778749e-02 -3.68615456e-04 9.99869062e-01 -3.12283840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08401273899997 meters 0.034960627320262054 Centerline is valid? [True, True] Translation: X:155.92, Y:-18.99, Z:-3.12 [[ 9.83433180e-01 1.80387981e-01 1.78705441e-02 1.55917056e+02] [-1.80365915e-01 9.83595446e-01 -2.85226029e-03 -1.89910063e+01] [-1.80918993e-02 -4.18229624e-04 9.99836241e-01 -3.12016400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14401273899998 meters 0.03473431285854187 Centerline is valid? [True, True] Translation: X:155.97, Y:-19.00, Z:-3.12 [[ 9.83846251e-01 1.78237363e-01 1.66732165e-02 1.55974828e+02] [-1.78217861e-01 9.83987458e-01 -2.66030595e-03 -1.89990239e+01] [-1.68804018e-02 -3.54132937e-04 9.99857453e-01 -3.12426657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20401273899998 meters 0.03114696710689564 Centerline is valid? [True, True] Translation: X:156.03, Y:-19.01, Z:-3.13 [[ 9.84685286e-01 1.73489737e-01 1.72104438e-02 1.56031723e+02] [-1.73468236e-01 9.84835637e-01 -2.74581053e-03 -1.90130138e+01] [-1.74258283e-02 -2.81706092e-04 9.99848119e-01 -3.12511969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26401273899998 meters 0.029559327835545237 Centerline is valid? [True, True] Translation: X:156.09, Y:-19.03, Z:-3.13 [[ 9.85158689e-01 1.70797938e-01 1.70417916e-02 1.56088996e+02] [-1.70776463e-01 9.85306049e-01 -2.71832387e-03 -1.90262807e+01] [-1.72556645e-02 -2.32356514e-04 9.99851083e-01 -3.12801734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32401273899998 meters 0.03077998899197535 Centerline is valid? [True, True] Translation: X:156.15, Y:-19.03, Z:-3.13 [[ 9.84710091e-01 1.73306688e-01 1.76303559e-02 1.56148168e+02] [-1.73284117e-01 9.84867864e-01 -2.81158772e-03 -1.90313487e+01] [-1.78508379e-02 -2.86461858e-04 9.99840620e-01 -3.12555531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38401273899999 meters 0.03665701467749362 Centerline is valid? [True, True] Translation: X:156.21, Y:-19.02, Z:-3.13 [[ 9.83620203e-01 1.79531031e-01 1.61215702e-02 1.56210231e+02] [-1.79513002e-01 9.83752243e-01 -2.57038221e-03 -1.90243667e+01] [-1.63210942e-02 -3.65751585e-04 9.99866735e-01 -3.13017610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444012739 meters 0.03422083426281757 Centerline is valid? [True, True] Translation: X:156.27, Y:-19.03, Z:-3.13 [[ 9.83613386e-01 1.79353039e-01 1.83628308e-02 1.56268873e+02] [-1.79329621e-01 9.83784690e-01 -2.92754904e-03 -1.90330876e+01] [-1.85901366e-02 -4.13423044e-04 9.99827103e-01 -3.12740419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504012739 meters 0.02882347813399454 Centerline is valid? [True, True] Translation: X:156.33, Y:-19.05, Z:-3.13 [[ 9.85061556e-01 1.71367784e-01 1.69355960e-02 1.56326363e+02] [-1.71346698e-01 9.85207097e-01 -2.69918235e-03 -1.90460568e+01] [-1.71476223e-02 -2.42997686e-04 9.99852939e-01 -3.13139083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564012739 meters 0.026836497835803576 Centerline is valid? [True, True] Translation: X:156.38, Y:-19.06, Z:-3.14 [[ 9.85799111e-01 1.67290896e-01 1.46242716e-02 1.56384065e+02] [-1.67274727e-01 9.85907569e-01 -2.33058360e-03 -1.90570742e+01] [-1.48080655e-02 -1.48783801e-04 9.99890344e-01 -3.13678859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624012739 meters 0.02489974334949813 Centerline is valid? [True, True] Translation: X:156.44, Y:-19.07, Z:-3.13 [[ 9.86258442e-01 1.64283161e-01 1.74736759e-02 1.56442449e+02] [-1.64259618e-01 9.86413213e-01 -2.78395971e-03 -1.90673634e+01] [-1.76936225e-02 -1.24515561e-04 9.99843448e-01 -3.13161212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684012739 meters 0.023871893383853014 Centerline is valid? [True, True] Translation: X:156.50, Y:-19.09, Z:-3.14 [[ 9.87322270e-01 1.58027454e-01 1.49016208e-02 1.56498941e+02] [-1.58009633e-01 9.87434719e-01 -2.37326318e-03 -1.90878441e+01] [-1.50894185e-02 -1.14240387e-05 9.99886148e-01 -3.13778789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74401273899997 meters 0.023609731188597816 Centerline is valid? [True, True] Translation: X:156.56, Y:-19.10, Z:-3.14 [[ 9.87477213e-01 1.56947419e-01 1.60081557e-02 1.56558284e+02] [-1.56926705e-01 9.87606960e-01 -2.54982902e-03 -1.90997380e+01] [-1.62099551e-02 5.79092429e-06 9.99868610e-01 -3.13617206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80401273899997 meters 0.02351949612988344 Centerline is valid? [True, True] Translation: X:156.62, Y:-19.11, Z:-3.13 [[ 9.87627527e-01 1.55775783e-01 1.80491897e-02 1.56617241e+02] [-1.55749254e-01 9.87792440e-01 -2.87493129e-03 -1.91121054e+01] [-1.82766978e-02 2.82134481e-05 9.99832967e-01 -3.13312035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86401273899997 meters 0.02353983463048157 Centerline is valid? [True, True] Translation: X:156.68, Y:-19.12, Z:-3.13 [[ 9.87188400e-01 1.58506067e-01 1.82999748e-02 1.56678356e+02] [-1.58479266e-01 9.87358003e-01 -2.91483045e-03 -1.91176257e+01] [-1.85306449e-02 -2.26797586e-05 9.99828293e-01 -3.13423584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92401273899998 meters 0.023771880424537786 Centerline is valid? [True, True] Translation: X:156.74, Y:-19.12, Z:-3.14 [[ 9.86902035e-01 1.60383023e-01 1.73683143e-02 1.56737569e+02] [-1.60359164e-01 9.87054853e-01 -2.76687443e-03 -1.91246945e+01] [-1.75872386e-02 -5.45343571e-05 9.99845331e-01 -3.13688173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98401273899998 meters 0.02388857019853307 Centerline is valid? [True, True] Translation: X:156.80, Y:-19.13, Z:-3.14 [[ 9.86725675e-01 1.61513436e-01 1.69071813e-02 1.56797820e+02] [-1.61490989e-01 9.86870511e-01 -2.69362470e-03 -1.91316465e+01] [-1.71202552e-02 -7.24887855e-05 9.99853435e-01 -3.13831546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04401273899998 meters 0.023570177964181368 Centerline is valid? [True, True] Translation: X:156.86, Y:-19.14, Z:-3.14 [[ 9.87109789e-01 1.59137731e-01 1.70131251e-02 1.56856365e+02] [-1.59114649e-01 9.87256391e-01 -2.71054263e-03 -1.91433944e+01] [-1.72276661e-02 -3.14342581e-05 9.99851592e-01 -3.14040039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10401273899998 meters 0.023504496248939973 Centerline is valid? [True, True] Translation: X:156.91, Y:-19.16, Z:-3.14 [[ 9.87668306e-01 1.55632165e-01 1.70278355e-02 1.56914875e+02] [-1.55608525e-01 9.87815078e-01 -2.71267542e-03 -1.91556668e+01] [-1.72425322e-02 2.95471607e-05 9.99851336e-01 -3.14046126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164012739 meters 0.023713768620155985 Centerline is valid? [True, True] Translation: X:156.97, Y:-19.16, Z:-3.14 [[ 9.87861585e-01 1.54445770e-01 1.66130296e-02 1.56974479e+02] [-1.54423104e-01 9.88001266e-01 -2.64636283e-03 -1.91649017e+01] [-1.68224138e-02 4.88045950e-05 9.99858492e-01 -3.14227585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224012739 meters 0.024373609109280995 Centerline is valid? [True, True] Translation: X:157.03, Y:-19.18, Z:-3.14 [[ 9.88235212e-01 1.52032121e-01 1.66553222e-02 1.57034519e+02] [-1.52008998e-01 9.88375549e-01 -2.65301502e-03 -1.91792952e+01] [-1.68650567e-02 9.00440308e-05 9.99857771e-01 -3.14333240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284012739 meters 0.025487260687046324 Centerline is valid? [True, True] Translation: X:157.09, Y:-19.20, Z:-3.15 [[ 9.88653892e-01 1.49571273e-01 1.38533651e-02 1.57094767e+02] [-1.49555043e-01 9.88750941e-01 -2.20602663e-03 -1.91982627e+01] [-1.40274860e-02 1.09156191e-04 9.99901604e-01 -3.14958053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344012739 meters 0.025627845099639463 Centerline is valid? [True, True] Translation: X:157.16, Y:-19.22, Z:-3.15 [[ 9.88698128e-01 1.49181244e-01 1.48649781e-02 1.57155017e+02] [-1.49162472e-01 9.88809861e-01 -2.36986700e-03 -1.92157793e+01] [-1.50521766e-02 1.25786181e-04 9.99886702e-01 -3.14896814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404012739 meters 0.02574876988846236 Centerline is valid? [True, True] Translation: X:157.21, Y:-19.23, Z:-3.15 [[ 9.88647864e-01 1.49648382e-01 1.34447774e-02 1.57214648e+02] [-1.49633036e-01 9.88739273e-01 -2.14589395e-03 -1.92304986e+01] [-1.36145090e-02 1.09750604e-04 9.99907312e-01 -3.15387202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464012739 meters 0.02370927315818185 Centerline is valid? [True, True] Translation: X:157.28, Y:-19.24, Z:-3.15 [[ 9.87920610e-01 1.54088044e-01 1.64238669e-02 1.57275952e+02] [-1.54065721e-01 9.88057119e-01 -2.62346988e-03 -1.92397993e+01] [-1.66319640e-02 6.14250599e-05 9.99861677e-01 -3.14776106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52401273899997 meters 0.023843355035789198 Centerline is valid? [True, True] Translation: X:157.34, Y:-19.25, Z:-3.15 [[ 9.87930423e-01 1.54053800e-01 1.61525746e-02 1.57336357e+02] [-1.54032200e-01 9.88062459e-01 -2.58039543e-03 -1.92547662e+01] [-1.63572723e-02 6.12345586e-05 9.99866209e-01 -3.15074521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58401273899997 meters 0.025143678951596297 Centerline is valid? [True, True] Translation: X:157.39, Y:-19.28, Z:-3.15 [[ 9.88395611e-01 1.51074675e-01 1.58290351e-02 1.57394454e+02] [-1.51053503e-01 9.88522347e-01 -2.53162267e-03 -1.92766667e+01] [-1.60298190e-02 1.11213527e-04 9.99871508e-01 -3.15262100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64401273899998 meters 0.02537185939338226 Centerline is valid? [True, True] Translation: X:157.46, Y:-19.29, Z:-3.15 [[ 9.88481914e-01 1.50429987e-01 1.65627607e-02 1.57455865e+02] [-1.50406673e-01 9.88620656e-01 -2.65152147e-03 -1.92939892e+01] [-1.67731557e-02 1.29831282e-04 9.99859312e-01 -3.15161760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70401273899998 meters 0.02643990383569383 Centerline is valid? [True, True] Translation: X:157.52, Y:-19.31, Z:-3.16 [[ 9.88695521e-01 1.49227850e-01 1.45676043e-02 1.57516013e+02] [-1.49209649e-01 9.88802827e-01 -2.33453681e-03 -1.93125838e+01] [-1.47528662e-02 1.34518963e-04 9.99891161e-01 -3.15752837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76401273899998 meters 0.02607523417026561 Centerline is valid? [True, True] Translation: X:157.58, Y:-19.33, Z:-3.16 [[ 9.88572953e-01 1.50052140e-01 1.44177604e-02 1.57577436e+02] [-1.50034367e-01 9.88678077e-01 -2.31270907e-03 -1.93302295e+01] [-1.46015506e-02 1.23122090e-04 9.99893384e-01 -3.15896069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82401273899998 meters 0.02391843608293492 Centerline is valid? [True, True] Translation: X:157.64, Y:-19.34, Z:-3.15 [[ 9.87847657e-01 1.54576211e-01 1.62234744e-02 1.57637978e+02] [-1.54554253e-01 9.87980865e-01 -2.60618786e-03 -1.93393072e+01] [-1.64313369e-02 6.71095988e-05 9.99864994e-01 -3.15437549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88401273899999 meters 0.023471394708158115 Centerline is valid? [True, True] Translation: X:157.70, Y:-19.35, Z:-3.16 [[ 9.86895444e-01 1.60690850e-01 1.46912944e-02 1.57699881e+02] [-1.60673505e-01 9.87004787e-01 -2.36110813e-03 -1.93466668e+01] [-1.48797864e-02 -3.03349115e-05 9.99889289e-01 -3.16044740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944012739 meters 0.027463102233113237 Centerline is valid? [True, True] Translation: X:157.76, Y:-19.35, Z:-3.16 [[ 9.85409636e-01 1.69618881e-01 1.40458333e-02 1.57761098e+02] [-1.69603902e-01 9.85509721e-01 -2.25948802e-03 -1.93461457e+01] [-1.42255571e-02 -1.55706871e-04 9.99898800e-01 -3.16159448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004012739 meters 0.03533905474630343 Centerline is valid? [True, True] Translation: X:157.82, Y:-19.34, Z:-3.16 [[ 9.83784323e-01 1.78700724e-01 1.53120080e-02 1.57822756e+02] [-1.78684017e-01 9.83903427e-01 -2.46347939e-03 -1.93407861e+01] [-1.55057626e-02 -3.12478682e-04 9.99879730e-01 -3.16064770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064012739 meters 0.038035972631910386 Centerline is valid? [True, True] Translation: X:157.88, Y:-19.34, Z:-3.16 [[ 9.82565337e-01 1.85320867e-01 1.48840101e-02 1.57884119e+02] [-1.85305842e-01 9.82677980e-01 -2.39442040e-03 -1.93401210e+01] [-1.50699250e-02 -4.05419529e-04 9.99886360e-01 -3.16154330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124012739 meters 0.05212245547122212 Centerline is valid? [True, True] Translation: X:157.95, Y:-19.32, Z:-3.16 [[ 9.81284463e-01 1.92009651e-01 1.45978329e-02 1.57947939e+02] [-1.91995938e-01 9.81392911e-01 -2.34820613e-03 -1.93183057e+01] [-1.47770880e-02 -4.98466443e-04 9.99890689e-01 -3.16467797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184012739 meters 0.05011801497431187 Centerline is valid? [True, True] Translation: X:158.01, Y:-19.32, Z:-3.17 [[ 9.81014168e-01 1.93547925e-01 1.22638756e-02 1.58007624e+02] [-1.93538364e-01 9.81090724e-01 -1.97303076e-03 -1.93195891e+01] [-1.24138506e-02 -4.37959291e-04 9.99922849e-01 -3.17058217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24401273899997 meters 0.05144567055787694 Centerline is valid? [True, True] Translation: X:158.07, Y:-19.32, Z:-3.16 [[ 9.81550720e-01 1.90533135e-01 1.59783904e-02 1.58068076e+02] [-1.90516519e-01 9.81680626e-01 -2.56983085e-03 -1.93181955e+01] [-1.61753142e-02 -5.21727995e-04 9.99869035e-01 -3.16421974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30401273899997 meters 0.039321102444213774 Centerline is valid? [True, True] Translation: X:158.13, Y:-19.34, Z:-3.17 [[ 9.82371143e-01 1.86390480e-01 1.43361600e-02 1.58125075e+02] [-1.86376668e-01 9.82475660e-01 -2.30537287e-03 -1.93408801e+01] [-1.45146279e-02 -4.07193951e-04 9.99894574e-01 -3.16692282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36401273899997 meters 0.03697845060896221 Centerline is valid? [True, True] Translation: X:158.18, Y:-19.35, Z:-3.17 [[ 9.83296139e-01 1.81537789e-01 1.31428351e-02 1.58183364e+02] [-1.81525747e-01 9.83383921e-01 -2.11342283e-03 -1.93497089e+01] [-1.33081189e-02 -3.07642466e-04 9.99911396e-01 -3.17277329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42401273899998 meters 0.03355859799294383 Centerline is valid? [True, True] Translation: X:158.24, Y:-19.36, Z:-3.18 [[ 9.83953274e-01 1.77985843e-01 1.25297613e-02 1.58241103e+02] [-1.77974612e-01 9.84033017e-01 -2.01474013e-03 -1.93624946e+01] [-1.26882940e-02 -2.47569252e-04 9.99919470e-01 -3.17516144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48401273899998 meters 0.0320112375090652 Centerline is valid? [True, True] Translation: X:158.30, Y:-19.37, Z:-3.18 [[ 9.83997578e-01 1.77755993e-01 1.23115080e-02 1.58299150e+02] [-1.77745138e-01 9.84074565e-01 -1.97910713e-03 -1.93715134e+01] [-1.24672401e-02 -2.40874067e-04 9.99922252e-01 -3.17542978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54401273899998 meters 0.03263833470057113 Centerline is valid? [True, True] Translation: X:158.36, Y:-19.37, Z:-3.17 [[ 9.83812103e-01 1.78660084e-01 1.39398598e-02 1.58358607e+02] [-1.78646270e-01 9.83910815e-01 -2.24006268e-03 -1.93725104e+01] [-1.41157886e-02 -2.86503178e-04 9.99900326e-01 -3.17402977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60401273899998 meters 0.030684271152937138 Centerline is valid? [True, True] Translation: X:158.42, Y:-19.38, Z:-3.17 [[ 9.84331293e-01 1.75775608e-01 1.39585209e-02 1.58417742e+02] [-1.75761478e-01 9.84430229e-01 -2.24230761e-03 -1.93775525e+01] [-1.41353329e-02 -2.46196708e-04 9.99900061e-01 -3.17415131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664012739 meters 0.0280081121837673 Centerline is valid? [True, True] Translation: X:158.48, Y:-19.39, Z:-3.17 [[ 9.84915503e-01 1.72321895e-01 1.57040027e-02 1.58476152e+02] [-1.72303580e-01 9.85040667e-01 -2.52210196e-03 -1.93862675e+01] [-1.59036947e-02 -2.21798577e-04 9.99873504e-01 -3.17261370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724012739 meters 0.023486067116181848 Centerline is valid? [True, True] Translation: X:158.53, Y:-19.40, Z:-3.17 [[ 9.86189576e-01 1.64479775e-01 1.94042091e-02 1.58533557e+02] [-1.64450315e-01 9.86380449e-01 -3.11518756e-03 -1.93981996e+01] [-1.96523178e-02 -1.18862791e-04 9.99806867e-01 -3.16728614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784012739 meters 0.022409825277364768 Centerline is valid? [True, True] Translation: X:158.59, Y:-19.41, Z:-3.17 [[ 9.87371687e-01 1.57336743e-01 1.85013918e-02 1.58593183e+02] [-1.57308719e-01 9.87545011e-01 -2.96955628e-03 -1.94098879e+01] [-1.87381775e-02 2.16255583e-05 9.99824425e-01 -3.16982415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844012739 meters 0.02459515705808666 Centerline is valid? [True, True] Translation: X:158.65, Y:-19.43, Z:-3.18 [[ 9.88481849e-01 1.50531165e-01 1.56205889e-02 1.58651422e+02] [-1.50510339e-01 9.88605256e-01 -2.50711977e-03 -1.94264933e+01] [-1.58199960e-02 1.27182249e-04 9.99874848e-01 -3.17733322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904012739 meters 0.024980499874212702 Centerline is valid? [True, True] Translation: X:158.71, Y:-19.44, Z:-3.18 [[ 9.88620914e-01 1.49686944e-01 1.49166682e-02 1.58710590e+02] [-1.49667853e-01 9.88733433e-01 -2.39443327e-03 -1.94360743e+01] [-1.51070240e-02 1.34641111e-04 9.99885873e-01 -3.17986955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964012739 meters 0.0245555037941295 Centerline is valid? [True, True] Translation: X:158.77, Y:-19.44, Z:-3.18 [[ 9.88430073e-01 1.50948850e-01 1.48470454e-02 1.58768823e+02] [-1.50930080e-01 9.88541568e-01 -2.38313812e-03 -1.94442470e+01] [-1.50366535e-02 1.14699638e-04 9.99886937e-01 -3.18197634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02401273899997 meters 0.02326792427440687 Centerline is valid? [True, True] Translation: X:158.83, Y:-19.45, Z:-3.19 [[ 9.87810076e-01 1.55059373e-01 1.37056051e-02 1.58828397e+02] [-1.55043778e-01 9.87905152e-01 -2.19965984e-03 -1.94493352e+01] [-1.38809157e-02 4.78773682e-05 9.99903654e-01 -3.18620327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08401273899997 meters 0.022479681406297886 Centerline is valid? [True, True] Translation: X:158.89, Y:-19.45, Z:-3.18 [[ 9.87261483e-01 1.58269171e-01 1.62982610e-02 1.58887471e+02] [-1.58247561e-01 9.87396004e-01 -2.61537829e-03 -1.94547109e+01] [-1.65067715e-02 2.90220848e-06 9.99863754e-01 -3.18202338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14401273899998 meters 0.022181715113525364 Centerline is valid? [True, True] Translation: X:158.95, Y:-19.46, Z:-3.18 [[ 9.87088342e-01 1.59115176e-01 1.84110342e-02 1.58945820e+02] [-1.59087765e-01 9.87260027e-01 -2.95336834e-03 -1.94625355e+01] [-1.86464039e-02 -1.37348387e-05 9.99826141e-01 -3.18042601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20401273899998 meters 0.022013329812797026 Centerline is valid? [True, True] Translation: X:159.00, Y:-19.47, Z:-3.18 [[ 9.87108916e-01 1.58684394e-01 2.08626718e-02 1.59004682e+02] [-1.58649118e-01 9.87329359e-01 -3.34580059e-03 -1.94748066e+01] [-2.11292547e-02 -7.17489126e-06 9.99776752e-01 -3.17626848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26401273899998 meters 0.02243601168713515 Centerline is valid? [True, True] Translation: X:159.06, Y:-19.49, Z:-3.18 [[ 9.87737925e-01 1.54753366e-01 2.06200827e-02 1.59062218e+02] [-1.54718058e-01 9.87953131e-01 -3.30642890e-03 -1.94939777e+01] [-2.08833563e-02 7.55860696e-05 9.99781916e-01 -3.17868694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32401273899998 meters 0.02431853644418225 Centerline is valid? [True, True] Translation: X:159.12, Y:-19.51, Z:-3.18 [[ 9.88451570e-01 1.49984103e-01 2.16393946e-02 1.59122333e+02] [-1.49944063e-01 9.88688391e-01 -3.47035735e-03 -1.95115054e+01] [-2.19151167e-02 1.85581419e-04 9.99759818e-01 -3.17795321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38401273899999 meters 0.0266110814012361 Centerline is valid? [True, True] Translation: X:159.18, Y:-19.53, Z:-3.18 [[ 9.88953623e-01 1.46939303e-01 1.94826171e-02 1.59181031e+02] [-1.46906201e-01 9.89145484e-01 -3.12730738e-03 -1.95298637e+01] [-1.97306670e-02 2.30644699e-04 9.99805305e-01 -3.18392856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444012739 meters 0.030257270329160636 Centerline is valid? [True, True] Translation: X:159.24, Y:-19.55, Z:-3.19 [[ 9.89771410e-01 1.41514954e-01 1.80575397e-02 1.59239466e+02] [-1.41485565e-01 9.89936067e-01 -2.90125788e-03 -1.95499858e+01] [-1.82863812e-02 3.16700892e-04 9.99832740e-01 -3.18867269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504012739 meters 0.03365584767779037 Centerline is valid? [True, True] Translation: X:159.30, Y:-19.57, Z:-3.19 [[ 9.90365463e-01 1.37329397e-01 1.78012855e-02 1.59297608e+02] [-1.37300148e-01 9.90525358e-01 -2.86075185e-03 -1.95732486e+01] [-1.80254900e-02 3.89070699e-04 9.99837452e-01 -3.18891316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564012739 meters 0.03150846392400279 Centerline is valid? [True, True] Translation: X:159.36, Y:-19.58, Z:-3.19 [[ 9.90218332e-01 1.38429078e-01 1.74655499e-02 1.59358713e+02] [-1.38401097e-01 9.90372283e-01 -2.80656342e-03 -1.95827405e+01] [-1.76859065e-02 3.61859270e-04 9.99843527e-01 -3.19051376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624012739 meters 0.02769486837455286 Centerline is valid? [True, True] Translation: X:159.42, Y:-19.59, Z:-3.18 [[ 9.89331135e-01 1.44131184e-01 2.12157417e-02 1.59418665e+02] [-1.44091115e-01 9.89558538e-01 -3.41339909e-03 -1.95928246e+01] [-2.14861956e-02 3.19982122e-04 9.99769094e-01 -3.18478169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684012739 meters 0.022583520522531632 Centerline is valid? [True, True] Translation: X:159.48, Y:-19.59, Z:-3.19 [[ 9.87582554e-01 1.55963278e-01 1.88720516e-02 1.59480348e+02] [-1.55933721e-01 9.87762853e-01 -3.03674980e-03 -1.95886190e+01] [-1.91147329e-02 5.62519035e-05 9.99817295e-01 -3.19098002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74401273899997 meters 0.02232925590213955 Centerline is valid? [True, True] Translation: X:159.54, Y:-19.59, Z:-3.19 [[ 9.86694930e-01 1.61503402e-01 1.87020625e-02 1.59542745e+02] [-1.61475370e-01 9.86872154e-01 -3.00935974e-03 -1.95886547e+01] [-1.89425666e-02 -5.06024780e-05 9.99820572e-01 -3.19156346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80401273899997 meters 0.022431002726626976 Centerline is valid? [True, True] Translation: X:159.60, Y:-19.60, Z:-3.19 [[ 9.86582097e-01 1.62103842e-01 1.94450466e-02 1.59603382e+02] [-1.62073648e-01 9.86773703e-01 -3.12929867e-03 -1.96043451e+01] [-1.96951319e-02 -6.42195894e-05 9.99806030e-01 -3.19354078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86401273899997 meters 0.022180094794654024 Centerline is valid? [True, True] Translation: X:159.66, Y:-19.62, Z:-3.19 [[ 9.86891662e-01 1.60132852e-01 2.00578291e-02 1.59664079e+02] [-1.60100244e-01 9.87095471e-01 -3.23147412e-03 -1.96152501e+01] [-2.03164574e-02 -2.21484720e-05 9.99793599e-01 -3.19383783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92401273899998 meters 0.022210576107705444 Centerline is valid? [True, True] Translation: X:159.72, Y:-19.64, Z:-3.19 [[ 9.87369951e-01 1.57000996e-01 2.12430689e-02 1.59724748e+02] [-1.56963607e-01 9.87598443e-01 -3.42653754e-03 -1.96368921e+01] [-2.15175916e-02 4.88714854e-05 9.99768469e-01 -3.19377736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98401273899998 meters 0.022821141673939425 Centerline is valid? [True, True] Translation: X:159.78, Y:-19.65, Z:-3.20 [[ 9.87768621e-01 1.54767764e-01 1.89760625e-02 1.59783881e+02] [-1.54737453e-01 9.87950875e-01 -3.06428928e-03 -1.96529317e+01] [-1.92216707e-02 9.05012278e-05 9.99815243e-01 -3.19960769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04401273899998 meters 0.022321567650179886 Centerline is valid? [True, True] Translation: X:159.84, Y:-19.67, Z:-3.20 [[ 9.87422811e-01 1.56955806e-01 1.90017738e-02 1.59843950e+02] [-1.56925758e-01 9.87605626e-01 -3.07149701e-03 -1.96685010e+01] [-1.92483480e-02 5.09984553e-05 9.99814732e-01 -3.19887537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10401273899998 meters 0.02209671693278205 Centerline is valid? [True, True] Translation: X:159.91, Y:-19.67, Z:-3.20 [[ 9.86790083e-01 1.60849688e-01 1.93056788e-02 1.59907862e+02] [-1.60819351e-01 9.86978914e-01 -3.12390405e-03 -1.96684662e+01] [-1.95567769e-02 -2.20892084e-05 9.99808748e-01 -3.19981569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164012739 meters 0.022204489170058954 Centerline is valid? [True, True] Translation: X:159.97, Y:-19.68, Z:-3.20 [[ 9.86529754e-01 1.62491948e-01 1.88523763e-02 1.59968341e+02] [-1.62463251e-01 9.86709868e-01 -3.05413749e-03 -1.96819543e+01] [-1.90980985e-02 -4.98208310e-05 9.99817613e-01 -3.20200555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224012739 meters 0.02233770109310108 Centerline is valid? [True, True] Translation: X:160.03, Y:-19.69, Z:-3.20 [[ 9.86308630e-01 1.63701612e-01 1.99265726e-02 1.60030559e+02] [-1.63669721e-01 9.86509897e-01 -3.23196642e-03 -1.96919288e+01] [-2.01868391e-02 -7.36602038e-05 9.99796222e-01 -3.20038525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284012739 meters 0.023354593023333824 Centerline is valid? [True, True] Translation: X:160.09, Y:-19.70, Z:-3.20 [[ 9.85658091e-01 1.67530583e-01 2.02886919e-02 1.60092576e+02] [-1.67498253e-01 9.85866868e-01 -3.29458346e-03 -1.96969212e+01] [-2.05538926e-02 -1.50987607e-04 9.99788735e-01 -3.20085993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344012739 meters 0.024620002026860398 Centerline is valid? [True, True] Translation: X:160.16, Y:-19.70, Z:-3.20 [[ 9.85278719e-01 1.69831826e-01 1.95702974e-02 1.60155020e+02] [-1.69802136e-01 9.85473041e-01 -3.18113557e-03 -1.97027958e+01] [-1.98262585e-02 -1.88773110e-04 9.99803423e-01 -3.20386503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404012739 meters 0.024297811930215792 Centerline is valid? [True, True] Translation: X:160.22, Y:-19.71, Z:-3.20 [[ 9.85425934e-01 1.68794699e-01 2.10731686e-02 1.60215400e+02] [-1.68759954e-01 9.85651215e-01 -3.42925024e-03 -1.97111222e+01] [-2.13496335e-02 -1.77034843e-04 9.99772055e-01 -3.20303963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464012739 meters 0.023819390152866375 Centerline is valid? [True, True] Translation: X:160.28, Y:-19.72, Z:-3.21 [[ 9.85491913e-01 1.68440317e-01 2.08218254e-02 1.60277572e+02] [-1.68406249e-01 9.85711841e-01 -3.39158669e-03 -1.97221180e+01] [-2.10955998e-02 -1.64144255e-04 9.99777450e-01 -3.20576133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52401273899997 meters 0.025018766822963945 Centerline is valid? [True, True] Translation: X:160.34, Y:-19.72, Z:-3.21 [[ 9.85128827e-01 1.70731390e-01 1.92869697e-02 1.60339385e+02] [-1.70702528e-01 9.85317591e-01 -3.14516645e-03 -1.97240291e+01] [-1.95407691e-02 -1.93940353e-04 9.99809042e-01 -3.21022863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58401273899997 meters 0.02515730765959805 Centerline is valid? [True, True] Translation: X:160.40, Y:-19.73, Z:-3.21 [[ 9.85101949e-01 1.70838194e-01 1.97094350e-02 1.60398972e+02] [-1.70808065e-01 9.85299077e-01 -3.21455860e-03 -1.97315780e+01] [-1.99688575e-02 -1.99862516e-04 9.99800583e-01 -3.21018418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64401273899998 meters 0.024924141816426226 Centerline is valid? [True, True] Translation: X:160.46, Y:-19.74, Z:-3.21 [[ 9.85110440e-01 1.70517214e-01 2.19385513e-02 1.60459083e+02] [-1.70479804e-01 9.85354674e-01 -3.57812179e-03 -1.97368614e+01] [-2.22273855e-02 -2.15234798e-04 9.99752918e-01 -3.20658177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70401273899998 meters 0.02469828961308964 Centerline is valid? [True, True] Translation: X:160.52, Y:-19.74, Z:-3.21 [[ 9.85244729e-01 1.69740772e-01 2.19292969e-02 1.60520095e+02] [-1.69703201e-01 9.85488727e-01 -3.57661242e-03 -1.97405712e+01] [-2.22181719e-02 -1.97633358e-04 9.99753126e-01 -3.20918264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76401273899998 meters 0.023773487219494977 Centerline is valid? [True, True] Translation: X:160.58, Y:-19.75, Z:-3.21 [[ 9.85624679e-01 1.67665467e-01 2.07914333e-02 1.60579681e+02] [-1.67631233e-01 9.85843938e-01 -3.39102976e-03 -1.97496632e+01] [-2.10656671e-02 -1.43010968e-04 9.99778084e-01 -3.21181980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82401273899998 meters 0.022455554624068987 Centerline is valid? [True, True] Translation: X:160.64, Y:-19.77, Z:-3.22 [[ 9.86451218e-01 1.62902283e-01 1.94123691e-02 1.60638719e+02] [-1.62871518e-01 9.86642207e-01 -3.16603336e-03 -1.97656860e+01] [-1.96688167e-02 -3.85845633e-05 9.99806549e-01 -3.21581965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88401273899999 meters 0.022339901847033668 Centerline is valid? [True, True] Translation: X:160.70, Y:-19.78, Z:-3.21 [[ 9.86955659e-01 1.59630197e-01 2.08980125e-02 1.60698523e+02] [-1.59593762e-01 9.87176884e-01 -3.41051792e-03 -1.97813624e+01] [-2.11744565e-02 3.08375216e-05 9.99775796e-01 -3.21360662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944012739 meters 0.022974379769533235 Centerline is valid? [True, True] Translation: X:160.76, Y:-19.80, Z:-3.22 [[ 9.87268133e-01 1.58043689e-01 1.79951787e-02 1.60759252e+02] [-1.58016370e-01 9.87432119e-01 -2.93902705e-03 -1.97973257e+01] [-1.82335121e-02 5.80749321e-05 9.99833754e-01 -3.22153641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004012739 meters 0.023243118652775802 Centerline is valid? [True, True] Translation: X:160.82, Y:-19.81, Z:-3.22 [[ 9.87372295e-01 1.57421254e-01 1.77341425e-02 1.60819177e+02] [-1.57394562e-01 9.87531541e-01 -2.89970497e-03 -1.98122540e+01] [-1.79695002e-02 7.18307741e-05 9.99838533e-01 -3.22317513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064012739 meters 0.023809827794269163 Centerline is valid? [True, True] Translation: X:160.88, Y:-19.81, Z:-3.22 [[ 9.85662733e-01 1.67718231e-01 1.84274697e-02 1.60880784e+02] [-1.67691148e-01 9.85834967e-01 -3.01622563e-03 -1.98063160e+01] [-1.86723200e-02 -1.17142351e-04 9.99825650e-01 -3.22346337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124012739 meters 0.025611384183283903 Centerline is valid? [True, True] Translation: X:160.94, Y:-19.81, Z:-3.22 [[ 9.84768755e-01 1.72539240e-01 2.14641544e-02 1.60941150e+02] [-1.72503652e-01 9.85002615e-01 -3.51268292e-03 -1.98074138e+01] [-2.17483239e-02 -2.43464625e-04 9.99763448e-01 -3.21930269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184012739 meters 0.02791037946528794 Centerline is valid? [True, True] Translation: X:161.00, Y:-19.81, Z:-3.22 [[ 9.84459083e-01 1.74292606e-01 2.15035200e-02 1.61001424e+02] [-1.74257316e-01 9.84693865e-01 -3.51863289e-03 -1.98055812e+01] [-2.17876559e-02 -2.83195569e-04 9.99762581e-01 -3.21887038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24401273899997 meters 0.025741925006642824 Centerline is valid? [True, True] Translation: X:161.06, Y:-19.81, Z:-3.22 [[ 9.84882266e-01 1.71759496e-01 2.24855183e-02 1.61060871e+02] [-1.71720245e-01 9.85138883e-01 -3.67942464e-03 -1.98122362e+01] [-2.27833345e-02 -2.37418652e-04 9.99740398e-01 -3.21724829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30401273899997 meters 0.023002618489245234 Centerline is valid? [True, True] Translation: X:161.12, Y:-19.82, Z:-3.22 [[ 9.85899088e-01 1.65831724e-01 2.24238242e-02 1.61120484e+02] [-1.65791164e-01 9.86154060e-01 -3.66886825e-03 -1.98248043e+01] [-2.27217600e-02 -1.00538056e-04 9.99741822e-01 -3.21982396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36401273899997 meters 0.02243688001475404 Centerline is valid? [True, True] Translation: X:161.18, Y:-19.84, Z:-3.23 [[ 9.86675285e-01 1.61450551e-01 2.01395515e-02 1.61179945e+02] [-1.61416919e-01 9.86880803e-01 -3.29525838e-03 -1.98355417e+01] [-2.04073580e-02 4.85656803e-07 9.99791748e-01 -3.22582361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42401273899998 meters 0.022938739974762153 Centerline is valid? [True, True] Translation: X:161.24, Y:-19.84, Z:-3.23 [[ 9.87180640e-01 1.58602314e-01 1.78798808e-02 1.61238384e+02] [-1.58575338e-01 9.87342546e-01 -2.92555568e-03 -1.98438129e+01] [-1.81175670e-02 5.27437904e-05 9.99835862e-01 -3.23150102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48401273899998 meters 0.023128590105610695 Centerline is valid? [True, True] Translation: X:161.30, Y:-19.85, Z:-3.23 [[ 9.87208987e-01 1.58527600e-01 1.69533300e-02 1.61297348e+02] [-1.58503339e-01 9.87354545e-01 -2.77379966e-03 -1.98495988e+01] [-1.71786713e-02 5.11605320e-05 9.99852434e-01 -3.23464276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54401273899998 meters 0.022661097084419837 Centerline is valid? [True, True] Translation: X:161.36, Y:-19.85, Z:-3.23 [[ 9.87067396e-01 1.59097819e-01 1.96428048e-02 1.61355722e+02] [-1.59065373e-01 9.87262823e-01 -3.21331827e-03 -1.98513468e+01] [-1.99038428e-02 4.72716366e-05 9.99801898e-01 -3.23007135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60401273899998 meters 0.022915170955220842 Centerline is valid? [True, True] Translation: X:161.41, Y:-19.86, Z:-3.23 [[ 9.87284509e-01 1.57662403e-01 2.02944713e-02 1.61414907e+02] [-1.57627490e-01 9.87493069e-01 -3.31870621e-03 -1.98618482e+01] [-2.05638850e-02 7.75406629e-05 9.99788538e-01 -3.23106757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664012739 meters 0.024401693417387956 Centerline is valid? [True, True] Translation: X:161.47, Y:-19.88, Z:-3.24 [[ 9.87901567e-01 1.53983365e-01 1.84286915e-02 1.61473930e+02] [-1.53953944e-01 9.88073430e-01 -3.01317800e-03 -1.98767793e+01] [-1.86728798e-02 1.39553522e-04 9.99825637e-01 -3.23698634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724012739 meters 0.028315180862844923 Centerline is valid? [True, True] Translation: X:161.53, Y:-19.90, Z:-3.23 [[ 9.88867543e-01 1.47187716e-01 2.18348001e-02 1.61532093e+02] [-1.47144754e-01 9.89108526e-01 -3.57013081e-03 -1.99027823e+01] [-2.21224664e-02 3.17510182e-04 9.99755218e-01 -3.23173640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784012739 meters 0.031994180591707416 Centerline is valid? [True, True] Translation: X:161.59, Y:-19.93, Z:-3.24 [[ 9.89602940e-01 1.42424010e-01 2.00355223e-02 1.61589806e+02] [-1.42386852e-01 9.89805663e-01 -3.27636180e-03 -1.99298755e+01] [-2.02979061e-02 3.89502308e-04 9.99793900e-01 -3.23584224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844012739 meters 0.03155285708660886 Centerline is valid? [True, True] Translation: X:161.65, Y:-19.95, Z:-3.23 [[ 9.89410439e-01 1.43253045e-01 2.33569591e-02 1.61649296e+02] [-1.43202751e-01 9.89685998e-01 -3.82056796e-03 -1.99492237e+01] [-2.36633634e-02 4.35329039e-04 9.99719889e-01 -3.23039753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904012739 meters 0.02911976877807509 Centerline is valid? [True, True] Translation: X:161.71, Y:-19.96, Z:-3.24 [[ 9.89159724e-01 1.45381841e-01 2.06678465e-02 1.61709880e+02] [-1.45342864e-01 9.89375562e-01 -3.38366920e-03 -1.99623904e+01] [-2.09401863e-02 3.43065275e-04 9.99780671e-01 -3.23782813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964012739 meters 0.02777498545800084 Centerline is valid? [True, True] Translation: X:161.77, Y:-19.98, Z:-3.24 [[ 9.88846900e-01 1.47580903e-01 2.00421148e-02 1.61770541e+02] [-1.47544636e-01 9.89049944e-01 -3.28449292e-03 -1.99797406e+01] [-2.03073810e-02 2.90754115e-04 9.99793742e-01 -3.23918240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02401273899997 meters 0.02568661769105623 Centerline is valid? [True, True] Translation: X:161.83, Y:-19.99, Z:-3.24 [[ 9.88303071e-01 1.51438589e-01 1.79831276e-02 1.61831369e+02] [-1.51410006e-01 9.88466650e-01 -2.94836109e-03 -1.99926104e+01] [-1.82222176e-02 1.91048852e-04 9.99833943e-01 -3.24363556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08401273899997 meters 0.023526403836479456 Centerline is valid? [True, True] Translation: X:161.89, Y:-20.00, Z:-3.25 [[ 9.87508078e-01 1.56560629e-01 1.77922684e-02 1.61892724e+02] [-1.56533428e-01 9.87668345e-01 -2.92000404e-03 -2.00029575e+01] [-1.80300179e-02 9.84428291e-05 9.99837441e-01 -3.24610414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14401273899998 meters 0.022659664061935408 Centerline is valid? [True, True] Translation: X:161.95, Y:-20.01, Z:-3.25 [[ 9.86743846e-01 1.61195056e-01 1.87812633e-02 1.61953789e+02] [-1.61165521e-01 9.86922567e-01 -3.08565025e-03 -2.00095327e+01] [-1.90330442e-02 1.78543035e-05 9.99818855e-01 -3.24517709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20401273899998 meters 0.023586993366988863 Centerline is valid? [True, True] Translation: X:162.02, Y:-20.01, Z:-3.25 [[ 9.85654192e-01 1.67754287e-01 1.85556708e-02 1.62015729e+02] [-1.67726560e-01 9.85828833e-01 -3.05164837e-03 -2.00076957e+01] [-1.88046424e-02 -1.04408826e-04 9.99823172e-01 -3.24565410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26401273899998 meters 0.03450206177446981 Centerline is valid? [True, True] Translation: X:162.08, Y:-19.99, Z:-3.24 [[ 9.83527595e-01 1.79645091e-01 2.00277569e-02 1.62078988e+02] [-1.79615245e-01 9.83731423e-01 -3.29400162e-03 -1.99853073e+01] [-2.02936850e-02 -3.57548976e-04 9.99793998e-01 -3.24471749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32401273899998 meters 0.03310740399225647 Centerline is valid? [True, True] Translation: X:162.14, Y:-19.99, Z:-3.25 [[ 9.83053042e-01 1.82277518e-01 1.95351921e-02 1.62138469e+02] [-1.82249645e-01 9.83247042e-01 -3.21280258e-03 -1.99878419e+01] [-1.97935415e-02 -4.01926470e-04 9.99804008e-01 -3.24632371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38401273899999 meters 0.03340741213548938 Centerline is valid? [True, True] Translation: X:162.20, Y:-19.99, Z:-3.24 [[ 9.82927182e-01 1.82602848e-01 2.25910385e-02 1.62198192e+02] [-1.82565679e-01 9.83186643e-01 -3.71443718e-03 -1.99867575e+01] [-2.28894742e-02 -4.73327028e-04 9.99737890e-01 -3.24243833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444012739 meters 0.03231720637009939 Centerline is valid? [True, True] Translation: X:162.26, Y:-19.99, Z:-3.24 [[ 9.83276358e-01 1.80495776e-01 2.42668229e-02 1.62256315e+02] [-1.80452277e-01 9.83575653e-01 -3.98871870e-03 -1.99904139e+01] [-2.45882031e-02 -4.56990651e-04 9.99697560e-01 -3.24019897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504012739 meters 0.028860888681866224 Centerline is valid? [True, True] Translation: X:162.32, Y:-20.00, Z:-3.24 [[ 9.84009307e-01 1.76560410e-01 2.34969112e-02 1.62315039e+02] [-1.76518533e-01 9.84289744e-01 -3.86096088e-03 -2.00016357e+01] [-2.38094616e-02 -3.48418858e-04 9.99716454e-01 -3.24221433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564012739 meters 0.025312245778333114 Centerline is valid? [True, True] Translation: X:162.37, Y:-20.02, Z:-3.25 [[ 9.84838119e-01 1.72217512e-01 2.08568472e-02 1.62373492e+02] [-1.72183553e-01 9.85058923e-01 -3.42673053e-03 -2.00156136e+01] [-2.11353665e-02 -2.16431216e-04 9.99776600e-01 -3.24957464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624012739 meters 0.022778353487143223 Centerline is valid? [True, True] Translation: X:162.43, Y:-20.03, Z:-3.25 [[ 9.85957389e-01 1.65916378e-01 1.89679390e-02 1.62430840e+02] [-1.65887128e-01 9.86139823e-01 -3.11619518e-03 -2.00314519e+01] [-1.92220678e-02 -7.41012667e-05 9.99815236e-01 -3.25452558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684012739 meters 0.02224025037909505 Centerline is valid? [True, True] Translation: X:162.49, Y:-20.04, Z:-3.25 [[ 9.86332675e-01 1.63351580e-01 2.15433615e-02 1.62489963e+02] [-1.63313247e-01 9.86567920e-01 -3.53872395e-03 -2.00419465e+01] [-2.18320455e-02 -2.79572717e-05 9.99761652e-01 -3.25043379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74401273899997 meters 0.02238484097098388 Centerline is valid? [True, True] Translation: X:162.55, Y:-20.05, Z:-3.26 [[ 9.86673703e-01 1.61519125e-01 1.96615344e-02 1.62548065e+02] [-1.61486842e-01 9.86869582e-01 -3.22917875e-03 -2.00517247e+01] [-1.99249444e-02 1.10666448e-05 9.99801479e-01 -3.25661247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80401273899997 meters 0.022532761121743808 Centerline is valid? [True, True] Translation: X:162.61, Y:-20.06, Z:-3.26 [[ 9.86660306e-01 1.61833327e-01 1.76469436e-02 1.62606965e+02] [-1.61807375e-01 9.86818106e-01 -2.89815203e-03 -2.00603253e+01] [-1.78833410e-02 4.08595122e-06 9.99840080e-01 -3.26081697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86401273899997 meters 0.02295964129769862 Centerline is valid? [True, True] Translation: X:162.66, Y:-20.08, Z:-3.27 [[ 9.87276494e-01 1.58021252e-01 1.77315693e-02 1.62664352e+02] [-1.57994444e-01 9.87435709e-01 -2.91153374e-03 -2.00780673e+01] [-1.79688689e-02 7.29993964e-05 9.99838544e-01 -3.26512969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92401273899998 meters 0.023504937825939064 Centerline is valid? [True, True] Translation: X:162.72, Y:-20.09, Z:-3.27 [[ 9.87611099e-01 1.55898555e-01 1.78873489e-02 1.62722977e+02] [-1.55870922e-01 9.87773065e-01 -2.93731976e-03 -2.00929717e+01] [-1.81265654e-02 1.12812026e-04 9.99835694e-01 -3.26591832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98401273899998 meters 0.022363934151391436 Centerline is valid? [True, True] Translation: X:162.78, Y:-20.10, Z:-3.26 [[ 9.86556187e-01 1.62366622e-01 1.85464341e-02 1.62782234e+02] [-1.62338056e-01 9.86730500e-01 -3.04560772e-03 -2.00951788e+01] [-1.87948373e-02 -6.12892170e-06 9.99823361e-01 -3.26474972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04401273899998 meters 0.023722798479618445 Centerline is valid? [True, True] Translation: X:162.84, Y:-20.10, Z:-3.26 [[ 9.85463665e-01 1.68594061e-01 2.09142800e-02 1.62841926e+02] [-1.68559152e-01 9.85685560e-01 -3.43360371e-03 -2.00954800e+01] [-2.11937890e-02 -1.41601613e-04 9.99775376e-01 -3.26178156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10401273899998 meters 0.02353809421908369 Centerline is valid? [True, True] Translation: X:162.90, Y:-20.11, Z:-3.26 [[ 9.85528280e-01 1.68240932e-01 2.07122570e-02 1.62900630e+02] [-1.68206637e-01 9.85745896e-01 -3.39948544e-03 -2.01060392e+01] [-2.09889549e-02 -1.33650051e-04 9.99779699e-01 -3.26379454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164012739 meters 0.02265523243607926 Centerline is valid? [True, True] Translation: X:162.96, Y:-20.12, Z:-3.27 [[ 9.86182872e-01 1.64752713e-01 1.73172484e-02 1.62957717e+02] [-1.64728207e-01 9.86334903e-01 -2.84196608e-03 -2.01197833e+01] [-1.75488281e-02 -4.99410024e-05 9.99846006e-01 -3.27215323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224012739 meters 0.02245692872253415 Centerline is valid? [True, True] Translation: X:163.02, Y:-20.13, Z:-3.26 [[ 9.86066458e-01 1.64971780e-01 2.13834493e-02 1.63016082e+02] [-1.64934485e-01 9.86298285e-01 -3.50834323e-03 -2.01277357e+01] [-2.16692370e-02 -6.74086061e-05 9.99765192e-01 -3.26472636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284012739 meters 0.022987007062600096 Centerline is valid? [True, True] Translation: X:163.08, Y:-20.13, Z:-3.27 [[ 9.85843181e-01 1.66652580e-01 1.84428767e-02 1.63075571e+02] [-1.66625145e-01 9.86015674e-01 -3.02513180e-03 -2.01329263e+01] [-1.86891115e-02 -9.07414533e-05 9.99825339e-01 -3.27253615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344012739 meters 0.02353853020353916 Centerline is valid? [True, True] Translation: X:163.13, Y:-20.14, Z:-3.27 [[ 9.85678157e-01 1.67653292e-01 1.81918843e-02 1.63134077e+02] [-1.67626777e-01 9.85846013e-01 -2.98360386e-03 -2.01362286e+01] [-1.84346077e-02 -1.08573783e-04 9.99830062e-01 -3.27443641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404012739 meters 0.025263111422519552 Centerline is valid? [True, True] Translation: X:163.19, Y:-20.14, Z:-3.28 [[ 9.85181006e-01 1.70661800e-01 1.71153510e-02 1.63194156e+02] [-1.70638801e-01 9.85329653e-01 -2.80605313e-03 -2.01352561e+01] [-1.73431489e-02 -1.56072729e-04 9.99849584e-01 -3.27749260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464012739 meters 0.025879920063921324 Centerline is valid? [True, True] Translation: X:163.25, Y:-20.14, Z:-3.28 [[ 9.84955180e-01 1.72003586e-01 1.66751161e-02 1.63253620e+02] [-1.71981960e-01 9.85096308e-01 -2.73315616e-03 -2.01363966e+01] [-1.68967080e-02 -1.75782837e-04 9.99857225e-01 -3.28110873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52401273899997 meters 0.022641365712254193 Centerline is valid? [True, True] Translation: X:163.31, Y:-20.15, Z:-3.27 [[ 9.85906752e-01 1.66065323e-01 2.02529984e-02 1.63311024e+02] [-1.66032189e-01 9.86114750e-01 -3.31844693e-03 -2.01497827e+01] [-2.05228594e-02 -9.09704216e-05 9.99789380e-01 -3.27472023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58401273899997 meters 0.022254278416228256 Centerline is valid? [True, True] Translation: X:163.37, Y:-20.16, Z:-3.28 [[ 9.86618851e-01 1.62122320e-01 1.73088701e-02 1.63369011e+02] [-1.62097524e-01 9.86770669e-01 -2.83536907e-03 -2.01589820e+01] [-1.75395620e-02 -8.29642206e-06 9.99846170e-01 -3.28084163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64401273899998 meters 0.023017734986062955 Centerline is valid? [True, True] Translation: X:163.43, Y:-20.17, Z:-3.28 [[ 9.87540180e-01 1.56319269e-01 1.81294947e-02 1.63426242e+02] [-1.56291104e-01 9.87706574e-01 -2.96888941e-03 -2.01723392e+01] [-1.83707158e-02 9.84188241e-05 9.99831239e-01 -3.28211495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70401273899998 meters 0.025655423025250583 Centerline is valid? [True, True] Translation: X:163.48, Y:-20.19, Z:-3.28 [[ 9.88490375e-01 1.50427604e-01 1.60721812e-02 1.63483562e+02] [-1.50404701e-01 9.88621010e-01 -2.63127503e-03 -2.01881658e+01] [-1.62851124e-02 1.83658431e-04 9.99867372e-01 -3.28482521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76401273899998 meters 0.02540992310714728 Centerline is valid? [True, True] Translation: X:163.54, Y:-20.20, Z:-3.29 [[ 9.88476285e-01 1.50499907e-01 1.62607395e-02 1.63541997e+02] [-1.50476482e-01 9.88610006e-01 -2.66160651e-03 -2.01976326e+01] [-1.64761013e-02 1.84076027e-04 9.99864243e-01 -3.28503826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82401273899998 meters 0.022304686885332877 Centerline is valid? [True, True] Translation: X:163.60, Y:-20.19, Z:-3.28 [[ 9.87311672e-01 1.57578240e-01 1.96153328e-02 1.63601150e+02] [-1.57545570e-01 9.87506502e-01 -3.20956123e-03 -2.01934525e+01] [-1.98760257e-02 7.85284609e-05 9.99802449e-01 -3.27963731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88401273899999 meters 0.02262437622718036 Centerline is valid? [True, True] Translation: X:163.66, Y:-20.18, Z:-3.28 [[ 9.85922930e-01 1.66086687e-01 1.92662426e-02 1.63662457e+02] [-1.66056814e-01 9.86111152e-01 -3.15130001e-03 -2.01842629e+01] [-1.95220457e-02 -9.23519330e-05 9.99809422e-01 -3.28187878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944012739 meters 0.02376797730857194 Centerline is valid? [True, True] Translation: X:163.72, Y:-20.18, Z:-3.29 [[ 9.85399364e-01 1.69300406e-01 1.80406448e-02 1.63722595e+02] [-1.69274766e-01 9.85564483e-01 -2.95003644e-03 -2.01820076e+01] [-1.82796612e-02 -1.46861899e-04 9.99832902e-01 -3.28565921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004012739 meters 0.021773226124537505 Centerline is valid? [True, True] Translation: X:163.78, Y:-20.20, Z:-3.28 [[ 9.86537808e-01 1.62243963e-01 2.04951018e-02 1.63779951e+02] [-1.62209370e-01 9.86750676e-01 -3.35026357e-03 -2.01997183e+01] [-2.07671155e-02 -1.93358662e-05 9.99784340e-01 -3.28225634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064012739 meters 0.022528193514314652 Centerline is valid? [True, True] Translation: X:163.84, Y:-20.22, Z:-3.27 [[ 9.87438083e-01 1.55901229e-01 2.57068082e-02 1.63835617e+02] [-1.55844685e-01 9.87772639e-01 -4.20089215e-03 -2.02162785e+01] [-2.60474061e-02 1.41851456e-04 9.99660699e-01 -3.27352577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124012739 meters 0.024037828401730695 Centerline is valid? [True, True] Translation: X:163.89, Y:-20.23, Z:-3.28 [[ 9.88024713e-01 1.52370226e-01 2.42998167e-02 1.63893711e+02] [-1.52318671e-01 9.88323462e-01 -3.96950695e-03 -2.02318546e+01] [-2.46209136e-02 2.20655189e-04 9.99696835e-01 -3.27718281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184012739 meters 0.024707928999363915 Centerline is valid? [True, True] Translation: X:163.95, Y:-20.25, Z:-3.29 [[ 9.88394125e-01 1.50644942e-01 1.95743595e-02 1.63951939e+02] [-1.50611160e-01 9.88587910e-01 -3.19719813e-03 -2.02494049e+01] [-1.98326169e-02 2.11974859e-04 9.99803292e-01 -3.28743697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24401273899997 meters 0.0243187901100536 Centerline is valid? [True, True] Translation: X:164.01, Y:-20.26, Z:-3.29 [[ 9.88300240e-01 1.51337668e-01 1.89616889e-02 1.64010434e+02] [-1.51306094e-01 9.88482106e-01 -3.09715666e-03 -2.02633526e+01] [-1.92120067e-02 1.91901581e-04 9.99815414e-01 -3.29016916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30401273899997 meters 0.022998451946637605 Centerline is valid? [True, True] Translation: X:164.07, Y:-20.27, Z:-3.29 [[ 9.87788328e-01 1.54666110e-01 1.87780250e-02 1.64067957e+02] [-1.54635754e-01 9.87966790e-01 -3.06675971e-03 -2.02715936e+01] [-1.90263889e-02 1.25555390e-04 9.99818974e-01 -3.29150957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36401273899997 meters 0.022390954228913587 Centerline is valid? [True, True] Translation: X:164.13, Y:-20.28, Z:-3.29 [[ 9.87450786e-01 1.56838641e-01 1.85090821e-02 1.64125094e+02] [-1.56809550e-01 9.87624237e-01 -3.02173544e-03 -2.02782256e+01] [-1.87539430e-02 8.14141936e-05 9.99824126e-01 -3.29364239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42401273899998 meters 0.02179398127082781 Centerline is valid? [True, True] Translation: X:164.18, Y:-20.28, Z:-3.29 [[ 9.86806111e-01 1.60823619e-01 1.86939211e-02 1.64183927e+02] [-1.60794681e-01 9.86983163e-01 -3.05077278e-03 -2.02847132e+01] [-1.89412217e-02 4.63815488e-06 9.99820599e-01 -3.29423402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48401273899998 meters 0.021984839604862104 Centerline is valid? [True, True] Translation: X:164.24, Y:-20.29, Z:-3.30 [[ 9.86613900e-01 1.62114587e-01 1.76599467e-02 1.64241881e+02] [-1.62088982e-01 9.86771939e-01 -2.88125267e-03 -2.02938917e+01] [-1.78934329e-02 -1.97988503e-05 9.99839900e-01 -3.29872056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54401273899998 meters 0.02172824997452602 Centerline is valid? [True, True] Translation: X:164.30, Y:-20.31, Z:-3.30 [[ 9.86761691e-01 1.60946307e-01 1.99412111e-02 1.64299100e+02] [-1.60913442e-01 9.86963164e-01 -3.25237842e-03 -2.03091842e+01] [-2.02046991e-02 5.13514419e-07 9.99795864e-01 -3.29622669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60401273899998 meters 0.02184617365359301 Centerline is valid? [True, True] Translation: X:164.36, Y:-20.31, Z:-3.30 [[ 9.86429606e-01 1.62861710e-01 2.08013338e-02 1.64357507e+02] [-1.62826396e-01 9.86648905e-01 -3.39161179e-03 -2.03147523e+01] [-2.10759769e-02 -4.14199366e-05 9.99777876e-01 -3.29593474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664012739 meters 0.022189704701274526 Centerline is valid? [True, True] Translation: X:164.41, Y:-20.32, Z:-3.30 [[ 9.86148908e-01 1.64629000e-01 2.01896978e-02 1.64414199e+02] [-1.64596122e-01 9.86355558e-01 -3.29093177e-03 -2.03242557e+01] [-2.04560035e-02 -7.77971956e-05 9.99790751e-01 -3.29845854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724012739 meters 0.022037922029197948 Centerline is valid? [True, True] Translation: X:164.47, Y:-20.33, Z:-3.30 [[ 9.86311815e-01 1.63718486e-01 1.96280749e-02 1.64471271e+02] [-1.63687257e-01 9.86507098e-01 -3.19812983e-03 -2.03306569e+01] [-1.98868282e-02 -5.85125047e-05 9.99802236e-01 -3.30027077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784012739 meters 0.02179921602590557 Centerline is valid? [True, True] Translation: X:164.53, Y:-20.35, Z:-3.30 [[ 9.86406922e-01 1.62958966e-01 2.11129973e-02 1.64528850e+02] [-1.62922687e-01 9.86632846e-01 -3.43873589e-03 -2.03453182e+01] [-2.13911495e-02 -4.77933738e-05 9.99771182e-01 -3.29872879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844012739 meters 0.021659699368031787 Centerline is valid? [True, True] Translation: X:164.59, Y:-20.36, Z:-3.30 [[ 9.86892276e-01 1.59563285e-01 2.41494158e-02 1.64586662e+02] [-1.59514831e-01 9.87187701e-01 -3.93209844e-03 -2.03598008e+01] [-2.44674248e-02 2.83676015e-05 9.99700627e-01 -3.29535915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904012739 meters 0.022127216452392844 Centerline is valid? [True, True] Translation: X:164.64, Y:-20.38, Z:-3.30 [[ 9.87379856e-01 1.56857529e-01 2.18342878e-02 1.64644914e+02] [-1.56817269e-01 9.87621237e-01 -3.55470666e-03 -2.03790284e+01] [-2.21215888e-02 8.58523645e-05 9.99755284e-01 -3.30134234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96401273899997 meters 0.023666478718589103 Centerline is valid? [True, True] Translation: X:164.70, Y:-20.39, Z:-3.31 [[ 9.87397887e-01 1.57168685e-01 1.85315411e-02 1.64704357e+02] [-1.57139739e-01 9.87571770e-01 -3.01700671e-03 -2.03914476e+01] [-1.87754059e-02 6.69445113e-05 9.99823724e-01 -3.30546777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02401273899997 meters 0.022802846827948614 Centerline is valid? [True, True] Translation: X:164.76, Y:-20.41, Z:-3.31 [[ 9.87643019e-01 1.55370713e-01 2.05233504e-02 1.64760612e+02] [-1.55334822e-01 9.87856229e-01 -3.34126948e-03 -2.04114169e+01] [-2.07932549e-02 1.11990505e-04 9.99783791e-01 -3.30638090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08401273899997 meters 0.02378344574122875 Centerline is valid? [True, True] Translation: X:164.82, Y:-20.43, Z:-3.31 [[ 9.87985936e-01 1.53201955e-01 2.03212225e-02 1.64818011e+02] [-1.53166323e-01 9.88194888e-01 -3.30766490e-03 -2.04316586e+01] [-2.05880690e-02 1.55399458e-04 9.99788031e-01 -3.30844788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14401273899998 meters 0.02473082161930405 Centerline is valid? [True, True] Translation: X:164.88, Y:-20.45, Z:-3.31 [[ 9.88187491e-01 1.52027313e-01 1.93178516e-02 1.64877587e+02] [-1.51994893e-01 9.88376278e-01 -3.14411030e-03 -2.04495025e+01] [-1.95712969e-02 1.70755678e-04 9.99808449e-01 -3.31130242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20401273899998 meters 0.023782330055361327 Centerline is valid? [True, True] Translation: X:164.94, Y:-20.46, Z:-3.31 [[ 9.87932944e-01 1.53599060e-01 1.98954241e-02 1.64937011e+02] [-1.53564981e-01 9.88133244e-01 -3.23858004e-03 -2.04609956e+01] [-2.01567728e-02 1.44259488e-04 9.99796821e-01 -3.31258236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26401273899998 meters 0.023445730346501093 Centerline is valid? [True, True] Translation: X:165.00, Y:-20.48, Z:-3.31 [[ 9.87998250e-01 1.53142875e-01 2.01672502e-02 1.64997967e+02] [-1.53107764e-01 9.88204046e-01 -3.28282271e-03 -2.04761012e+01] [-2.04320992e-02 1.55660503e-04 9.99791231e-01 -3.31225317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32401273899998 meters 0.02292884441328857 Centerline is valid? [True, True] Translation: X:165.06, Y:-20.49, Z:-3.32 [[ 9.87482077e-01 1.56570341e-01 1.91017021e-02 1.65058711e+02] [-1.56539413e-01 9.87666807e-01 -3.11303667e-03 -2.04861016e+01] [-1.93535264e-02 8.38986901e-05 9.99812699e-01 -3.31592599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38401273899999 meters 0.02480475669849586 Centerline is valid? [True, True] Translation: X:165.12, Y:-20.49, Z:-3.31 [[ 9.86785638e-01 1.60939963e-01 1.87731831e-02 1.65120097e+02] [-1.60910813e-01 9.86964198e-01 -3.06296572e-03 -2.04874465e+01] [-1.90214132e-02 1.68242968e-06 9.99819077e-01 -3.31039313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444012739 meters 0.022132525507122854 Centerline is valid? [True, True] Translation: X:165.18, Y:-20.50, Z:-3.32 [[ 9.86756816e-01 1.60965896e-01 2.00241704e-02 1.65179403e+02] [-1.60932737e-01 9.86959969e-01 -3.26707030e-03 -2.04961208e+01] [-2.02889415e-02 1.25932777e-06 9.99794158e-01 -3.31619463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504012739 meters 0.02212849258942939 Centerline is valid? [True, True] Translation: X:165.24, Y:-20.51, Z:-3.32 [[ 9.86910331e-01 1.59983704e-01 2.03276328e-02 1.65239528e+02] [-1.59949319e-01 9.87119655e-01 -3.31683839e-03 -2.05069958e+01] [-2.05964460e-02 2.20310566e-05 9.99787870e-01 -3.31742325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564012739 meters 0.022756318307277066 Centerline is valid? [True, True] Translation: X:165.30, Y:-20.52, Z:-3.32 [[ 9.87291449e-01 1.57825617e-01 1.86190723e-02 1.65300868e+02] [-1.57796382e-01 9.87466997e-01 -3.03823726e-03 -2.05189030e+01] [-1.88652310e-02 6.16034212e-05 9.99822034e-01 -3.32063753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624012739 meters 0.02307510729396092 Centerline is valid? [True, True] Translation: X:165.36, Y:-20.53, Z:-3.32 [[ 9.87492058e-01 1.56428890e-01 1.97341972e-02 1.65359968e+02] [-1.56395696e-01 9.87689219e-01 -3.22389514e-03 -2.05296491e+01] [-1.99955642e-02 9.72273395e-05 9.99800064e-01 -3.32010071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684012739 meters 0.023257246162598225 Centerline is valid? [True, True] Translation: X:165.42, Y:-20.55, Z:-3.32 [[ 9.87551241e-01 1.55974632e-01 2.03583007e-02 1.65419375e+02] [-1.55939202e-01 9.87761055e-01 -3.32613204e-03 -2.05465670e+01] [-2.06279288e-02 1.10068649e-04 9.99787216e-01 -3.32213798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74401273899997 meters 0.02484277864864021 Centerline is valid? [True, True] Translation: X:165.48, Y:-20.57, Z:-3.32 [[ 9.88050821e-01 1.52746932e-01 2.05900478e-02 1.65478759e+02] [-1.52709923e-01 9.88265319e-01 -3.36719611e-03 -2.05660771e+01] [-2.08627590e-02 1.82656276e-04 9.99782332e-01 -3.32215639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80401273899997 meters 0.024685669170428186 Centerline is valid? [True, True] Translation: X:165.54, Y:-20.58, Z:-3.32 [[ 9.87968184e-01 1.53330963e-01 2.02109715e-02 1.65540643e+02] [-1.53295390e-01 9.88174877e-01 -3.30702343e-03 -2.05781515e+01] [-2.04790433e-02 1.68985188e-04 9.99790268e-01 -3.32311550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86401273899997 meters 0.023755143236292076 Centerline is valid? [True, True] Translation: X:165.60, Y:-20.59, Z:-3.33 [[ 9.87523778e-01 1.56393035e-01 1.83849421e-02 1.65601927e+02] [-1.56364070e-01 9.87694897e-01 -3.01143574e-03 -2.05895668e+01] [-1.86296810e-02 9.91200255e-05 9.99826448e-01 -3.32841953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92401273899998 meters 0.023688231363066505 Centerline is valid? [True, True] Translation: X:165.66, Y:-20.60, Z:-3.33 [[ 9.87474060e-01 1.56764885e-01 1.78816127e-02 1.65663489e+02] [-1.56737495e-01 9.87635946e-01 -2.93179181e-03 -2.06049247e+01] [-1.81201255e-02 9.23491785e-05 9.99835813e-01 -3.33096176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98401273899998 meters 0.02317406668965058 Centerline is valid? [True, True] Translation: X:165.73, Y:-20.61, Z:-3.33 [[ 9.87172807e-01 1.58669679e-01 1.77139180e-02 1.65725177e+02] [-1.58643045e-01 9.87331722e-01 -2.90774103e-03 -2.06141088e+01] [-1.79508835e-02 6.02529687e-05 9.99838868e-01 -3.33198090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04401273899998 meters 0.02275644596253724 Centerline is valid? [True, True] Translation: X:165.79, Y:-20.62, Z:-3.33 [[ 9.86591651e-01 1.62009504e-01 1.97442417e-02 1.65786409e+02] [-1.61977007e-01 9.86789198e-01 -3.24476518e-03 -2.06222111e+01] [-2.00090872e-02 3.14505236e-06 9.99799798e-01 -3.33032569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10401273899998 meters 0.026243749293536667 Centerline is valid? [True, True] Translation: X:165.85, Y:-20.61, Z:-3.33 [[ 9.84953582e-01 1.71829772e-01 1.84654117e-02 1.65847053e+02] [-1.71803062e-01 9.85126640e-01 -3.03511110e-03 -2.06125849e+01] [-1.87122915e-02 -1.82970738e-04 9.99824893e-01 -3.33433085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164012739 meters 0.030501854321253612 Centerline is valid? [True, True] Translation: X:165.91, Y:-20.61, Z:-3.33 [[ 9.84127986e-01 1.76474972e-01 1.86732804e-02 1.65907397e+02] [-1.76448506e-01 9.84305089e-01 -3.06861081e-03 -2.06090234e+01] [-1.89217380e-02 -2.74966645e-04 9.99820930e-01 -3.33478525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224012739 meters 0.030691143398734334 Centerline is valid? [True, True] Translation: X:165.97, Y:-20.61, Z:-3.34 [[ 9.83612796e-01 1.79406311e-01 1.78673915e-02 1.65966898e+02] [-1.79382572e-01 9.83775012e-01 -2.93562879e-03 -2.06111198e+01] [-1.81041636e-02 -3.17576604e-04 9.99836056e-01 -3.33695662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284012739 meters 0.030370822966089565 Centerline is valid? [True, True] Translation: X:166.03, Y:-20.62, Z:-3.34 [[ 9.83724849e-01 1.78703511e-01 1.87210219e-02 1.66025593e+02] [-1.78677341e-01 9.83902918e-01 -3.07493228e-03 -2.06180096e+01] [-1.89691693e-02 -3.20135124e-04 9.99820018e-01 -3.33702353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344012739 meters 0.03026594675685292 Centerline is valid? [True, True] Translation: X:166.08, Y:-20.62, Z:-3.33 [[ 9.83722300e-01 1.78252951e-01 2.27227240e-02 1.66083956e+02] [-1.78214307e-01 9.83984625e-01 -3.73086728e-03 -2.06208394e+01] [-2.30238491e-02 -3.79377168e-04 9.99734844e-01 -3.32879138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404012739 meters 0.028981317587550633 Centerline is valid? [True, True] Translation: X:166.14, Y:-20.63, Z:-3.34 [[ 9.84272806e-01 1.75708668e-01 1.82621867e-02 1.66142172e+02] [-1.75683286e-01 9.84442176e-01 -2.99754360e-03 -2.06301014e+01] [-1.85047612e-02 -2.57960315e-04 9.99828739e-01 -3.34020418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46401273899997 meters 0.02732386328807524 Centerline is valid? [True, True] Translation: X:166.20, Y:-20.64, Z:-3.34 [[ 9.84881434e-01 1.72260313e-01 1.83015340e-02 1.66198987e+02] [-1.72234242e-01 9.85051444e-01 -3.00315751e-03 -2.06420594e+01] [-1.85452773e-02 -1.94396763e-04 9.99828003e-01 -3.34044647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52401273899997 meters 0.026990612781490262 Centerline is valid? [True, True] Translation: X:166.26, Y:-20.65, Z:-3.34 [[ 9.84980324e-01 1.71750936e-01 1.77588863e-02 1.66257859e+02] [-1.71726324e-01 9.85140388e-01 -2.91307680e-03 -2.06471503e+01] [-1.79953198e-02 -1.80344943e-04 9.99838055e-01 -3.34271834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58401273899997 meters 0.026590836886821755 Centerline is valid? [True, True] Translation: X:166.32, Y:-20.66, Z:-3.34 [[ 9.85009786e-01 1.71569772e-01 1.78755616e-02 1.66316574e+02] [-1.71544821e-01 9.85171955e-01 -2.93138358e-03 -2.06554172e+01] [-1.81134388e-02 -1.79018506e-04 9.99835922e-01 -3.34495523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64401273899998 meters 0.024062330166660113 Centerline is valid? [True, True] Translation: X:166.37, Y:-20.67, Z:-3.34 [[ 9.86141268e-01 1.64780077e-01 1.93112768e-02 1.66373614e+02] [-1.64749674e-01 9.86330331e-01 -3.16579637e-03 -2.06743750e+01] [-1.95689583e-02 -5.96041230e-05 9.99808508e-01 -3.34402818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70401273899998 meters 0.024546630797058978 Centerline is valid? [True, True] Translation: X:166.43, Y:-20.70, Z:-3.35 [[ 9.87383354e-01 1.57509676e-01 1.62731038e-02 1.66431291e+02] [-1.57487110e-01 9.87517441e-01 -2.66710439e-03 -2.06973423e+01] [-1.64900686e-02 7.06503946e-05 9.99864027e-01 -3.35123704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76401273899998 meters 0.02539556958077683 Centerline is valid? [True, True] Translation: X:166.49, Y:-20.71, Z:-3.35 [[ 9.87720147e-01 1.55417916e-01 1.59430910e-02 1.66490152e+02] [-1.55395966e-01 9.87848804e-01 -2.61408238e-03 -2.07112405e+01] [-1.61556387e-02 1.04489796e-04 9.99869484e-01 -3.35185563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82401273899998 meters 0.0257550779620809 Centerline is valid? [True, True] Translation: X:166.55, Y:-20.72, Z:-3.35 [[ 9.87798998e-01 1.54965452e-01 1.54547376e-02 1.66548187e+02] [-1.54944769e-01 9.87919884e-01 -2.53406700e-03 -2.07241808e+01] [-1.56607354e-02 1.08518081e-04 9.99877357e-01 -3.35466462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88401273899999 meters 0.02696611387649868 Centerline is valid? [True, True] Translation: X:166.61, Y:-20.75, Z:-3.35 [[ 9.88253247e-01 1.51904310e-01 1.67511284e-02 1.66606876e+02] [-1.51879578e-01 9.88395190e-01 -2.74628893e-03 -2.07465856e+01] [-1.69739079e-02 1.69874639e-04 9.99855918e-01 -3.35430198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944012739 meters 0.02924569378625879 Centerline is valid? [True, True] Translation: X:166.67, Y:-20.77, Z:-3.36 [[ 9.88857231e-01 1.48230388e-01 1.37523773e-02 1.66665710e+02] [-1.48213372e-01 9.88952838e-01 -2.25403556e-03 -2.07689270e+01] [-1.39345691e-02 1.90633152e-04 9.99902891e-01 -3.36128963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004012739 meters 0.03392644378643335 Centerline is valid? [True, True] Translation: X:166.73, Y:-20.79, Z:-3.35 [[ 9.89048836e-01 1.46931995e-01 1.39064453e-02 1.66725708e+02] [-1.46914437e-01 9.89146573e-01 -2.28144272e-03 -2.07875927e+01] [-1.40907297e-02 2.13400679e-04 9.99900698e-01 -3.35321262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064012739 meters 0.028051909492889618 Centerline is valid? [True, True] Translation: X:166.78, Y:-20.80, Z:-3.36 [[ 9.88398200e-01 1.50962622e-01 1.67118318e-02 1.66784774e+02] [-1.50937772e-01 9.88539453e-01 -2.74570541e-03 -2.08006932e+01] [-1.69348040e-02 1.91403616e-04 9.99856578e-01 -3.35712653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124012739 meters 0.025568798067454015 Centerline is valid? [True, True] Translation: X:166.85, Y:-20.81, Z:-3.36 [[ 9.87644011e-01 1.55912565e-01 1.58297238e-02 1.66846513e+02] [-1.55890913e-01 9.87770855e-01 -2.60026146e-03 -2.08071682e+01] [-1.60415532e-02 1.00422566e-04 9.99871321e-01 -3.36041399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184012739 meters 0.025757010571193693 Centerline is valid? [True, True] Translation: X:166.91, Y:-20.82, Z:-3.36 [[ 9.87701104e-01 1.55337999e-01 1.77942753e-02 1.66906302e+02] [-1.55310483e-01 9.87861372e-01 -2.92641076e-03 -2.08247889e+01] [-1.80328600e-02 1.26781656e-04 9.99837387e-01 -3.35954791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24401273899997 meters 0.02772657229262662 Centerline is valid? [True, True] Translation: X:166.97, Y:-20.85, Z:-3.36 [[ 9.88286177e-01 1.51740634e-01 1.62853673e-02 1.66965829e+02] [-1.51717053e-01 9.88420330e-01 -2.68098378e-03 -2.08478448e+01] [-1.65036023e-02 1.78811271e-04 9.99863790e-01 -3.36343912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30401273899997 meters 0.02657873574121806 Centerline is valid? [True, True] Translation: X:167.03, Y:-20.86, Z:-3.37 [[ 9.87795880e-01 1.55160988e-01 1.35782182e-02 1.67026852e+02] [-1.55144895e-01 9.87889193e-01 -2.23702139e-03 -2.08598605e+01] [-1.37608734e-02 1.03129273e-04 9.99905309e-01 -3.36874046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36401273899997 meters 0.024576894381107436 Centerline is valid? [True, True] Translation: X:167.09, Y:-20.86, Z:-3.36 [[ 9.86518903e-01 1.62826832e-01 1.63669646e-02 1.67089505e+02] [-1.62804448e-01 9.86654662e-01 -2.69984351e-03 -2.08618577e+01] [-1.65881488e-02 -1.16796778e-06 9.99862407e-01 -3.36401541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42401273899998 meters 0.025544817623590066 Centerline is valid? [True, True] Translation: X:167.15, Y:-20.87, Z:-3.37 [[ 9.85733492e-01 1.67769930e-01 1.35179130e-02 1.67150031e+02] [-1.67755089e-01 9.85826174e-01 -2.23250882e-03 -2.08669946e+01] [-1.37008603e-02 -6.70399854e-05 9.99906137e-01 -3.37014733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48401273899998 meters 0.027194162159156928 Centerline is valid? [True, True] Translation: X:167.21, Y:-20.87, Z:-3.37 [[ 9.84802572e-01 1.72902195e-01 1.63928208e-02 1.67211519e+02] [-1.72881070e-01 9.84938984e-01 -2.70789192e-03 -2.08675830e+01] [-1.66141287e-02 -1.67269481e-04 9.99861962e-01 -3.36585058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54401273899998 meters 0.027667660144543874 Centerline is valid? [True, True] Translation: X:167.27, Y:-20.87, Z:-3.36 [[ 9.84367870e-01 1.75128961e-01 1.87014310e-02 1.67273788e+02] [-1.75101869e-01 9.84545475e-01 -3.08920888e-03 -2.08696091e+01] [-1.89534192e-02 -2.33737559e-04 9.99820340e-01 -3.36270034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60401273899998 meters 0.028564807921370422 Centerline is valid? [True, True] Translation: X:167.33, Y:-20.87, Z:-3.37 [[ 9.84534133e-01 1.74482784e-01 1.57575253e-02 1.67334947e+02] [-1.74463472e-01 9.84660207e-01 -2.60263227e-03 -2.08742013e+01] [-1.59699226e-02 -1.86732259e-04 9.99872455e-01 -3.37124753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664012739 meters 0.027955550708609167 Centerline is valid? [True, True] Translation: X:167.40, Y:-20.88, Z:-3.37 [[ 9.84593834e-01 1.73996134e-01 1.73299810e-02 1.67395299e+02] [-1.73972636e-01 9.84746317e-01 -2.86597429e-03 -2.08777994e+01] [-1.75643034e-02 -1.93121876e-04 9.99845717e-01 -3.36883732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724012739 meters 0.02781204096904587 Centerline is valid? [True, True] Translation: X:167.46, Y:-20.88, Z:-3.38 [[ 9.84580119e-01 1.74290212e-01 1.49970519e-02 1.67456084e+02] [-1.74272655e-01 9.84694314e-01 -2.47975280e-03 -2.08814192e+01] [-1.51997084e-02 -1.72060758e-04 9.99884463e-01 -3.37522297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784012739 meters 0.025772017485226235 Centerline is valid? [True, True] Translation: X:167.51, Y:-20.89, Z:-3.37 [[ 9.85382330e-01 1.69559697e-01 1.64673220e-02 1.67514512e+02] [-1.69537866e-01 9.85519912e-01 -2.72299588e-03 -2.08875561e+01] [-1.66905841e-02 -1.08642611e-04 9.99860697e-01 -3.37407367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844012739 meters 0.02511185378207944 Centerline is valid? [True, True] Translation: X:167.57, Y:-20.91, Z:-3.37 [[ 9.87178035e-01 1.58527076e-01 1.86733407e-02 1.67572235e+02] [-1.58497046e-01 9.87354627e-01 -3.08671176e-03 -2.09148318e+01] [-1.89265367e-02 8.74647101e-05 9.99820873e-01 -3.37244775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904012739 meters 0.031735393519532355 Centerline is valid? [True, True] Translation: X:167.63, Y:-20.94, Z:-3.37 [[ 9.88881510e-01 1.47571592e-01 1.83298602e-02 1.67629695e+02] [-1.47540716e-01 9.89051332e-01 -3.03297897e-03 -2.09443252e+01] [-1.85767542e-02 2.94856129e-04 9.99827394e-01 -3.37353029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96401273899997 meters 0.034293850456244446 Centerline is valid? [True, True] Translation: X:167.69, Y:-20.97, Z:-3.38 [[ 9.89256770e-01 1.45299226e-01 1.60989782e-02 1.67689319e+02] [-1.45275104e-01 9.89387713e-01 -2.66406020e-03 -2.09653331e+01] [-1.63152171e-02 2.96658855e-04 9.99866854e-01 -3.37882979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02401273899997 meters 0.028004554504473592 Centerline is valid? [True, True] Translation: X:167.75, Y:-20.97, Z:-3.38 [[ 9.88276057e-01 1.52082202e-01 1.34699315e-02 1.67751348e+02] [-1.52065937e-01 9.88367836e-01 -2.22960072e-03 -2.09663341e+01] [-1.36523296e-02 1.55143258e-04 9.99906791e-01 -3.38277163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08401273899997 meters 0.025399197920340913 Centerline is valid? [True, True] Translation: X:167.81, Y:-20.97, Z:-3.38 [[ 9.87190649e-01 1.58836526e-01 1.50193567e-02 1.67811772e+02] [-1.58817077e-01 9.87304894e-01 -2.48648801e-03 -2.09747405e+01] [-1.52236295e-02 6.93073696e-05 9.99884111e-01 -3.38337142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14401273899998 meters 0.02420371134742676 Centerline is valid? [True, True] Translation: X:167.87, Y:-20.98, Z:-3.38 [[ 9.86393006e-01 1.63432784e-01 1.78483129e-02 1.67873275e+02] [-1.63406061e-01 9.86554471e-01 -2.95534489e-03 -2.09799050e+01] [-1.80913332e-02 -1.39098964e-06 9.99836338e-01 -3.37764635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20401273899998 meters 0.024092733579999265 Centerline is valid? [True, True] Translation: X:167.94, Y:-20.99, Z:-3.37 [[ 9.85873913e-01 1.66204660e-01 2.07035875e-02 1.67935763e+02] [-1.66169299e-01 9.86091277e-01 -3.42879154e-03 -2.09891308e+01] [-2.09855082e-02 -5.99444957e-05 9.99779778e-01 -3.37411192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26401273899998 meters 0.025537392408200358 Centerline is valid? [True, True] Translation: X:168.00, Y:-20.99, Z:-3.38 [[ 9.85270745e-01 1.70191297e-01 1.66277214e-02 1.67997824e+02] [-1.70169014e-01 9.85411036e-01 -2.75632375e-03 -2.09949510e+01] [-1.68542425e-02 -1.13797807e-04 9.99857951e-01 -3.38287849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32401273899998 meters 0.028494812761017084 Centerline is valid? [True, True] Translation: X:168.06, Y:-21.00, Z:-3.39 [[ 9.84511916e-01 1.74712431e-01 1.45551920e-02 1.68057415e+02] [-1.74695805e-01 9.84619490e-01 -2.41585407e-03 -2.09996029e+01] [-1.47534054e-02 -1.64293855e-04 9.99891149e-01 -3.38754816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38401273899999 meters 0.032151600132237924 Centerline is valid? [True, True] Translation: X:168.12, Y:-21.00, Z:-3.39 [[ 9.83274337e-01 1.81454784e-01 1.56761044e-02 1.68118011e+02] [-1.81436356e-01 9.83399247e-01 -2.60180149e-03 -2.09974982e+01] [-1.58879786e-02 -2.85930611e-04 9.99873737e-01 -3.38697662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444012739 meters 0.03833384185183567 Centerline is valid? [True, True] Translation: X:168.18, Y:-20.99, Z:-3.39 [[ 9.81773202e-01 1.89428201e-01 1.54381212e-02 1.68180101e+02] [-1.89411323e-01 9.81894490e-01 -2.56160093e-03 -2.09941757e+01] [-1.56438456e-02 -4.09243816e-04 9.99877544e-01 -3.38715547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504012739 meters 0.04425146281422446 Centerline is valid? [True, True] Translation: X:168.24, Y:-20.99, Z:-3.39 [[ 9.80547544e-01 1.95490081e-01 1.76108289e-02 1.68242040e+02] [-1.95469094e-01 9.80705509e-01 -2.92205926e-03 -2.09856696e+01] [-1.78422706e-02 -5.77154742e-04 9.99840647e-01 -3.38666690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564012739 meters 0.04574955917692028 Centerline is valid? [True, True] Translation: X:168.30, Y:-20.99, Z:-3.39 [[ 9.79810717e-01 1.99337681e-01 1.53443193e-02 1.68303129e+02] [-1.99322217e-01 9.79930697e-01 -2.54606249e-03 -2.09860416e+01] [-1.55438957e-02 -5.63804439e-04 9.99879027e-01 -3.39171564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624012739 meters 0.04522971538248222 Centerline is valid? [True, True] Translation: X:168.36, Y:-20.99, Z:-3.38 [[ 9.79896374e-01 1.98472348e-01 2.02934519e-02 1.68362394e+02] [-1.98445122e-01 9.80106217e-01 -3.36693248e-03 -2.09876187e+01] [-2.05579813e-02 -7.27891601e-04 9.99788397e-01 -3.38471804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684012739 meters 0.046925944694713353 Centerline is valid? [True, True] Translation: X:168.42, Y:-20.99, Z:-3.39 [[ 9.80626694e-01 1.94898965e-01 1.96387370e-02 1.68421805e+02] [-1.94872770e-01 9.80823120e-01 -3.25737589e-03 -2.09866399e+01] [-1.98969865e-02 -6.32785335e-04 9.99801835e-01 -3.38770149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74401273899997 meters 0.045003574898668554 Centerline is valid? [True, True] Translation: X:168.48, Y:-20.99, Z:-3.39 [[ 9.80646353e-01 1.95023730e-01 1.72764343e-02 1.68480934e+02] [-1.95003486e-01 9.80798364e-01 -2.86504871e-03 -2.09891693e+01] [-1.75034510e-02 -5.59365362e-04 9.99846646e-01 -3.39365658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80401273899997 meters 0.049532655597592755 Centerline is valid? [True, True] Translation: X:168.54, Y:-20.99, Z:-3.38 [[ 9.80511120e-01 1.95859943e-01 1.53891341e-02 1.68541178e+02] [-1.95843993e-01 9.80631746e-01 -2.55145248e-03 -2.09865789e+01] [-1.55908008e-02 -5.12141948e-04 9.99878325e-01 -3.38339521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86401273899997 meters 0.04481806857807305 Centerline is valid? [True, True] Translation: X:168.60, Y:-20.99, Z:-3.40 [[ 9.80722021e-01 1.94809600e-01 1.52819224e-02 1.68600373e+02] [-1.94793755e-01 9.80840954e-01 -2.53296014e-03 -2.09870935e+01] [-1.54825803e-02 -4.92693275e-04 9.99880016e-01 -3.40024706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92401273899998 meters 0.034347787074661164 Centerline is valid? [True, True] Translation: X:168.66, Y:-21.01, Z:-3.40 [[ 9.82446588e-01 1.85622618e-01 1.85187645e-02 1.68657824e+02] [-1.85597737e-01 9.82621018e-01 -3.06834318e-03 -2.10061228e+01] [-1.87664811e-02 -4.22557485e-04 9.99823805e-01 -3.39535307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98401273899998 meters 0.028609348547577844 Centerline is valid? [True, True] Translation: X:168.72, Y:-21.02, Z:-3.40 [[ 9.84269048e-01 1.75624263e-01 1.92499395e-02 1.68715315e+02] [-1.75595472e-01 9.84457241e-01 -3.18908328e-03 -2.10233690e+01] [-1.95108228e-02 -2.41286255e-04 9.99809617e-01 -3.39634990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04401273899998 meters 0.023959386098314737 Centerline is valid? [True, True] Translation: X:168.77, Y:-21.05, Z:-3.40 [[ 9.86186112e-01 1.64673272e-01 1.78792081e-02 1.68770864e+02] [-1.64646635e-01 9.86348170e-01 -2.96183107e-03 -2.10475135e+01] [-1.81228586e-02 -2.28347961e-05 9.99835767e-01 -3.40142983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10401273899998 meters 0.02591861011208649 Centerline is valid? [True, True] Translation: X:168.83, Y:-21.07, Z:-3.41 [[ 9.87625917e-01 1.56178736e-01 1.42565651e-02 1.68826396e+02] [-1.56160923e-01 9.87728804e-01 -2.36116247e-03 -2.10714445e+01] [-1.44503834e-02 1.05626889e-04 9.99895582e-01 -3.40930479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164012739 meters 0.026174305019298322 Centerline is valid? [True, True] Translation: X:168.88, Y:-21.08, Z:-3.40 [[ 9.87839240e-01 1.54603070e-01 1.64780664e-02 1.68884037e+02] [-1.54579064e-01 9.87976654e-01 -2.72842817e-03 -2.10814754e+01] [-1.67017683e-02 1.48084336e-04 9.99860505e-01 -3.40457656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224012739 meters 0.026707578081906824 Centerline is valid? [True, True] Translation: X:168.94, Y:-21.10, Z:-3.40 [[ 9.88049254e-01 1.53031305e-01 1.84415468e-02 1.68941561e+02] [-1.53000981e-01 9.88221322e-01 -3.05252973e-03 -2.10964571e+01] [-1.86914623e-02 1.94474966e-04 9.99825280e-01 -3.40308144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284012739 meters 0.02694559787370244 Centerline is valid? [True, True] Translation: X:169.00, Y:-21.11, Z:-3.41 [[ 9.88044064e-01 1.53479616e-01 1.45922589e-02 1.68998632e+02] [-1.53460685e-01 9.88151803e-01 -2.41500555e-03 -2.11071577e+01] [-1.47900211e-02 1.46793848e-04 9.99890611e-01 -3.41134276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344012739 meters 0.02718913626514042 Centerline is valid? [True, True] Translation: X:169.06, Y:-21.12, Z:-3.42 [[ 9.88057856e-01 1.53548104e-01 1.28316970e-02 1.69055804e+02] [-1.53533476e-01 9.88141166e-01 -2.12326921e-03 -2.11235868e+01] [-1.30055520e-02 1.27817779e-04 9.99915416e-01 -3.41590024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404012739 meters 0.029010806859200596 Centerline is valid? [True, True] Translation: X:169.11, Y:-21.14, Z:-3.41 [[ 9.88570157e-01 1.49863934e-01 1.64269997e-02 1.69112677e+02] [-1.49839464e-01 9.88706605e-01 -2.71736957e-03 -2.11442016e+01] [-1.66487188e-02 2.24897623e-04 9.99861375e-01 -3.41002264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46401273899997 meters 0.028041535537998045 Centerline is valid? [True, True] Translation: X:169.17, Y:-21.16, Z:-3.40 [[ 9.88279468e-01 1.51333693e-01 2.00451265e-02 1.69171145e+02] [-1.51297570e-01 9.88482703e-01 -3.31531673e-03 -2.11568933e+01] [-2.03159800e-02 2.43680511e-04 9.99793579e-01 -3.40316947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52401273899997 meters 0.024772124840548148 Centerline is valid? [True, True] Translation: X:169.23, Y:-21.16, Z:-3.41 [[ 9.87225606e-01 1.58585417e-01 1.53710323e-02 1.69231292e+02] [-1.58565057e-01 9.87345259e-01 -2.54213353e-03 -2.11598380e+01] [-1.55796612e-02 7.23507105e-05 9.99878627e-01 -3.41400735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58401273899997 meters 0.02410865269245721 Centerline is valid? [True, True] Translation: X:169.29, Y:-21.17, Z:-3.42 [[ 9.86792807e-01 1.61311531e-01 1.47832945e-02 1.69288842e+02] [-1.61293003e-01 9.86903536e-01 -2.44495513e-03 -2.11689609e+01] [-1.49840850e-02 2.82221741e-05 9.99887732e-01 -3.41745782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64401273899998 meters 0.023892463571613592 Centerline is valid? [True, True] Translation: X:169.35, Y:-21.19, Z:-3.42 [[ 9.86789555e-01 1.61198665e-01 1.61667925e-02 1.69346881e+02] [-1.61176507e-01 9.86921977e-01 -2.67286546e-03 -2.11867027e+01] [-1.63862252e-02 3.18485646e-05 9.99865736e-01 -3.41556935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70401273899998 meters 0.02404037665719695 Centerline is valid? [True, True] Translation: X:169.41, Y:-21.20, Z:-3.42 [[ 9.86796024e-01 1.61275835e-01 1.49570127e-02 1.69406513e+02] [-1.61256885e-01 9.86909370e-01 -2.47241885e-03 -2.11991073e+01] [-1.51599574e-02 2.78518156e-05 9.99885081e-01 -3.41917916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76401273899998 meters 0.02422457757279497 Centerline is valid? [True, True] Translation: X:169.46, Y:-21.21, Z:-3.42 [[ 9.86704557e-01 1.62003956e-01 1.29936896e-02 1.69464550e+02] [-1.61989716e-01 9.86790108e-01 -2.14796727e-03 -2.12096106e+01] [-1.31700235e-02 1.45650077e-05 9.99913271e-01 -3.42332707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82401273899998 meters 0.02483208746413317 Centerline is valid? [True, True] Translation: X:169.52, Y:-21.21, Z:-3.43 [[ 9.86219107e-01 1.65016059e-01 1.18984816e-02 1.69522373e+02] [-1.65004335e-01 9.86290880e-01 -1.96718451e-03 -2.12143955e+01] [-1.20599809e-02 -2.32260893e-05 9.99927276e-01 -3.42944745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88401273899999 meters 0.024887902916217706 Centerline is valid? [True, True] Translation: X:169.58, Y:-21.22, Z:-3.43 [[ 9.85888494e-01 1.66875675e-01 1.32810346e-02 1.69582012e+02] [-1.66861251e-01 9.85977944e-01 -2.19471933e-03 -2.12159558e+01] [-1.34610525e-02 -5.23415085e-05 9.99909395e-01 -3.42704602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944012739 meters 0.02389369438050702 Centerline is valid? [True, True] Translation: X:169.64, Y:-21.23, Z:-3.42 [[ 9.85962752e-01 1.66208782e-01 1.58774148e-02 1.69640040e+02] [-1.66188093e-01 9.86090583e-01 -2.62294773e-03 -2.12264932e+01] [-1.60925261e-02 -5.25085158e-05 9.99870506e-01 -3.41984194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004012739 meters 0.02357054624942812 Centerline is valid? [True, True] Translation: X:169.70, Y:-21.24, Z:-3.42 [[ 9.86575385e-01 1.62524069e-01 1.59667409e-02 1.69698105e+02] [-1.62502677e-01 9.86704579e-01 -2.63686919e-03 -2.12359106e+01] [-1.61830110e-02 6.83211414e-06 9.99869046e-01 -3.42183847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064012739 meters 0.02388474669186857 Centerline is valid? [True, True] Translation: X:169.76, Y:-21.24, Z:-3.43 [[ 9.86584386e-01 1.62555877e-01 1.50611133e-02 1.69756420e+02] [-1.62536855e-01 9.86699340e-01 -2.48674709e-03 -2.12432193e+01] [-1.52650260e-02 5.39985880e-06 9.99883483e-01 -3.42569774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124012739 meters 0.02364728151699718 Centerline is valid? [True, True] Translation: X:169.82, Y:-21.25, Z:-3.43 [[ 9.86459623e-01 1.63319225e-01 1.49747580e-02 1.69815544e+02] [-1.63300514e-01 9.86573277e-01 -2.47212848e-03 -2.12500132e+01] [-1.51774422e-02 -6.73075868e-06 9.99884816e-01 -3.42539978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184012739 meters 0.02528380166136513 Centerline is valid? [True, True] Translation: X:169.87, Y:-21.24, Z:-3.43 [[ 9.85405853e-01 1.69706029e-01 1.32351378e-02 1.69874500e+02] [-1.69691988e-01 9.85494726e-01 -2.18501044e-03 -2.12448236e+01] [-1.34139679e-02 -9.27747514e-05 9.99910024e-01 -3.42986711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24401273899997 meters 0.02684890280472102 Centerline is valid? [True, True] Translation: X:169.93, Y:-21.25, Z:-3.43 [[ 9.84967241e-01 1.72239178e-01 1.31605386e-02 1.69932714e+02] [-1.72225533e-01 9.85055150e-01 -2.17171279e-03 -2.12490159e+01] [-1.33379103e-02 -1.27514815e-04 9.99911038e-01 -3.43149279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30401273899997 meters 0.028020345494667913 Centerline is valid? [True, True] Translation: X:169.99, Y:-21.25, Z:-3.42 [[ 9.84347382e-01 1.75460586e-01 1.65473521e-02 1.69991526e+02] [-1.75439496e-01 9.84486433e-01 -2.72897979e-03 -2.12533058e+01] [-1.67694720e-02 -2.16794992e-04 9.99859359e-01 -3.42415146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36401273899997 meters 0.03953358268862292 Centerline is valid? [True, True] Translation: X:170.05, Y:-21.24, Z:-3.43 [[ 9.83000919e-01 1.83078163e-01 1.38412485e-02 1.70054528e+02] [-1.83064172e-01 9.83098317e-01 -2.28196498e-03 -2.12351503e+01] [-1.40250861e-02 -2.90663022e-04 9.99901601e-01 -3.43368420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42401273899998 meters 0.035120599263176136 Centerline is valid? [True, True] Translation: X:170.11, Y:-21.25, Z:-3.43 [[ 9.82868990e-01 1.83776261e-01 1.39583372e-02 1.70112417e+02] [-1.83762101e-01 9.82968053e-01 -2.30131588e-03 -2.12477101e+01] [-1.41435268e-02 -3.03121370e-04 9.99899929e-01 -3.43269065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48401273899998 meters 0.03363804965203476 Centerline is valid? [True, True] Translation: X:170.17, Y:-21.25, Z:-3.43 [[ 9.83171782e-01 1.82128466e-01 1.42291828e-02 1.70170482e+02] [-1.82113590e-01 9.83274702e-01 -2.34527772e-03 -2.12548121e+01] [-1.44183374e-02 -2.85516684e-04 9.99896010e-01 -3.43150370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54401273899998 meters 0.033672283690752834 Centerline is valid? [True, True] Translation: X:170.23, Y:-21.26, Z:-3.43 [[ 9.83128336e-01 1.82375529e-01 1.40656139e-02 1.70229238e+02] [-1.82361026e-01 9.83228907e-01 -2.31766936e-03 -2.12593970e+01] [-1.42524043e-02 -2.86453360e-04 9.99898388e-01 -3.43191662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60401273899998 meters 0.03462178329182881 Centerline is valid? [True, True] Translation: X:170.29, Y:-21.26, Z:-3.44 [[ 9.83026453e-01 1.83028404e-01 1.26331500e-02 1.70287884e+02] [-1.83016766e-01 9.83107589e-01 -2.08113098e-03 -2.12622448e+01] [-1.28006518e-02 -2.66271455e-04 9.99918033e-01 -3.43742635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664012739 meters 0.035404172192602244 Centerline is valid? [True, True] Translation: X:170.35, Y:-21.27, Z:-3.44 [[ 9.82724792e-01 1.84727055e-01 1.13092439e-02 1.70346807e+02] [-1.84717845e-01 9.82789829e-01 -1.86261033e-03 -2.12653103e+01] [-1.14586844e-02 -2.58585815e-04 9.99934314e-01 -3.43875089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724012739 meters 0.036882207669671485 Centerline is valid? [True, True] Translation: X:170.41, Y:-21.27, Z:-3.44 [[ 9.82417422e-01 1.86310970e-01 1.20096724e-02 1.70406278e+02] [-1.86300698e-01 9.82490782e-01 -1.97831831e-03 -2.12655157e+01] [-1.21679748e-02 -2.93875966e-04 9.99925924e-01 -3.43762733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784012739 meters 0.036188897603892364 Centerline is valid? [True, True] Translation: X:170.47, Y:-21.26, Z:-3.44 [[ 9.82660562e-01 1.84921579e-01 1.34992702e-02 1.70466488e+02] [-1.84908508e-01 9.82753230e-01 -2.22095106e-03 -2.12611011e+01] [-1.36771531e-02 -3.13688880e-04 9.99906414e-01 -3.43729358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844012739 meters 0.02895235263033997 Centerline is valid? [True, True] Translation: X:170.52, Y:-21.27, Z:-3.44 [[ 9.84354880e-01 1.75495164e-01 1.57135937e-02 1.70524523e+02] [-1.75476312e-01 9.84480269e-01 -2.58137166e-03 -2.12727703e+01] [-1.59227412e-02 -2.16377668e-04 9.99873202e-01 -3.43502446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904012739 meters 0.023743281088411214 Centerline is valid? [True, True] Translation: X:170.58, Y:-21.30, Z:-3.44 [[ 9.86867521e-01 1.60947582e-01 1.37248810e-02 1.70580072e+02] [-1.60931791e-01 9.86962956e-01 -2.25456264e-03 -2.13001962e+01] [-1.39088155e-02 1.61849736e-05 9.99903268e-01 -3.44110445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96401273899997 meters 0.02954603515022903 Centerline is valid? [True, True] Translation: X:170.64, Y:-21.33, Z:-3.44 [[ 9.89012023e-01 1.47252016e-01 1.31172513e-02 1.70636399e+02] [-1.47236390e-01 9.89098986e-01 -2.15437460e-03 -2.13290521e+01] [-1.32914960e-02 1.99365660e-04 9.99911644e-01 -3.44303120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02401273899997 meters 0.03135143860679218 Centerline is valid? [True, True] Translation: X:170.69, Y:-21.34, Z:-3.44 [[ 9.89598697e-01 1.43117914e-01 1.45492499e-02 1.70694729e+02] [-1.43098245e-01 9.89705604e-01 -2.38943940e-03 -2.13417458e+01] [-1.47414457e-02 2.82613998e-04 9.99891299e-01 -3.43914723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08401273899997 meters 0.03481475326048719 Centerline is valid? [True, True] Translation: X:170.75, Y:-21.36, Z:-3.45 [[ 9.90128199e-01 1.39616352e-01 1.23864378e-02 1.70751076e+02] [-1.39601824e-01 9.90205632e-01 -2.03410302e-03 -2.13595779e+01] [-1.25491145e-02 2.84853450e-04 9.99921216e-01 -3.44556888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14401273899998 meters 0.042287797914562775 Centerline is valid? [True, True] Translation: X:170.81, Y:-21.39, Z:-3.44 [[ 9.90974659e-01 1.33284174e-01 1.43022783e-02 1.70806861e+02] [-1.33264154e-01 9.91077773e-01 -2.34803362e-03 -2.13853739e+01] [-1.44876259e-02 4.20860788e-04 9.99894960e-01 -3.44415523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20401273899998 meters 0.05039292195538901 Centerline is valid? [True, True] Translation: X:170.86, Y:-21.41, Z:-3.44 [[ 9.92344489e-01 1.22608502e-01 1.48178919e-02 1.70863071e+02] [-1.22585831e-01 9.92454935e-01 -2.43215919e-03 -2.14143219e+01] [-1.50042934e-02 5.97076179e-04 9.99887251e-01 -3.44223515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26401273899998 meters 0.05468846955881916 Centerline is valid? [True, True] Translation: X:170.92, Y:-21.44, Z:-3.44 [[ 9.92810730e-01 1.18579502e-01 1.63020042e-02 1.70920981e+02] [-1.18551517e-01 9.92944297e-01 -2.67587425e-03 -2.14391034e+01] [-1.65042860e-02 7.24009337e-04 9.99863533e-01 -3.44029541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32401273899998 meters 0.05441256152865589 Centerline is valid? [True, True] Translation: X:170.98, Y:-21.46, Z:-3.45 [[ 9.92742731e-01 1.19613595e-01 1.24281228e-02 1.70980141e+02] [-1.19597414e-01 9.92820375e-01 -2.03977144e-03 -2.14642951e+01] [-1.25828780e-02 5.38596912e-04 9.99920687e-01 -3.44837713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38401273899999 meters 0.05202495151243599 Centerline is valid? [True, True] Translation: X:171.04, Y:-21.48, Z:-3.45 [[ 9.92272320e-01 1.23237304e-01 1.44295141e-02 1.71038109e+02] [-1.23215853e-01 9.92377065e-01 -2.36965147e-03 -2.14824329e+01] [-1.46115484e-02 5.73394656e-04 9.99893081e-01 -3.44510445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444012739 meters 0.0458781385889682 Centerline is valid? [True, True] Translation: X:171.10, Y:-21.50, Z:-3.45 [[ 9.91517959e-01 1.29049768e-01 1.54367786e-02 1.71097482e+02] [-1.29025924e-01 9.91637981e-01 -2.53489626e-03 -2.14959152e+01] [-1.56348238e-02 5.21650530e-04 9.99877633e-01 -3.44533997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504012739 meters 0.041909032485944325 Centerline is valid? [True, True] Translation: X:171.16, Y:-21.51, Z:-3.45 [[ 9.90938070e-01 1.33724250e-01 1.26319675e-02 1.71156769e+02] [-1.33708664e-01 9.91018512e-01 -2.07421880e-03 -2.15105841e+01] [-1.27958869e-02 3.66418873e-04 9.99918062e-01 -3.45094924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564012739 meters 0.032319748631940044 Centerline is valid? [True, True] Translation: X:171.22, Y:-21.52, Z:-3.45 [[ 9.89488897e-01 1.43668379e-01 1.64657267e-02 1.71217438e+02] [-1.43643265e-01 9.89625839e-01 -2.70403991e-03 -2.15154624e+01] [-1.66833937e-02 3.10426711e-04 9.99860774e-01 -3.44598915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624012739 meters 0.02395104048280597 Centerline is valid? [True, True] Translation: X:171.28, Y:-21.51, Z:-3.45 [[ 9.87659434e-01 1.55854308e-01 1.54362551e-02 1.71279724e+02] [-1.55833723e-01 9.87780049e-01 -2.53490018e-03 -2.15129726e+01] [-1.56427000e-02 9.81289618e-05 9.99877641e-01 -3.44697890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684012739 meters 0.022982518429429766 Centerline is valid? [True, True] Translation: X:171.34, Y:-21.52, Z:-3.45 [[ 9.86689285e-01 1.61917622e-01 1.50644724e-02 1.71338571e+02] [-1.61898718e-01 9.86804278e-01 -2.47420286e-03 -2.15195777e+01] [-1.52663029e-02 2.35068722e-06 9.99883463e-01 -3.45047734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74401273899997 meters 0.023453330225941753 Centerline is valid? [True, True] Translation: X:171.40, Y:-21.53, Z:-3.46 [[ 9.86293968e-01 1.64500387e-01 1.27996617e-02 1.71397541e+02] [-1.64486960e-01 9.86377018e-01 -2.10199006e-03 -2.15282049e+01] [-1.29710703e-02 -3.21973237e-05 9.99915872e-01 -3.45611765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80401273899997 meters 0.02416454222133659 Centerline is valid? [True, True] Translation: X:171.46, Y:-21.54, Z:-3.45 [[ 9.85746902e-01 1.67700092e-01 1.34061425e-02 1.71455666e+02] [-1.67685660e-01 9.85838056e-01 -2.20142246e-03 -2.15401156e+01] [-1.35854642e-02 -7.79724843e-05 9.99907710e-01 -3.45477727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86401273899997 meters 0.02582538497348441 Centerline is valid? [True, True] Translation: X:171.51, Y:-21.55, Z:-3.46 [[ 9.85147948e-01 1.71153308e-01 1.37864290e-02 1.71514419e+02] [-1.71138394e-01 9.85244400e-01 -2.26320093e-03 -2.15460118e+01] [-1.39703562e-02 -1.29799550e-04 9.99902401e-01 -3.45572228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92401273899998 meters 0.03135823279870451 Centerline is valid? [True, True] Translation: X:171.57, Y:-21.55, Z:-3.46 [[ 9.83916420e-01 1.78120101e-01 1.34799486e-02 1.71573808e+02] [-1.78106503e-01 9.84008729e-01 -2.21227693e-03 -2.15450438e+01] [-1.36584381e-02 -2.24170914e-04 9.99906694e-01 -3.45752601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98401273899998 meters 0.033085451018380875 Centerline is valid? [True, True] Translation: X:171.63, Y:-21.55, Z:-3.46 [[ 9.83588983e-01 1.79934638e-01 1.32755249e-02 1.71632372e+02] [-1.79921622e-01 9.83678538e-01 -2.17812518e-03 -2.15506595e+01] [-1.34507691e-02 -2.46174047e-04 9.99909504e-01 -3.45836340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04401273899998 meters 0.0358050807835182 Centerline is valid? [True, True] Translation: X:171.69, Y:-21.55, Z:-3.46 [[ 9.83431198e-01 1.80694149e-01 1.45843730e-02 1.71691034e+02] [-1.80678534e-01 9.83539295e-01 -2.39217366e-03 -2.15504235e+01] [-1.47765557e-02 -2.82544928e-04 9.99890781e-01 -3.45964284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10401273899998 meters 0.02900288557807606 Centerline is valid? [True, True] Translation: X:171.75, Y:-21.57, Z:-3.46 [[ 9.84109984e-01 1.76799390e-01 1.64169409e-02 1.71747926e+02] [-1.76779081e-01 9.84246875e-01 -2.69165236e-03 -2.15683866e+01] [-1.66342052e-02 -2.53289763e-04 9.99861610e-01 -3.45580774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164012739 meters 0.024965835983391717 Centerline is valid? [True, True] Translation: X:171.81, Y:-21.58, Z:-3.46 [[ 9.85222622e-01 1.70501312e-01 1.62999479e-02 1.71806280e+02] [-1.70480444e-01 9.85357438e-01 -2.67157779e-03 -2.15847773e+01] [-1.65167824e-02 -1.46723472e-04 9.99863578e-01 -3.45721672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224012739 meters 0.024055105351314582 Centerline is valid? [True, True] Translation: X:171.86, Y:-21.60, Z:-3.46 [[ 9.85744789e-01 1.67581354e-01 1.49566500e-02 1.71863794e+02] [-1.67563448e-01 9.85858246e-01 -2.45137457e-03 -2.15979542e+01] [-1.51559414e-02 -8.97581285e-05 9.99885138e-01 -3.46212746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284012739 meters 0.02365744473073486 Centerline is valid? [True, True] Translation: X:171.92, Y:-21.61, Z:-3.46 [[ 9.85999249e-01 1.66131699e-01 1.43435982e-02 1.71922035e+02] [-1.66115086e-01 9.86103572e-01 -2.35027336e-03 -2.16145036e+01] [-1.45347283e-02 -6.53202764e-05 9.99894363e-01 -3.46364837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344012739 meters 0.02533202466626221 Centerline is valid? [True, True] Translation: X:171.98, Y:-21.62, Z:-3.46 [[ 9.85324250e-01 1.70104367e-01 1.41642660e-02 1.71979375e+02] [-1.70088575e-01 9.85426045e-01 -2.32107914e-03 -2.16195543e+01] [-1.43526624e-02 -1.22164254e-04 9.99896988e-01 -3.46419689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404012739 meters 0.03177171672553061 Centerline is valid? [True, True] Translation: X:172.04, Y:-21.62, Z:-3.47 [[ 9.83705425e-01 1.79377555e-01 1.21379460e-02 1.72041075e+02] [-1.79366677e-01 9.83780282e-01 -1.98779315e-03 -2.16162905e+01] [-1.22976374e-02 -2.21740129e-04 9.99924357e-01 -3.47010778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46401273899997 meters 0.03707249682444528 Centerline is valid? [True, True] Translation: X:172.10, Y:-21.62, Z:-3.47 [[ 9.82620133e-01 1.84999929e-01 1.52545420e-02 1.72100618e+02] [-1.84983421e-01 9.82738466e-01 -2.49843554e-03 -2.16150364e+01] [-1.54534356e-02 -3.66824298e-04 9.99880521e-01 -3.46532334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52401273899997 meters 0.038915424298544166 Centerline is valid? [True, True] Translation: X:172.16, Y:-21.62, Z:-3.46 [[ 9.82229060e-01 1.86947244e-01 1.66373895e-02 1.72159247e+02] [-1.86927901e-01 9.82369859e-01 -2.72402561e-03 -2.16189851e+01] [-1.68533191e-02 -4.34375194e-04 9.99857878e-01 -3.46244182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58401273899997 meters 0.03875998660304175 Centerline is valid? [True, True] Translation: X:172.22, Y:-21.63, Z:-3.46 [[ 9.82463818e-01 1.85745261e-01 1.62340224e-02 1.72216958e+02] [-1.85726697e-01 9.82597850e-01 -2.65706572e-03 -2.16253797e+01] [-1.64450529e-02 -4.04620416e-04 9.99864689e-01 -3.46493703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64401273899998 meters 0.035267935646639326 Centerline is valid? [True, True] Translation: X:172.28, Y:-21.64, Z:-3.47 [[ 9.83120498e-01 1.82281693e-01 1.57312006e-02 1.72276059e+02] [-1.82263834e-01 9.83246292e-01 -2.57369358e-03 -2.16355651e+01] [-1.59367819e-02 -3.36978017e-04 9.99872945e-01 -3.46577459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70401273899998 meters 0.03012051397680486 Centerline is valid? [True, True] Translation: X:172.33, Y:-21.65, Z:-3.46 [[ 9.83718456e-01 1.78901959e-01 1.70906140e-02 1.72333881e+02] [-1.78880372e-01 9.83866858e-01 -2.79600106e-03 -2.16482737e+01] [-1.73150987e-02 -3.06697537e-04 9.99850035e-01 -3.46287541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76401273899998 meters 0.030426531536667637 Centerline is valid? [True, True] Translation: X:172.39, Y:-21.65, Z:-3.47 [[ 9.83771294e-01 1.78622054e-01 1.69765265e-02 1.72392013e+02] [-1.78600726e-01 9.83917716e-01 -2.77654049e-03 -2.16496428e+01] [-1.71994565e-02 -3.00539131e-04 9.99852033e-01 -3.46505268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82401273899998 meters 0.029385946651422242 Centerline is valid? [True, True] Translation: X:172.45, Y:-21.65, Z:-3.46 [[ 9.84092390e-01 1.76821475e-01 1.72143256e-02 1.72450332e+02] [-1.76799289e-01 9.84242902e-01 -2.81432432e-03 -2.16544314e+01] [-1.74407108e-02 -2.73925385e-04 9.99847862e-01 -3.46454896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88401273899999 meters 0.029055048962174944 Centerline is valid? [True, True] Translation: X:172.51, Y:-21.66, Z:-3.47 [[ 9.84300877e-01 1.75826974e-01 1.53837285e-02 1.72509072e+02] [-1.75809145e-01 9.84421059e-01 -2.51440195e-03 -2.16603854e+01] [-1.55861660e-02 -2.29672105e-04 9.99878502e-01 -3.46881850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944012739 meters 0.027370027738011542 Centerline is valid? [True, True] Translation: X:172.57, Y:-21.66, Z:-3.47 [[ 9.84548211e-01 1.74435105e-01 1.54017589e-02 1.72568399e+02] [-1.74417075e-01 9.84668650e-01 -2.51662502e-03 -2.16640218e+01] [-1.56046169e-02 -2.08591072e-04 9.99878219e-01 -3.46948328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004012739 meters 0.02694988553381312 Centerline is valid? [True, True] Translation: X:172.63, Y:-21.66, Z:-3.47 [[ 9.84770423e-01 1.73109194e-01 1.61375657e-02 1.72627207e+02] [-1.73089235e-01 9.84902618e-01 -2.63605455e-03 -2.16645013e+01] [-1.63502560e-02 -1.97330346e-04 9.99866306e-01 -3.46990481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064012739 meters 0.026217850809383225 Centerline is valid? [True, True] Translation: X:172.69, Y:-21.67, Z:-3.47 [[ 9.84994054e-01 1.71816040e-01 1.63083385e-02 1.72685802e+02] [-1.71795496e-01 9.85129035e-01 -2.66288452e-03 -2.16714415e+01] [-1.65233441e-02 -1.78773688e-04 9.99863464e-01 -3.47113175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124012739 meters 0.023531601738880876 Centerline is valid? [True, True] Translation: X:172.74, Y:-21.69, Z:-3.47 [[ 9.86057024e-01 1.65631876e-01 1.60507836e-02 1.72742662e+02] [-1.65611168e-01 9.86187648e-01 -2.62006962e-03 -2.16878282e+01] [-1.62630516e-02 -7.46509783e-05 9.99867745e-01 -3.47469643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184012739 meters 0.023049344990669688 Centerline is valid? [True, True] Translation: X:172.80, Y:-21.70, Z:-3.48 [[ 9.86978645e-01 1.60139136e-01 1.51198853e-02 1.72799722e+02] [-1.60120126e-01 9.87094452e-01 -2.46744075e-03 -2.17030357e+01] [-1.53198888e-02 1.43133778e-05 9.99882644e-01 -3.47751954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24401273899997 meters 0.02330224866546666 Centerline is valid? [True, True] Translation: X:172.86, Y:-21.71, Z:-3.48 [[ 9.87074406e-01 1.59649305e-01 1.40077234e-02 1.72856264e+02] [-1.59632947e-01 9.87173794e-01 -2.28541921e-03 -2.17141608e+01] [-1.41929230e-02 1.97846456e-05 9.99899275e-01 -3.47995612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30401273899997 meters 0.023018496107784187 Centerline is valid? [True, True] Translation: X:172.91, Y:-21.73, Z:-3.48 [[ 9.87383840e-01 1.57523572e-01 1.61083050e-02 1.72912504e+02] [-1.57501675e-01 9.87515226e-01 -2.62701201e-03 -2.17276163e+01] [-1.63210128e-02 5.67841851e-05 9.99866802e-01 -3.47768443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36401273899997 meters 0.023836265973001425 Centerline is valid? [True, True] Translation: X:172.97, Y:-21.74, Z:-3.48 [[ 9.87922976e-01 1.54097269e-01 1.61933569e-02 1.72969193e+02] [-1.54074697e-01 9.88055676e-01 -2.63990218e-03 -2.17429492e+01] [-1.64067399e-02 1.13033466e-04 9.99865394e-01 -3.47698169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42401273899998 meters 0.024595950733105 Centerline is valid? [True, True] Translation: X:173.03, Y:-21.75, Z:-3.48 [[ 9.88012070e-01 1.53646117e-01 1.50006929e-02 1.73027080e+02] [-1.53626707e-01 9.88125932e-01 -2.44468457e-03 -2.17542263e+01] [-1.51981900e-02 1.10870807e-04 9.99884495e-01 -3.48128282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48401273899998 meters 0.023449871562129833 Centerline is valid? [True, True] Translation: X:173.09, Y:-21.76, Z:-3.48 [[ 9.87591818e-01 1.56452963e-01 1.35967157e-02 1.73085611e+02] [-1.56437285e-01 9.87685409e-01 -2.21569531e-03 -2.17599199e+01] [-1.37759298e-02 6.11692807e-05 9.99905106e-01 -3.48414131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54401273899998 meters 0.02359810224388223 Centerline is valid? [True, True] Translation: X:173.14, Y:-21.77, Z:-3.49 [[ 9.87390945e-01 1.57796962e-01 1.26190285e-02 1.73142776e+02] [-1.57783573e-01 9.87471578e-01 -2.05591474e-03 -2.17688544e+01] [-1.27853491e-02 3.89161907e-05 9.99918263e-01 -3.48801841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60401273899998 meters 0.02261530015299706 Centerline is valid? [True, True] Translation: X:173.20, Y:-21.78, Z:-3.48 [[ 9.86905406e-01 1.60475666e-01 1.62874315e-02 1.73200821e+02] [-1.60453748e-01 9.87039797e-01 -2.65221029e-03 -2.17751388e+01] [-1.65019583e-02 4.10124612e-06 9.99863833e-01 -3.48174918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664012739 meters 0.02248109635149738 Centerline is valid? [True, True] Translation: X:173.26, Y:-21.78, Z:-3.48 [[ 9.86632421e-01 1.62039841e-01 1.73076811e-02 1.73259556e+02] [-1.62015349e-01 9.86784216e-01 -2.81729168e-03 -2.17830480e+01] [-1.75354600e-02 -2.44786964e-05 9.99846242e-01 -3.48014257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724012739 meters 0.02297157140930534 Centerline is valid? [True, True] Translation: X:173.32, Y:-21.79, Z:-3.48 [[ 9.86302914e-01 1.64107648e-01 1.65903869e-02 1.73317359e+02] [-1.64085449e-01 9.86442434e-01 -2.69981619e-03 -2.17901371e+01] [-1.68085221e-02 -5.94044977e-05 9.99858725e-01 -3.48116293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784012739 meters 0.02524228718964135 Centerline is valid? [True, True] Translation: X:173.38, Y:-21.79, Z:-3.49 [[ 9.85425257e-01 1.69549468e-01 1.37855028e-02 1.73377450e+02] [-1.69534683e-01 9.85521670e-01 -2.24267917e-03 -2.17883383e+01] [-1.39661568e-02 -1.27128161e-04 9.99902460e-01 -3.48884167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844012739 meters 0.0274211358476636 Centerline is valid? [True, True] Translation: X:173.44, Y:-21.79, Z:-3.48 [[ 9.84899690e-01 1.72335113e-01 1.65290784e-02 1.73436154e+02] [-1.72314264e-01 9.85038359e-01 -2.68806644e-03 -2.17865420e+01] [-1.67450245e-02 -2.00720174e-04 9.99859772e-01 -3.48430434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904012739 meters 0.027225510320360042 Centerline is valid? [True, True] Translation: X:173.49, Y:-21.79, Z:-3.48 [[ 9.84803153e-01 1.72817431e-01 1.72303495e-02 1.73494712e+02] [-1.72794869e-01 9.84953851e-01 -2.80098765e-03 -2.17944691e+01] [-1.74551586e-02 -2.18894519e-04 9.99847623e-01 -3.48375341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96401273899997 meters 0.02550840008347966 Centerline is valid? [True, True] Translation: X:173.55, Y:-21.80, Z:-3.49 [[ 9.85151925e-01 1.70732471e-01 1.80584417e-02 1.73553519e+02] [-1.70707354e-01 9.85317404e-01 -2.93471058e-03 -2.18006524e+01] [-1.82943472e-02 -1.91573014e-04 9.99832626e-01 -3.48526695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02401273899997 meters 0.02328006343217745 Centerline is valid? [True, True] Translation: X:173.61, Y:-21.81, Z:-3.49 [[ 9.86052811e-01 1.65514450e-01 1.74591391e-02 1.73610590e+02] [-1.65490169e-01 9.86207361e-01 -2.83650525e-03 -2.18131823e+01] [-1.76878141e-02 -9.23719173e-05 9.99843554e-01 -3.48763208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08401273899997 meters 0.02254133940000116 Centerline is valid? [True, True] Translation: X:173.67, Y:-21.83, Z:-3.49 [[ 9.86940635e-01 1.60244190e-01 1.64311490e-02 1.73666632e+02] [-1.60221965e-01 9.87077403e-01 -2.66880683e-03 -2.18264405e+01] [-1.66464767e-02 1.32293723e-06 9.99861438e-01 -3.49105740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14401273899998 meters 0.02302243486524008 Centerline is valid? [True, True] Translation: X:173.72, Y:-21.84, Z:-3.50 [[ 9.87393252e-01 1.57590218e-01 1.48286843e-02 1.73723781e+02] [-1.57571829e-01 9.87504593e-01 -2.40772006e-03 -2.18392932e+01] [-1.50228270e-02 4.07836229e-05 9.99887150e-01 -3.49559182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20401273899998 meters 0.02371474355511532 Centerline is valid? [True, True] Translation: X:173.78, Y:-21.85, Z:-3.50 [[ 9.87802188e-01 1.55133486e-01 1.34327668e-02 1.73781472e+02] [-1.55118177e-01 9.87893515e-01 -2.18051840e-03 -2.18500313e+01] [-1.36084146e-02 7.02545558e-05 9.99907399e-01 -3.49802544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26401273899998 meters 0.025167642008354578 Centerline is valid? [True, True] Translation: X:173.84, Y:-21.87, Z:-3.50 [[ 9.88311395e-01 1.51773633e-01 1.43300907e-02 1.73836893e+02] [-1.51755866e-01 9.88415272e-01 -2.32551799e-03 -2.18682387e+01] [-1.45170328e-02 1.23660607e-04 9.99894615e-01 -3.49866705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32401273899998 meters 0.026063855870076744 Centerline is valid? [True, True] Translation: X:173.89, Y:-21.88, Z:-3.50 [[ 9.88808153e-01 1.48304234e-01 1.62570124e-02 1.73893490e+02] [-1.48280921e-01 9.88941765e-01 -2.63688283e-03 -2.18843935e+01] [-1.64682994e-02 1.96766486e-04 9.99864369e-01 -3.49592526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38401273899999 meters 0.02641156075341843 Centerline is valid? [True, True] Translation: X:173.95, Y:-21.90, Z:-3.49 [[ 9.88716165e-01 1.48714457e-01 1.80098748e-02 1.73950753e+02] [-1.48685937e-01 9.88880158e-01 -2.91988921e-03 -2.19010935e+01] [-1.82438376e-02 2.09126553e-04 9.99833545e-01 -3.49330519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444012739 meters 0.023525696538966155 Centerline is valid? [True, True] Translation: X:174.01, Y:-21.90, Z:-3.50 [[ 9.87788459e-01 1.55140936e-01 1.43265534e-02 1.74010570e+02] [-1.55123566e-01 9.87892345e-01 -2.32261825e-03 -2.18978165e+01] [-1.45134256e-02 7.18694552e-05 9.99894672e-01 -3.50052403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504012739 meters 0.02287240581139527 Centerline is valid? [True, True] Translation: X:174.07, Y:-21.90, Z:-3.50 [[ 9.86601634e-01 1.62419573e-01 1.53980018e-02 1.74070308e+02] [-1.62400405e-01 9.86721785e-01 -2.49551077e-03 -2.18981012e+01] [-1.55988636e-02 -3.85667303e-05 9.99878330e-01 -3.49770371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564012739 meters 0.022323607296910228 Centerline is valid? [True, True] Translation: X:174.13, Y:-21.91, Z:-3.49 [[ 9.86757785e-01 1.60986353e-01 1.98108239e-02 1.74127164e+02] [-1.60954359e-01 9.86956632e-01 -3.20942705e-03 -2.19081104e+01] [-2.00690980e-02 -2.17113480e-05 9.99798595e-01 -3.49281213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624012739 meters 0.02332862413347531 Centerline is valid? [True, True] Translation: X:174.18, Y:-21.93, Z:-3.50 [[ 9.87874213e-01 1.54124334e-01 1.87144129e-02 1.74183635e+02] [-1.54094573e-01 9.88051455e-01 -3.03067127e-03 -2.19302799e+01] [-1.89579030e-02 1.10132542e-04 9.99820277e-01 -3.49688766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684012739 meters 0.02847607168028185 Centerline is valid? [True, True] Translation: X:174.24, Y:-21.96, Z:-3.50 [[ 9.89182382e-01 1.45713733e-01 1.69033682e-02 1.74240110e+02] [-1.45688233e-01 9.89326765e-01 -2.73691904e-03 -2.19585000e+01] [-1.71217612e-02 2.44690265e-04 9.99853382e-01 -3.50102676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74401273899997 meters 0.032763114239289404 Centerline is valid? [True, True] Translation: X:174.30, Y:-21.98, Z:-3.51 [[ 9.90141375e-01 1.39446449e-01 1.32190917e-02 1.74298277e+02] [-1.39430295e-01 9.90229575e-01 -2.14039412e-03 -2.19826306e+01] [-1.33884060e-02 2.76150915e-04 9.99910333e-01 -3.50990978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80401273899997 meters 0.03790114635159846 Centerline is valid? [True, True] Translation: X:174.36, Y:-22.01, Z:-3.51 [[ 9.90598164e-01 1.35989452e-01 1.49046046e-02 1.74355583e+02] [-1.35968528e-01 9.90710218e-01 -2.41304146e-03 -2.20101626e+01] [-1.50942922e-02 3.63797298e-04 9.99886008e-01 -3.50888869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86401273899997 meters 0.03565936553078023 Centerline is valid? [True, True] Translation: X:174.42, Y:-22.02, Z:-3.51 [[ 9.90524712e-01 1.36518380e-01 1.49508098e-02 1.74416627e+02] [-1.36497353e-01 9.90637473e-01 -2.42275013e-03 -2.20230189e+01] [-1.51415823e-02 3.59047920e-04 9.99885295e-01 -3.50908615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92401273899998 meters 0.03415000091630836 Centerline is valid? [True, True] Translation: X:174.48, Y:-22.04, Z:-3.51 [[ 9.90243481e-01 1.38509351e-01 1.52645751e-02 1.74476645e+02] [-1.38487628e-01 9.90361068e-01 -2.47617883e-03 -2.20405358e+01] [-1.54604148e-02 3.38065147e-04 9.99880423e-01 -3.50979479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98401273899998 meters 0.03307783698423612 Centerline is valid? [True, True] Translation: X:174.54, Y:-22.06, Z:-3.51 [[ 9.89959297e-01 1.40429497e-01 1.61290830e-02 1.74536098e+02] [-1.40405452e-01 9.90090626e-01 -2.61931038e-03 -2.20573126e+01] [-1.63370823e-02 3.28399480e-04 9.99866487e-01 -3.50815804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04401273899998 meters 0.03120154103443905 Centerline is valid? [True, True] Translation: X:174.60, Y:-22.07, Z:-3.51 [[ 9.89791943e-01 1.41763592e-01 1.46626859e-02 1.74596836e+02] [-1.41743839e-01 9.89900503e-01 -2.38302663e-03 -2.20683666e+01] [-1.48524266e-02 2.80355162e-04 9.99889657e-01 -3.51234644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10401273899998 meters 0.03250166232121401 Centerline is valid? [True, True] Translation: X:174.66, Y:-22.08, Z:-3.52 [[ 9.89876538e-01 1.41494628e-01 1.11224545e-02 1.74656184e+02] [-1.41483232e-01 9.89939000e-01 -1.80882953e-03 -2.20843664e+01] [-1.12664912e-02 2.16877104e-04 9.99936508e-01 -3.52013147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164012739 meters 0.03603568894096196 Centerline is valid? [True, True] Translation: X:174.71, Y:-22.10, Z:-3.52 [[ 9.90327777e-01 1.38146117e-01 1.29052369e-02 1.74714866e+02] [-1.38130451e-01 9.90411814e-01 -2.10177113e-03 -2.21029634e+01] [-1.30718506e-02 2.98836135e-04 9.99914515e-01 -3.51849527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224012739 meters 0.03536531052954113 Centerline is valid? [True, True] Translation: X:174.78, Y:-22.11, Z:-3.51 [[ 9.90343375e-01 1.37691050e-01 1.61608958e-02 1.74777183e+02] [-1.37666400e-01 9.90475153e-01 -2.63331952e-03 -2.21148024e+01] [-1.63695503e-02 3.83078190e-04 9.99865937e-01 -3.51340984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284012739 meters 0.036509519821336656 Centerline is valid? [True, True] Translation: X:174.84, Y:-22.13, Z:-3.51 [[ 9.90363115e-01 1.37481969e-01 1.67215143e-02 1.74837485e+02] [-1.37455493e-01 9.90504188e-01 -2.72799839e-03 -2.21323331e+01] [-1.69377805e-02 4.03245007e-04 9.99856464e-01 -3.51297152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344012739 meters 0.037174904747239924 Centerline is valid? [True, True] Translation: X:174.90, Y:-22.15, Z:-3.52 [[ 9.90398014e-01 1.37350877e-01 1.57006622e-02 1.74898036e+02] [-1.37327477e-01 9.90522382e-01 -2.56403304e-03 -2.21473432e+01] [-1.59040295e-02 3.83280901e-04 9.99873449e-01 -3.51563223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404012739 meters 0.04048085029435644 Centerline is valid? [True, True] Translation: X:174.96, Y:-22.17, Z:-3.52 [[ 9.90751753e-01 1.34723404e-01 1.61421027e-02 1.74957050e+02] [-1.34698277e-01 9.90883147e-01 -2.63886894e-03 -2.21692449e+01] [-1.63504549e-02 4.40150608e-04 9.99866225e-01 -3.51598341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46401273899997 meters 0.03948612309982362 Centerline is valid? [True, True] Translation: X:175.02, Y:-22.19, Z:-3.52 [[ 9.90853387e-01 1.33845945e-01 1.71705883e-02 1.75017653e+02] [-1.33817334e-01 9.91002032e-01 -2.80968406e-03 -2.21861400e+01] [-1.73921527e-02 4.86262608e-04 9.99848627e-01 -3.51523972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52401273899997 meters 0.035535736691981075 Centerline is valid? [True, True] Translation: X:175.08, Y:-22.20, Z:-3.52 [[ 9.90236929e-01 1.38531804e-01 1.54843294e-02 1.75076224e+02] [-1.38509063e-01 9.90357917e-01 -2.53678902e-03 -2.21981280e+01] [-1.56864542e-02 3.67302219e-04 9.99876893e-01 -3.51928369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58401273899997 meters 0.031930396122997695 Centerline is valid? [True, True] Translation: X:175.14, Y:-22.21, Z:-3.52 [[ 9.89637434e-01 1.42684198e-01 1.60925320e-02 1.75136772e+02] [-1.42660185e-01 9.89768216e-01 -2.63628558e-03 -2.22107419e+01] [-1.63040329e-02 3.13203303e-04 9.99867031e-01 -3.51877493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64401273899998 meters 0.028224662011224554 Centerline is valid? [True, True] Translation: X:175.20, Y:-22.22, Z:-3.52 [[ 9.88655057e-01 1.49476943e-01 1.47587760e-02 1.75196727e+02] [-1.49457498e-01 9.88765194e-01 -2.41806513e-03 -2.22162977e+01] [-1.49544090e-02 1.84822587e-04 9.99888159e-01 -3.52297017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70401273899998 meters 0.02265678071001552 Centerline is valid? [True, True] Translation: X:175.26, Y:-22.21, Z:-3.52 [[ 9.87176144e-01 1.58870815e-01 1.55988897e-02 1.75259589e+02] [-1.58850242e-01 9.87299378e-01 -2.55708733e-03 -2.22110856e+01] [-1.58070206e-02 4.64082064e-05 9.99875060e-01 -3.52127371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76401273899998 meters 0.02282601610756351 Centerline is valid? [True, True] Translation: X:175.32, Y:-22.21, Z:-3.53 [[ 9.86197351e-01 1.65023883e-01 1.34871521e-02 1.75321989e+02] [-1.65009088e-01 9.86289570e-01 -2.21019030e-03 -2.22122945e+01] [-1.36669717e-02 -4.58188553e-05 9.99906602e-01 -3.52645882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82401273899998 meters 0.02347753502380685 Centerline is valid? [True, True] Translation: X:175.38, Y:-22.22, Z:-3.53 [[ 9.85911227e-01 1.66762522e-01 1.30120518e-02 1.75382945e+02] [-1.66748873e-01 9.85997088e-01 -2.13453973e-03 -2.22184512e+01] [-1.31858065e-02 -6.52782947e-05 9.99913061e-01 -3.52947400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88401273899999 meters 0.02705273909840957 Centerline is valid? [True, True] Translation: X:175.44, Y:-22.21, Z:-3.52 [[ 9.84822260e-01 1.72780672e-01 1.64910427e-02 1.75444237e+02] [-1.72759523e-01 9.84960307e-01 -2.70937306e-03 -2.22106774e+01] [-1.67111498e-02 -1.80733762e-04 9.99860343e-01 -3.52341994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944012739 meters 0.02996869211179104 Centerline is valid? [True, True] Translation: X:175.51, Y:-22.21, Z:-3.52 [[ 9.84073293e-01 1.76843025e-01 1.80637104e-02 1.75505121e+02] [-1.76818346e-01 9.84239031e-01 -2.96702345e-03 -2.22081936e+01] [-1.83037062e-02 -2.74226861e-04 9.99832436e-01 -3.52042138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004012739 meters 0.02797787035144039 Centerline is valid? [True, True] Translation: X:175.57, Y:-22.22, Z:-3.52 [[ 9.83906846e-01 1.77627446e-01 1.93858036e-02 1.75565427e+02] [-1.77599183e-01 9.84097756e-01 -3.18370527e-03 -2.22161089e+01] [-1.96430393e-02 -3.10433481e-04 9.99807009e-01 -3.51761109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064012739 meters 0.02956572516110901 Centerline is valid? [True, True] Translation: X:175.63, Y:-22.21, Z:-3.52 [[ 9.84160531e-01 1.76343589e-01 1.81930486e-02 1.75625991e+02] [-1.76318477e-01 9.84328638e-01 -2.98784471e-03 -2.22145626e+01] [-1.84348260e-02 -2.67251785e-04 9.99830028e-01 -3.52266437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124012739 meters 0.028184752969257442 Centerline is valid? [True, True] Translation: X:175.69, Y:-22.22, Z:-3.53 [[ 9.84129814e-01 1.76727197e-01 1.60002169e-02 1.75685471e+02] [-1.76707827e-01 9.84259844e-01 -2.62760189e-03 -2.22194574e+01] [-1.62127397e-02 -2.41462199e-04 9.99868536e-01 -3.52699941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184012739 meters 0.029210116766473542 Centerline is valid? [True, True] Translation: X:175.75, Y:-22.21, Z:-3.53 [[ 9.83925854e-01 1.77904688e-01 1.54866446e-02 1.75745688e+02] [-1.77886691e-01 9.84047691e-01 -2.54301927e-03 -2.22149899e+01] [-1.56920119e-02 -2.52725562e-04 9.99876841e-01 -3.52841762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24401273899997 meters 0.027412641272716295 Centerline is valid? [True, True] Translation: X:175.80, Y:-22.22, Z:-3.52 [[ 9.84244188e-01 1.75818515e-01 1.87411078e-02 1.75803604e+02] [-1.75791801e-01 9.84422561e-01 -3.07633152e-03 -2.22240229e+01] [-1.89900453e-02 -2.66671678e-04 9.99819637e-01 -3.52396326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30401273899997 meters 0.025438744588853885 Centerline is valid? [True, True] Translation: X:175.86, Y:-22.23, Z:-3.52 [[ 9.84773390e-01 1.72817059e-01 1.88582900e-02 1.75862200e+02] [-1.72789477e-01 9.84953918e-01 -3.09465991e-03 -2.22311136e+01] [-1.91093567e-02 -2.10975340e-04 9.99817377e-01 -3.52442681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36401273899997 meters 0.025901808959790842 Centerline is valid? [True, True] Translation: X:175.92, Y:-22.23, Z:-3.53 [[ 9.84631139e-01 1.73975594e-01 1.52975037e-02 1.75921826e+02] [-1.73957594e-01 9.84749946e-01 -2.50978964e-03 -2.22318302e+01] [-1.55008581e-02 -1.89899912e-04 9.99879836e-01 -3.53082277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42401273899998 meters 0.02808391480867502 Centerline is valid? [True, True] Translation: X:175.98, Y:-22.23, Z:-3.53 [[ 9.84105927e-01 1.76740459e-01 1.72723542e-02 1.75981073e+02] [-1.76717953e-01 9.84257456e-01 -2.83283938e-03 -2.22256787e+01] [-1.75011207e-02 -2.64521042e-04 9.99846809e-01 -3.53003814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48401273899998 meters 0.02554773704408986 Centerline is valid? [True, True] Translation: X:176.04, Y:-22.24, Z:-3.53 [[ 9.84919750e-01 1.72244446e-01 1.62768929e-02 1.76037715e+02] [-1.72223860e-01 9.85054222e-01 -2.66863996e-03 -2.22355423e+01] [-1.64932805e-02 -1.74873130e-04 9.99863961e-01 -3.53344041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54401273899998 meters 0.022687275999346473 Centerline is valid? [True, True] Translation: X:176.09, Y:-22.25, Z:-3.54 [[ 9.86243153e-01 1.64681025e-01 1.43039285e-02 1.76094460e+02] [-1.64664342e-01 9.86346875e-01 -2.34438505e-03 -2.22529044e+01] [-1.44947110e-02 -4.32132844e-05 9.99894945e-01 -3.53833443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60401273899998 meters 0.024177046947334916 Centerline is valid? [True, True] Translation: X:176.15, Y:-22.28, Z:-3.54 [[ 9.88004015e-01 1.53796602e-01 1.39524779e-02 1.76151313e+02] [-1.53779654e-01 9.88102521e-01 -2.28598063e-03 -2.22756933e+01] [-1.41380547e-02 1.12950813e-04 9.99900046e-01 -3.53908307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664012739 meters 0.028121250730026123 Centerline is valid? [True, True] Translation: X:176.21, Y:-22.30, Z:-3.54 [[ 9.89277311e-01 1.45430574e-01 1.34294244e-02 1.76209934e+02] [-1.45414109e-01 9.89368434e-01 -2.19964812e-03 -2.22967029e+01] [-1.36065447e-02 2.23234192e-04 9.99907402e-01 -3.54077873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724012739 meters 0.032855878930278644 Centerline is valid? [True, True] Translation: X:176.27, Y:-22.32, Z:-3.54 [[ 9.90195945e-01 1.38876441e-01 1.50108299e-02 1.76267928e+02] [-1.38855109e-01 9.90309654e-01 -2.45917236e-03 -2.23199201e+01] [-1.52068908e-02 3.50732088e-04 9.99884307e-01 -3.53926040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784012739 meters 0.03787763458424073 Centerline is valid? [True, True] Translation: X:176.32, Y:-22.34, Z:-3.54 [[ 9.90927081e-01 1.33637491e-01 1.43018101e-02 1.76324990e+02] [-1.33617581e-01 9.91030198e-01 -2.34299385e-03 -2.23445084e+01] [-1.44866375e-02 4.10762789e-04 9.99894979e-01 -3.53985629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844012739 meters 0.03953800190060103 Centerline is valid? [True, True] Translation: X:176.38, Y:-22.36, Z:-3.54 [[ 9.91170920e-01 1.31577757e-01 1.63554615e-02 1.76384697e+02] [-1.31551425e-01 9.91305724e-01 -2.68026592e-03 -2.23645078e+01] [-1.65659260e-02 5.05017365e-04 9.99862648e-01 -3.53760315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904012739 meters 0.04437698691617271 Centerline is valid? [True, True] Translation: X:176.44, Y:-22.39, Z:-3.53 [[ 9.91389833e-01 1.29380588e-01 2.01708466e-02 1.76442404e+02] [-1.29340057e-01 9.91594784e-01 -3.30671644e-03 -2.23929475e+01] [-2.04291311e-02 6.69346620e-04 9.99791079e-01 -3.53166266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96401273899997 meters 0.0433697424006292 Centerline is valid? [True, True] Translation: X:176.50, Y:-22.41, Z:-3.54 [[ 9.91504103e-01 1.29226842e-01 1.48336730e-02 1.76502625e+02] [-1.29204884e-01 9.91614934e-01 -2.43319361e-03 -2.24102776e+01] [-1.50237256e-02 4.95938435e-04 9.99887014e-01 -3.54146551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02401273899997 meters 0.04349569913981946 Centerline is valid? [True, True] Translation: X:176.56, Y:-22.43, Z:-3.54 [[ 9.91776855e-01 1.27270156e-01 1.34527768e-02 1.76562153e+02] [-1.27251880e-01 9.91867974e-01 -2.20938008e-03 -2.24301777e+01] [-1.36245666e-02 4.79320895e-04 9.99907066e-01 -3.54394041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08401273899997 meters 0.04375652847071468 Centerline is valid? [True, True] Translation: X:176.62, Y:-22.45, Z:-3.54 [[ 9.91607952e-01 1.28268038e-01 1.61548557e-02 1.76621256e+02] [-1.28241806e-01 9.91739380e-01 -2.65368877e-03 -2.24504911e+01] [-1.63617900e-02 5.59691023e-04 9.99865980e-01 -3.54001237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14401273899998 meters 0.04130450735711623 Centerline is valid? [True, True] Translation: X:176.68, Y:-22.47, Z:-3.54 [[ 9.91226696e-01 1.31338997e-01 1.48224483e-02 1.76680349e+02] [-1.31317215e-01 9.91337403e-01 -2.43760440e-03 -2.24679687e+01] [-1.50142000e-02 4.69775926e-04 9.99887170e-01 -3.54472600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20401273899998 meters 0.038315282144457403 Centerline is valid? [True, True] Translation: X:176.74, Y:-22.48, Z:-3.55 [[ 9.90840393e-01 1.34421485e-01 1.28910904e-02 1.76740321e+02] [-1.34405267e-01 9.90924179e-01 -2.12023208e-03 -2.24815562e+01] [-1.30590979e-02 3.68181140e-04 9.99914659e-01 -3.54827264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26401273899998 meters 0.03639637553885031 Centerline is valid? [True, True] Translation: X:176.80, Y:-22.49, Z:-3.55 [[ 9.90359846e-01 1.37710003e-01 1.49442550e-02 1.76799335e+02] [-1.37688574e-01 9.90472520e-01 -2.45842351e-03 -2.24946918e+01] [-1.51404234e-02 3.77070779e-04 9.99885306e-01 -3.54601509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32401273899998 meters 0.03201668938848755 Centerline is valid? [True, True] Translation: X:176.86, Y:-22.51, Z:-3.55 [[ 9.89814979e-01 1.41648748e-01 1.42105316e-02 1.76859739e+02] [-1.41629776e-01 9.89916937e-01 -2.33773506e-03 -2.25067957e+01] [-1.43983832e-02 3.01290765e-04 9.99896293e-01 -3.54847227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38401273899999 meters 0.027517302701976304 Centerline is valid? [True, True] Translation: X:176.92, Y:-22.52, Z:-3.55 [[ 9.88776829e-01 1.48751372e-01 1.39072667e-02 1.76918266e+02] [-1.48733892e-01 9.88874609e-01 -2.28863886e-03 -2.25174471e+01] [-1.40929811e-02 1.94471160e-04 9.99900670e-01 -3.54944537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444012739 meters 0.023630818075844932 Centerline is valid? [True, True] Translation: X:176.98, Y:-22.52, Z:-3.55 [[ 9.87872073e-01 1.54596495e-01 1.44461772e-02 1.76979912e+02] [-1.54578264e-01 9.87977687e-01 -2.37693368e-03 -2.25218458e+01] [-1.46399663e-02 1.15041414e-04 9.99892823e-01 -3.54871804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504012739 meters 0.02170217362582178 Centerline is valid? [True, True] Translation: X:177.04, Y:-22.52, Z:-3.55 [[ 9.86328325e-01 1.63956171e-01 1.65774049e-02 1.77042587e+02] [-1.63933484e-01 9.86467624e-01 -2.72755771e-03 -2.25212852e+01] [-1.68002732e-02 -2.73243102e-05 9.99858865e-01 -3.54644060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564012739 meters 0.02311898658774471 Centerline is valid? [True, True] Translation: X:177.10, Y:-22.52, Z:-3.55 [[ 9.85437904e-01 1.69325801e-01 1.55212848e-02 1.77103796e+02] [-1.69306540e-01 9.85560126e-01 -2.55623240e-03 -2.25243198e+01] [-1.57299955e-02 -1.08846713e-04 9.99876270e-01 -3.54974656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624012739 meters 0.023965049037063143 Centerline is valid? [True, True] Translation: X:177.16, Y:-22.53, Z:-3.55 [[ 9.85270812e-01 1.70363327e-01 1.47568446e-02 1.77164678e+02] [-1.70346001e-01 9.85381309e-01 -2.43245441e-03 -2.25336955e+01] [-1.49555199e-02 -1.17143132e-04 9.99888153e-01 -3.55234038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684012739 meters 0.024303498499352805 Centerline is valid? [True, True] Translation: X:177.23, Y:-22.54, Z:-3.55 [[ 9.85013682e-01 1.71723558e-01 1.60955268e-02 1.77226484e+02] [-1.71703086e-01 9.85145166e-01 -2.65568960e-03 -2.25440738e+01] [-1.63124748e-02 -1.47761026e-04 9.99866932e-01 -3.55126633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74401273899997 meters 0.0245554029877603 Centerline is valid? [True, True] Translation: X:177.29, Y:-22.55, Z:-3.55 [[ 9.84981508e-01 1.71966650e-01 1.54564182e-02 1.77288543e+02] [-1.71947759e-01 9.85102762e-01 -2.55293600e-03 -2.25538230e+01] [-1.56651801e-02 -1.43101720e-04 9.99877283e-01 -3.55421044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80401273899997 meters 0.025684721887967513 Centerline is valid? [True, True] Translation: X:177.35, Y:-22.56, Z:-3.56 [[ 9.84727381e-01 1.73504206e-01 1.44317457e-02 1.77349049e+02] [-1.73487864e-01 9.84833116e-01 -2.38627762e-03 -2.25620424e+01] [-1.46268903e-02 -1.53899830e-04 9.99893009e-01 -3.55781678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86401273899997 meters 0.024718062336039143 Centerline is valid? [True, True] Translation: X:177.41, Y:-22.57, Z:-3.55 [[ 9.84686891e-01 1.73485228e-01 1.71639855e-02 1.77410395e+02] [-1.73462056e-01 9.84836455e-01 -2.84107996e-03 -2.25733475e+01] [-1.73966040e-02 -1.79726020e-04 9.99848651e-01 -3.55308471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92401273899998 meters 0.023529009670430343 Centerline is valid? [True, True] Translation: X:177.47, Y:-22.59, Z:-3.56 [[ 9.85246525e-01 1.70584067e-01 1.37971516e-02 1.77470327e+02] [-1.70568787e-01 9.85343121e-01 -2.28540589e-03 -2.25920175e+01] [-1.39847823e-02 -1.01675214e-04 9.99902203e-01 -3.56035456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98401273899998 meters 0.022957503915034854 Centerline is valid? [True, True] Translation: X:177.53, Y:-22.61, Z:-3.56 [[ 9.85509054e-01 1.68907317e-01 1.55635151e-02 1.77530105e+02] [-1.68887616e-01 9.85631935e-01 -2.58107286e-03 -2.26051929e+01] [-1.57758596e-02 -8.48142841e-05 9.99875550e-01 -3.55983224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04401273899998 meters 0.022721747067840675 Centerline is valid? [True, True] Translation: X:177.59, Y:-22.62, Z:-3.56 [[ 9.85359684e-01 1.69657041e-01 1.68161110e-02 1.77592365e+02] [-1.69634105e-01 9.85503160e-01 -2.79149789e-03 -2.26177143e+01] [-1.70459278e-02 -1.01956443e-04 9.99854702e-01 -3.55627932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10401273899998 meters 0.024482559474346074 Centerline is valid? [True, True] Translation: X:177.65, Y:-22.62, Z:-3.56 [[ 9.84885046e-01 1.72512515e-01 1.55202414e-02 1.77653578e+02] [-1.72493287e-01 9.85007316e-01 -2.57923344e-03 -2.26228963e+01] [-1.57325014e-02 -1.36889019e-04 9.99876227e-01 -3.56189250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164012739 meters 0.02412548161708236 Centerline is valid? [True, True] Translation: X:177.72, Y:-22.64, Z:-3.56 [[ 9.84662189e-01 1.73489486e-01 1.84870766e-02 1.77715389e+02] [-1.73462313e-01 9.84835705e-01 -3.07566186e-03 -2.26351086e+01] [-1.87403281e-02 -1.78323119e-04 9.99824369e-01 -3.55639886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224012739 meters 0.025202231540832554 Centerline is valid? [True, True] Translation: X:177.78, Y:-22.65, Z:-3.56 [[ 9.84345879e-01 1.75345671e-01 1.78069316e-02 1.77776891e+02] [-1.75320704e-01 9.84506909e-01 -2.96583812e-03 -2.26451888e+01] [-1.80510941e-02 -2.02513263e-04 9.99837045e-01 -3.55855633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284012739 meters 0.02824191696627536 Centerline is valid? [True, True] Translation: X:177.84, Y:-22.65, Z:-3.56 [[ 9.83633752e-01 1.79474205e-01 1.59264199e-02 1.77839572e+02] [-1.79454728e-01 9.83762649e-01 -2.65542458e-03 -2.26479129e+01] [-1.61443973e-02 -2.46106113e-04 9.99869640e-01 -3.56210876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344012739 meters 0.03619591263902115 Centerline is valid? [True, True] Translation: X:177.90, Y:-22.64, Z:-3.56 [[ 9.81615772e-01 1.90275508e-01 1.50235707e-02 1.77902246e+02] [-1.90259424e-01 9.81730652e-01 -2.50584407e-03 -2.26363780e+01] [-1.52259006e-02 -3.98599843e-04 9.99884000e-01 -3.56483281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404012739 meters 0.04505693801516539 Centerline is valid? [True, True] Translation: X:177.96, Y:-22.63, Z:-3.56 [[ 9.79883610e-01 1.98762235e-01 1.79355978e-02 1.77964706e+02] [-1.98740733e-01 9.80047536e-01 -2.99132363e-03 -2.26252711e+01] [-1.81723006e-02 -6.33384862e-04 9.99834669e-01 -3.56217906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46401273899997 meters 0.048123388727184774 Centerline is valid? [True, True] Translation: X:178.02, Y:-22.62, Z:-3.57 [[ 9.79532425e-01 2.00600621e-01 1.66017666e-02 1.78024904e+02] [-2.00582462e-01 9.79672909e-01 -2.76887690e-03 -2.26209199e+01] [-1.68197395e-02 -6.17818524e-04 9.99858347e-01 -3.56629659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52401273899997 meters 0.04769307069046344 Centerline is valid? [True, True] Translation: X:178.08, Y:-22.62, Z:-3.57 [[ 9.79529180e-01 2.00743365e-01 1.49895803e-02 1.78084502e+02] [-2.00728585e-01 9.79643704e-01 -2.49959953e-03 -2.26212253e+01] [-1.51862260e-02 -5.60406565e-04 9.99884526e-01 -3.56844717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58401273899997 meters 0.04589941480346267 Centerline is valid? [True, True] Translation: X:178.14, Y:-22.62, Z:-3.56 [[ 9.79332477e-01 2.01445373e-01 1.81013903e-02 1.78143795e+02] [-2.01423958e-01 9.79499507e-01 -3.01746861e-03 -2.26249253e+01] [-1.83381580e-02 -6.90948664e-04 9.99831603e-01 -3.56405735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64401273899998 meters 0.04986325101068067 Centerline is valid? [True, True] Translation: X:178.20, Y:-22.62, Z:-3.57 [[ 9.79374059e-01 2.01380988e-01 1.64969947e-02 1.78202597e+02] [-2.01363203e-01 9.79512788e-01 -2.74934751e-03 -2.26235224e+01] [-1.67126836e-02 -6.29248072e-04 9.99860135e-01 -3.56970599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70401273899998 meters 0.0525362525534307 Centerline is valid? [True, True] Translation: X:178.26, Y:-22.62, Z:-3.57 [[ 9.79259476e-01 2.01875064e-01 1.72434619e-02 1.78261704e+02] [-2.01855729e-01 9.79411054e-01 -2.87265473e-03 -2.26204216e+01] [-1.74683545e-02 -6.67617204e-04 9.99847194e-01 -3.57026322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76401273899998 meters 0.04637323680087964 Centerline is valid? [True, True] Translation: X:178.32, Y:-22.63, Z:-3.56 [[ 9.79573234e-01 2.00034113e-01 2.05580175e-02 1.78319413e+02] [-2.00006254e-01 9.79788640e-01 -3.42343453e-03 -2.26347614e+01] [-2.08273157e-02 -7.58227230e-04 9.99782800e-01 -3.56383024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82401273899998 meters 0.04659065422472712 Centerline is valid? [True, True] Translation: X:178.38, Y:-22.64, Z:-3.57 [[ 9.79664034e-01 1.99914970e-01 1.70992648e-02 1.78378527e+02] [-1.99895697e-01 9.79813048e-01 -2.84634628e-03 -2.26380226e+01] [-1.73231100e-02 -6.29606375e-04 9.99849745e-01 -3.57220564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88401273899999 meters 0.048780229559864455 Centerline is valid? [True, True] Translation: X:178.44, Y:-22.64, Z:-3.57 [[ 9.79415182e-01 2.00916841e-01 1.94505416e-02 1.78436209e+02] [-2.00892121e-01 9.79608023e-01 -3.23671216e-03 -2.26406074e+01] [-1.97042166e-02 -7.37375515e-04 9.99805581e-01 -3.56855955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944012739 meters 0.05087203843354115 Centerline is valid? [True, True] Translation: X:178.49, Y:-22.64, Z:-3.58 [[ 9.79415970e-01 2.01105469e-01 1.73478618e-02 1.78494317e+02] [-2.01085861e-01 9.79569370e-01 -2.88533719e-03 -2.26424075e+01] [-1.75736912e-02 -6.62464405e-04 9.99845351e-01 -3.57504282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004012739 meters 0.053810029411129674 Centerline is valid? [True, True] Translation: X:178.55, Y:-22.64, Z:-3.58 [[ 9.78882482e-01 2.03873553e-01 1.49886729e-02 1.78554633e+02] [-2.03859253e-01 9.78997035e-01 -2.49201671e-03 -2.26443201e+01] [-1.51819226e-02 -6.16188151e-04 9.99884558e-01 -3.57962318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064012739 meters 0.0519527871350075 Centerline is valid? [True, True] Translation: X:178.61, Y:-22.65, Z:-3.58 [[ 9.78223859e-01 2.06925947e-01 1.61162566e-02 1.78614871e+02] [-2.06909833e-01 9.78356348e-01 -2.67923344e-03 -2.26464316e+01] [-1.63218449e-02 -7.13721884e-04 9.99866535e-01 -3.58066235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124012739 meters 0.05751300412642794 Centerline is valid? [True, True] Translation: X:178.68, Y:-22.64, Z:-3.58 [[ 9.78413968e-01 2.06107670e-01 1.50244750e-02 1.78675107e+02] [-2.06093569e-01 9.78529102e-01 -2.49768741e-03 -2.26396365e+01] [-1.52166785e-02 -6.52675417e-04 9.99884007e-01 -3.58301085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184012739 meters 0.05484883841115629 Centerline is valid? [True, True] Translation: X:178.74, Y:-22.64, Z:-3.58 [[ 9.77733041e-01 2.09034951e-01 1.85064828e-02 1.78736636e+02] [-2.09014102e-01 9.77907791e-01 -3.07534208e-03 -2.26400073e+01] [-1.87404877e-02 -8.61252328e-04 9.99824011e-01 -3.57693318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24401273899997 meters 0.058461759635212926 Centerline is valid? [True, True] Translation: X:178.80, Y:-22.63, Z:-3.58 [[ 9.77196060e-01 2.11421291e-01 1.97205005e-02 1.78797249e+02] [-2.11398101e-01 9.77394549e-01 -3.27708658e-03 -2.26343141e+01] [-1.99675555e-02 -9.66520256e-04 9.99800161e-01 -3.57592851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30401273899997 meters 0.06056001365244411 Centerline is valid? [True, True] Translation: X:178.86, Y:-22.62, Z:-3.58 [[ 9.76870353e-01 2.12948205e-01 1.94261634e-02 1.78859165e+02] [-2.12926006e-01 9.77062995e-01 -3.22804921e-03 -2.26245150e+01] [-1.96679927e-02 -9.82949820e-04 9.99806083e-01 -3.57882789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36401273899997 meters 0.05811958302855203 Centerline is valid? [True, True] Translation: X:178.92, Y:-22.63, Z:-3.58 [[ 9.77407564e-01 2.10510158e-01 1.89717578e-02 1.78919680e+02] [-2.10488535e-01 9.77591244e-01 -3.15208702e-03 -2.26255574e+01] [-1.92101706e-02 -9.12463804e-04 9.99815051e-01 -3.58010776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42401273899998 meters 0.0549808524243954 Centerline is valid? [True, True] Translation: X:178.98, Y:-22.63, Z:-3.58 [[ 9.78467323e-01 2.05457620e-01 1.97196635e-02 1.78978423e+02] [-2.05433239e-01 9.78665648e-01 -3.27611348e-03 -2.26290383e+01] [-1.99720598e-02 -8.45504361e-04 9.99800181e-01 -3.58098328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48401273899998 meters 0.05212562330919607 Centerline is valid? [True, True] Translation: X:179.04, Y:-22.64, Z:-3.58 [[ 9.78887089e-01 2.03568971e-01 1.84320569e-02 1.79037530e+02] [-2.03547341e-01 9.79060317e-01 -3.06190719e-03 -2.26353489e+01] [-1.86694048e-02 -7.54534756e-04 9.99825427e-01 -3.58420095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54401273899998 meters 0.04968831625068313 Centerline is valid? [True, True] Translation: X:179.10, Y:-22.64, Z:-3.59 [[ 9.79192345e-01 2.02115662e-01 1.82101945e-02 1.79095653e+02] [-2.02094353e-01 9.79361394e-01 -3.02208189e-03 -2.26429860e+01] [-1.84451715e-02 -7.20978035e-04 9.99829613e-01 -3.58608789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60401273899998 meters 0.049870749593797205 Centerline is valid? [True, True] Translation: X:179.15, Y:-22.65, Z:-3.59 [[ 9.79800630e-01 1.99086875e-01 1.88451979e-02 1.79154281e+02] [-1.99063512e-01 9.79981603e-01 -3.12651078e-03 -2.26487600e+01] [-1.90903946e-02 -6.88034068e-04 9.99817525e-01 -3.58601797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664012739 meters 0.038287021339357186 Centerline is valid? [True, True] Translation: X:179.21, Y:-22.67, Z:-3.59 [[ 9.81586492e-01 1.90093189e-01 1.87759705e-02 1.79211337e+02] [-1.90068365e-01 9.81765918e-01 -3.11433310e-03 -2.26695079e+01] [-1.90256214e-02 -5.11730720e-04 9.99818866e-01 -3.58822094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724012739 meters 0.03317530026675336 Centerline is valid? [True, True] Translation: X:179.27, Y:-22.69, Z:-3.59 [[ 9.82954460e-01 1.83043227e-01 1.71960918e-02 1.79268824e+02] [-1.83021330e-01 9.83104806e-01 -2.85203268e-03 -2.26870027e+01] [-1.74276057e-02 -3.43833340e-04 9.99848069e-01 -3.59341397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784012739 meters 0.024777382601297845 Centerline is valid? [True, True] Translation: X:179.33, Y:-22.71, Z:-3.59 [[ 9.84930978e-01 1.72047421e-01 1.76253544e-02 1.79325113e+02] [-1.72022658e-01 9.85088657e-01 -2.92291587e-03 -2.27136566e+01] [-1.78654169e-02 -1.53089932e-04 9.99840389e-01 -3.59180297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844012739 meters 0.02339299223698683 Centerline is valid? [True, True] Translation: X:179.38, Y:-22.73, Z:-3.59 [[ 9.85588752e-01 1.68291356e-01 1.71123338e-02 1.79381651e+02] [-1.68267451e-01 9.85737294e-01 -2.83765113e-03 -2.27312402e+01] [-1.73458178e-02 -8.26917602e-05 9.99849547e-01 -3.59498637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904012739 meters 0.022672323074299002 Centerline is valid? [True, True] Translation: X:179.44, Y:-22.75, Z:-3.59 [[ 9.86558850e-01 1.62411624e-01 1.80027958e-02 1.79437572e+02] [-1.62384202e-01 9.86723094e-01 -2.98441829e-03 -2.27545721e+01] [-1.82484786e-02 2.09346379e-05 9.99833482e-01 -3.59416067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96401273899997 meters 0.02306889261462974 Centerline is valid? [True, True] Translation: X:179.49, Y:-22.78, Z:-3.59 [[ 9.86996282e-01 1.59731091e-01 1.80088292e-02 1.79492249e+02] [-1.59703220e-01 9.87160561e-01 -2.98457747e-03 -2.27767232e+01] [-1.82543357e-02 6.96988554e-05 9.99833373e-01 -3.59471514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02401273899997 meters 0.023597693986473278 Centerline is valid? [True, True] Translation: X:179.55, Y:-22.79, Z:-3.60 [[ 9.87230159e-01 1.58616402e-01 1.47462158e-02 1.79548906e+02] [-1.58597602e-01 9.87340282e-01 -2.44315269e-03 -2.27919774e+01] [-1.49470570e-02 7.32395471e-05 9.99888284e-01 -3.60091002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08401273899997 meters 0.022728229898830096 Centerline is valid? [True, True] Translation: X:179.61, Y:-22.80, Z:-3.60 [[ 9.86678338e-01 1.61650529e-01 1.83020116e-02 1.79605700e+02] [-1.61622110e-01 9.86848066e-01 -3.03119953e-03 -2.28047874e+01] [-1.85512997e-02 3.28091807e-05 9.99827909e-01 -3.59565308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14401273899998 meters 0.023008554065403218 Centerline is valid? [True, True] Translation: X:179.67, Y:-22.81, Z:-3.60 [[ 9.85892192e-01 1.66417933e-01 1.79347823e-02 1.79665013e+02] [-1.66391455e-01 9.86055307e-01 -2.96906823e-03 -2.28063784e+01] [-1.81787935e-02 -5.70133417e-05 9.99834750e-01 -3.59787794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20401273899998 meters 0.024305552443645337 Centerline is valid? [True, True] Translation: X:179.72, Y:-22.81, Z:-3.60 [[ 9.85279760e-01 1.70074998e-01 1.72710503e-02 1.79724761e+02] [-1.70051019e-01 9.85431114e-01 -2.85842214e-03 -2.28078323e+01] [-1.75055765e-02 -1.20614213e-04 9.99846758e-01 -3.60104811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26401273899998 meters 0.02294788802579832 Centerline is valid? [True, True] Translation: X:179.78, Y:-22.82, Z:-3.60 [[ 9.85934883e-01 1.66170965e-01 1.78778242e-02 1.79782091e+02] [-1.66144645e-01 9.86096956e-01 -2.95798996e-03 -2.28212083e+01] [-1.81208001e-02 -5.39192730e-05 9.99835803e-01 -3.60002497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32401273899998 meters 0.02365505025327904 Centerline is valid? [True, True] Translation: X:179.84, Y:-22.84, Z:-3.60 [[ 9.87336212e-01 1.57709519e-01 1.71730173e-02 1.79837576e+02] [-1.57683965e-01 9.87485543e-01 -2.84059500e-03 -2.28440140e+01] [-1.74060952e-02 9.67128579e-05 9.99848498e-01 -3.60331019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38401273899999 meters 0.03326168170295699 Centerline is valid? [True, True] Translation: X:179.89, Y:-22.86, Z:-3.59 [[ 9.88120245e-01 1.52924447e-01 1.52477975e-02 1.79894148e+02] [-1.52903741e-01 9.88237870e-01 -2.52151774e-03 -2.28631535e+01] [-1.54540527e-02 1.60117449e-04 9.99880566e-01 -3.59316068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444012739 meters 0.026604767509742572 Centerline is valid? [True, True] Translation: X:179.95, Y:-22.88, Z:-3.61 [[ 9.88331113e-01 1.51616208e-01 1.46334141e-02 1.79951466e+02] [-1.51597004e-01 9.88439424e-01 -2.41925343e-03 -2.28763113e+01] [-1.48310415e-02 1.72641699e-04 9.99889999e-01 -3.60901357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504012739 meters 0.0252011693633267 Centerline is valid? [True, True] Translation: X:180.01, Y:-22.88, Z:-3.60 [[ 9.87913037e-01 1.54059945e-01 1.71278710e-02 1.80008942e+02] [-1.54034018e-01 9.88061490e-01 -2.83070553e-03 -2.28845618e+01] [-1.73594881e-02 1.58216106e-04 9.99849300e-01 -3.60445973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564012739 meters 0.023302199813084613 Centerline is valid? [True, True] Translation: X:180.07, Y:-22.88, Z:-3.61 [[ 9.86991985e-01 1.60086457e-01 1.48036480e-02 1.80068548e+02] [-1.60067779e-01 9.87102996e-01 -2.44581166e-03 -2.28846027e+01] [-1.50042666e-02 4.44094625e-05 9.99887429e-01 -3.61123491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624012739 meters 0.023108680144609508 Centerline is valid? [True, True] Translation: X:180.13, Y:-22.88, Z:-3.61 [[ 9.86478565e-01 1.63271156e-01 1.42326873e-02 1.80126997e+02] [-1.63254229e-01 9.86581233e-01 -2.35097941e-03 -2.28834652e+01] [-1.44255493e-02 -4.35560244e-06 9.99895946e-01 -3.61323563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684012739 meters 0.023192182750991303 Centerline is valid? [True, True] Translation: X:180.18, Y:-22.89, Z:-3.61 [[ 9.86406490e-01 1.63691262e-01 1.44016364e-02 1.80184709e+02] [-1.63673991e-01 9.86511617e-01 -2.37785619e-03 -2.28887284e+01] [-1.45966159e-02 -1.16405285e-05 9.99893464e-01 -3.61303514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74401273899997 meters 0.023098612129241122 Centerline is valid? [True, True] Translation: X:180.24, Y:-22.89, Z:-3.61 [[ 9.86395030e-01 1.63599987e-01 1.61210588e-02 1.80243000e+02] [-1.63578356e-01 9.86526758e-01 -2.66031298e-03 -2.28943165e+01] [-1.63390831e-02 -1.29368030e-05 9.99866508e-01 -3.60984332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80401273899997 meters 0.023007021520267144 Centerline is valid? [True, True] Translation: X:180.30, Y:-22.90, Z:-3.61 [[ 9.86498249e-01 1.62571780e-01 1.97894119e-02 1.80301645e+02] [-1.62539000e-01 9.86696720e-01 -3.26451031e-03 -2.28984200e+01] [-2.00568651e-02 3.88247850e-06 9.99798841e-01 -3.60553686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86401273899997 meters 0.024167807481416555 Centerline is valid? [True, True] Translation: X:180.36, Y:-22.91, Z:-3.61 [[ 9.87412473e-01 1.57341216e-01 1.61353700e-02 1.80357409e+02] [-1.57318735e-01 9.87544295e-01 -2.66118707e-03 -2.29125171e+01] [-1.63531070e-02 8.92933187e-05 9.99866275e-01 -3.61360967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92401273899998 meters 0.02573384166349103 Centerline is valid? [True, True] Translation: X:180.41, Y:-22.93, Z:-3.62 [[ 9.88006135e-01 1.53666558e-01 1.51811412e-02 1.80414641e+02] [-1.53646237e-01 9.88122750e-01 -2.50292781e-03 -2.29260780e+01] [-1.53854473e-02 1.40382820e-04 9.99881627e-01 -3.61584786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98401273899998 meters 0.02740792366781462 Centerline is valid? [True, True] Translation: X:180.47, Y:-22.94, Z:-3.61 [[ 9.88580032e-01 1.49665598e-01 1.75991136e-02 1.80471629e+02] [-1.49637671e-01 9.88736645e-01 -2.90061052e-03 -2.29446613e+01] [-1.78350102e-02 2.33995276e-04 9.99840916e-01 -3.61137288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04401273899998 meters 0.029367040463932147 Centerline is valid? [True, True] Translation: X:180.53, Y:-22.96, Z:-3.61 [[ 9.88857840e-01 1.47699233e-01 1.85771287e-02 1.80526972e+02] [-1.47667784e-01 9.89032283e-01 -3.06090224e-03 -2.29616654e+01] [-1.88254729e-02 2.83553741e-04 9.99822745e-01 -3.61145091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10401273899998 meters 0.03003220526949869 Centerline is valid? [True, True] Translation: X:180.58, Y:-22.98, Z:-3.61 [[ 9.88948111e-01 1.47052265e-01 1.89014436e-02 1.80583079e+02] [-1.47019617e-01 9.89128678e-01 -3.11295373e-03 -2.29805261e+01] [-1.91537269e-02 2.99666701e-04 9.99816506e-01 -3.61194144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164012739 meters 0.0261814838548613 Centerline is valid? [True, True] Translation: X:180.64, Y:-22.99, Z:-3.62 [[ 9.88262377e-01 1.51774231e-01 1.73797821e-02 1.80641711e+02] [-1.51747371e-01 9.88415169e-01 -2.86163842e-03 -2.29851221e+01] [-1.76127633e-02 1.90713349e-04 9.99844865e-01 -3.61525272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224012739 meters 0.02350391724270408 Centerline is valid? [True, True] Translation: X:180.70, Y:-22.99, Z:-3.62 [[ 9.87255360e-01 1.58220224e-01 1.71235057e-02 1.80700874e+02] [-1.58195132e-01 9.87403846e-01 -2.81865215e-03 -2.29884983e+01] [-1.73537832e-02 7.38742038e-05 9.99849409e-01 -3.61597355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284012739 meters 0.023091445077914555 Centerline is valid? [True, True] Translation: X:180.76, Y:-22.99, Z:-3.62 [[ 9.86199766e-01 1.64599728e-01 1.78031408e-02 1.80761320e+02] [-1.64573660e-01 9.86360445e-01 -2.92962037e-03 -2.29864189e+01] [-1.80425286e-02 -4.07371258e-05 9.99837220e-01 -3.61702318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344012739 meters 0.023341103524658787 Centerline is valid? [True, True] Translation: X:180.82, Y:-22.99, Z:-3.62 [[ 9.85953782e-01 1.66051176e-01 1.79484596e-02 1.80820431e+02] [-1.66024932e-01 9.86117134e-01 -2.95291206e-03 -2.29902769e+01] [-1.81896181e-02 -6.84569677e-05 9.99834553e-01 -3.61721498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404012739 meters 0.02269227501274912 Centerline is valid? [True, True] Translation: X:180.88, Y:-23.00, Z:-3.61 [[ 9.86305996e-01 1.63592368e-01 2.09288956e-02 1.80878855e+02] [-1.63556155e-01 9.86528021e-01 -3.44210138e-03 -2.29983299e+01] [-2.12100435e-02 -2.80844579e-05 9.99775041e-01 -3.61187702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46401273899997 meters 0.02342141461950662 Centerline is valid? [True, True] Translation: X:180.94, Y:-23.01, Z:-3.62 [[ 9.87261700e-01 1.57750930e-01 2.07118297e-02 1.80935123e+02] [-1.57714198e-01 9.87478929e-01 -3.40541862e-03 -2.30144042e+01] [-2.09897034e-02 9.54897678e-05 9.99779687e-01 -3.61616899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52401273899997 meters 0.025151263239191767 Centerline is valid? [True, True] Translation: X:180.99, Y:-23.03, Z:-3.62 [[ 9.87908863e-01 1.53881988e-01 1.88789015e-02 1.80990926e+02] [-1.53850784e-01 9.88089221e-01 -3.10293301e-03 -2.30283495e+01] [-1.91315246e-02 1.60881219e-04 9.99816963e-01 -3.62029598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58401273899997 meters 0.026288297475953973 Centerline is valid? [True, True] Translation: X:181.05, Y:-23.04, Z:-3.62 [[ 9.88509193e-01 1.50190914e-01 1.70957813e-02 1.81048474e+02] [-1.50164789e-01 9.88656991e-01 -2.80903694e-03 -2.30402000e+01] [-1.73237555e-02 2.09574455e-04 9.99849911e-01 -3.62401939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64401273899998 meters 0.031238655153502257 Centerline is valid? [True, True] Translation: X:181.11, Y:-23.06, Z:-3.63 [[ 9.89211835e-01 1.45497343e-01 1.70431493e-02 1.81105126e+02] [-1.45470697e-01 9.89358600e-01 -2.79951129e-03 -2.30587419e+01] [-1.72691078e-02 2.90030884e-04 9.99850836e-01 -3.62598799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70401273899998 meters 0.027673808681808985 Centerline is valid? [True, True] Translation: X:181.16, Y:-23.06, Z:-3.62 [[ 9.88725486e-01 1.48500151e-01 1.92254847e-02 1.81164330e+02] [-1.48466826e-01 9.88912349e-01 -3.15719474e-03 -2.30637841e+01] [-1.94811631e-02 2.67252213e-04 9.99810188e-01 -3.62227762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76401273899998 meters 0.026698564169524472 Centerline is valid? [True, True] Translation: X:181.22, Y:-23.07, Z:-3.62 [[ 9.88578429e-01 1.49451593e-01 1.94141749e-02 1.81222799e+02] [-1.49417812e-01 9.88769012e-01 -3.18725990e-03 -2.30683658e+01] [-1.96724756e-02 2.50032847e-04 9.99806447e-01 -3.62398048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82401273899998 meters 0.02712935501646644 Centerline is valid? [True, True] Translation: X:181.28, Y:-23.08, Z:-3.63 [[ 9.88560585e-01 1.49645195e-01 1.88224441e-02 1.81279982e+02] [-1.49613494e-01 9.88739733e-01 -3.08924947e-03 -2.30773641e+01] [-1.90727897e-02 2.37818638e-04 9.99818070e-01 -3.62657701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88401273899999 meters 0.026497903786573223 Centerline is valid? [True, True] Translation: X:181.34, Y:-23.09, Z:-3.63 [[ 9.88431565e-01 1.50689880e-01 1.71930779e-02 1.81337320e+02] [-1.50663604e-01 9.88581064e-01 -2.82089890e-03 -2.30856527e+01] [-1.74218322e-02 1.97894429e-04 9.99848209e-01 -3.62941487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944012739 meters 0.027818556281743772 Centerline is valid? [True, True] Translation: X:181.39, Y:-23.10, Z:-3.63 [[ 9.88790103e-01 1.48195481e-01 1.82272310e-02 1.81394543e+02] [-1.48165548e-01 9.88958055e-01 -2.98935938e-03 -2.31011581e+01] [-1.84689764e-02 2.55201309e-04 9.99829401e-01 -3.63001029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004012739 meters 0.031302761308673314 Centerline is valid? [True, True] Translation: X:181.45, Y:-23.12, Z:-3.63 [[ 9.89426207e-01 1.43467285e-01 2.12818975e-02 1.81450400e+02] [-1.43425407e-01 9.89654979e-01 -3.48918383e-03 -2.31207844e+01] [-2.15623196e-02 3.99925112e-04 9.99767426e-01 -3.62534091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064012739 meters 0.03521459583471791 Centerline is valid? [True, True] Translation: X:181.51, Y:-23.15, Z:-3.63 [[ 9.90264751e-01 1.37960453e-01 1.85104358e-02 1.81507989e+02] [-1.37927827e-01 9.90437635e-01 -3.03396476e-03 -2.31454466e+01] [-1.87519994e-02 4.51324170e-04 9.99824064e-01 -3.63255085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124012739 meters 0.036803612360905756 Centerline is valid? [True, True] Translation: X:181.57, Y:-23.17, Z:-3.63 [[ 9.90630179e-01 1.35015451e-01 2.05590772e-02 1.81566499e+02] [-1.34974563e-01 9.90843333e-01 -3.37002264e-03 -2.31685783e+01] [-2.08258297e-02 5.63493669e-04 9.99782960e-01 -3.63006388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184012739 meters 0.037039673403248374 Centerline is valid? [True, True] Translation: X:181.63, Y:-23.19, Z:-3.63 [[ 9.90505673e-01 1.35780034e-01 2.15010050e-02 1.81625964e+02] [-1.35735477e-01 9.90738842e-01 -3.52513354e-03 -2.31852654e+01] [-2.17805235e-02 5.73215599e-04 9.99762612e-01 -3.62978677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24401273899997 meters 0.034303787647460664 Centerline is valid? [True, True] Translation: X:181.69, Y:-23.20, Z:-3.63 [[ 9.90121481e-01 1.38829029e-01 1.96456956e-02 1.81686539e+02] [-1.38792373e-01 9.90316255e-01 -3.22378157e-03 -2.31980305e+01] [-1.99030062e-02 4.65262660e-04 9.99801807e-01 -3.63459466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30401273899997 meters 0.032220884938312586 Centerline is valid? [True, True] Translation: X:181.75, Y:-23.21, Z:-3.63 [[ 9.89685390e-01 1.41600365e-01 2.17293530e-02 1.81746192e+02] [-1.41556169e-01 9.89923800e-01 -3.56653871e-03 -2.32126939e+01] [-2.20154269e-02 4.53827277e-04 9.99757528e-01 -3.63229003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36401273899997 meters 0.028277305605192368 Centerline is valid? [True, True] Translation: X:181.81, Y:-23.22, Z:-3.64 [[ 9.88939133e-01 1.47264434e-01 1.76798593e-02 1.81807069e+02] [-1.47236077e-01 9.89097121e-01 -2.90217776e-03 -2.32209805e+01] [-1.79144855e-02 2.66964031e-04 9.99839487e-01 -3.64018841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42401273899998 meters 0.02638498845685178 Centerline is valid? [True, True] Translation: X:181.87, Y:-23.23, Z:-3.64 [[ 9.88355276e-01 1.50705901e-01 2.10137873e-02 1.81866180e+02] [-1.50666597e-01 9.88578612e-01 -3.45030239e-03 -2.32322398e+01] [-2.12937616e-02 2.44048750e-04 9.99773232e-01 -3.63532477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48401273899998 meters 0.023967366523050978 Centerline is valid? [True, True] Translation: X:181.93, Y:-23.24, Z:-3.64 [[ 9.87743027e-01 1.54852649e-01 1.96053381e-02 1.81926661e+02] [-1.54819254e-01 9.87937567e-01 -3.21903202e-03 -2.32400901e+01] [-1.98673257e-02 1.44292604e-04 9.99802615e-01 -3.64078918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54401273899998 meters 0.02259708326356694 Centerline is valid? [True, True] Translation: X:181.98, Y:-23.25, Z:-3.65 [[ 9.86838957e-01 1.60762445e-01 1.74444863e-02 1.81984985e+02] [-1.60736920e-01 9.86993129e-01 -2.86472145e-03 -2.32476522e+01] [-1.76781277e-02 2.30457323e-05 9.99843729e-01 -3.64500085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60401273899998 meters 0.02252433511700113 Centerline is valid? [True, True] Translation: X:182.04, Y:-23.25, Z:-3.64 [[ 9.86209940e-01 1.64396675e-01 1.90705994e-02 1.82044801e+02] [-1.64366857e-01 9.86394308e-01 -3.13132936e-03 -2.32543188e+01] [-1.93259108e-02 -4.64263364e-05 9.99813236e-01 -3.64357206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664012739 meters 0.025995843654148528 Centerline is valid? [True, True] Translation: X:182.10, Y:-23.25, Z:-3.65 [[ 9.84983617e-01 1.71835015e-01 1.67332247e-02 1.82104938e+02] [-1.71813136e-01 9.85125727e-01 -2.74723385e-03 -2.32515545e+01] [-1.69564011e-02 -1.69007482e-04 9.99856216e-01 -3.65003356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724012739 meters 0.02736343141679813 Centerline is valid? [True, True] Translation: X:182.16, Y:-23.26, Z:-3.65 [[ 9.84439739e-01 1.74942105e-01 1.65426733e-02 1.82163311e+02] [-1.74921169e-01 9.84578697e-01 -2.71540163e-03 -2.32590499e+01] [-1.67626018e-02 -2.20514485e-04 9.99859473e-01 -3.65053020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784012739 meters 0.0283905501349654 Centerline is valid? [True, True] Translation: X:182.22, Y:-23.26, Z:-3.65 [[ 9.84096388e-01 1.76692956e-01 1.82728926e-02 1.82222089e+02] [-1.76667731e-01 9.84265981e-01 -2.99845131e-03 -2.32610945e+01] [-1.85151918e-02 -2.77465361e-04 9.99828541e-01 -3.64918316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844012739 meters 0.027763125805663546 Centerline is valid? [True, True] Translation: X:182.28, Y:-23.27, Z:-3.65 [[ 9.84097639e-01 1.76399695e-01 2.08563028e-02 1.82280456e+02] [-1.76366796e-01 9.84318572e-01 -3.42094787e-03 -2.32719975e+01] [-2.11327003e-02 -3.11812570e-04 9.99776631e-01 -3.64588443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904012739 meters 0.02693106456337277 Centerline is valid? [True, True] Translation: X:182.34, Y:-23.28, Z:-3.65 [[ 9.84581705e-01 1.74047591e-01 1.75014827e-02 1.82337043e+02] [-1.74024065e-01 9.84737218e-01 -2.87000833e-03 -2.32817972e+01] [-1.77338794e-02 -2.19921476e-04 9.99842718e-01 -3.65480086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96401273899997 meters 0.02482095065741946 Centerline is valid? [True, True] Translation: X:182.39, Y:-23.30, Z:-3.65 [[ 9.85099625e-01 1.70943971e-01 1.88914927e-02 1.82394042e+02] [-1.70916013e-01 9.85280735e-01 -3.09669871e-03 -2.32980149e+01] [-1.91427858e-02 -1.78301872e-04 9.99816744e-01 -3.65230945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02401273899997 meters 0.024059378179480135 Centerline is valid? [True, True] Translation: X:182.45, Y:-23.31, Z:-3.65 [[ 9.85385390e-01 1.69048795e-01 2.09317306e-02 1.82451525e+02] [-1.69014068e-01 9.85607670e-01 -3.42999666e-03 -2.33067012e+01] [-2.12103111e-02 -1.57888339e-04 9.99775024e-01 -3.65023998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08401273899997 meters 0.02462142203329028 Centerline is valid? [True, True] Translation: X:182.51, Y:-23.32, Z:-3.66 [[ 9.85334080e-01 1.69803958e-01 1.68334876e-02 1.82510386e+02] [-1.69781624e-01 9.85477852e-01 -2.75753286e-03 -2.33174837e+01] [-1.70572692e-02 -1.40925763e-04 9.99854504e-01 -3.65977869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14401273899998 meters 0.02369024361836362 Centerline is valid? [True, True] Translation: X:182.57, Y:-23.33, Z:-3.66 [[ 9.85703636e-01 1.67505638e-01 1.81715110e-02 1.82567493e+02] [-1.67479230e-01 9.85871112e-01 -2.97631214e-03 -2.33273936e+01] [-1.84133168e-02 -1.09588975e-04 9.99830455e-01 -3.65781898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20401273899998 meters 0.023756214364771416 Centerline is valid? [True, True] Translation: X:182.63, Y:-23.34, Z:-3.65 [[ 9.85557596e-01 1.68088274e-01 2.05561989e-02 1.82625546e+02] [-1.68054634e-01 9.85771938e-01 -3.36551632e-03 -2.33361042e+01] [-2.08294279e-02 -1.37654321e-04 9.99783034e-01 -3.65355402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26401273899998 meters 0.026720088656032506 Centerline is valid? [True, True] Translation: X:182.69, Y:-23.33, Z:-3.66 [[ 9.84776597e-01 1.73016370e-01 1.67448552e-02 1.82685688e+02] [-1.72994771e-01 9.84918929e-01 -2.74090874e-03 -2.33317600e+01] [-1.69665470e-02 -1.97589610e-04 9.99856038e-01 -3.66278662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32401273899998 meters 0.02615684110460897 Centerline is valid? [True, True] Translation: X:182.74, Y:-23.34, Z:-3.66 [[ 9.84722020e-01 1.73194892e-01 1.80574644e-02 1.82743819e+02] [-1.73169821e-01 9.84887548e-01 -2.95486093e-03 -2.33437890e+01] [-1.82963386e-02 -2.17291250e-04 9.99832584e-01 -3.66130391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38401273899999 meters 0.025041406580594373 Centerline is valid? [True, True] Translation: X:182.80, Y:-23.36, Z:-3.66 [[ 9.85132610e-01 1.70874759e-01 1.77639156e-02 1.82800898e+02] [-1.70850133e-01 9.85292742e-01 -2.90600714e-03 -2.33551401e+01] [-1.79992204e-02 -1.72164944e-04 9.99837986e-01 -3.66321461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444012739 meters 0.02320964605582017 Centerline is valid? [True, True] Translation: X:182.86, Y:-23.38, Z:-3.66 [[ 9.85916106e-01 1.66313410e-01 1.75864091e-02 1.82857297e+02] [-1.66288567e-01 9.86072939e-01 -2.87589304e-03 -2.33760863e+01] [-1.78197817e-02 -8.90295044e-05 9.99841211e-01 -3.66476016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504012739 meters 0.022350186988889277 Centerline is valid? [True, True] Translation: X:182.91, Y:-23.40, Z:-3.66 [[ 9.87082914e-01 1.58860665e-01 2.07511355e-02 1.82913990e+02] [-1.58824451e-01 9.87301011e-01 -3.39227360e-03 -2.34001472e+01] [-2.10265159e-02 5.26676126e-05 9.99778917e-01 -3.66016448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564012739 meters 0.023096313962192416 Centerline is valid? [True, True] Translation: X:182.97, Y:-23.42, Z:-3.67 [[ 9.87627879e-01 1.55711937e-01 1.85732221e-02 1.82973133e+02] [-1.55682383e-01 9.87802501e-01 -3.03552628e-03 -2.34207131e+01] [-1.88193429e-02 1.06446916e-04 9.99822895e-01 -3.66515171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624012739 meters 0.023658977568676336 Centerline is valid? [True, True] Translation: X:183.03, Y:-23.43, Z:-3.67 [[ 9.87752711e-01 1.55031386e-01 1.76026241e-02 1.83033519e+02] [-1.55004679e-01 9.87909538e-01 -2.87983157e-03 -2.34330580e+01] [-1.78362645e-02 1.16072332e-04 9.99840914e-01 -3.66716051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684012739 meters 0.024195637222659855 Centerline is valid? [True, True] Translation: X:183.09, Y:-23.45, Z:-3.67 [[ 9.87856907e-01 1.54277549e-01 1.83621565e-02 1.83091829e+02] [-1.54248297e-01 9.88027539e-01 -3.00738680e-03 -2.34513263e+01] [-1.86062886e-02 1.38536466e-04 9.99826878e-01 -3.66791033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74401273899997 meters 0.02288098636639087 Centerline is valid? [True, True] Translation: X:183.15, Y:-23.46, Z:-3.67 [[ 9.87474535e-01 1.56540309e-01 1.97274814e-02 1.83152074e+02] [-1.56506971e-01 9.87671565e-01 -3.23219751e-03 -2.34590107e+01] [-1.99902417e-02 1.04224367e-04 9.99800170e-01 -3.66504805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80401273899997 meters 0.022509035356251813 Centerline is valid? [True, True] Translation: X:183.21, Y:-23.47, Z:-3.67 [[ 9.87232713e-01 1.57982659e-01 2.03236131e-02 1.83214011e+02] [-1.57947581e-01 9.87441884e-01 -3.32989194e-03 -2.34681299e+01] [-2.05944520e-02 7.73127439e-05 9.99787909e-01 -3.66625412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86401273899997 meters 0.022180309724119558 Centerline is valid? [True, True] Translation: X:183.27, Y:-23.48, Z:-3.67 [[ 9.87085479e-01 1.58936040e-01 2.00397554e-02 1.83274990e+02] [-1.58902063e-01 9.87288879e-01 -3.28677260e-03 -2.34750744e+01] [-2.03074143e-02 5.99670350e-05 9.99793781e-01 -3.66709857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92401273899998 meters 0.022730972637022166 Centerline is valid? [True, True] Translation: X:183.34, Y:-23.49, Z:-3.67 [[ 9.87383881e-01 1.57272206e-01 1.83990399e-02 1.83335916e+02] [-1.57243273e-01 9.87555287e-01 -3.01781638e-03 -2.34895112e+01] [-1.86446877e-02 8.66179972e-05 9.99826169e-01 -3.67180660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98401273899998 meters 0.024166708688700928 Centerline is valid? [True, True] Translation: X:183.40, Y:-23.51, Z:-3.67 [[ 9.87964452e-01 1.53631299e-01 1.79907112e-02 1.83395147e+02] [-1.53602977e-01 9.88128231e-01 -2.95390586e-03 -2.35052743e+01] [-1.82309420e-02 1.54927196e-04 9.99833791e-01 -3.67300613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04401273899998 meters 0.024675523903429485 Centerline is valid? [True, True] Translation: X:183.46, Y:-23.52, Z:-3.67 [[ 9.88113970e-01 1.52726201e-01 1.74782506e-02 1.83456280e+02] [-1.52699281e-01 9.88268526e-01 -2.87241784e-03 -2.35187729e+01] [-1.77118985e-02 1.69359884e-04 9.99843118e-01 -3.67496777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10401273899998 meters 0.0238930523160055 Centerline is valid? [True, True] Translation: X:183.52, Y:-23.53, Z:-3.68 [[ 9.87826068e-01 1.54714905e-01 1.62159603e-02 1.83516199e+02] [-1.54691955e-01 9.87959150e-01 -2.66777832e-03 -2.35321877e+01] [-1.64334514e-02 1.26822372e-04 9.99864954e-01 -3.67905880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164012739 meters 0.022651588468257797 Centerline is valid? [True, True] Translation: X:183.58, Y:-23.54, Z:-3.68 [[ 9.87106768e-01 1.59326518e-01 1.53391577e-02 1.83577289e+02] [-1.59306512e-01 9.87225941e-01 -2.52525930e-03 -2.35388518e+01] [-1.55455551e-02 4.90728413e-05 9.99879159e-01 -3.68262243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224012739 meters 0.02204387666064429 Centerline is valid? [True, True] Translation: X:183.64, Y:-23.55, Z:-3.68 [[ 9.86417187e-01 1.63377091e-01 1.70017432e-02 1.83637148e+02] [-1.63353105e-01 9.86563696e-01 -2.79950136e-03 -2.35456009e+01] [-1.72306770e-02 -1.58112912e-05 9.99851541e-01 -3.67916490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284012739 meters 0.023270334788675816 Centerline is valid? [True, True] Translation: X:183.70, Y:-23.55, Z:-3.68 [[ 9.85486514e-01 1.68808117e-01 1.78927180e-02 1.83697567e+02] [-1.68782446e-01 9.85648926e-01 -2.94618976e-03 -2.35457753e+01] [-1.81332790e-02 -1.16546432e-04 9.99835572e-01 -3.67916100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344012739 meters 0.027291091394160836 Centerline is valid? [True, True] Translation: X:183.76, Y:-23.54, Z:-3.68 [[ 9.84280279e-01 1.75782315e-01 1.71146339e-02 1.83758335e+02] [-1.75759876e-01 9.84429034e-01 -2.81834333e-03 -2.35402282e+01] [-1.73435574e-02 -2.34026170e-04 9.99849562e-01 -3.68333350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404012739 meters 0.02857493204463821 Centerline is valid? [True, True] Translation: X:183.82, Y:-23.54, Z:-3.68 [[ 9.84102235e-01 1.76752585e-01 1.73584427e-02 1.83817091e+02] [-1.76729663e-01 9.84255281e-01 -2.85792494e-03 -2.35412290e+01] [-1.75902845e-02 -2.55261420e-04 9.99845246e-01 -3.68367916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46401273899997 meters 0.026767100209794864 Centerline is valid? [True, True] Translation: X:183.88, Y:-23.55, Z:-3.68 [[ 9.84334122e-01 1.75445785e-01 1.74675032e-02 1.83875479e+02] [-1.75422387e-01 9.84489066e-01 -2.87481589e-03 -2.35479659e+01] [-1.77009402e-02 -2.34411732e-04 9.99843299e-01 -3.68398959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52401273899997 meters 0.025460318941643027 Centerline is valid? [True, True] Translation: X:183.93, Y:-23.55, Z:-3.69 [[ 9.84772009e-01 1.73038201e-01 1.67890315e-02 1.83934354e+02] [-1.73016249e-01 9.84915096e-01 -2.76237904e-03 -2.35498730e+01] [-1.70137677e-02 -1.84461693e-04 9.99855238e-01 -3.68708682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58401273899997 meters 0.023840577981010826 Centerline is valid? [True, True] Translation: X:183.99, Y:-23.56, Z:-3.69 [[ 9.85292680e-01 1.69950683e-01 1.77510676e-02 1.83992700e+02] [-1.69925658e-01 9.85452559e-01 -2.91974642e-03 -2.35569167e+01] [-1.79890479e-02 -1.39557055e-04 9.99838174e-01 -3.68662117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64401273899998 meters 0.021932615522140295 Centerline is valid? [True, True] Translation: X:184.05, Y:-23.57, Z:-3.69 [[ 9.86534077e-01 1.62493518e-01 1.86110339e-02 1.84050278e+02] [-1.62464699e-01 9.86709611e-01 -3.06023849e-03 -2.35701331e+01] [-1.88609550e-02 -4.60646039e-06 9.99822116e-01 -3.68669573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70401273899998 meters 0.024719131129926863 Centerline is valid? [True, True] Translation: X:184.11, Y:-23.59, Z:-3.69 [[ 9.88078740e-01 1.52877995e-01 1.81307164e-02 1.84108205e+02] [-1.52849041e-01 9.88245055e-01 -2.98027560e-03 -2.35913209e+01] [-1.83732094e-02 1.73484338e-04 9.99831183e-01 -3.68859769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76401273899998 meters 0.02930925241272295 Centerline is valid? [True, True] Translation: X:184.17, Y:-23.61, Z:-3.69 [[ 9.89220942e-01 1.45367136e-01 1.76160215e-02 1.84166381e+02] [-1.45338607e-01 9.89377735e-01 -2.89587702e-03 -2.36112830e+01] [-1.78498648e-02 3.04374170e-04 9.99840632e-01 -3.69105077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82401273899998 meters 0.03288152537455307 Centerline is valid? [True, True] Translation: X:184.22, Y:-23.63, Z:-3.69 [[ 9.89773436e-01 1.41600823e-01 1.72554901e-02 1.84224972e+02] [-1.41572875e-01 9.89923772e-01 -2.83677784e-03 -2.36295609e+01] [-1.74833099e-02 3.64858013e-04 9.99847089e-01 -3.69214602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88401273899999 meters 0.03397854658670502 Centerline is valid? [True, True] Translation: X:184.29, Y:-23.64, Z:-3.69 [[ 9.89962263e-01 1.40008135e-01 1.92987126e-02 1.84285725e+02] [-1.39972866e-01 9.90150256e-01 -3.17305161e-03 -2.36423048e+01] [-1.95528782e-02 4.39905249e-04 9.99808727e-01 -3.68874468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944012739 meters 0.033434151593249556 Centerline is valid? [True, True] Translation: X:184.35, Y:-23.66, Z:-3.69 [[ 9.90051969e-01 1.39073258e-01 2.13477764e-02 1.84346712e+02] [-1.39029799e-01 9.90281964e-01 -3.51385390e-03 -2.36565716e+01] [-2.16290010e-02 5.10920919e-04 9.99765935e-01 -3.68643020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004012739 meters 0.03469186029496982 Centerline is valid? [True, True] Translation: X:184.41, Y:-23.67, Z:-3.70 [[ 9.90127593e-01 1.39085982e-01 1.73907949e-02 1.84406986e+02] [-1.39057103e-01 9.90280220e-01 -2.86483395e-03 -2.36711322e+01] [-1.76202184e-02 4.18237581e-04 9.99844664e-01 -3.69539757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064012739 meters 0.03366336890617204 Centerline is valid? [True, True] Translation: X:184.47, Y:-23.68, Z:-3.70 [[ 9.89945009e-01 1.40632031e-01 1.52154587e-02 1.84467814e+02] [-1.40610071e-01 9.90061874e-01 -2.50884200e-03 -2.36824634e+01] [-1.54170691e-02 3.44168877e-04 9.99881091e-01 -3.69953160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124012739 meters 0.02856318484227061 Centerline is valid? [True, True] Translation: X:184.53, Y:-23.69, Z:-3.70 [[ 9.88968813e-01 1.47183918e-01 1.66607911e-02 1.84529350e+02] [-1.47158455e-01 9.89109105e-01 -2.75081214e-03 -2.36861685e+01] [-1.68842155e-02 2.68691142e-04 9.99857415e-01 -3.69825811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184012739 meters 0.024265375467221437 Centerline is valid? [True, True] Translation: X:184.59, Y:-23.69, Z:-3.69 [[ 9.87997075e-01 1.53243427e-01 1.94481888e-02 1.84590592e+02] [-1.53209898e-01 9.88188451e-01 -3.21131034e-03 -2.36867408e+01] [-1.97105878e-02 1.93110214e-04 9.99805709e-01 -3.69375836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24401273899997 meters 0.022749456094325105 Centerline is valid? [True, True] Translation: X:184.65, Y:-23.69, Z:-3.70 [[ 9.87427552e-01 1.57060028e-01 1.78599518e-02 1.84651870e+02] [-1.57032376e-01 9.87589052e-01 -2.94903092e-03 -2.36897571e+01] [-1.81014678e-02 1.07363717e-04 9.99836149e-01 -3.69845582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30401273899997 meters 0.022655951200576348 Centerline is valid? [True, True] Translation: X:184.71, Y:-23.70, Z:-3.70 [[ 9.87269527e-01 1.58228193e-01 1.62086231e-02 1.84711119e+02] [-1.58205571e-01 9.87402569e-01 -2.67667714e-03 -2.36980301e+01] [-1.64279619e-02 7.83073042e-05 9.99865049e-01 -3.70390623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36401273899997 meters 0.022407350759005355 Centerline is valid? [True, True] Translation: X:184.77, Y:-23.71, Z:-3.70 [[ 9.87263625e-01 1.58141922e-01 1.73685842e-02 1.84770030e+02] [-1.58115941e-01 9.87416389e-01 -2.86778066e-03 -2.37096898e+01] [-1.76035410e-02 8.50055047e-05 9.99845042e-01 -3.70184045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42401273899998 meters 0.021474667813666234 Centerline is valid? [True, True] Translation: X:184.83, Y:-23.71, Z:-3.70 [[ 9.86688040e-01 1.61492933e-01 1.91505804e-02 1.84830314e+02] [-1.61461986e-01 9.86873868e-01 -3.16150630e-03 -2.37127046e+01] [-1.94097683e-02 2.73297056e-05 9.99811612e-01 -3.69835403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48401273899998 meters 0.022538244330393198 Centerline is valid? [True, True] Translation: X:184.89, Y:-23.71, Z:-3.70 [[ 9.85399380e-01 1.69195594e-01 1.89976836e-02 1.84891228e+02] [-1.69166578e-01 9.85582485e-01 -3.13581299e-03 -2.37122769e+01] [-1.92543500e-02 -1.23744947e-04 9.99814610e-01 -3.70099887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54401273899998 meters 0.02616554405689684 Centerline is valid? [True, True] Translation: X:184.95, Y:-23.71, Z:-3.70 [[ 9.84352562e-01 1.75266554e-01 1.82117831e-02 1.84950628e+02] [-1.75240934e-01 9.84520991e-01 -3.00568552e-03 -2.37110223e+01] [-1.84566789e-02 -2.32795636e-04 9.99829634e-01 -3.70394634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60401273899998 meters 0.026615807054538594 Centerline is valid? [True, True] Translation: X:185.01, Y:-23.72, Z:-3.71 [[ 9.84166603e-01 1.76370292e-01 1.75959778e-02 1.85008519e+02] [-1.76346564e-01 9.84323859e-01 -2.90336564e-03 -2.37184708e+01] [-1.78322082e-02 -2.45594726e-04 9.99840963e-01 -3.70519543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664012739 meters 0.027281504823918664 Centerline is valid? [True, True] Translation: X:185.07, Y:-23.72, Z:-3.71 [[ 9.84310172e-01 1.75672627e-01 1.65110058e-02 1.85066358e+02] [-1.75651655e-01 9.84448617e-01 -2.72327274e-03 -2.37204929e+01] [-1.67326413e-02 -2.19640445e-04 9.99859975e-01 -3.70972134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724012739 meters 0.02538326752634848 Centerline is valid? [True, True] Translation: X:185.12, Y:-23.73, Z:-3.71 [[ 9.84500215e-01 1.74445821e-01 1.81102903e-02 1.85124527e+02] [-1.74420404e-01 9.84666749e-01 -2.98581497e-03 -2.37273110e+01] [-1.83534636e-02 -2.19268668e-04 9.99831537e-01 -3.70770155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784012739 meters 0.024017997488895097 Centerline is valid? [True, True] Translation: X:185.18, Y:-23.74, Z:-3.71 [[ 9.84901769e-01 1.72076290e-01 1.89276607e-02 1.85181160e+02] [-1.72048108e-01 9.85083609e-01 -3.11962363e-03 -2.37386344e+01] [-1.91821416e-02 -1.83945382e-04 9.99815989e-01 -3.70760495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844012739 meters 0.022254712637690216 Centerline is valid? [True, True] Translation: X:185.24, Y:-23.76, Z:-3.71 [[ 9.85787004e-01 1.67170856e-01 1.66699636e-02 1.85237548e+02] [-1.67148311e-01 9.85927938e-01 -2.74656346e-03 -2.37550773e+01] [-1.68945282e-02 -7.88297021e-05 9.99857274e-01 -3.71323521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904012739 meters 0.02165398994044621 Centerline is valid? [True, True] Translation: X:185.29, Y:-23.77, Z:-3.71 [[ 9.86340610e-01 1.63863344e-01 1.67632392e-02 1.85293526e+02] [-1.63840081e-01 9.86483048e-01 -2.76116563e-03 -2.37722919e+01] [-1.69891052e-02 -2.30406750e-05 9.99855674e-01 -3.71440735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96401273899997 meters 0.02162031455101306 Centerline is valid? [True, True] Translation: X:185.35, Y:-23.80, Z:-3.71 [[ 9.87164179e-01 1.58652560e-01 1.83370861e-02 1.85350166e+02] [-1.58623847e-01 9.87334472e-01 -3.01914374e-03 -2.37986484e+01] [-1.85838321e-02 7.16914117e-05 9.99827303e-01 -3.71116335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02401273899997 meters 0.02367027663878942 Centerline is valid? [True, True] Translation: X:185.41, Y:-23.83, Z:-3.71 [[ 9.87907088e-01 1.53701846e-01 2.03796198e-02 1.85406608e+02] [-1.53665335e-01 9.88117255e-01 -3.35493024e-03 -2.38296062e+01] [-2.06531129e-02 1.82718260e-04 9.99786685e-01 -3.70840808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08401273899997 meters 0.024459832105674668 Centerline is valid? [True, True] Translation: X:185.47, Y:-23.85, Z:-3.71 [[ 9.88068236e-01 1.52784070e-01 1.94470884e-02 1.85466329e+02] [-1.52750618e-01 9.88259576e-01 -3.20285592e-03 -2.38491113e+01] [-1.97081167e-02 1.94085433e-04 9.99805757e-01 -3.71094808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14401273899998 meters 0.021052424517480368 Centerline is valid? [True, True] Translation: X:185.53, Y:-23.85, Z:-3.71 [[ 9.86732175e-01 1.61328293e-01 1.82426997e-02 1.85526292e+02] [-1.61300259e-01 9.86900796e-01 -3.00753229e-03 -2.38533685e+01] [-1.84889349e-02 2.50766907e-05 9.99829065e-01 -3.71354715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20401273899998 meters 0.025054600537479974 Centerline is valid? [True, True] Translation: X:185.59, Y:-23.85, Z:-3.71 [[ 9.84686855e-01 1.73107940e-01 2.06261719e-02 1.85587762e+02] [-1.73074679e-01 9.84902834e-01 -3.40046693e-03 -2.38494577e+01] [-2.09034230e-02 -2.21473002e-04 9.99781475e-01 -3.70982284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26401273899998 meters 0.03758051501347613 Centerline is valid? [True, True] Translation: X:185.65, Y:-23.84, Z:-3.71 [[ 9.82431138e-01 1.85702513e-01 1.85374351e-02 1.85650052e+02] [-1.85677892e-01 9.82605915e-01 -3.05570980e-03 -2.38381097e+01] [-1.87824464e-02 -4.39967410e-04 9.99823497e-01 -3.71437874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32401273899998 meters 0.04912745443600378 Centerline is valid? [True, True] Translation: X:185.71, Y:-23.83, Z:-3.72 [[ 9.80534570e-01 1.95622469e-01 1.68465379e-02 1.85712756e+02] [-1.95603595e-01 9.80679113e-01 -2.77695705e-03 -2.38259613e+01] [-1.70642830e-02 -5.72340990e-04 9.99854231e-01 -3.72030443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38401273899999 meters 0.06466166182649563 Centerline is valid? [True, True] Translation: X:185.78, Y:-23.81, Z:-3.72 [[ 9.78225017e-01 2.06884694e-01 1.65692504e-02 1.85775934e+02] [-2.06868049e-01 9.78365040e-01 -2.73105846e-03 -2.38051792e+01] [-1.67757896e-02 -7.56058802e-04 9.99858991e-01 -3.72277142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444012739 meters 0.0687269334053553 Centerline is valid? [True, True] Translation: X:185.84, Y:-23.80, Z:-3.72 [[ 9.77580468e-01 2.09793425e-01 1.79762759e-02 1.85838533e+02] [-2.09774323e-01 9.77745342e-01 -2.96296756e-03 -2.37969268e+01] [-1.81978312e-02 -8.74421891e-04 9.99834023e-01 -3.72068246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504012739 meters 0.06873718179390288 Centerline is valid? [True, True] Translation: X:185.90, Y:-23.79, Z:-3.72 [[ 9.77807198e-01 2.08765724e-01 1.76055716e-02 1.85897825e+02] [-2.08747232e-01 9.77965322e-01 -2.90203878e-03 -2.37949186e+01] [-1.78234847e-02 -8.37479919e-04 9.99840798e-01 -3.72293483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564012739 meters 0.06638820907870537 Centerline is valid? [True, True] Translation: X:185.96, Y:-23.79, Z:-3.72 [[ 9.78347737e-01 2.06147311e-01 1.84117452e-02 1.85959063e+02] [-2.06126683e-01 9.78520618e-01 -3.03178435e-03 -2.37948139e+01] [-1.86412664e-02 -8.29012593e-04 9.99825893e-01 -3.72278596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624012739 meters 0.0615395457838362 Centerline is valid? [True, True] Translation: X:186.02, Y:-23.81, Z:-3.72 [[ 9.79223444e-01 2.01891167e-01 1.90106215e-02 1.86018586e+02] [-2.01868378e-01 9.79407658e-01 -3.13018610e-03 -2.38055617e+01] [-1.92511052e-02 -7.72491720e-04 9.99814382e-01 -3.72248242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684012739 meters 0.051560217973577585 Centerline is valid? [True, True] Translation: X:186.08, Y:-23.82, Z:-3.72 [[ 9.80807790e-01 1.93859125e-01 2.08498919e-02 1.86077417e+02] [-1.93829900e-01 9.81029146e-01 -3.43287055e-03 -2.38205239e+01] [-2.11198449e-02 -6.74346285e-04 9.99776724e-01 -3.71902093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74401273899997 meters 0.040714997150784686 Centerline is valid? [True, True] Translation: X:186.13, Y:-23.84, Z:-3.72 [[ 9.82518097e-01 1.85103250e-01 1.98739879e-02 1.86134352e+02] [-1.85074908e-01 9.82718969e-01 -3.27202248e-03 -2.38415953e+01] [-2.01362069e-02 -4.63355185e-04 9.99797139e-01 -3.72395446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80401273899997 meters 0.028520013659115145 Centerline is valid? [True, True] Translation: X:186.19, Y:-23.87, Z:-3.73 [[ 9.83959000e-01 1.77655553e-01 1.62231415e-02 1.86189778e+02] [-1.77635659e-01 9.84092699e-01 -2.67074622e-03 -2.38708667e+01] [-1.64395480e-02 -2.53903634e-04 9.99864829e-01 -3.73235512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86401273899997 meters 0.02771940232240013 Centerline is valid? [True, True] Translation: X:186.25, Y:-23.88, Z:-3.74 [[ 9.84667427e-01 1.73680408e-01 1.62841397e-02 1.86246311e+02] [-1.73659824e-01 9.84802051e-01 -2.68053964e-03 -2.38825855e+01] [-1.65022114e-02 -1.88460764e-04 9.99863811e-01 -3.73594133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92401273899998 meters 0.024406070418608535 Centerline is valid? [True, True] Translation: X:186.30, Y:-23.90, Z:-3.74 [[ 9.85019701e-01 1.71660352e-01 1.63985501e-02 1.86303503e+02] [-1.71639215e-01 9.85156180e-01 -2.69836217e-03 -2.38998087e+01] [-1.66183348e-02 -1.56694365e-04 9.99861894e-01 -3.73556314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98401273899998 meters 0.026849215930131183 Centerline is valid? [True, True] Translation: X:186.36, Y:-23.90, Z:-3.73 [[ 9.84129860e-01 1.76641331e-01 1.69191592e-02 1.86363609e+02] [-1.76619580e-01 9.84275255e-01 -2.78314414e-03 -2.39026441e+01] [-1.71447280e-02 -2.49279535e-04 9.99852987e-01 -3.73478493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04401273899998 meters 0.030664530186004325 Centerline is valid? [True, True] Translation: X:186.42, Y:-23.90, Z:-3.73 [[ 9.83364403e-01 1.80754852e-01 1.79481244e-02 1.86422904e+02] [-1.80731068e-01 9.83528122e-01 -2.95195949e-03 -2.39034601e+01] [-1.81860661e-02 -3.40931809e-04 9.99834562e-01 -3.73454619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10401273899998 meters 0.0302150669320209 Centerline is valid? [True, True] Translation: X:186.48, Y:-23.91, Z:-3.73 [[ 9.83782760e-01 1.78352443e-01 1.90233144e-02 1.86480045e+02] [-1.78325288e-01 9.83966619e-01 -3.12807968e-03 -2.39141351e+01] [-1.92762070e-02 -3.14987159e-04 9.99814147e-01 -3.73468134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164012739 meters 0.023042824995781 Centerline is valid? [True, True] Translation: X:186.54, Y:-23.94, Z:-3.73 [[ 9.85185247e-01 1.70328269e-01 1.99576970e-02 1.86536717e+02] [-1.70296758e-01 9.85387362e-01 -3.28047555e-03 -2.39408160e+01] [-2.02248201e-02 -1.66854968e-04 9.99795443e-01 -3.73474411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224012739 meters 0.021470348019369024 Centerline is valid? [True, True] Translation: X:186.59, Y:-23.96, Z:-3.74 [[ 9.85950547e-01 1.66048666e-01 1.81482527e-02 1.86593669e+02] [-1.66021887e-01 9.86117556e-01 -2.98293183e-03 -2.39587771e+01] [-1.83916225e-02 -7.19838907e-05 9.99830857e-01 -3.73794550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284012739 meters 0.02152683013545729 Centerline is valid? [True, True] Translation: X:186.65, Y:-23.97, Z:-3.74 [[ 9.86208920e-01 1.64749636e-01 1.57963107e-02 1.86649926e+02] [-1.64729191e-01 9.86335417e-01 -2.59578134e-03 -2.39717406e+01] [-1.60081148e-02 -4.21307752e-05 9.99871861e-01 -3.74371014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344012739 meters 0.02149124059377579 Centerline is valid? [True, True] Translation: X:186.71, Y:-23.98, Z:-3.74 [[ 9.85964132e-01 1.65883824e-01 1.89020591e-02 1.86708010e+02] [-1.65854786e-01 9.86145299e-01 -3.10460833e-03 -2.39821313e+01] [-1.91551811e-02 -7.39645235e-05 9.99816520e-01 -3.73908739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404012739 meters 0.02163160013521323 Centerline is valid? [True, True] Translation: X:186.77, Y:-23.99, Z:-3.74 [[ 9.85797947e-01 1.66658787e-01 2.06701825e-02 1.86765804e+02] [-1.66624255e-01 9.86014624e-01 -3.39394154e-03 -2.39932996e+01] [-2.09467324e-02 -9.84131491e-05 9.99780588e-01 -3.73769384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46401273899997 meters 0.02095198710367628 Centerline is valid? [True, True] Translation: X:186.82, Y:-24.01, Z:-3.74 [[ 9.86401810e-01 1.63200219e-01 1.94205727e-02 1.86821559e+02] [-1.63169083e-01 9.86592970e-01 -3.18788878e-03 -2.40114241e+01] [-1.96804646e-02 -2.42977739e-05 9.99806321e-01 -3.74093307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52401273899997 meters 0.021152546163459268 Centerline is valid? [True, True] Translation: X:186.88, Y:-24.03, Z:-3.74 [[ 9.87062247e-01 1.59140420e-01 1.95562553e-02 1.86879443e+02] [-1.59108075e-01 9.87255956e-01 -3.20887991e-03 -2.40298697e+01] [-1.98176920e-02 5.58060833e-05 9.99803609e-01 -3.74190474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58401273899997 meters 0.02183676925273001 Centerline is valid? [True, True] Translation: X:186.94, Y:-24.05, Z:-3.74 [[ 9.87490000e-01 1.56398837e-01 2.00724575e-02 1.86936541e+02] [-1.56364205e-01 9.87693976e-01 -3.29309255e-03 -2.40475679e+01] [-2.03404812e-02 1.13282110e-04 9.99793105e-01 -3.74204757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64401273899998 meters 0.021000123175787172 Centerline is valid? [True, True] Translation: X:187.00, Y:-24.05, Z:-3.74 [[ 9.86906858e-01 1.60187105e-01 1.88399618e-02 1.86995695e+02] [-1.60157298e-01 9.87086668e-01 -3.09025096e-03 -2.40533409e+01] [-1.90916935e-02 3.24324951e-05 9.99817736e-01 -3.74453623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70401273899998 meters 0.021074649493200467 Centerline is valid? [True, True] Translation: X:187.05, Y:-24.06, Z:-3.75 [[ 9.86359528e-01 1.63522366e-01 1.88498855e-02 1.87054700e+02] [-1.63493144e-01 9.86539627e-01 -3.09146624e-03 -2.40569551e+01] [-1.91016829e-02 -3.25298763e-05 9.99817546e-01 -3.74595645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76401273899998 meters 0.021991305878909958 Centerline is valid? [True, True] Translation: X:187.11, Y:-24.06, Z:-3.74 [[ 9.85646516e-01 1.67564674e-01 2.05675783e-02 1.87112381e+02] [-1.67530784e-01 9.85861078e-01 -3.37212917e-03 -2.40602664e+01] [-2.08418246e-02 -1.21975140e-04 9.99782778e-01 -3.74241586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82401273899998 meters 0.022039933275280022 Centerline is valid? [True, True] Translation: X:187.17, Y:-24.07, Z:-3.74 [[ 9.85592648e-01 1.67493565e-01 2.35167517e-02 1.87170291e+02] [-1.67449264e-01 9.85873159e-01 -3.85454235e-03 -2.40712571e+01] [-2.38301453e-02 -1.38854158e-04 9.99716012e-01 -3.73907217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88401273899999 meters 0.023594231414329248 Centerline is valid? [True, True] Translation: X:187.23, Y:-24.07, Z:-3.74 [[ 9.85094027e-01 1.70584674e-01 2.21500856e-02 1.87229361e+02] [-1.70546176e-01 9.85343000e-01 -3.62957479e-03 -2.40736792e+01] [-2.24445817e-02 -2.02139958e-04 9.99748068e-01 -3.74296763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944012739 meters 0.027827590734992524 Centerline is valid? [True, True] Translation: X:187.29, Y:-24.07, Z:-3.75 [[ 9.84145700e-01 1.76381478e-01 1.86229863e-02 1.87290128e+02] [-1.76355316e-01 9.84321845e-01 -3.05086983e-03 -2.40706973e+01] [-1.88691292e-02 -2.81762209e-04 9.99821922e-01 -3.75082787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004012739 meters 0.032463944675321696 Centerline is valid? [True, True] Translation: X:187.35, Y:-24.07, Z:-3.76 [[ 9.83055248e-01 1.82502418e-01 1.71827583e-02 1.87351674e+02] [-1.82481086e-01 9.83205335e-01 -2.81452663e-03 -2.40665263e+01] [-1.74078376e-02 -3.68693237e-04 9.99848404e-01 -3.75600864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064012739 meters 0.034978995611410144 Centerline is valid? [True, True] Translation: X:187.41, Y:-24.07, Z:-3.76 [[ 9.82641541e-01 1.84638430e-01 1.80069848e-02 1.87409974e+02] [-1.84615363e-01 9.82806425e-01 -2.94940940e-03 -2.40665326e+01] [-1.82419546e-02 -4.26153832e-04 9.99833511e-01 -3.75520628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124012739 meters 0.03217749754469158 Centerline is valid? [True, True] Translation: X:187.47, Y:-24.07, Z:-3.76 [[ 9.83050140e-01 1.82382932e-01 1.86785372e-02 1.87469199e+02] [-1.82357728e-01 9.83227495e-01 -3.05821198e-03 -2.40717045e+01] [-1.89230170e-02 -3.99799884e-04 9.99820864e-01 -3.75589334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184012739 meters 0.032004454681462666 Centerline is valid? [True, True] Translation: X:187.53, Y:-24.08, Z:-3.77 [[ 9.83797341e-01 1.78746586e-01 1.38726570e-02 1.87527491e+02] [-1.78732326e-01 9.83895115e-01 -2.27111164e-03 -2.40752465e+01] [-1.40551929e-02 -2.45178665e-04 9.99901191e-01 -3.76834006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24401273899997 meters 0.026824490364946257 Centerline is valid? [True, True] Translation: X:187.58, Y:-24.09, Z:-3.76 [[ 9.84297977e-01 1.75668165e-01 1.72681070e-02 1.87584922e+02] [-1.75645613e-01 9.84449406e-01 -2.82593046e-03 -2.40892918e+01] [-1.74960037e-02 -2.51509606e-04 9.99846902e-01 -3.76040525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30401273899997 meters 0.026786095523322048 Centerline is valid? [True, True] Translation: X:187.64, Y:-24.10, Z:-3.75 [[ 9.84532179e-01 1.74077859e-01 1.98314750e-02 1.87643259e+02] [-1.74047814e-01 9.84731858e-01 -3.24432838e-03 -2.40960342e+01] [-2.00934510e-02 -2.57479184e-04 9.99798073e-01 -3.75298211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36401273899997 meters 0.02750409111333019 Centerline is valid? [True, True] Translation: X:187.70, Y:-24.10, Z:-3.76 [[ 9.84228588e-01 1.75807385e-01 1.96430800e-02 1.87701503e+02] [-1.75778271e-01 9.84424542e-01 -3.21258400e-03 -2.40965209e+01] [-1.99019260e-02 -2.90909610e-04 9.99801895e-01 -3.75899475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42401273899998 meters 0.028213675694220036 Centerline is valid? [True, True] Translation: X:187.76, Y:-24.10, Z:-3.76 [[ 9.84085799e-01 1.76576564e-01 1.98961812e-02 1.87759499e+02] [-1.76546876e-01 9.84286859e-01 -3.25278611e-03 -2.40994212e+01] [-2.01579155e-02 -3.11588008e-04 9.99796760e-01 -3.75896431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48401273899998 meters 0.026424400349095756 Centerline is valid? [True, True] Translation: X:187.82, Y:-24.11, Z:-3.76 [[ 9.84477409e-01 1.74501720e-01 1.87984064e-02 1.87817770e+02] [-1.74474860e-01 9.84656836e-01 -3.07226839e-03 -2.41075578e+01] [-1.90460955e-02 -2.55270483e-04 9.99818574e-01 -3.76301593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54401273899998 meters 0.023075174118307135 Centerline is valid? [True, True] Translation: X:187.88, Y:-24.12, Z:-3.76 [[ 9.85282660e-01 1.69957890e-01 1.82317230e-02 1.87876289e+02] [-1.69931861e-01 9.85451312e-01 -2.97881095e-03 -2.41164707e+01] [-1.84727478e-02 -1.63179841e-04 9.99829351e-01 -3.76367989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60401273899998 meters 0.022724059527851018 Centerline is valid? [True, True] Translation: X:187.94, Y:-24.12, Z:-3.76 [[ 9.85483423e-01 1.68608955e-01 1.98354005e-02 1.87935173e+02] [-1.68577889e-01 9.85683011e-01 -3.24006080e-03 -2.41180378e+01] [-2.00977205e-02 -1.50783722e-04 9.99798009e-01 -3.76215754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664012739 meters 0.023057285094621984 Centerline is valid? [True, True] Translation: X:187.99, Y:-24.12, Z:-3.77 [[ 9.85605366e-01 1.68281658e-01 1.62279720e-02 1.87994743e+02] [-1.68260830e-01 9.85738946e-01 -2.65019376e-03 -2.41183408e+01] [-1.64425230e-02 -1.18486848e-04 9.99864806e-01 -3.77175771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724012739 meters 0.02143280304520271 Centerline is valid? [True, True] Translation: X:188.05, Y:-24.13, Z:-3.77 [[ 9.86247615e-01 1.64594262e-01 1.49790311e-02 1.88052728e+02] [-1.64576100e-01 9.86361357e-01 -2.44564735e-03 -2.41293109e+01] [-1.51772770e-02 -5.31766538e-05 9.99884817e-01 -3.77351616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784012739 meters 0.020675752895076283 Centerline is valid? [True, True] Translation: X:188.11, Y:-24.14, Z:-3.77 [[ 9.86686076e-01 1.61600533e-01 1.83263742e-02 1.88110759e+02] [-1.61572850e-01 9.86856255e-01 -2.99106657e-03 -2.41397169e+01] [-1.85688549e-02 -9.80077220e-06 9.99827584e-01 -3.76884581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844012739 meters 0.021193758057691237 Centerline is valid? [True, True] Translation: X:188.17, Y:-24.15, Z:-3.77 [[ 9.87433553e-01 1.57052612e-01 1.75913325e-02 1.88167684e+02] [-1.57026397e-01 9.87590235e-01 -2.87030082e-03 -2.41544610e+01] [-1.78238164e-02 7.19277807e-05 9.99841141e-01 -3.77185499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904012739 meters 0.021663987555997834 Centerline is valid? [True, True] Translation: X:188.22, Y:-24.16, Z:-3.77 [[ 9.87760716e-01 1.54842071e-01 1.87803294e-02 1.88224445e+02] [-1.54811811e-01 9.87939228e-01 -3.06333417e-03 -2.41641757e+01] [-1.90281571e-02 1.18424343e-04 9.99818941e-01 -3.76892377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96401273899997 meters 0.02312663322716065 Centerline is valid? [True, True] Translation: X:188.28, Y:-24.18, Z:-3.77 [[ 9.88236929e-01 1.51620570e-01 1.99743389e-02 1.88280833e+02] [-1.51585707e-01 9.88438752e-01 -3.25681318e-03 -2.41785932e+01] [-2.02372105e-02 1.90678759e-04 9.99795189e-01 -3.76864515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02401273899997 meters 0.02538730446247158 Centerline is valid? [True, True] Translation: X:188.34, Y:-24.20, Z:-3.77 [[ 9.88832072e-01 1.47597081e-01 2.06454681e-02 1.88338089e+02] [-1.47558985e-01 9.89047533e-01 -3.36498526e-03 -2.41951460e+01] [-2.09160113e-02 2.80981021e-04 9.99781197e-01 -3.76852253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08401273899997 meters 0.029451051641668474 Centerline is valid? [True, True] Translation: X:188.39, Y:-24.22, Z:-3.77 [[ 9.89613628e-01 1.42321175e-01 2.02373323e-02 1.88394837e+02] [-1.42283487e-01 9.89820456e-01 -3.29753304e-03 -2.42188127e+01] [-2.05006342e-02 3.83845438e-04 9.99789766e-01 -3.76955247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14401273899998 meters 0.030946419102458787 Centerline is valid? [True, True] Translation: X:188.45, Y:-24.23, Z:-3.77 [[ 9.89819875e-01 1.40974150e-01 1.95679483e-02 1.88451155e+02] [-1.40938659e-01 9.90013197e-01 -3.18804147e-03 -2.42326095e+01] [-1.98219585e-02 3.97706417e-04 9.99803447e-01 -3.77218683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20401273899998 meters 0.029898952033287633 Centerline is valid? [True, True] Translation: X:188.51, Y:-24.25, Z:-3.78 [[ 9.89640708e-01 1.42528625e-01 1.72296010e-02 1.88508776e+02] [-1.42501361e-01 9.89790628e-01 -2.80618282e-03 -2.42459339e+01] [-1.74536590e-02 3.21871157e-04 9.99847621e-01 -3.77667384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26401273899998 meters 0.024580474166019675 Centerline is valid? [True, True] Translation: X:188.57, Y:-24.25, Z:-3.78 [[ 9.88572257e-01 1.49843425e-01 1.64875949e-02 1.88568997e+02] [-1.49819489e-01 9.88709722e-01 -2.68448832e-03 -2.42492198e+01] [-1.67036983e-02 1.83647630e-04 9.99860467e-01 -3.77893975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32401273899998 meters 0.021697007123673166 Centerline is valid? [True, True] Translation: X:188.63, Y:-24.26, Z:-3.77 [[ 9.87815537e-01 1.54400715e-01 1.95162683e-02 1.88628027e+02] [-1.54368070e-01 9.88008301e-01 -3.17737138e-03 -2.42553293e+01] [-1.97728235e-02 1.25968155e-04 9.99804491e-01 -3.77403836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38401273899999 meters 0.020877569036934534 Centerline is valid? [True, True] Translation: X:188.69, Y:-24.26, Z:-3.78 [[ 9.87373015e-01 1.57280239e-01 1.89065183e-02 1.88686641e+02] [-1.57250145e-01 9.87554010e-01 -3.07727288e-03 -2.42621605e+01] [-1.91552022e-02 6.53634520e-05 9.99816520e-01 -3.77613411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444012739 meters 0.020776950188976417 Centerline is valid? [True, True] Translation: X:188.74, Y:-24.27, Z:-3.78 [[ 9.87397755e-01 1.57158461e-01 1.86250251e-02 1.88743767e+02] [-1.57129250e-01 9.87573397e-01 -3.03067048e-03 -2.42702566e+01] [-1.88698748e-02 6.59410004e-05 9.99821946e-01 -3.77834001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504012739 meters 0.02071154810919721 Centerline is valid? [True, True] Translation: X:188.80, Y:-24.28, Z:-3.78 [[ 9.87268060e-01 1.57870498e-01 1.94597836e-02 1.88800955e+02] [-1.57838776e-01 9.87459824e-01 -3.16505981e-03 -2.42777021e+01] [-1.97154241e-02 5.32540241e-05 9.99805631e-01 -3.77745178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564012739 meters 0.02153965280365228 Centerline is valid? [True, True] Translation: X:188.86, Y:-24.29, Z:-3.78 [[ 9.87631094e-01 1.55790362e-01 1.77252676e-02 1.88857526e+02] [-1.55763726e-01 9.87790138e-01 -2.88201794e-03 -2.42896639e+01] [-1.79578351e-02 8.54168127e-05 9.99838741e-01 -3.78229208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624012739 meters 0.024027377300608915 Centerline is valid? [True, True] Translation: X:188.91, Y:-24.31, Z:-3.79 [[ 9.88585712e-01 1.49679000e-01 1.71606197e-02 1.88914046e+02] [-1.49653128e-01 9.88734626e-01 -2.78929411e-03 -2.43051107e+01] [-1.73847976e-02 1.89315898e-04 9.99848855e-01 -3.78554128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684012739 meters 0.028297606359016146 Centerline is valid? [True, True] Translation: X:188.97, Y:-24.32, Z:-3.79 [[ 9.89518617e-01 1.43619724e-01 1.50426512e-02 1.88969808e+02] [-1.43599159e-01 9.89632916e-01 -2.44408737e-03 -2.43248799e+01] [-1.52377219e-02 2.58357895e-04 9.99883866e-01 -3.78927644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74401273899997 meters 0.02909594037843633 Centerline is valid? [True, True] Translation: X:189.03, Y:-24.34, Z:-3.79 [[ 9.89627214e-01 1.42809494e-01 1.56021173e-02 1.89027603e+02] [-1.42787282e-01 9.89750155e-01 -2.53420399e-03 -2.43375590e+01] [-1.58041064e-02 2.80133321e-04 9.99875068e-01 -3.78955176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80401273899997 meters 0.02878207409555777 Centerline is valid? [True, True] Translation: X:189.08, Y:-24.35, Z:-3.79 [[ 9.89339329e-01 1.44542227e-01 1.77548844e-02 1.89084375e+02] [-1.44513758e-01 9.89498591e-01 -2.88292741e-03 -2.43489001e+01] [-1.79851378e-02 2.86368407e-04 9.99838213e-01 -3.78859777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86401273899997 meters 0.027556702882564094 Centerline is valid? [True, True] Translation: X:189.14, Y:-24.36, Z:-3.79 [[ 9.89215882e-01 1.45530386e-01 1.65180382e-02 1.89143112e+02] [-1.45505899e-01 9.89353751e-01 -2.68112465e-03 -2.43570480e+01] [-1.67323682e-02 2.48739076e-04 9.99859973e-01 -3.79143319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92401273899998 meters 0.02882171797681006 Centerline is valid? [True, True] Translation: X:189.20, Y:-24.37, Z:-3.79 [[ 9.89428314e-01 1.43905771e-01 1.79649683e-02 1.89200127e+02] [-1.43876550e-01 9.89591350e-01 -2.91532628e-03 -2.43749490e+01] [-1.81975095e-02 2.99768709e-04 9.99834367e-01 -3.79081915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98401273899998 meters 0.032145799551301146 Centerline is valid? [True, True] Translation: X:189.26, Y:-24.40, Z:-3.79 [[ 9.90090457e-01 1.39240856e-01 1.82447533e-02 1.89256793e+02] [-1.39209943e-01 9.90258467e-01 -2.95982917e-03 -2.43973830e+01] [-1.84791506e-02 3.90647550e-04 9.99829170e-01 -3.79232965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04401273899998 meters 0.035610103360463094 Centerline is valid? [True, True] Translation: X:189.31, Y:-24.42, Z:-3.79 [[ 9.90490622e-01 1.36396933e-01 1.80056601e-02 1.89313778e+02] [-1.36366363e-01 9.90654170e-01 -2.92059945e-03 -2.44168201e+01] [-1.82357431e-02 4.37459995e-04 9.99833619e-01 -3.79386053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10401273899998 meters 0.03296909950881308 Centerline is valid? [True, True] Translation: X:189.37, Y:-24.43, Z:-3.79 [[ 9.90310632e-01 1.37515881e-01 1.93451412e-02 1.89372743e+02] [-1.37480810e-01 9.90499461e-01 -3.13761976e-03 -2.44303855e+01] [-1.95928245e-02 4.47632512e-04 9.99807942e-01 -3.79249960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164012739 meters 0.028678667938840736 Centerline is valid? [True, True] Translation: X:189.43, Y:-24.44, Z:-3.79 [[ 9.89504308e-01 1.43359197e-01 1.81484324e-02 1.89431926e+02] [-1.43329313e-01 9.89670674e-01 -2.94354762e-03 -2.44411244e+01] [-1.83829559e-02 3.11450704e-04 9.99830971e-01 -3.79453425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224012739 meters 0.026422005833119315 Centerline is valid? [True, True] Translation: X:189.49, Y:-24.46, Z:-3.79 [[ 9.88923833e-01 1.47088843e-01 1.98626328e-02 1.89488885e+02] [-1.47053803e-01 9.89123249e-01 -3.22133119e-03 -2.44565972e+01] [-2.01204138e-02 2.64775490e-04 9.99797529e-01 -3.79397432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284012739 meters 0.025228257912538497 Centerline is valid? [True, True] Translation: X:189.55, Y:-24.47, Z:-3.80 [[ 9.88705066e-01 1.48581773e-01 1.96405074e-02 1.89547747e+02] [-1.48547821e-01 9.88900098e-01 -3.18460690e-03 -2.44706699e+01] [-1.98956742e-02 2.31082411e-04 9.99802035e-01 -3.79596441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344012739 meters 0.022318072845899522 Centerline is valid? [True, True] Translation: X:189.61, Y:-24.48, Z:-3.80 [[ 9.87849819e-01 1.54340717e-01 1.82120160e-02 1.89606420e+02] [-1.54312501e-01 9.88017678e-01 -2.95303120e-03 -2.44790183e+01] [-1.84495667e-02 1.06809599e-04 9.99829787e-01 -3.79832761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404012739 meters 0.02161697952791291 Centerline is valid? [True, True] Translation: X:189.67, Y:-24.48, Z:-3.80 [[ 9.86391859e-01 1.63372183e-01 1.84561883e-02 1.89665748e+02] [-1.63344791e-01 9.86564507e-01 -2.99224198e-03 -2.44766626e+01] [-1.86970694e-02 -6.31990801e-05 9.99825193e-01 -3.79964819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46401273899997 meters 0.023502132495214406 Centerline is valid? [True, True] Translation: X:189.72, Y:-24.48, Z:-3.80 [[ 9.85614161e-01 1.67994014e-01 1.85131329e-02 1.89724947e+02] [-1.67967287e-01 9.85788004e-01 -3.00036760e-03 -2.44801707e+01] [-1.87540681e-02 -1.52395924e-04 9.99824115e-01 -3.80152612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52401273899997 meters 0.02269897902203268 Centerline is valid? [True, True] Translation: X:189.78, Y:-24.49, Z:-3.80 [[ 9.85857964e-01 1.66607123e-01 1.80593666e-02 1.89782675e+02] [-1.66581474e-01 9.86023352e-01 -2.92600102e-03 -2.44908918e+01] [-1.82944498e-02 -1.23734504e-04 9.99832635e-01 -3.80331699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58401273899997 meters 0.021831532382829283 Centerline is valid? [True, True] Translation: X:189.84, Y:-24.50, Z:-3.80 [[ 9.86250547e-01 1.64081492e-01 1.96754414e-02 1.89839050e+02] [-1.64050564e-01 9.86446783e-01 -3.18679757e-03 -2.45026018e+01] [-1.99316704e-02 -8.47864144e-05 9.99801341e-01 -3.80109651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64401273899998 meters 0.021551410255724105 Centerline is valid? [True, True] Translation: X:189.90, Y:-24.51, Z:-3.80 [[ 9.86394772e-01 1.63050628e-01 2.09725193e-02 1.89896922e+02] [-1.63015283e-01 9.86617701e-01 -3.39554923e-03 -2.45123153e+01] [-2.12455052e-02 -6.94891582e-05 9.99774286e-01 -3.80027723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70401273899998 meters 0.021650684851834332 Centerline is valid? [True, True] Translation: X:189.95, Y:-24.53, Z:-3.80 [[ 9.86520712e-01 1.62464372e-01 1.95502548e-02 1.89952822e+02] [-1.62433560e-01 9.86714409e-01 -3.16444872e-03 -2.45258946e+01] [-1.98046283e-02 -5.38232705e-05 9.99803868e-01 -3.80383420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76401273899998 meters 0.021666899493971933 Centerline is valid? [True, True] Translation: X:190.01, Y:-24.54, Z:-3.81 [[ 9.86607697e-01 1.62043918e-01 1.86285118e-02 1.90010105e+02] [-1.62015888e-01 9.86783546e-01 -3.01422506e-03 -2.45384331e+01] [-1.88707458e-02 -4.42572289e-05 9.99821931e-01 -3.80689967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82401273899998 meters 0.022363815922367147 Centerline is valid? [True, True] Translation: X:190.07, Y:-24.55, Z:-3.81 [[ 9.86300220e-01 1.63960691e-01 1.81319805e-02 1.90066524e+02] [-1.63934473e-01 9.86466870e-01 -2.93310814e-03 -2.45485930e+01] [-1.83675125e-02 -7.95314611e-05 9.99831300e-01 -3.80951728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88401273899999 meters 0.026374183116869277 Centerline is valid? [True, True] Translation: X:190.13, Y:-24.55, Z:-3.81 [[ 9.84819427e-01 1.72359468e-01 2.05647741e-02 1.90127446e+02] [-1.72327596e-01 9.85034081e-01 -3.32535965e-03 -2.45457573e+01] [-2.08301606e-02 -2.68999301e-04 9.99782992e-01 -3.80506224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944012739 meters 0.03027990650164325 Centerline is valid? [True, True] Translation: X:190.19, Y:-24.54, Z:-3.81 [[ 9.83866388e-01 1.77691777e-01 2.07981304e-02 1.90188000e+02] [-1.77660379e-01 9.84086116e-01 -3.36259197e-03 -2.45442878e+01] [-2.10646563e-02 -3.86662510e-04 9.99778041e-01 -3.80595308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004012739 meters 0.03616137478367091 Centerline is valid? [True, True] Translation: X:190.25, Y:-24.54, Z:-3.81 [[ 9.82659233e-01 1.84319041e-01 2.01822547e-02 1.90250518e+02] [-1.84290879e-01 9.82866333e-01 -3.26254672e-03 -2.45364995e+01] [-2.04378081e-02 -5.13433805e-04 9.99790994e-01 -3.80871823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064012739 meters 0.037913525679799095 Centerline is valid? [True, True] Translation: X:190.31, Y:-24.54, Z:-3.81 [[ 9.82468995e-01 1.85387897e-01 1.96469225e-02 1.90308667e+02] [-1.85361423e-01 9.82665282e-01 -3.17604067e-03 -2.45394089e+01] [-1.98951481e-02 -5.21420023e-04 9.99801936e-01 -3.81062756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124012739 meters 0.03544278113217473 Centerline is valid? [True, True] Translation: X:190.37, Y:-24.55, Z:-3.81 [[ 9.82396116e-01 1.85775260e-01 1.96321996e-02 1.90366927e+02] [-1.85748926e-01 9.82592119e-01 -3.17249011e-03 -2.45480559e+01] [-1.98798148e-02 -5.30018025e-04 9.99802236e-01 -3.81191919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184012739 meters 0.0389741010481646 Centerline is valid? [True, True] Translation: X:190.43, Y:-24.54, Z:-3.82 [[ 9.82109992e-01 1.87440092e-01 1.80603284e-02 1.90426284e+02] [-1.87418101e-01 9.82275899e-01 -2.91774409e-03 -2.45415255e+01] [-1.82871275e-02 -5.19286816e-04 9.99832642e-01 -3.81687751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24401273899997 meters 0.042014122405976906 Centerline is valid? [True, True] Translation: X:190.49, Y:-24.54, Z:-3.82 [[ 9.82075123e-01 1.87661286e-01 1.76548969e-02 1.90485762e+02] [-1.87640336e-01 9.82233668e-01 -2.85058704e-03 -2.45367543e+01] [-1.78761790e-02 -5.13280180e-04 9.99840077e-01 -3.81901602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30401273899997 meters 0.03899370529480719 Centerline is valid? [True, True] Translation: X:190.54, Y:-24.54, Z:-3.82 [[ 9.82376775e-01 1.85899793e-01 1.94200543e-02 1.90544966e+02] [-1.85874126e-01 9.82568565e-01 -3.13430316e-03 -2.45372183e+01] [-1.96642012e-02 -5.30618986e-04 9.99806500e-01 -3.81618746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36401273899997 meters 0.03407672179809984 Centerline is valid? [True, True] Translation: X:190.60, Y:-24.55, Z:-3.82 [[ 9.83123113e-01 1.81784839e-01 2.05722307e-02 1.90603910e+02] [-1.81755156e-01 9.83338215e-01 -3.31924167e-03 -2.45455320e+01] [-2.08328484e-02 -4.75885795e-04 9.99782859e-01 -3.81573475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42401273899998 meters 0.03096783351690184 Centerline is valid? [True, True] Translation: X:190.66, Y:-24.55, Z:-3.82 [[ 9.83843106e-01 1.77844487e-01 2.05932160e-02 1.90663171e+02] [-1.77813891e-01 9.84058527e-01 -3.32212756e-03 -2.45521873e+01] [-2.08557519e-02 -3.93307567e-04 9.99782418e-01 -3.81647263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48401273899998 meters 0.02480112915463632 Centerline is valid? [True, True] Translation: X:190.72, Y:-24.57, Z:-3.82 [[ 9.85364142e-01 1.69221250e-01 2.05347547e-02 1.90720319e+02] [-1.69188963e-01 9.85578066e-01 -3.31220319e-03 -2.45714106e+01] [-2.07990990e-02 -2.10527614e-04 9.99783653e-01 -3.81729284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54401273899998 meters 0.02198330723802471 Centerline is valid? [True, True] Translation: X:190.77, Y:-24.60, Z:-3.82 [[ 9.87234431e-01 1.57653676e-01 2.26604428e-02 1.90774975e+02] [-1.57611321e-01 9.87494464e-01 -3.65437978e-03 -2.45963139e+01] [-2.29531882e-02 3.61872208e-05 9.99736540e-01 -3.81508617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60401273899998 meters 0.025464939931112027 Centerline is valid? [True, True] Translation: X:190.83, Y:-24.62, Z:-3.82 [[ 9.88780365e-01 1.47994347e-01 2.02746717e-02 1.90830385e+02] [-1.47958432e-01 9.88988180e-01 -3.26849764e-03 -2.46245236e+01] [-2.05351299e-02 2.32017656e-04 9.99789105e-01 -3.82171912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664012739 meters 0.02860649570041049 Centerline is valid? [True, True] Translation: X:190.89, Y:-24.64, Z:-3.82 [[ 9.89462620e-01 1.43335673e-01 2.04599351e-02 1.90888093e+02] [-1.43298117e-01 9.89674075e-01 -3.29763479e-03 -2.46417466e+01] [-2.07213361e-02 3.31016177e-04 9.99785235e-01 -3.82208071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724012739 meters 0.03374924149447985 Centerline is valid? [True, True] Translation: X:190.94, Y:-24.67, Z:-3.82 [[ 9.90553664e-01 1.35551048e-01 2.07208361e-02 1.90944920e+02] [-1.35510833e-01 9.90770238e-01 -3.33920808e-03 -2.46726497e+01] [-2.09822208e-02 4.99767035e-04 9.99779724e-01 -3.82466443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784012739 meters 0.038489330163589325 Centerline is valid? [True, True] Translation: X:191.00, Y:-24.70, Z:-3.83 [[ 9.91219895e-01 1.30793449e-01 1.93957240e-02 1.91001180e+02] [-1.30757302e-01 9.91409480e-01 -3.12574045e-03 -2.47003329e+01] [-1.96379310e-02 5.62163574e-04 9.99806999e-01 -3.82757948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844012739 meters 0.03848275156044581 Centerline is valid? [True, True] Translation: X:191.06, Y:-24.72, Z:-3.83 [[ 9.91289541e-01 1.30191064e-01 1.98829982e-02 1.91060367e+02] [-1.30152957e-01 9.91488750e-01 -3.20421472e-03 -2.47244561e+01] [-2.01309291e-02 5.88473526e-04 9.99797179e-01 -3.82821831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904012739 meters 0.03744404076893928 Centerline is valid? [True, True] Translation: X:191.12, Y:-24.74, Z:-3.83 [[ 9.90972892e-01 1.32384729e-01 2.11426187e-02 1.91118351e+02] [-1.32342062e-01 9.91198237e-01 -3.41082514e-03 -2.47431772e+01] [-2.14080675e-02 5.81977501e-04 9.99770652e-01 -3.82625081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96401273899997 meters 0.03311351502303955 Centerline is valid? [True, True] Translation: X:191.18, Y:-24.75, Z:-3.83 [[ 9.90512619e-01 1.36167889e-01 1.85218347e-02 1.91178395e+02] [-1.36135803e-01 9.90685679e-01 -2.98819761e-03 -2.47536568e+01] [-1.87562130e-02 4.38362584e-04 9.99823991e-01 -3.83284173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02401273899997 meters 0.03180589373550331 Centerline is valid? [True, True] Translation: X:191.24, Y:-24.76, Z:-3.83 [[ 9.90134606e-01 1.38957543e-01 1.80072922e-02 1.91238121e+02] [-1.38927668e-01 9.90298268e-01 -2.90561375e-03 -2.47641354e+01] [-1.82363473e-02 3.75237608e-04 9.99833634e-01 -3.83496903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08401273899997 meters 0.029682314150632192 Centerline is valid? [True, True] Translation: X:191.30, Y:-24.77, Z:-3.84 [[ 9.89802533e-01 1.41236681e-01 1.85241873e-02 1.91299255e+02] [-1.41205461e-01 9.89975799e-01 -2.98924369e-03 -2.47730757e+01] [-1.87606880e-02 3.43044561e-04 9.99823944e-01 -3.83595445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14401273899998 meters 0.028931018452972128 Centerline is valid? [True, True] Translation: X:191.36, Y:-24.78, Z:-3.84 [[ 9.89500639e-01 1.43404071e-01 1.79932797e-02 1.91359600e+02] [-1.43374916e-01 9.89664178e-01 -2.90667070e-03 -2.47835069e+01] [-1.82241328e-02 2.96367552e-04 9.99833883e-01 -3.83695596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20401273899998 meters 0.028636392327862175 Centerline is valid? [True, True] Translation: X:191.42, Y:-24.79, Z:-3.84 [[ 9.89393763e-01 1.43975239e-01 1.92642669e-02 1.91420235e+02] [-1.43941888e-01 9.89581243e-01 -3.11403450e-03 -2.47941277e+01] [-1.95119010e-02 3.08071363e-04 9.99809577e-01 -3.83648562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26401273899998 meters 0.026691972019328235 Centerline is valid? [True, True] Translation: X:191.48, Y:-24.80, Z:-3.84 [[ 9.89075361e-01 1.46087640e-01 1.97061228e-02 1.91481445e+02] [-1.46053151e-01 9.89271614e-01 -3.18593297e-03 -2.47998030e+01] [-1.99601334e-02 2.72986454e-04 9.99800739e-01 -3.83615708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32401273899998 meters 0.025214966015888494 Centerline is valid? [True, True] Translation: X:191.54, Y:-24.81, Z:-3.83 [[ 9.88661993e-01 1.48518600e-01 2.21288997e-02 1.91542954e+02] [-1.48475703e-01 9.88909582e-01 -3.57823877e-03 -2.48073439e+01] [-2.24149160e-02 2.52064732e-04 9.99748722e-01 -3.83227411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38401273899999 meters 0.024182416141744243 Centerline is valid? [True, True] Translation: X:191.60, Y:-24.82, Z:-3.84 [[ 9.88456776e-01 1.50106245e-01 2.05259880e-02 1.91604925e+02] [-1.50069665e-01 9.88669851e-01 -3.31977060e-03 -2.48153191e+01] [-2.07917438e-02 2.01121600e-04 9.99783808e-01 -3.83757226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444012739 meters 0.024848621031184168 Centerline is valid? [True, True] Translation: X:191.66, Y:-24.83, Z:-3.84 [[ 9.88460539e-01 1.50140595e-01 2.00889222e-02 1.91664245e+02] [-1.50105496e-01 9.88664636e-01 -3.25242425e-03 -2.48325077e+01] [-2.03495278e-02 1.99435403e-04 9.99792907e-01 -3.83961268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504012739 meters 0.02494388508953964 Centerline is valid? [True, True] Translation: X:191.72, Y:-24.85, Z:-3.84 [[ 9.88477241e-01 1.49837873e-01 2.14791732e-02 1.91724411e+02] [-1.49797631e-01 9.88710555e-01 -3.47956565e-03 -2.48464063e+01] [-2.17580559e-02 2.21942203e-04 9.99763241e-01 -3.83688559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564012739 meters 0.02284872724116649 Centerline is valid? [True, True] Translation: X:191.79, Y:-24.85, Z:-3.84 [[ 9.87956457e-01 1.53538846e-01 1.91797015e-02 1.91786037e+02] [-1.53507452e-01 9.88142605e-01 -3.10729746e-03 -2.48528380e+01] [-1.94293711e-02 1.25647480e-04 9.99811224e-01 -3.84391567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624012739 meters 0.022472996006112772 Centerline is valid? [True, True] Translation: X:191.85, Y:-24.86, Z:-3.85 [[ 9.87578130e-01 1.56184360e-01 1.72012411e-02 1.91845786e+02] [-1.56159457e-01 9.87727918e-01 -2.78983436e-03 -2.48602973e+01] [-1.74258746e-02 6.90429328e-05 9.99848156e-01 -3.84836952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684012739 meters 0.022490074560736473 Centerline is valid? [True, True] Translation: X:191.90, Y:-24.87, Z:-3.85 [[ 9.87560687e-01 1.56298091e-01 1.71696099e-02 1.91904046e+02] [-1.56273292e-01 9.87709928e-01 -2.78498539e-03 -2.48721974e+01] [-1.73938821e-02 6.71906249e-05 9.99848713e-01 -3.85043597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74401273899997 meters 0.02245182591430519 Centerline is valid? [True, True] Translation: X:191.96, Y:-24.88, Z:-3.85 [[ 9.87625542e-01 1.55606197e-01 1.95575954e-02 1.91964701e+02] [-1.55573888e-01 9.87819165e-01 -3.17203617e-03 -2.48837213e+01] [-1.98129561e-02 9.01327800e-05 9.99803700e-01 -3.84623924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80401273899997 meters 0.022497696136259907 Centerline is valid? [True, True] Translation: X:192.02, Y:-24.90, Z:-3.85 [[ 9.87632776e-01 1.55658075e-01 1.87633317e-02 1.92024577e+02] [-1.55628341e-01 9.87810992e-01 -3.04355769e-03 -2.48982304e+01] [-1.90083796e-02 8.58111517e-05 9.99819321e-01 -3.84903313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86401273899997 meters 0.02193320429855611 Centerline is valid? [True, True] Translation: X:192.09, Y:-24.90, Z:-3.85 [[ 9.86779603e-01 1.60991756e-01 1.86458884e-02 1.92085920e+02] [-1.60963308e-01 9.86955751e-01 -3.02643145e-03 -2.48977537e+01] [-1.88898973e-02 -1.48830499e-05 9.99821570e-01 -3.84999556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92401273899998 meters 0.02348383188642541 Centerline is valid? [True, True] Translation: X:192.15, Y:-24.89, Z:-3.85 [[ 9.85616316e-01 1.67796625e-01 2.01189310e-02 1.92146293e+02] [-1.67764919e-01 9.85821621e-01 -3.26552614e-03 -2.48908519e+01] [-2.03816214e-02 -1.56694995e-04 9.99792261e-01 -3.84807598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98401273899998 meters 0.02436267902534468 Centerline is valid? [True, True] Translation: X:192.20, Y:-24.89, Z:-3.85 [[ 9.85358912e-01 1.69448700e-01 1.88402103e-02 1.92204167e+02] [-1.69421215e-01 9.85538993e-01 -3.05711761e-03 -2.48945161e+01] [-1.90857865e-02 -1.79573249e-04 9.99817834e-01 -3.85173444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04401273899998 meters 0.02462166876843199 Centerline is valid? [True, True] Translation: X:192.26, Y:-24.90, Z:-3.86 [[ 9.85559450e-01 1.68620107e-01 1.54864652e-02 1.92261737e+02] [-1.68601447e-01 9.85681105e-01 -2.51218428e-03 -2.48977208e+01] [-1.56883209e-02 -1.35133483e-04 9.99876922e-01 -3.86038895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10401273899998 meters 0.02211151754503078 Centerline is valid? [True, True] Translation: X:192.32, Y:-24.91, Z:-3.86 [[ 9.87082234e-01 1.59313121e-01 1.69703771e-02 1.92318848e+02] [-1.59289355e-01 9.87228104e-01 -2.75171468e-03 -2.49130335e+01] [-1.71920175e-02 1.29682402e-05 9.99852206e-01 -3.85701621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164012739 meters 0.023398215828787716 Centerline is valid? [True, True] Translation: X:192.38, Y:-24.93, Z:-3.86 [[ 9.88040034e-01 1.53061004e-01 1.86874248e-02 1.92376890e+02] [-1.53031086e-01 9.88216733e-01 -3.02908567e-03 -2.49266797e+01] [-1.89308608e-02 1.33101002e-04 9.99820786e-01 -3.85528303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224012739 meters 0.028467861234572726 Centerline is valid? [True, True] Translation: X:192.43, Y:-24.95, Z:-3.86 [[ 9.89319646e-01 1.44821602e-01 1.65330236e-02 1.92434217e+02] [-1.44797041e-01 9.89457749e-01 -2.67939797e-03 -2.49503659e+01] [-1.67467631e-02 2.56848151e-04 9.99859730e-01 -3.86172985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284012739 meters 0.029980161526963586 Centerline is valid? [True, True] Translation: X:192.49, Y:-24.97, Z:-3.86 [[ 9.89686379e-01 1.42340851e-01 1.61230439e-02 1.92494377e+02] [-1.42317162e-01 9.89817659e-01 -2.61309285e-03 -2.49650586e+01] [-1.63308234e-02 2.91556556e-04 9.99866601e-01 -3.86158332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344012739 meters 0.028758883537504987 Centerline is valid? [True, True] Translation: X:192.55, Y:-24.97, Z:-3.86 [[ 9.89343839e-01 1.44769813e-01 1.55070512e-02 1.92553679e+02] [-1.44748192e-01 9.89465332e-01 -2.51362170e-03 -2.49725244e+01] [-1.57075861e-02 2.42218528e-04 9.99876599e-01 -3.86446528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404012739 meters 0.026014525817219105 Centerline is valid? [True, True] Translation: X:192.61, Y:-24.98, Z:-3.86 [[ 9.88923177e-01 1.47174372e-01 1.92524050e-02 1.92613522e+02] [-1.47141490e-01 9.89110530e-01 -3.12125283e-03 -2.49800961e+01] [-1.95021250e-02 2.53851697e-04 9.99809783e-01 -3.85844810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46401273899997 meters 0.02610228633877665 Centerline is valid? [True, True] Translation: X:192.67, Y:-25.00, Z:-3.86 [[ 9.88759924e-01 1.48340389e-01 1.86799616e-02 1.92672772e+02] [-1.48309644e-01 9.88936337e-01 -3.02829877e-03 -2.49956749e+01] [-1.89225118e-02 2.23842001e-04 9.99820928e-01 -3.86090740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52401273899997 meters 0.03404504302876891 Centerline is valid? [True, True] Translation: X:192.73, Y:-25.01, Z:-3.85 [[ 9.88978265e-01 1.46904538e-01 1.84675084e-02 1.92733402e+02] [-1.46874207e-01 9.89150643e-01 -2.99551295e-03 -2.50107389e+01] [-1.87072022e-02 2.50096549e-04 9.99824974e-01 -3.85102672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58401273899997 meters 0.0267336373049777 Centerline is valid? [True, True] Translation: X:192.79, Y:-25.03, Z:-3.86 [[ 9.88921916e-01 1.47418736e-01 1.73539744e-02 1.92792246e+02] [-1.47391983e-01 9.89074145e-01 -2.81767298e-03 -2.50262083e+01] [-1.75797452e-02 2.28621868e-04 9.99845438e-01 -3.86379500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64401273899998 meters 0.027152808498195725 Centerline is valid? [True, True] Translation: X:192.85, Y:-25.03, Z:-3.86 [[ 9.87984639e-01 1.53685535e-01 1.63434765e-02 1.92852765e+02] [-1.53662614e-01 9.88119802e-01 -2.65656863e-03 -2.50326435e+01] [-1.65575890e-02 1.13267673e-04 9.99862907e-01 -3.85926039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70401273899998 meters 0.02199140339446527 Centerline is valid? [True, True] Translation: X:192.91, Y:-25.03, Z:-3.87 [[ 9.86923689e-01 1.60375600e-01 1.61647469e-02 1.92913007e+02] [-1.60354073e-01 9.87056061e-01 -2.62761738e-03 -2.50311385e+01] [-1.63769171e-02 1.17483222e-06 9.99865889e-01 -3.86700676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76401273899998 meters 0.025041719684618907 Centerline is valid? [True, True] Translation: X:192.97, Y:-25.02, Z:-3.87 [[ 9.85247736e-01 1.70425773e-01 1.55548890e-02 1.92973265e+02] [-1.70407095e-01 9.85370504e-01 -2.52817069e-03 -2.50239079e+01] [-1.57581942e-02 -1.59789001e-04 9.99875819e-01 -3.86986308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82401273899998 meters 0.026577510362805434 Centerline is valid? [True, True] Translation: X:193.03, Y:-25.03, Z:-3.87 [[ 9.84824890e-01 1.72903242e-01 1.49801788e-02 1.93032521e+02] [-1.72886213e-01 9.84938796e-01 -2.43429435e-03 -2.50267900e+01] [-1.51754567e-02 -1.92512721e-04 9.99884828e-01 -3.87076514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88401273899999 meters 0.025326082700902055 Centerline is valid? [True, True] Translation: X:193.09, Y:-25.04, Z:-3.87 [[ 9.85220165e-01 1.70534266e-01 1.61025196e-02 1.93089738e+02] [-1.70514286e-01 9.85351732e-01 -2.61586395e-03 -2.50367204e+01] [-1.63127400e-02 -1.68507709e-04 9.99866924e-01 -3.87093435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944012739 meters 0.023041889158224527 Centerline is valid? [True, True] Translation: X:193.15, Y:-25.05, Z:-3.87 [[ 9.85983151e-01 1.65837825e-01 1.83041296e-02 1.93145928e+02] [-1.65811221e-01 9.86153033e-01 -2.97224120e-03 -2.50499018e+01] [-1.85435829e-02 -1.04450322e-04 9.99828048e-01 -3.86892823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004012739 meters 0.02230538410365663 Centerline is valid? [True, True] Translation: X:193.20, Y:-25.06, Z:-3.87 [[ 9.86561451e-01 1.62536167e-01 1.66882289e-02 1.93203239e+02] [-1.62513595e-01 9.86702586e-01 -2.70897126e-03 -2.50613364e+01] [-1.69066244e-02 -3.94974597e-05 9.99857072e-01 -3.87284762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064012739 meters 0.02340318937868078 Centerline is valid? [True, True] Translation: X:193.26, Y:-25.06, Z:-3.88 [[ 9.86057020e-01 1.65698846e-01 1.53442199e-02 1.93262129e+02] [-1.65680155e-01 9.86176397e-01 -2.49024184e-03 -2.50597577e+01] [-1.55447377e-02 -8.67122841e-05 9.99879170e-01 -3.87632869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124012739 meters 0.023463254473378933 Centerline is valid? [True, True] Translation: X:193.32, Y:-25.06, Z:-3.87 [[ 9.85915310e-01 1.66341514e-01 1.73637973e-02 1.93321049e+02] [-1.66317702e-01 9.86068197e-01 -2.81663953e-03 -2.50643608e+01] [-1.75904124e-02 -1.10938847e-04 9.99845271e-01 -3.87325998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184012739 meters 0.022775334702190314 Centerline is valid? [True, True] Translation: X:193.38, Y:-25.07, Z:-3.87 [[ 9.86064111e-01 1.65307750e-01 1.87327933e-02 1.93379078e+02] [-1.65279867e-01 9.86242028e-01 -3.03776576e-03 -2.50712852e+01] [-1.89772342e-02 -1.00721778e-04 9.99819911e-01 -3.87220311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24401273899997 meters 0.022089270414141486 Centerline is valid? [True, True] Translation: X:193.44, Y:-25.08, Z:-3.87 [[ 9.86480893e-01 1.62737643e-01 1.92849072e-02 1.93437248e+02] [-1.62707619e-01 9.86669376e-01 -3.12633899e-03 -2.50828887e+01] [-1.95366004e-02 -5.37276633e-05 9.99809141e-01 -3.87285142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30401273899997 meters 0.022291838826312978 Centerline is valid? [True, True] Translation: X:193.49, Y:-25.10, Z:-3.88 [[ 9.87424641e-01 1.57352605e-01 1.52556981e-02 1.93494464e+02] [-1.57333184e-01 9.87542483e-01 -2.47249577e-03 -2.51006824e+01] [-1.54547036e-02 4.11756982e-05 9.99880568e-01 -3.88042078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36401273899997 meters 0.0219653873216929 Centerline is valid? [True, True] Translation: X:193.55, Y:-25.11, Z:-3.87 [[ 9.87264439e-01 1.57862758e-01 1.97047448e-02 1.93551591e+02] [-1.57830470e-01 9.87461061e-01 -3.19293458e-03 -2.51108195e+01] [-1.99617137e-02 4.22616225e-05 9.99800744e-01 -3.87205591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42401273899998 meters 0.021788480142753683 Centerline is valid? [True, True] Translation: X:193.61, Y:-25.11, Z:-3.87 [[ 9.86613651e-01 1.61409878e-01 2.32455456e-02 1.93610309e+02] [-1.61365965e-01 9.86887456e-01 -3.76499553e-03 -2.51139685e+01] [-2.35484448e-02 -3.64439175e-05 9.99722696e-01 -3.86703928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48401273899998 meters 0.021800973524321924 Centerline is valid? [True, True] Translation: X:193.67, Y:-25.12, Z:-3.87 [[ 9.86616546e-01 1.61723295e-01 2.08174443e-02 1.93669573e+02] [-1.61688167e-01 9.86836143e-01 -3.37085540e-03 -2.51231030e+01] [-2.10885523e-02 -4.01926902e-05 9.99777611e-01 -3.87334177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54401273899998 meters 0.022185050502242662 Centerline is valid? [True, True] Translation: X:193.73, Y:-25.13, Z:-3.88 [[ 9.86575521e-01 1.62415714e-01 1.70257876e-02 1.93727252e+02] [-1.62392326e-01 9.86722420e-01 -2.75657617e-03 -2.51324403e+01] [-1.72474376e-02 -4.52866704e-05 9.99851251e-01 -3.88181529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60401273899998 meters 0.02284336274160935 Centerline is valid? [True, True] Translation: X:193.79, Y:-25.14, Z:-3.88 [[ 9.86029071e-01 1.65571617e-01 1.82403483e-02 1.93786392e+02] [-1.65545321e-01 9.86197763e-01 -2.95277102e-03 -2.51363480e+01] [-1.84774858e-02 -1.08086246e-04 9.99829271e-01 -3.87808076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664012739 meters 0.027190579045880053 Centerline is valid? [True, True] Translation: X:193.85, Y:-25.13, Z:-3.89 [[ 9.84809728e-01 1.72913036e-01 1.58392368e-02 1.93847987e+02] [-1.72894168e-01 9.84937072e-01 -2.56334309e-03 -2.51297161e+01] [-1.60438870e-02 -2.14106450e-04 9.99871266e-01 -3.88516725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724012739 meters 0.030969841902731218 Centerline is valid? [True, True] Translation: X:193.91, Y:-25.13, Z:-3.89 [[ 9.84075520e-01 1.77009710e-01 1.62152200e-02 1.93906902e+02] [-1.76990497e-01 9.84209063e-01 -2.62384068e-03 -2.51311104e+01] [-1.64236117e-02 -2.87882458e-04 9.99865082e-01 -3.88624929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784012739 meters 0.031219569252818952 Centerline is valid? [True, True] Translation: X:193.97, Y:-25.14, Z:-3.89 [[ 9.84064741e-01 1.77088787e-01 1.60046025e-02 1.93965209e+02] [-1.77070088e-01 9.84194838e-01 -2.58925016e-03 -2.51377390e+01] [-1.62101743e-02 -2.85946572e-04 9.99868566e-01 -3.88767267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844012739 meters 0.031511295256041155 Centerline is valid? [True, True] Translation: X:194.02, Y:-25.15, Z:-3.89 [[ 9.84005663e-01 1.77433099e-01 1.58224652e-02 1.94022915e+02] [-1.77414879e-01 9.84132822e-01 -2.55906356e-03 -2.51468460e+01] [-1.60254700e-02 -2.89007730e-04 9.99871542e-01 -3.88870742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904012739 meters 0.036418021425296696 Centerline is valid? [True, True] Translation: X:194.08, Y:-25.15, Z:-3.89 [[ 9.83162301e-01 1.81981870e-01 1.65676937e-02 1.94082530e+02] [-1.81962552e-01 9.83301812e-01 -2.67873928e-03 -2.51460656e+01] [-1.67785252e-02 -3.81064360e-04 9.99859158e-01 -3.88820616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96401273899997 meters 0.0405090546694681 Centerline is valid? [True, True] Translation: X:194.14, Y:-25.15, Z:-3.89 [[ 9.81829962e-01 1.89133814e-01 1.54378256e-02 1.94143972e+02] [-1.89117934e-01 9.81951211e-01 -2.49541334e-03 -2.51471543e+01] [-1.56311586e-02 -4.69498101e-04 9.99877716e-01 -3.88936323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02401273899997 meters 0.04575228262462479 Centerline is valid? [True, True] Translation: X:194.20, Y:-25.15, Z:-3.89 [[ 9.81429376e-01 1.91054190e-01 1.71661120e-02 1.94203804e+02] [-1.91034847e-01 9.81579333e-01 -2.77486563e-03 -2.51460036e+01] [-1.73800504e-02 -5.55990931e-04 9.99848801e-01 -3.88863939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08401273899997 meters 0.03899864110843816 Centerline is valid? [True, True] Translation: X:194.26, Y:-25.16, Z:-3.89 [[ 9.82225305e-01 1.86697474e-01 1.94294589e-02 1.94261233e+02] [-1.86671857e-01 9.82417304e-01 -3.13993374e-03 -2.51639691e+01] [-1.96740543e-02 -5.42810789e-04 9.99806300e-01 -3.88658187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14401273899998 meters 0.03213308454955662 Centerline is valid? [True, True] Translation: X:194.32, Y:-25.18, Z:-3.89 [[ 9.83752984e-01 1.78571809e-01 1.84979835e-02 1.94319134e+02] [-1.78547160e-01 9.83926815e-01 -2.98897115e-03 -2.51801808e+01] [-1.87344080e-02 -3.62353138e-04 9.99824430e-01 -3.88833679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20401273899998 meters 0.024851570802395882 Centerline is valid? [True, True] Translation: X:194.38, Y:-25.20, Z:-3.89 [[ 9.85345902e-01 1.69383987e-01 2.00628829e-02 1.94375302e+02] [-1.69353089e-01 9.85550112e-01 -3.24153329e-03 -2.52005686e+01] [-2.03220403e-02 -2.03679659e-04 9.99793465e-01 -3.88555715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26401273899998 meters 0.022122261515703474 Centerline is valid? [True, True] Translation: X:194.43, Y:-25.21, Z:-3.89 [[ 9.86228095e-01 1.64262195e-01 1.92892450e-02 1.94433875e+02] [-1.64232667e-01 9.86416708e-01 -3.11589650e-03 -2.52103234e+01] [-1.95390575e-02 -9.49394782e-05 9.99809090e-01 -3.88780529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32401273899998 meters 0.02177805078393035 Centerline is valid? [True, True] Translation: X:194.49, Y:-25.22, Z:-3.89 [[ 9.86806282e-01 1.60882659e-01 1.81695124e-02 1.94490781e+02] [-1.60855898e-01 9.86973540e-01 -2.93440695e-03 -2.52235275e+01] [-1.84049232e-02 -2.69820258e-05 9.99830615e-01 -3.89139615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38401273899999 meters 0.021814227381407234 Centerline is valid? [True, True] Translation: X:194.55, Y:-25.24, Z:-3.89 [[ 9.87527381e-01 1.56333750e-01 1.86930596e-02 1.94547882e+02] [-1.56304627e-01 9.87704285e-01 -3.01800449e-03 -2.52376336e+01] [-1.89350310e-02 5.85503601e-05 9.99820715e-01 -3.89116538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444012739 meters 0.022390876221628817 Centerline is valid? [True, True] Translation: X:194.60, Y:-25.25, Z:-3.89 [[ 9.87814015e-01 1.54611792e-01 1.78511796e-02 1.94604003e+02] [-1.54584967e-01 9.87975296e-01 -2.88127998e-03 -2.52538355e+01] [-1.80820043e-02 8.66447453e-05 9.99836503e-01 -3.89379945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504012739 meters 0.021916721476024133 Centerline is valid? [True, True] Translation: X:194.66, Y:-25.26, Z:-3.90 [[ 9.87600328e-01 1.56082821e-01 1.68447424e-02 1.94661702e+02] [-1.56059167e-01 9.87743970e-01 -2.71783857e-03 -2.52623442e+01] [-1.70625006e-02 5.53618017e-05 9.99854423e-01 -3.89637261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564012739 meters 0.021537088565956965 Centerline is valid? [True, True] Translation: X:194.72, Y:-25.27, Z:-3.89 [[ 9.87321191e-01 1.57629872e-01 1.87000055e-02 1.94719766e+02] [-1.57601015e-01 9.87498265e-01 -3.01620704e-03 -2.52725856e+01] [-1.89416673e-02 3.08252719e-05 9.99820590e-01 -3.89415013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624012739 meters 0.02213608999172122 Centerline is valid? [True, True] Translation: X:194.78, Y:-25.29, Z:-3.89 [[ 9.87862242e-01 1.54227850e-01 1.84921903e-02 1.94776917e+02] [-1.54199050e-01 9.88035304e-01 -2.98184586e-03 -2.52856907e+01] [-1.87308206e-02 9.41747537e-05 9.99824558e-01 -3.89470436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684012739 meters 0.023372112909255692 Centerline is valid? [True, True] Translation: X:194.83, Y:-25.30, Z:-3.90 [[ 9.88376559e-01 1.50887016e-01 1.85711103e-02 1.94834611e+02] [-1.50857397e-01 9.88551002e-01 -2.99366895e-03 -2.52981269e+01] [-1.88101955e-02 1.57282843e-04 9.99823060e-01 -3.89532529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74401273899997 meters 0.025844290742426414 Centerline is valid? [True, True] Translation: X:194.89, Y:-25.31, Z:-3.90 [[ 9.89034845e-01 1.46459604e-01 1.89646863e-02 1.94892489e+02] [-1.46427920e-01 9.89216621e-01 -3.05616672e-03 -2.53104454e+01] [-1.92077879e-02 2.45695794e-04 9.99815483e-01 -3.89739366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80401273899997 meters 0.029483980469511614 Centerline is valid? [True, True] Translation: X:194.95, Y:-25.33, Z:-3.90 [[ 9.89733478e-01 1.41667226e-01 1.89219195e-02 1.94949360e+02] [-1.41634822e-01 9.89914281e-01 -3.04858559e-03 -2.53276446e+01] [-1.91629630e-02 3.37284526e-04 9.99816317e-01 -3.89806013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86401273899997 meters 0.031111013457095243 Centerline is valid? [True, True] Translation: X:195.01, Y:-25.34, Z:-3.90 [[ 9.90026788e-01 1.39413771e-01 2.02672121e-02 1.95008771e+02] [-1.39376134e-01 9.90234131e-01 -3.26482217e-03 -2.53390082e+01] [-2.05244464e-02 4.07495737e-04 9.99789268e-01 -3.89738957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92401273899998 meters 0.03402088092833574 Centerline is valid? [True, True] Translation: X:195.07, Y:-25.36, Z:-3.90 [[ 9.90340093e-01 1.37302735e-01 1.93509560e-02 1.95066557e+02] [-1.37268021e-01 9.90529037e-01 -3.11722352e-03 -2.53569181e+01] [-1.95956872e-02 4.30843987e-04 9.99807893e-01 -3.89984346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98401273899998 meters 0.03287297345291816 Centerline is valid? [True, True] Translation: X:195.13, Y:-25.37, Z:-3.90 [[ 9.90359788e-01 1.37318944e-01 1.81933546e-02 1.95126370e+02] [-1.37288262e-01 9.90526801e-01 -2.93074681e-03 -2.53661706e+01] [-1.84234524e-02 4.04759762e-04 9.99830192e-01 -3.90365325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04401273899998 meters 0.03785735316162394 Centerline is valid? [True, True] Translation: X:195.18, Y:-25.39, Z:-3.90 [[ 9.90780501e-01 1.33955974e-01 2.02434215e-02 1.95183303e+02] [-1.33917285e-01 9.90987148e-01 -3.26099238e-03 -2.53883330e+01] [-2.04978000e-02 5.19983612e-04 9.99789763e-01 -3.90114321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10401273899998 meters 0.04700963031658459 Centerline is valid? [True, True] Translation: X:195.24, Y:-25.42, Z:-3.91 [[ 9.91945598e-01 1.25385614e-01 1.79549218e-02 1.95240351e+02] [-1.25353757e-01 9.92107889e-01 -2.89334175e-03 -2.54179802e+01] [-1.81760030e-02 6.19320713e-04 9.99834611e-01 -3.90858420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164012739 meters 0.05268948537905054 Centerline is valid? [True, True] Translation: X:195.30, Y:-25.45, Z:-3.91 [[ 9.92655122e-01 1.19801928e-01 1.68316915e-02 1.95296950e+02] [-1.19773124e-01 9.92797583e-01 -2.71270425e-03 -2.54482110e+01] [-1.70354498e-02 6.76795495e-04 9.99854657e-01 -3.91027664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224012739 meters 0.0504571181585373 Centerline is valid? [True, True] Translation: X:195.36, Y:-25.47, Z:-3.90 [[ 9.92610028e-01 1.19609684e-01 2.04659654e-02 1.95357378e+02] [-1.19567055e-01 9.92820648e-01 -3.29847998e-03 -2.54668146e+01] [-2.07135632e-02 8.27049098e-04 9.99785109e-01 -3.90422965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284012739 meters 0.04816204852079029 Centerline is valid? [True, True] Translation: X:195.42, Y:-25.48, Z:-3.90 [[ 9.92125876e-01 1.23327767e-01 2.18290680e-02 1.95415902e+02] [-1.23280089e-01 9.92365667e-01 -3.52167011e-03 -2.54802713e+01] [-2.20967373e-02 8.02850596e-04 9.99755515e-01 -3.90314980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344012739 meters 0.04243125989483885 Centerline is valid? [True, True] Translation: X:195.48, Y:-25.48, Z:-3.90 [[ 9.91029794e-01 1.32092127e-01 2.02883704e-02 1.95476442e+02] [-1.32052776e-01 9.91237283e-01 -3.27311022e-03 -2.54837989e+01] [-2.05429413e-02 5.64614114e-04 9.99788812e-01 -3.89856031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404012739 meters 0.03505113285819823 Centerline is valid? [True, True] Translation: X:195.53, Y:-25.50, Z:-3.91 [[ 9.90178162e-01 1.38660417e-01 1.79024307e-02 1.95534737e+02] [-1.38630850e-01 9.90339914e-01 -2.88816913e-03 -2.54968820e+01] [-1.81299664e-02 3.77972823e-04 9.99835567e-01 -3.91302357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46401273899997 meters 0.026250710731263924 Centerline is valid? [True, True] Translation: X:195.60, Y:-25.50, Z:-3.91 [[ 9.89080556e-01 1.46038115e-01 1.98121913e-02 1.95596693e+02] [-1.46003381e-01 9.89278928e-01 -3.19624119e-03 -2.54958676e+01] [-2.00665564e-02 2.68693099e-04 9.99798610e-01 -3.91058204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52401273899997 meters 0.025139347707132553 Centerline is valid? [True, True] Translation: X:195.66, Y:-25.51, Z:-3.91 [[ 9.88654212e-01 1.48764324e-01 2.07851964e-02 1.95656462e+02] [-1.48726689e-01 9.88872654e-01 -3.35352424e-03 -2.55076206e+01] [-2.10527971e-02 2.24162411e-04 9.99778340e-01 -3.91229890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58401273899997 meters 0.026551145576402146 Centerline is valid? [True, True] Translation: X:195.72, Y:-25.53, Z:-3.92 [[ 9.89016850e-01 1.46582549e-01 1.89532625e-02 1.95715959e+02] [-1.46550826e-01 9.89198410e-01 -3.05951506e-03 -2.55312691e+01] [-1.91970087e-02 2.48295663e-04 9.99815690e-01 -3.91559688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64401273899998 meters 0.026542630592802412 Centerline is valid? [True, True] Translation: X:195.78, Y:-25.55, Z:-3.91 [[ 9.88995927e-01 1.46527105e-01 2.04172616e-02 1.95777622e+02] [-1.46490204e-01 9.89206618e-01 -3.29947835e-03 -2.55470010e+01] [-2.06803533e-02 2.72241820e-04 9.99786102e-01 -3.91475509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70401273899998 meters 0.02532220533835879 Centerline is valid? [True, True] Translation: X:195.84, Y:-25.56, Z:-3.92 [[ 9.88681577e-01 1.48671934e-01 2.01344518e-02 1.95837719e+02] [-1.48636417e-01 9.88886548e-01 -3.25756586e-03 -2.55647653e+01] [-2.03949972e-02 2.27982576e-04 9.99791974e-01 -3.91601249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76401273899998 meters 0.023374753729254204 Centerline is valid? [True, True] Translation: X:195.90, Y:-25.57, Z:-3.92 [[ 9.88134232e-01 1.52343626e-01 1.95489070e-02 1.95899406e+02] [-1.52310800e-01 9.88327576e-01 -3.16598429e-03 -2.55739042e+01] [-1.98030414e-02 1.50907800e-04 9.99803889e-01 -3.91723415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82401273899998 meters 0.022594882430983655 Centerline is valid? [True, True] Translation: X:195.96, Y:-25.59, Z:-3.92 [[ 9.87808227e-01 1.54375094e-01 2.00807712e-02 1.95960544e+02] [-1.54340807e-01 9.88012306e-01 -3.25552054e-03 -2.55862865e+01] [-2.03426203e-02 1.16547539e-04 9.99793061e-01 -3.91874856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88401273899999 meters 0.02336299166835908 Centerline is valid? [True, True] Translation: X:196.02, Y:-25.61, Z:-3.92 [[ 9.87773776e-01 1.54483049e-01 2.09273808e-02 1.96020122e+02] [-1.54445758e-01 9.87995432e-01 -3.39635746e-03 -2.56070084e+01] [-2.12008363e-02 1.22687648e-04 9.99775229e-01 -3.91758114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944012739 meters 0.022778504767875785 Centerline is valid? [True, True] Translation: X:196.08, Y:-25.62, Z:-3.92 [[ 9.87810734e-01 1.54359277e-01 2.00790192e-02 1.96082098e+02] [-1.54324855e-01 9.88014776e-01 -3.26202826e-03 -2.56205557e+01] [-2.03418920e-02 1.23574810e-04 9.99793075e-01 -3.92013214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004012739 meters 0.02201157948387003 Centerline is valid? [True, True] Translation: X:196.14, Y:-25.63, Z:-3.92 [[ 9.87428688e-01 1.56853403e-01 1.95344974e-02 1.96142637e+02] [-1.56821239e-01 9.87621893e-01 -3.17719073e-03 -2.56328631e+01] [-1.97910505e-02 7.38251776e-05 9.99804135e-01 -3.92249348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064012739 meters 0.02158759291557203 Centerline is valid? [True, True] Translation: X:196.20, Y:-25.64, Z:-3.92 [[ 9.86833928e-01 1.60550354e-01 1.95545897e-02 1.96203592e+02] [-1.60518782e-01 9.87027651e-01 -3.18385707e-03 -2.56409863e+01] [-1.98120901e-02 3.05926835e-06 9.99803721e-01 -3.92403081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124012739 meters 0.022644465443931127 Centerline is valid? [True, True] Translation: X:196.27, Y:-25.65, Z:-3.93 [[ 9.85940948e-01 1.66193555e-01 1.73247975e-02 1.96265222e+02] [-1.66169601e-01 9.86093146e-01 -2.82316678e-03 -2.56463989e+01] [-1.75530562e-02 -9.53789632e-05 9.99845929e-01 -3.92979741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18401273899997 meters 0.026917796176285914 Centerline is valid? [True, True] Translation: X:196.33, Y:-25.65, Z:-3.93 [[ 9.84421856e-01 1.74662835e-01 2.01619088e-02 1.96326256e+02] [-1.74632086e-01 9.84628262e-01 -3.28945175e-03 -2.56458129e+01] [-2.04265302e-02 -2.82707981e-04 9.99791317e-01 -3.92562765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24401273899997 meters 0.04154160643453833 Centerline is valid? [True, True] Translation: X:196.39, Y:-25.63, Z:-3.92 [[ 9.82103018e-01 1.87025426e-01 2.22520162e-02 1.96389065e+02] [-1.86991134e-01 9.82354893e-01 -3.63050329e-03 -2.56291603e+01] [-2.25383734e-02 -5.95401504e-04 9.99745801e-01 -3.92249061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30401273899997 meters 0.046979303303345724 Centerline is valid? [True, True] Translation: X:196.45, Y:-25.62, Z:-3.93 [[ 9.80433569e-01 1.96019789e-01 1.80626556e-02 1.96451157e+02] [-1.95998709e-01 9.80599724e-01 -2.94736236e-03 -2.56230906e+01] [-1.82899764e-02 -6.50564165e-04 9.99832513e-01 -3.93239242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36401273899997 meters 0.06134678997886346 Centerline is valid? [True, True] Translation: X:196.51, Y:-25.60, Z:-3.93 [[ 9.79274987e-01 2.01645944e-01 1.89581996e-02 1.96514610e+02] [-2.01623772e-01 9.79458159e-01 -3.09351851e-03 -2.56033354e+01] [-1.91925588e-02 -7.93018434e-04 9.99815491e-01 -3.93288300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42401273899998 meters 0.0542322308625329 Centerline is valid? [True, True] Translation: X:196.57, Y:-25.61, Z:-3.93 [[ 9.78856481e-01 2.03598926e-01 1.96841953e-02 1.96573072e+02] [-2.03575419e-01 9.79053999e-01 -3.21193225e-03 -2.56146158e+01] [-1.99258360e-02 -8.63197595e-04 9.99801088e-01 -3.93221368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48401273899998 meters 0.05952240555165864 Centerline is valid? [True, True] Translation: X:196.63, Y:-25.60, Z:-3.93 [[ 9.78406962e-01 2.05723972e-01 1.99364970e-02 1.96633830e+02] [-2.05700308e-01 9.78609628e-01 -3.25263955e-03 -2.56032518e+01] [-2.01791938e-02 -9.18538379e-04 9.99795957e-01 -3.93378698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54401273899998 meters 0.0565202157385146 Centerline is valid? [True, True] Translation: X:196.69, Y:-25.60, Z:-3.94 [[ 9.78557305e-01 2.05034045e-01 1.96632032e-02 1.96693402e+02] [-2.05010907e-01 9.78754435e-01 -3.20702148e-03 -2.56020137e+01] [-1.99029959e-02 -8.92916812e-04 9.99801517e-01 -3.93564815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60401273899998 meters 0.05778001901962268 Centerline is valid? [True, True] Translation: X:196.75, Y:-25.60, Z:-3.94 [[ 9.79474873e-01 2.00647381e-01 1.92250500e-02 1.96753977e+02] [-2.00624436e-01 9.79663212e-01 -3.13465921e-03 -2.55968380e+01] [-1.94630354e-02 -7.86694873e-04 9.99810268e-01 -3.93835509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664012739 meters 0.04059017961535178 Centerline is valid? [True, True] Translation: X:196.81, Y:-25.62, Z:-3.93 [[ 9.81331306e-01 1.90976164e-01 2.27370223e-02 1.96812171e+02] [-1.90941480e-01 9.81594422e-01 -3.70694269e-03 -2.56190142e+01] [-2.30264719e-02 -7.03701780e-04 9.99734608e-01 -3.93311036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724012739 meters 0.03310184581875937 Centerline is valid? [True, True] Translation: X:196.87, Y:-25.63, Z:-3.93 [[ 9.83363094e-01 1.80242717e-01 2.25740545e-02 1.96870164e+02] [-1.80205702e-01 9.83622062e-01 -3.68019992e-03 -2.56293615e+01] [-2.28676673e-02 -4.49000550e-04 9.99738400e-01 -3.93433097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784012739 meters 0.024155544001660985 Centerline is valid? [True, True] Translation: X:196.93, Y:-25.65, Z:-3.94 [[ 9.85444781e-01 1.68676868e-01 2.11352448e-02 1.96927745e+02] [-1.68641769e-01 9.85671388e-01 -3.44502077e-03 -2.56534677e+01] [-2.14135014e-02 -1.69407341e-04 9.99770690e-01 -3.93777920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844012739 meters 0.02232628396349427 Centerline is valid? [True, True] Translation: X:196.99, Y:-25.67, Z:-3.94 [[ 9.86426030e-01 1.62818745e-01 2.13012735e-02 1.96986128e+02] [-1.62781729e-01 9.86655996e-01 -3.47193257e-03 -2.56685934e+01] [-2.15823249e-02 -4.26534743e-05 9.99767074e-01 -3.93797971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904012739 meters 0.02316419549915747 Centerline is valid? [True, True] Translation: X:197.04, Y:-25.69, Z:-3.94 [[ 9.87531316e-01 1.55698548e-01 2.32349244e-02 1.97042958e+02] [-1.55652546e-01 9.87804610e-01 -3.78652321e-03 -2.56879163e+01] [-2.35411216e-02 1.22735116e-04 9.99722862e-01 -3.93626819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96401273899997 meters 0.023352123476746336 Centerline is valid? [True, True] Translation: X:197.10, Y:-25.70, Z:-3.94 [[ 9.87689867e-01 1.54810532e-01 2.24148396e-02 1.97103260e+02] [-1.54767496e-01 9.87944168e-01 -3.65269293e-03 -2.56995752e+01] [-2.27100854e-02 1.38639194e-04 9.99742083e-01 -3.93856295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02401273899997 meters 0.02318197761174789 Centerline is valid? [True, True] Translation: X:197.16, Y:-25.71, Z:-3.94 [[ 9.87567479e-01 1.55903534e-01 2.01137471e-02 1.97163256e+02] [-1.55869099e-01 9.87772280e-01 -3.27814183e-03 -2.57113912e+01] [-2.03788758e-02 1.02274612e-04 9.99792324e-01 -3.94395724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08401273899997 meters 0.02294945903549685 Centerline is valid? [True, True] Translation: X:197.22, Y:-25.72, Z:-3.95 [[ 9.87409721e-01 1.57035948e-01 1.90198154e-02 1.97222400e+02] [-1.57005358e-01 9.87592884e-01 -3.10032739e-03 -2.57198969e+01] [-1.92706972e-02 7.50804820e-05 9.99814300e-01 -3.94926180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14401273899998 meters 0.0226951415513805 Centerline is valid? [True, True] Translation: X:197.28, Y:-25.73, Z:-3.95 [[ 9.86874907e-01 1.60614539e-01 1.67597181e-02 1.97281851e+02] [-1.60591306e-01 9.87017208e-01 -2.73178938e-03 -2.57255580e+01] [-1.69808953e-02 4.46936398e-06 9.99855814e-01 -3.95427701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20401273899998 meters 0.022791155628187554 Centerline is valid? [True, True] Translation: X:197.34, Y:-25.73, Z:-3.96 [[ 9.86701913e-01 1.61665074e-01 1.68445624e-02 1.97339893e+02] [-1.61641763e-01 9.86845684e-01 -2.74533115e-03 -2.57310044e+01] [-1.70668078e-02 -1.39612552e-05 9.99854351e-01 -3.95553871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26401273899998 meters 0.022834058945034697 Centerline is valid? [True, True] Translation: X:197.40, Y:-25.74, Z:-3.95 [[ 9.86396227e-01 1.63187700e-01 1.98055189e-02 1.97397925e+02] [-1.63155808e-01 9.86595040e-01 -3.22650902e-03 -2.57389062e+01] [-2.00665533e-02 -4.87691118e-05 9.99798645e-01 -3.95159963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32401273899998 meters 0.022829423830978208 Centerline is valid? [True, True] Translation: X:197.46, Y:-25.75, Z:-3.95 [[ 9.86318310e-01 1.63718414e-01 1.92995586e-02 1.97456417e+02] [-1.63688249e-01 9.86507110e-01 -3.14318533e-03 -2.57475560e+01] [-1.95537491e-02 -5.89297026e-05 9.99808805e-01 -3.95362352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38401273899999 meters 0.023133839511476545 Centerline is valid? [True, True] Translation: X:197.51, Y:-25.76, Z:-3.96 [[ 9.86195847e-01 1.64609332e-01 1.79309514e-02 1.97514177e+02] [-1.64583456e-01 9.86358841e-01 -2.91949379e-03 -2.57568312e+01] [-1.81669284e-02 -7.19453087e-05 9.99834965e-01 -3.95641556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444012739 meters 0.022973847623622062 Centerline is valid? [True, True] Translation: X:197.57, Y:-25.77, Z:-3.95 [[ 9.86050487e-01 1.65197868e-01 2.03494693e-02 1.97571632e+02] [-1.65164688e-01 9.86260440e-01 -3.31215397e-03 -2.57685057e+01] [-2.06170373e-02 -9.50627101e-05 9.99787442e-01 -3.95413109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504012739 meters 0.022597669805729987 Centerline is valid? [True, True] Translation: X:197.63, Y:-25.78, Z:-3.96 [[ 9.86420523e-01 1.62948923e-01 2.05475402e-02 1.97629865e+02] [-1.62914627e-01 9.86634505e-01 -3.34338804e-03 -2.57844892e+01] [-2.08177137e-02 -4.95082675e-05 9.99783287e-01 -3.95532800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564012739 meters 0.02280113573933762 Centerline is valid? [True, True] Translation: X:197.69, Y:-25.79, Z:-3.95 [[ 9.86240671e-01 1.64032368e-01 2.05601717e-02 1.97687305e+02] [-1.63998276e-01 9.86454954e-01 -3.34493459e-03 -2.57940405e+01] [-2.08303608e-02 -7.29221781e-05 9.99783022e-01 -3.95407044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624012739 meters 0.025228267837539488 Centerline is valid? [True, True] Translation: X:197.75, Y:-25.79, Z:-3.96 [[ 9.85279275e-01 1.69984241e-01 1.81688698e-02 1.97747930e+02] [-1.69958640e-01 9.85446765e-01 -2.95529399e-03 -2.57933194e+01] [-1.84068074e-02 -1.76166487e-04 9.99830565e-01 -3.96083918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68401273899997 meters 0.02699253434164589 Centerline is valid? [True, True] Translation: X:197.81, Y:-25.80, Z:-3.96 [[ 9.84799895e-01 1.72787429e-01 1.77107678e-02 1.97806419e+02] [-1.72763562e-01 9.84959113e-01 -2.88045832e-03 -2.57966424e+01] [-1.79420891e-02 -2.23100264e-04 9.99839003e-01 -3.96263366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74401273899997 meters 0.029968792126799825 Centerline is valid? [True, True] Translation: X:197.87, Y:-25.79, Z:-3.96 [[ 9.83854599e-01 1.77985913e-01 1.87388134e-02 1.97866672e+02] [-1.77960159e-01 9.84032978e-01 -3.04643591e-03 -2.57942865e+01] [-1.89818330e-02 -3.37512236e-04 9.99819772e-01 -3.96237655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80401273899997 meters 0.029397792608601737 Centerline is valid? [True, True] Translation: X:197.92, Y:-25.80, Z:-3.97 [[ 9.84192464e-01 1.76175917e-01 1.80897827e-02 1.97923977e+02] [-1.76151621e-01 9.84358655e-01 -2.94032760e-03 -2.58023952e+01] [-1.83248491e-02 -2.92696289e-04 9.99832043e-01 -3.96594749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86401273899997 meters 0.025574000103393935 Centerline is valid? [True, True] Translation: X:197.98, Y:-25.82, Z:-3.97 [[ 9.85321939e-01 1.69828848e-01 1.72869612e-02 1.97981279e+02] [-1.69805703e-01 9.85473558e-01 -2.80872676e-03 -2.58175450e+01] [-1.75128460e-02 -1.67924510e-04 9.99846624e-01 -3.96892449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92401273899998 meters 0.024864203052436872 Centerline is valid? [True, True] Translation: X:198.04, Y:-25.83, Z:-3.97 [[ 9.85488049e-01 1.68821549e-01 1.76801982e-02 1.98039679e+02] [-1.68797184e-01 9.85646621e-01 -2.87224856e-03 -2.58258211e+01] [-1.79113251e-02 -1.53801032e-04 9.99839568e-01 -3.96752895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98401273899998 meters 0.02711403303902493 Centerline is valid? [True, True] Translation: X:198.10, Y:-25.82, Z:-3.97 [[ 9.84766330e-01 1.72853273e-01 1.88950212e-02 1.98100036e+02] [-1.72826204e-01 9.84947555e-01 -3.06862828e-03 -2.58234835e+01] [-1.91410274e-02 -2.43672991e-04 9.99816764e-01 -3.96637522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04401273899998 meters 0.028122495638381068 Centerline is valid? [True, True] Translation: X:198.16, Y:-25.83, Z:-3.96 [[ 9.84477044e-01 1.74082301e-01 2.23674254e-02 1.98158686e+02] [-1.74044713e-01 9.84731055e-01 -3.63128565e-03 -2.58262042e+01] [-2.26580409e-02 -3.18014777e-04 9.99743223e-01 -3.96043074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10401273899998 meters 0.027559671049539616 Centerline is valid? [True, True] Translation: X:198.22, Y:-25.83, Z:-3.96 [[ 9.84617488e-01 1.73140828e-01 2.34660525e-02 1.98216062e+02] [-1.73099225e-01 9.84897028e-01 -3.80817120e-03 -2.58339424e+01] [-2.37709953e-02 -3.12363544e-04 9.99717381e-01 -3.95923171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164012739 meters 0.0264875597377948 Centerline is valid? [True, True] Translation: X:198.27, Y:-25.84, Z:-3.97 [[ 9.84895252e-01 1.72166509e-01 1.84400417e-02 1.98273977e+02] [-1.72140668e-01 9.85067836e-01 -2.99154114e-03 -2.58413050e+01] [-1.86797351e-02 -2.27926420e-04 9.99825493e-01 -3.96998370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224012739 meters 0.025882864757388276 Centerline is valid? [True, True] Translation: X:198.33, Y:-25.85, Z:-3.97 [[ 9.85096064e-01 1.71033211e-01 1.82588628e-02 1.98332925e+02] [-1.71007697e-01 9.85265243e-01 -2.96127444e-03 -2.58465932e+01] [-1.84962992e-02 -2.05266283e-04 9.99828908e-01 -3.97102537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284012739 meters 0.02701530778534224 Centerline is valid? [True, True] Translation: X:198.39, Y:-25.85, Z:-3.97 [[ 9.84854518e-01 1.72219362e-01 2.00516532e-02 1.98390887e+02] [-1.72188859e-01 9.85058591e-01 -3.25095680e-03 -2.58482988e+01] [-2.03119309e-02 -2.50951775e-04 9.99793660e-01 -3.96891583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344012739 meters 0.027732750646563848 Centerline is valid? [True, True] Translation: X:198.45, Y:-25.85, Z:-3.97 [[ 9.84666999e-01 1.73332699e-01 1.96641151e-02 1.98449529e+02] [-1.73303608e-01 9.84863291e-01 -3.18695191e-03 -2.58515681e+01] [-1.99188681e-02 -2.69775719e-04 9.99801563e-01 -3.97145038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404012739 meters 0.02655841458554933 Centerline is valid? [True, True] Translation: X:198.51, Y:-25.86, Z:-3.98 [[ 9.85042667e-01 1.71411610e-01 1.75785379e-02 1.98507375e+02] [-1.71388070e-01 9.85199481e-01 -2.84817793e-03 -2.58645222e+01] [-1.78065771e-02 -2.07174902e-04 9.99841429e-01 -3.97714551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46401273899997 meters 0.024974546420034917 Centerline is valid? [True, True] Translation: X:198.57, Y:-25.88, Z:-3.98 [[ 9.85506340e-01 1.68662922e-01 1.81679036e-02 1.98565066e+02] [-1.68637321e-01 9.85673776e-01 -2.94309706e-03 -2.58790814e+01] [-1.84040175e-02 -1.63345782e-04 9.99830618e-01 -3.97715933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52401273899997 meters 0.023762088532942514 Centerline is valid? [True, True] Translation: X:198.62, Y:-25.89, Z:-3.98 [[ 9.85978881e-01 1.65788625e-01 1.89677985e-02 1.98621003e+02] [-1.65760220e-01 9.86161304e-01 -3.07098465e-03 -2.58928296e+01] [-1.92144433e-02 -1.16180454e-04 9.99815379e-01 -3.97684466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58401273899997 meters 0.02364412506981714 Centerline is valid? [True, True] Translation: X:198.68, Y:-25.91, Z:-3.98 [[ 9.86003149e-01 1.65814503e-01 1.74166594e-02 1.98678210e+02] [-1.65790575e-01 9.86156955e-01 -2.81890603e-03 -2.59056892e+01] [-1.76429753e-02 -1.08067763e-04 9.99844345e-01 -3.98199850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64401273899998 meters 0.024057491147593434 Centerline is valid? [True, True] Translation: X:198.73, Y:-25.92, Z:-3.98 [[ 9.85838645e-01 1.66847924e-01 1.68504054e-02 1.98734811e+02] [-1.66825690e-01 9.85982634e-01 -2.72655606e-03 -2.59161193e+01] [-1.70691273e-02 -1.23136165e-04 9.99854304e-01 -3.98332859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70401273899998 meters 0.025078394313438272 Centerline is valid? [True, True] Translation: X:198.79, Y:-25.92, Z:-3.99 [[ 9.85618229e-01 1.68263860e-01 1.56198841e-02 1.98792269e+02] [-1.68244951e-01 9.85741982e-01 -2.52631156e-03 -2.59236097e+01] [-1.58222625e-02 -1.37987909e-04 9.99874811e-01 -3.98704289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76401273899998 meters 0.02395923700406151 Centerline is valid? [True, True] Translation: X:198.85, Y:-25.94, Z:-3.98 [[ 9.85705669e-01 1.67263885e-01 2.01773672e-02 1.98850512e+02] [-1.67232152e-01 9.85912150e-01 -3.26187537e-03 -2.59354514e+01] [-2.04387055e-02 -1.59055497e-04 9.99791095e-01 -3.97788816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82401273899998 meters 0.023185823563409893 Centerline is valid? [True, True] Translation: X:198.91, Y:-25.95, Z:-3.98 [[ 9.85971704e-01 1.65494212e-01 2.17132454e-02 1.98908333e+02] [-1.65457059e-01 9.86210752e-01 -3.50906049e-03 -2.59493796e+01] [-2.19945653e-02 -1.32775385e-04 9.99758081e-01 -3.97691500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88401273899999 meters 0.02241526512634152 Centerline is valid? [True, True] Translation: X:198.96, Y:-25.97, Z:-3.99 [[ 9.86633538e-01 1.61917561e-01 1.83565952e-02 1.98963842e+02] [-1.61890402e-01 9.86804287e-01 -2.96588679e-03 -2.59650930e+01] [-1.85945960e-02 -4.55131960e-05 9.99827105e-01 -3.98531003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944012739 meters 0.022540433763885183 Centerline is valid? [True, True] Translation: X:199.02, Y:-25.98, Z:-3.99 [[ 9.86542347e-01 1.62493880e-01 1.81641359e-02 1.99022101e+02] [-1.62467405e-01 9.86709550e-01 -2.93370574e-03 -2.59754575e+01] [-1.83994355e-02 -5.68550691e-05 9.99830714e-01 -3.98550137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004012739 meters 0.023793895422953106 Centerline is valid? [True, True] Translation: X:199.08, Y:-25.98, Z:-3.99 [[ 9.86008191e-01 1.65820033e-01 1.70752648e-02 1.99080397e+02] [-1.65797148e-01 9.86156024e-01 -2.75712478e-03 -2.59773891e+01] [-1.72960618e-02 -1.12482598e-04 9.99850406e-01 -3.99013379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064012739 meters 0.02361440463244197 Centerline is valid? [True, True] Translation: X:199.14, Y:-25.99, Z:-3.99 [[ 9.85946995e-01 1.65968871e-01 1.90487896e-02 1.99138754e+02] [-1.65940442e-01 9.86130984e-01 -3.07452089e-03 -2.59867675e+01] [-1.92948764e-02 -1.29649935e-04 9.99813828e-01 -3.98836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124012739 meters 0.02205716199204598 Centerline is valid? [True, True] Translation: X:199.20, Y:-26.00, Z:-3.99 [[ 9.86569488e-01 1.61910053e-01 2.15819171e-02 1.99195538e+02] [-1.61872613e-01 9.86805518e-01 -3.48224439e-03 -2.60033188e+01] [-2.18609653e-02 -5.80452455e-05 9.99761019e-01 -3.98560182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18401273899997 meters 0.02327336295448017 Centerline is valid? [True, True] Translation: X:199.25, Y:-26.03, Z:-4.00 [[ 9.88069989e-01 1.53168271e-01 1.60367847e-02 1.99251919e+02] [-1.53146457e-01 9.88200117e-01 -2.58684670e-03 -2.60282651e+01] [-1.62437753e-02 1.00008830e-04 9.99868056e-01 -3.99677098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24401273899997 meters 0.027695524843248723 Centerline is valid? [True, True] Translation: X:199.31, Y:-26.06, Z:-3.99 [[ 9.89406584e-01 1.43996212e-01 1.84309974e-02 1.99309771e+02] [-1.43965811e-01 9.89578197e-01 -2.97272325e-03 -2.60556969e+01] [-1.86669741e-02 2.87798467e-04 9.99825715e-01 -3.99324950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30401273899997 meters 0.03143794119947736 Centerline is valid? [True, True] Translation: X:199.37, Y:-26.08, Z:-3.99 [[ 9.89969881e-01 1.39727605e-01 2.08765818e-02 1.99368038e+02] [-1.39687637e-01 9.90189892e-01 -3.36783299e-03 -2.60796498e+01] [-2.11423595e-02 4.17852849e-04 9.99776388e-01 -3.99003695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36401273899997 meters 0.029892477113054615 Centerline is valid? [True, True] Translation: X:199.43, Y:-26.09, Z:-4.00 [[ 9.89888334e-01 1.40789289e-01 1.73049809e-02 1.99429076e+02] [-1.40761953e-01 9.90039528e-01 -2.79378296e-03 -2.60934105e+01] [-1.75259499e-02 3.29650255e-04 9.99846354e-01 -3.99824426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42401273899998 meters 0.027879090462630658 Centerline is valid? [True, True] Translation: X:199.49, Y:-26.10, Z:-4.00 [[ 9.89321972e-01 1.44839798e-01 1.62316915e-02 1.99489181e+02] [-1.44816239e-01 9.89455089e-01 -2.62369907e-03 -2.61013068e+01] [-1.64405458e-02 2.45070610e-04 9.99864815e-01 -3.99964345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48401273899998 meters 0.023563324888519515 Centerline is valid? [True, True] Translation: X:199.55, Y:-26.10, Z:-4.00 [[ 9.88258660e-01 1.51677535e-01 1.84050676e-02 1.99549482e+02] [-1.51648424e-01 9.88430019e-01 -2.97532490e-03 -2.61018829e+01] [-1.86434113e-02 1.49291109e-04 9.99826185e-01 -3.99741004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54401273899998 meters 0.023021859483455358 Centerline is valid? [True, True] Translation: X:199.61, Y:-26.12, Z:-3.99 [[ 9.88094767e-01 1.52344219e-01 2.14469191e-02 1.99609239e+02] [-1.52304857e-01 9.88327483e-01 -3.46653390e-03 -2.61164578e+01] [-2.17246859e-02 1.58794066e-04 9.99763979e-01 -3.99328401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60401273899998 meters 0.022782546683653628 Centerline is valid? [True, True] Translation: X:199.67, Y:-26.13, Z:-3.99 [[ 9.87981804e-01 1.53071776e-01 2.14705853e-02 1.99670257e+02] [-1.53032483e-01 9.88215063e-01 -3.47106084e-03 -2.61280420e+01] [-2.17488773e-02 1.43647966e-04 9.99763455e-01 -3.99399891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664012739 meters 0.02180492137576924 Centerline is valid? [True, True] Translation: X:199.73, Y:-26.14, Z:-4.00 [[ 9.87474585e-01 1.56288608e-01 2.16290423e-02 1.99730294e+02] [-1.56249427e-01 9.87711428e-01 -3.50024369e-03 -2.61422787e+01] [-2.19103005e-02 7.68762188e-05 9.99759938e-01 -3.99500449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724012739 meters 0.021668672238866277 Centerline is valid? [True, True] Translation: X:199.79, Y:-26.15, Z:-4.00 [[ 9.86659193e-01 1.61638460e-01 1.94073200e-02 1.99790724e+02] [-1.61607915e-01 9.86850043e-01 -3.14241729e-03 -2.61511151e+01] [-1.96600500e-02 -3.58816180e-05 9.99806722e-01 -4.00097726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784012739 meters 0.022845441868157134 Centerline is valid? [True, True] Translation: X:199.85, Y:-26.16, Z:-4.00 [[ 9.85919462e-01 1.66125184e-01 1.91111801e-02 1.99849593e+02] [-1.66096397e-01 9.86104664e-01 -3.09495200e-03 -2.61591184e+01] [-1.93597733e-02 -1.22924743e-04 9.99812574e-01 -4.00260444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844012739 meters 0.02632636463296423 Centerline is valid? [True, True] Translation: X:199.91, Y:-26.16, Z:-4.00 [[ 9.84739965e-01 1.72867949e-01 2.00965829e-02 1.99909612e+02] [-1.72837524e-01 9.84944973e-01 -3.25428432e-03 -2.61636993e+01] [-2.03565898e-02 -2.68819799e-04 9.99792747e-01 -4.00229681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904012739 meters 0.031920749973421536 Centerline is valid? [True, True] Translation: X:199.97, Y:-26.16, Z:-4.01 [[ 9.83824356e-01 1.78284327e-01 1.74451893e-02 1.99969399e+02] [-1.78262257e-01 9.83978958e-01 -2.82461427e-03 -2.61615656e+01] [-1.76692837e-02 -3.30894505e-04 9.99843831e-01 -4.00937557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96401273899997 meters 0.03048253311029306 Centerline is valid? [True, True] Translation: X:200.03, Y:-26.17, Z:-4.01 [[ 9.84176466e-01 1.76265422e-01 1.80882703e-02 2.00026486e+02] [-1.76241365e-01 9.84342627e-01 -2.92810943e-03 -2.61705689e+01] [-1.83211799e-02 -3.06125054e-04 9.99832106e-01 -4.00889007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02401273899997 meters 0.024980646330602457 Centerline is valid? [True, True] Translation: X:200.08, Y:-26.19, Z:-4.01 [[ 9.85162569e-01 1.70542318e-01 1.92361674e-02 2.00084167e+02] [-1.70514042e-01 9.85350330e-01 -3.11274890e-03 -2.61886534e+01] [-1.94852193e-02 -2.13472948e-04 9.99810122e-01 -4.00812169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08401273899997 meters 0.023270456267591947 Centerline is valid? [True, True] Translation: X:200.14, Y:-26.20, Z:-4.01 [[ 9.85836537e-01 1.66567497e-01 1.95343545e-02 2.00142312e+02] [-1.66537567e-01 9.86030045e-01 -3.16048127e-03 -2.62022280e+01] [-1.97878939e-02 -1.37485966e-04 9.99804191e-01 -4.00816715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14401273899998 meters 0.0222224889304006 Centerline is valid? [True, True] Translation: X:200.20, Y:-26.21, Z:-4.01 [[ 9.86420515e-01 1.63060640e-01 1.96416790e-02 2.00201617e+02] [-1.63029676e-01 9.86616047e-01 -3.17828235e-03 -2.62097349e+01] [-1.98970484e-02 -6.70536444e-05 9.99802032e-01 -4.00939439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20401273899998 meters 0.022015278460002757 Centerline is valid? [True, True] Translation: X:200.26, Y:-26.22, Z:-4.01 [[ 9.86443790e-01 1.62867446e-01 2.00709650e-02 2.00260654e+02] [-1.62835079e-01 9.86647957e-01 -3.24750675e-03 -2.62185817e+01] [-2.03318898e-02 -6.47743014e-05 9.99793284e-01 -4.00988605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26401273899998 meters 0.022111287448150198 Centerline is valid? [True, True] Translation: X:200.32, Y:-26.22, Z:-4.01 [[ 9.86492459e-01 1.62695999e-01 1.90431052e-02 2.00321233e+02] [-1.62666839e-01 9.86676243e-01 -3.08073300e-03 -2.62238547e+01] [-1.92906024e-02 -5.85618547e-05 9.99813917e-01 -4.01335485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32401273899998 meters 0.021842229651164672 Centerline is valid? [True, True] Translation: X:200.38, Y:-26.24, Z:-4.02 [[ 9.87064452e-01 1.59103995e-01 1.97404655e-02 2.00380494e+02] [-1.59071942e-01 9.87261829e-01 -3.19354974e-03 -2.62387678e+01] [-1.99971146e-02 1.20852328e-05 9.99800038e-01 -4.01523441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38401273899999 meters 0.024231586401951572 Centerline is valid? [True, True] Translation: X:200.44, Y:-26.26, Z:-4.02 [[ 9.88314707e-01 1.51146711e-01 1.97157833e-02 2.00438648e+02] [-1.51113154e-01 9.88511326e-01 -3.18951397e-03 -2.62607811e+01] [-1.99713597e-02 1.72929368e-04 9.99800538e-01 -4.01598995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444012739 meters 0.02946637263095355 Centerline is valid? [True, True] Translation: X:200.50, Y:-26.29, Z:-4.02 [[ 9.89626488e-01 1.42219788e-01 2.03210565e-02 2.00495791e+02] [-1.42182216e-01 9.89835036e-01 -3.28928526e-03 -2.62885101e+01] [-2.05822952e-02 3.65870972e-04 9.99788095e-01 -4.01709764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504012739 meters 0.03255328760284167 Centerline is valid? [True, True] Translation: X:200.56, Y:-26.30, Z:-4.02 [[ 9.90138538e-01 1.38674988e-01 1.98726804e-02 2.00556200e+02] [-1.38638337e-01 9.90337853e-01 -3.21693231e-03 -2.63042209e+01] [-2.01267757e-02 4.30093277e-04 9.99797343e-01 -4.01769114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564012739 meters 0.030800518493184617 Centerline is valid? [True, True] Translation: X:200.62, Y:-26.31, Z:-4.02 [[ 9.89902539e-01 1.40604316e-01 1.79830471e-02 2.00617342e+02] [-1.40574613e-01 9.90065806e-01 -2.91154765e-03 -2.63133575e+01] [-1.82137762e-02 3.54188519e-04 9.99834053e-01 -4.02175666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624012739 meters 0.029389414343260426 Centerline is valid? [True, True] Translation: X:200.68, Y:-26.32, Z:-4.03 [[ 9.89548622e-01 1.43217219e-01 1.68033661e-02 2.00678571e+02] [-1.43191614e-01 9.89691237e-01 -2.72341741e-03 -2.63196317e+01] [-1.70201845e-02 2.88852835e-04 9.99855104e-01 -4.02521832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68401273899997 meters 0.0277643317300539 Centerline is valid? [True, True] Translation: X:200.74, Y:-26.33, Z:-4.02 [[ 9.89181812e-01 1.45279756e-01 2.03257486e-02 2.00740925e+02] [-1.45242675e-01 9.89390569e-01 -3.29667680e-03 -2.63263383e+01] [-2.05890443e-02 3.08846625e-04 9.99787975e-01 -4.01935960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74401273899997 meters 0.029848629157338494 Centerline is valid? [True, True] Translation: X:200.80, Y:-26.34, Z:-4.02 [[ 9.89382633e-01 1.44161588e-01 1.84239327e-02 2.00802138e+02] [-1.44130877e-01 9.89554114e-01 -2.99098951e-03 -2.63380434e+01] [-1.86626642e-02 3.03775505e-04 9.99825791e-01 -4.02210884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80401273899997 meters 0.03200180284404663 Centerline is valid? [True, True] Translation: X:200.86, Y:-26.35, Z:-4.03 [[ 9.89977326e-01 1.40357453e-01 1.56422644e-02 2.00861930e+02] [-1.40334806e-01 9.90100845e-01 -2.54159712e-03 -2.63537574e+01] [-1.58441513e-02 3.20969383e-04 9.99874422e-01 -4.03211243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86401273899997 meters 0.03398440928342773 Centerline is valid? [True, True] Translation: X:200.92, Y:-26.37, Z:-4.03 [[ 9.90252595e-01 1.38072291e-01 1.83259546e-02 2.00922825e+02] [-1.38040753e-01 9.90422064e-01 -2.98103094e-03 -2.63693704e+01] [-1.85620276e-02 4.22245057e-04 9.99827622e-01 -4.02789317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92401273899998 meters 0.036153654217225877 Centerline is valid? [True, True] Translation: X:200.98, Y:-26.39, Z:-4.03 [[ 9.90452363e-01 1.36811845e-01 1.69303441e-02 2.00981904e+02] [-1.36784698e-01 9.90596965e-01 -2.75663746e-03 -2.63853465e+01] [-1.71482881e-02 4.14506075e-04 9.99852871e-01 -4.03108217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98401273899998 meters 0.03601452108376163 Centerline is valid? [True, True] Translation: X:201.04, Y:-26.40, Z:-4.03 [[ 9.90372095e-01 1.36904040e-01 2.05035794e-02 2.01043168e+02] [-1.36864164e-01 9.90584186e-01 -3.34227061e-03 -2.64033984e+01] [-2.07680918e-02 5.03886300e-04 9.99784193e-01 -4.02545769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04401273899998 meters 0.03642007530621981 Centerline is valid? [True, True] Translation: X:201.10, Y:-26.42, Z:-4.03 [[ 9.90681805e-01 1.34804142e-01 1.94268886e-02 2.01103429e+02] [-1.34767871e-01 9.90872126e-01 -3.17031073e-03 -2.64196485e+01] [-1.96769334e-02 5.22648740e-04 9.99806254e-01 -4.02937285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10401273899998 meters 0.03774537577618732 Centerline is valid? [True, True] Translation: X:201.16, Y:-26.45, Z:-4.04 [[ 9.90844616e-01 1.34116047e-01 1.54865637e-02 2.01161249e+02] [-1.34092914e-01 9.90965541e-01 -2.52726967e-03 -2.64493928e+01] [-1.56855983e-02 4.27493099e-04 9.99876882e-01 -4.03699103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164012739 meters 0.03631368686912049 Centerline is valid? [True, True] Translation: X:201.22, Y:-26.46, Z:-4.03 [[ 9.90333225e-01 1.37576462e-01 1.76867492e-02 2.01219688e+02] [-1.37546771e-01 9.90491056e-01 -2.89015910e-03 -2.64646935e+01] [-1.79161847e-02 4.29465344e-04 9.99839400e-01 -4.03433924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224012739 meters 0.02630877744563172 Centerline is valid? [True, True] Translation: X:201.28, Y:-26.46, Z:-4.03 [[ 9.88795500e-01 1.48181349e-01 1.80484516e-02 2.01280596e+02] [-1.48152190e-01 9.88960176e-01 -2.94950532e-03 -2.64648615e+01] [-1.82862616e-02 2.42539954e-04 9.99832763e-01 -4.03345810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284012739 meters 0.021339507621673925 Centerline is valid? [True, True] Translation: X:201.34, Y:-26.46, Z:-4.03 [[ 9.86641433e-01 1.61746934e-01 1.94064751e-02 2.01343495e+02] [-1.61715838e-01 9.86832270e-01 -3.17148613e-03 -2.64566082e+01] [-1.96639141e-02 -9.21477247e-06 9.99806647e-01 -4.03216244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344012739 meters 0.022551152596423638 Centerline is valid? [True, True] Translation: X:201.41, Y:-26.46, Z:-4.04 [[ 9.85720443e-01 1.67410995e-01 1.81319423e-02 2.01406494e+02] [-1.67384806e-01 9.85887187e-01 -2.96330531e-03 -2.64586638e+01] [-1.83721395e-02 -1.14021015e-04 9.99831212e-01 -4.03569533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404012739 meters 0.0254847324588853 Centerline is valid? [True, True] Translation: X:201.47, Y:-26.45, Z:-4.03 [[ 9.84635573e-01 1.73554220e-01 1.92800725e-02 2.01469132e+02] [-1.73525714e-01 9.84824287e-01 -3.15457131e-03 -2.64537104e+01] [-1.95349728e-02 -2.39485215e-04 9.99809146e-01 -4.03346982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46401273899997 meters 0.027196511094069203 Centerline is valid? [True, True] Translation: X:201.53, Y:-26.46, Z:-4.03 [[ 9.84318969e-01 1.75262297e-01 1.99823533e-02 2.01528478e+02] [-1.75232022e-01 9.84521735e-01 -3.26973114e-03 -2.64579111e+01] [-2.02461218e-02 -2.83089799e-04 9.99794986e-01 -4.03384135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52401273899997 meters 0.030968276356111286 Centerline is valid? [True, True] Translation: X:201.59, Y:-26.46, Z:-4.04 [[ 9.83423978e-01 1.80262863e-01 1.95596639e-02 2.01590167e+02] [-1.80234849e-01 9.83618400e-01 -3.20033174e-03 -2.64551510e+01] [-1.98161463e-02 -3.78050099e-04 9.99803569e-01 -4.03602452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58401273899997 meters 0.03866451064659873 Centerline is valid? [True, True] Translation: X:201.65, Y:-26.44, Z:-4.04 [[ 9.81906101e-01 1.88726518e-01 1.55791633e-02 2.01653941e+02] [-1.88709809e-01 9.82029587e-01 -2.54904583e-03 -2.64406576e+01] [-1.57802719e-02 -4.37017282e-04 9.99875388e-01 -4.04312850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64401273899998 meters 0.04258234591383375 Centerline is valid? [True, True] Translation: X:201.71, Y:-26.43, Z:-4.04 [[ 9.81434041e-01 1.90886637e-01 1.86953337e-02 2.01714579e+02] [-1.90862965e-01 9.81611925e-01 -3.05896619e-03 -2.64328979e+01] [-1.89354783e-02 -5.66073272e-04 9.99820548e-01 -4.04007891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70401273899998 meters 0.03798960336543111 Centerline is valid? [True, True] Translation: X:201.77, Y:-26.44, Z:-4.04 [[ 9.81950455e-01 1.88069286e-01 2.00810346e-02 2.01774936e+02] [-1.88041401e-01 9.82155609e-01 -3.28493049e-03 -2.64376549e+01] [-2.03404953e-02 -5.50426902e-04 9.99792959e-01 -4.03922875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76401273899998 meters 0.03381243325084134 Centerline is valid? [True, True] Translation: X:201.83, Y:-26.44, Z:-4.04 [[ 9.83130437e-01 1.81902875e-01 1.91281762e-02 2.01833905e+02] [-1.81876410e-01 9.83316420e-01 -3.12885040e-03 -2.64434992e+01] [-1.93781966e-02 -4.02895953e-04 9.99812144e-01 -4.04129790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82401273899998 meters 0.02988646314672275 Centerline is valid? [True, True] Translation: X:201.89, Y:-26.45, Z:-4.04 [[ 9.83504142e-01 1.79961903e-01 1.82569581e-02 2.01892075e+02] [-1.79937465e-01 9.83673519e-01 -2.98607999e-03 -2.64519509e+01] [-1.84962669e-02 -3.48288729e-04 9.99828869e-01 -4.04312363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88401273899999 meters 0.030666139382485327 Centerline is valid? [True, True] Translation: X:201.95, Y:-26.45, Z:-4.04 [[ 9.83804959e-01 1.78225852e-01 1.90616980e-02 2.01951517e+02] [-1.78198904e-01 9.83989551e-01 -3.11673926e-03 -2.64467198e+01] [-1.93119952e-02 -3.30510160e-04 9.99813451e-01 -4.04357152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944012739 meters 0.03107208082680039 Centerline is valid? [True, True] Translation: X:202.01, Y:-26.45, Z:-4.04 [[ 9.83701616e-01 1.78689013e-01 2.00341546e-02 2.02010876e+02] [-1.78659367e-01 9.83905538e-01 -3.27446365e-03 -2.64493703e+01] [-2.02968263e-02 -3.58194193e-04 9.99793934e-01 -4.04173757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004012739 meters 0.03197543139015417 Centerline is valid? [True, True] Translation: X:202.07, Y:-26.45, Z:-4.04 [[ 9.83598746e-01 1.79351549e-01 1.91449572e-02 2.02071112e+02] [-1.79324619e-01 9.83784984e-01 -3.12830126e-03 -2.64453599e+01] [-1.93955871e-02 -3.56168959e-04 9.99811824e-01 -4.04498597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064012739 meters 0.02795334281340441 Centerline is valid? [True, True] Translation: X:202.13, Y:-26.45, Z:-4.04 [[ 9.84056025e-01 1.76725279e-01 2.00478191e-02 2.02130072e+02] [-1.76695223e-01 9.84260166e-01 -3.27488407e-03 -2.64528182e+01] [-2.03110246e-02 -3.19684455e-04 9.99793659e-01 -4.04446158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124012739 meters 0.02426111327924743 Centerline is valid? [True, True] Translation: X:202.19, Y:-26.46, Z:-4.05 [[ 9.85296474e-01 1.69770712e-01 1.92032332e-02 2.02188154e+02] [-1.69741825e-01 9.85483575e-01 -3.13625990e-03 -2.64600808e+01] [-1.94569160e-02 -1.69446033e-04 9.99810682e-01 -4.04789499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18401273899997 meters 0.02114009331470059 Centerline is valid? [True, True] Translation: X:202.24, Y:-26.48, Z:-4.05 [[ 9.86942581e-01 1.60014318e-01 1.84325723e-02 2.02244067e+02] [-1.59986011e-01 9.87114693e-01 -3.00980213e-03 -2.64779487e+01] [-1.86766744e-02 2.15481754e-05 9.99825575e-01 -4.05167914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24401273899997 meters 0.02352250388317707 Centerline is valid? [True, True] Translation: X:202.30, Y:-26.50, Z:-4.05 [[ 9.88226200e-01 1.52019565e-01 1.72924863e-02 2.02300391e+02] [-1.51993442e-01 9.88377471e-01 -2.82275399e-03 -2.64966291e+01] [-1.75206177e-02 1.61174944e-04 9.99846489e-01 -4.05325897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30401273899997 meters 0.04129264251652716 Centerline is valid? [True, True] Translation: X:202.35, Y:-26.54, Z:-4.05 [[ 9.90485013e-01 1.36363052e-01 1.85622464e-02 2.02354114e+02] [-1.36330216e-01 9.90658820e-01 -3.02899821e-03 -2.65381370e+01] [-1.88018965e-02 4.69582275e-04 9.99823118e-01 -4.05290946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36401273899997 meters 0.05001432466695651 Centerline is valid? [True, True] Translation: X:202.41, Y:-26.56, Z:-4.05 [[ 9.91325856e-01 1.29827900e-01 2.04392805e-02 2.02411636e+02] [-1.29786698e-01 9.91536328e-01 -3.33520222e-03 -2.65641129e+01] [-2.06992914e-02 6.53525463e-04 9.99785533e-01 -4.04970552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42401273899998 meters 0.04736832060342254 Centerline is valid? [True, True] Translation: X:202.47, Y:-26.58, Z:-4.05 [[ 9.92174449e-01 1.23286508e-01 1.97560053e-02 2.02471147e+02] [-1.23246719e-01 9.92370825e-01 -3.22373142e-03 -2.65787609e+01] [-2.00027258e-02 7.63641107e-04 9.99799634e-01 -4.05098884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48401273899998 meters 0.04900314628684745 Centerline is valid? [True, True] Translation: X:202.53, Y:-26.60, Z:-4.06 [[ 9.92359821e-01 1.22084355e-01 1.78155889e-02 2.02529786e+02] [-1.22051801e-01 9.92519473e-01 -2.90736761e-03 -2.66045499e+01] [-1.80372630e-02 7.10730091e-04 9.99837063e-01 -4.05692413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54401273899998 meters 0.04076114026943464 Centerline is valid? [True, True] Translation: X:202.59, Y:-26.61, Z:-4.05 [[ 9.91236350e-01 1.30387187e-01 2.12056766e-02 2.02589742e+02] [-1.30342933e-01 9.91462927e-01 -3.46172996e-03 -2.66132589e+01] [-2.14760074e-02 6.67382474e-04 9.99769141e-01 -4.05060447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60401273899998 meters 0.028832610085389843 Centerline is valid? [True, True] Translation: X:202.65, Y:-26.61, Z:-4.06 [[ 9.89219951e-01 1.45167153e-01 1.92454031e-02 2.02649719e+02] [-1.45133493e-01 9.89407095e-01 -3.14171191e-03 -2.66139066e+01] [-1.94976117e-02 3.14691524e-04 9.99809854e-01 -4.05546320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664012739 meters 0.02191991449930467 Centerline is valid? [True, True] Translation: X:202.71, Y:-26.61, Z:-4.06 [[ 9.87626249e-01 1.55865912e-01 1.73265946e-02 2.02711211e+02] [-1.55840276e-01 9.87778218e-01 -2.82834234e-03 -2.66101000e+01] [-1.75556750e-02 9.31638471e-05 9.99845883e-01 -4.06040289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724012739 meters 0.02294130936542229 Centerline is valid? [True, True] Translation: X:202.77, Y:-26.60, Z:-4.06 [[ 9.85475141e-01 1.68861860e-01 1.80116421e-02 2.02771641e+02] [-1.68836328e-01 9.85639717e-01 -2.93987785e-03 -2.66027764e+01] [-1.82494231e-02 -1.43842976e-04 9.99833455e-01 -4.06034879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784012739 meters 0.028298052446564775 Centerline is valid? [True, True] Translation: X:202.83, Y:-26.60, Z:-4.06 [[ 9.83923057e-01 1.77502801e-01 1.97021013e-02 2.02833192e+02] [-1.77474002e-01 9.84120239e-01 -3.21473857e-03 -2.65977753e+01] [-1.99598618e-02 -3.33555354e-04 9.99800726e-01 -4.05772789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844012739 meters 0.035315629540321136 Centerline is valid? [True, True] Translation: X:202.89, Y:-26.59, Z:-4.06 [[ 9.82446762e-01 1.85609956e-01 1.86361056e-02 2.02894603e+02] [-1.85585652e-01 9.82623388e-01 -3.04035450e-03 -2.65929400e+01] [-1.88765933e-02 -4.71607378e-04 9.99821710e-01 -4.06100714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904012739 meters 0.03965678074747523 Centerline is valid? [True, True] Translation: X:202.96, Y:-26.59, Z:-4.06 [[ 9.81466944e-01 1.90657810e-01 1.92934584e-02 2.02956102e+02] [-1.90632737e-01 9.81656382e-01 -3.14752923e-03 -2.65885804e+01] [-1.95396476e-02 -5.88768890e-04 9.99808910e-01 -4.06194397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96401273899997 meters 0.04212219790737624 Centerline is valid? [True, True] Translation: X:203.01, Y:-26.59, Z:-4.06 [[ 9.81291601e-01 1.91602235e-01 1.88514621e-02 2.03014392e+02] [-1.91578474e-01 9.81472481e-01 -3.07526276e-03 -2.65890231e+01] [-1.90914185e-02 -5.93804817e-04 9.99817566e-01 -4.06409656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02401273899997 meters 0.03913099027902983 Centerline is valid? [True, True] Translation: X:203.07, Y:-26.60, Z:-4.07 [[ 9.82110970e-01 1.87374613e-01 1.86761184e-02 2.03072630e+02] [-1.87350550e-01 9.82288398e-01 -3.04550992e-03 -2.65958057e+01] [-1.89159856e-02 -5.07952346e-04 9.99820948e-01 -4.06572605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08401273899997 meters 0.03335237887385 Centerline is valid? [True, True] Translation: X:203.13, Y:-26.61, Z:-4.07 [[ 9.83218350e-01 1.81527756e-01 1.81480256e-02 2.03131620e+02] [-1.81504050e-01 9.83385746e-01 -2.95872468e-03 -2.66059651e+01] [-1.83836004e-02 -3.84867753e-04 9.99830933e-01 -4.06740039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14401273899998 meters 0.027106118607533685 Centerline is valid? [True, True] Translation: X:203.19, Y:-26.62, Z:-4.07 [[ 9.84334123e-01 1.75367344e-01 1.82381353e-02 2.03190747e+02] [-1.75342348e-01 9.84503033e-01 -2.97320642e-03 -2.66162598e+01] [-1.84769028e-02 -2.71288941e-04 9.99829251e-01 -4.06949187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20401273899998 meters 0.02180638890655625 Centerline is valid? [True, True] Translation: X:203.25, Y:-26.63, Z:-4.07 [[ 9.86069100e-01 1.65311117e-01 1.84381100e-02 2.03247059e+02] [-1.65283813e-01 9.86241465e-01 -3.00562277e-03 -2.66340355e+01] [-1.86812914e-02 -8.37693703e-05 9.99825486e-01 -4.07067283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26401273899998 meters 0.021778483281409498 Centerline is valid? [True, True] Translation: X:203.30, Y:-26.65, Z:-4.07 [[ 9.87505815e-01 1.56516290e-01 1.83007223e-02 2.03303511e+02] [-1.56487890e-01 9.87675374e-01 -2.98259575e-03 -2.66549282e+01] [-1.85419976e-02 8.14892222e-05 9.99828079e-01 -4.07218599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32401273899998 meters 0.028454431630216194 Centerline is valid? [True, True] Translation: X:203.36, Y:-26.69, Z:-4.08 [[ 9.89449143e-01 1.43867593e-01 1.71028713e-02 2.03359563e+02] [-1.43840912e-01 9.89596901e-01 -2.78651799e-03 -2.66855810e+01] [-1.73258381e-02 2.97025237e-04 9.99849852e-01 -4.07511920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38401273899999 meters 0.03296340549952971 Centerline is valid? [True, True] Translation: X:203.42, Y:-26.71, Z:-4.08 [[ 9.90172129e-01 1.38848049e-01 1.67443547e-02 2.03415943e+02] [-1.38821761e-01 9.90313626e-01 -2.72781920e-03 -2.67061983e+01] [-1.69609150e-02 3.76529732e-04 9.99856082e-01 -4.07596648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444012739 meters 0.03290388600432009 Centerline is valid? [True, True] Translation: X:203.47, Y:-26.72, Z:-4.08 [[ 9.90259495e-01 1.38132084e-01 1.74831610e-02 2.03474414e+02] [-1.38103308e-01 9.90413733e-01 -2.84847466e-03 -2.67208864e+01] [-1.77090284e-02 4.06246711e-04 9.99843100e-01 -4.07643470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504012739 meters 0.03184225252969058 Centerline is valid? [True, True] Translation: X:203.53, Y:-26.74, Z:-4.07 [[ 9.89862897e-01 1.40570764e-01 2.02806706e-02 2.03531899e+02] [-1.40532553e-01 9.90070545e-01 -3.30426279e-03 -2.67375585e+01] [-2.05437773e-02 4.20672715e-04 9.99788866e-01 -4.07280292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564012739 meters 0.027135470829021315 Centerline is valid? [True, True] Translation: X:203.59, Y:-26.74, Z:-4.08 [[ 9.89387573e-01 1.44102457e-01 1.86202076e-02 2.03592833e+02] [-1.44070877e-01 9.89562722e-01 -3.03346989e-03 -2.67447417e+01] [-1.88629938e-02 3.18647777e-04 9.99822027e-01 -4.07785599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624012739 meters 0.02519597957685387 Centerline is valid? [True, True] Translation: X:203.65, Y:-26.75, Z:-4.08 [[ 9.88626961e-01 1.49400039e-01 1.72151287e-02 2.03652180e+02] [-1.49373840e-01 9.88776814e-01 -2.80503641e-03 -2.67535452e+01] [-1.74409926e-02 2.01644750e-04 9.99847874e-01 -4.08095516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68401273899997 meters 0.023064107060920398 Centerline is valid? [True, True] Translation: X:203.71, Y:-26.76, Z:-4.08 [[ 9.88090184e-01 1.52771737e-01 1.84006795e-02 2.03711928e+02] [-1.52742389e-01 9.88261490e-01 -2.99823186e-03 -2.67605465e+01] [-1.86427280e-02 1.51959723e-04 9.99826198e-01 -4.08054284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74401273899997 meters 0.02240464912883966 Centerline is valid? [True, True] Translation: X:203.77, Y:-26.77, Z:-4.08 [[ 9.87834670e-01 1.54341611e-01 1.90087501e-02 2.03770201e+02] [-1.54310585e-01 9.88017536e-01 -3.09708964e-03 -2.67722863e+01] [-1.92589883e-02 1.26161163e-04 9.99814521e-01 -4.08074682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80401273899997 meters 0.02177368282997092 Centerline is valid? [True, True] Translation: X:203.83, Y:-26.78, Z:-4.09 [[ 9.87316064e-01 1.57849872e-01 1.70413739e-02 2.03829936e+02] [-1.57825466e-01 9.87463121e-01 -2.77618220e-03 -2.67786860e+01] [-1.72659483e-02 5.14065070e-05 9.99850931e-01 -4.08566757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86401273899997 meters 0.02153282736658766 Centerline is valid? [True, True] Translation: X:203.89, Y:-26.78, Z:-4.09 [[ 9.86594311e-01 1.62257567e-01 1.74397982e-02 2.03887856e+02] [-1.62232700e-01 9.86748439e-01 -2.84074407e-03 -2.67836374e+01] [-1.76696258e-02 -2.66436102e-05 9.99843880e-01 -4.08662240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92401273899998 meters 0.021598128408282014 Centerline is valid? [True, True] Translation: X:203.94, Y:-26.80, Z:-4.09 [[ 9.86531554e-01 1.62614664e-01 1.76624824e-02 2.03944808e+02] [-1.62589235e-01 9.86689652e-01 -2.87590048e-03 -2.67953565e+01] [-1.78950522e-02 -3.45629471e-05 9.99839870e-01 -4.08794557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98401273899998 meters 0.021440914505618237 Centerline is valid? [True, True] Translation: X:204.00, Y:-26.82, Z:-4.09 [[ 9.86919835e-01 1.60063759e-01 1.92050124e-02 2.04002327e+02] [-1.60033236e-01 9.87106678e-01 -3.12578880e-03 -2.68151139e+01] [-1.94577215e-02 1.14626793e-05 9.99810681e-01 -4.08552769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04401273899998 meters 0.02147127993622676 Centerline is valid? [True, True] Translation: X:204.06, Y:-26.82, Z:-4.08 [[ 9.86292846e-01 1.63650592e-01 2.10928088e-02 2.04061019e+02] [-1.63614604e-01 9.86518362e-01 -3.43245694e-03 -2.68207071e+01] [-2.13701668e-02 -6.56838372e-05 9.99771630e-01 -4.08201659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10401273899998 meters 0.02560645523635877 Centerline is valid? [True, True] Translation: X:204.12, Y:-26.82, Z:-4.09 [[ 9.84873977e-01 1.72278244e-01 1.85325569e-02 2.04120664e+02] [-1.72252000e-01 9.85048302e-01 -3.01521537e-03 -2.68160964e+01] [-1.87749198e-02 -2.22662838e-04 9.99823711e-01 -4.08846704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164012739 meters 0.028476382785071256 Centerline is valid? [True, True] Translation: X:204.18, Y:-26.82, Z:-4.09 [[ 9.84055348e-01 1.77110900e-01 1.63340681e-02 2.04180634e+02] [-1.77091185e-01 9.84190862e-01 -2.65711367e-03 -2.68192026e+01] [-1.65464443e-02 -2.77872552e-04 9.99863060e-01 -4.09385309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224012739 meters 0.030201165249315477 Centerline is valid? [True, True] Translation: X:204.24, Y:-26.82, Z:-4.09 [[ 9.83411361e-01 1.80570061e-01 1.72205741e-02 2.04240947e+02] [-1.80548686e-01 9.83562061e-01 -2.80086996e-03 -2.68211016e+01] [-1.74432566e-02 -3.54744690e-04 9.99847792e-01 -4.09301759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284012739 meters 0.034112607609243326 Centerline is valid? [True, True] Translation: X:204.30, Y:-26.82, Z:-4.09 [[ 9.83087391e-01 1.82155398e-01 1.89365354e-02 2.04300326e+02] [-1.82129853e-01 9.83269665e-01 -3.07948028e-03 -2.68172308e+01] [-1.91806648e-02 -4.21510178e-04 9.99815945e-01 -4.09022109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344012739 meters 0.03629715976879415 Centerline is valid? [True, True] Translation: X:204.36, Y:-26.82, Z:-4.09 [[ 9.82503411e-01 1.85327995e-01 1.84548511e-02 2.04360374e+02] [-1.85304314e-01 9.82676606e-01 -2.99997848e-03 -2.68161371e+01] [-1.86911304e-02 -4.72274431e-04 9.99825194e-01 -4.09202923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404012739 meters 0.037889543246872034 Centerline is valid? [True, True] Translation: X:204.42, Y:-26.81, Z:-4.10 [[ 9.82245415e-01 1.86737942e-01 1.79690090e-02 2.04420087e+02] [-1.86715738e-01 9.82409642e-01 -2.92040063e-03 -2.68142781e+01] [-1.81982773e-02 -4.86546639e-04 9.99834279e-01 -4.09541302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46401273899997 meters 0.03260806873359599 Centerline is valid? [True, True] Translation: X:204.48, Y:-26.82, Z:-4.09 [[ 9.82818050e-01 1.83527165e-01 1.96586087e-02 2.04479448e+02] [-1.83499968e-01 9.83014527e-01 -3.19395606e-03 -2.68240130e+01] [-1.99108757e-02 -4.68276396e-04 9.99801649e-01 -4.09157337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52401273899997 meters 0.03286397922441997 Centerline is valid? [True, True] Translation: X:204.54, Y:-26.83, Z:-4.09 [[ 9.83298153e-01 1.80840493e-01 2.05294514e-02 2.04537685e+02] [-1.80810253e-01 9.83512343e-01 -3.33515680e-03 -2.68256981e+01] [-2.07941003e-02 -4.32481779e-04 9.99783686e-01 -4.09056300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58401273899997 meters 0.03017666158935466 Centerline is valid? [True, True] Translation: X:204.60, Y:-26.83, Z:-4.09 [[ 9.83780400e-01 1.78252411e-01 2.00549664e-02 2.04596207e+02] [-1.78223040e-01 9.83984726e-01 -3.25685164e-03 -2.68309871e+01] [-2.03143223e-02 -3.70230284e-04 9.99793574e-01 -4.09224781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64401273899998 meters 0.026770870463613188 Centerline is valid? [True, True] Translation: X:204.66, Y:-26.83, Z:-4.09 [[ 9.84550962e-01 1.74029296e-01 1.93185859e-02 2.04656056e+02] [-1.74001246e-01 9.84740438e-01 -3.13636364e-03 -2.68327064e+01] [-1.95696119e-02 -2.73548193e-04 9.99808459e-01 -4.09455250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70401273899998 meters 0.02306806045176709 Centerline is valid? [True, True] Translation: X:204.71, Y:-26.84, Z:-4.10 [[ 9.85694118e-01 1.67513318e-01 1.86116749e-02 2.04714496e+02] [-1.67486132e-01 9.85869803e-01 -3.02101595e-03 -2.68433194e+01] [-1.88547486e-02 -1.39399788e-04 9.99822224e-01 -4.09766578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76401273899998 meters 0.022176185828151253 Centerline is valid? [True, True] Translation: X:204.77, Y:-26.87, Z:-4.10 [[ 9.87672495e-01 1.55513382e-01 1.78502252e-02 2.04770651e+02] [-1.55486438e-01 9.87833782e-01 -2.89601003e-03 -2.68655796e+01] [-1.80834238e-02 8.48415273e-05 9.99836478e-01 -4.10035522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82401273899998 meters 0.02670416156779768 Centerline is valid? [True, True] Translation: X:204.83, Y:-26.89, Z:-4.10 [[ 9.89211369e-01 1.45304885e-01 1.86375295e-02 2.04827112e+02] [-1.45273715e-01 9.89386886e-01 -3.02278253e-03 -2.68884563e+01] [-1.88789524e-02 2.82627696e-04 9.99821737e-01 -4.10034378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88401273899999 meters 0.028454223029770555 Centerline is valid? [True, True] Translation: X:204.88, Y:-26.90, Z:-4.10 [[ 9.89514631e-01 1.43170805e-01 1.90503486e-02 2.04883212e+02] [-1.43137856e-01 9.89697940e-01 -3.08904957e-03 -2.69041886e+01] [-1.92963524e-02 3.29833692e-04 9.99813754e-01 -4.10044040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944012739 meters 0.02831213250199447 Centerline is valid? [True, True] Translation: X:204.94, Y:-26.91, Z:-4.10 [[ 9.89458350e-01 1.43772867e-01 1.73647951e-02 2.04940755e+02] [-1.43745601e-01 9.89610671e-01 -2.81476649e-03 -2.69140227e+01] [-1.75890735e-02 2.88981300e-04 9.99845259e-01 -4.10383306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004012739 meters 0.028582080283374726 Centerline is valid? [True, True] Translation: X:205.00, Y:-26.93, Z:-4.10 [[ 9.89492201e-01 1.43498355e-01 1.77033018e-02 2.04998739e+02] [-1.43469987e-01 9.89650511e-01 -2.86878171e-03 -2.69255633e+01] [-1.79317471e-02 2.98744661e-04 9.99839169e-01 -4.10498526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064012739 meters 0.02701156969667407 Centerline is valid? [True, True] Translation: X:205.06, Y:-26.94, Z:-4.10 [[ 9.89092256e-01 1.45743008e-01 2.13420693e-02 2.05055698e+02] [-1.45702326e-01 9.89322435e-01 -3.45722656e-03 -2.69355568e+01] [-2.16180546e-02 3.09926867e-04 9.99766255e-01 -4.09833340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124012739 meters 0.02392533052542319 Centerline is valid? [True, True] Translation: X:205.11, Y:-26.94, Z:-4.10 [[ 9.88389737e-01 1.50646394e-01 1.97836292e-02 2.05114905e+02] [-1.50612440e-01 9.88587694e-01 -3.20372597e-03 -2.69378012e+01] [-2.00404821e-02 1.86869209e-04 9.99799152e-01 -4.10300739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18401273899997 meters 0.022471278457535153 Centerline is valid? [True, True] Translation: X:205.17, Y:-26.94, Z:-4.10 [[ 9.87921089e-01 1.53567385e-01 2.07118435e-02 2.05172200e+02] [-1.53530833e-01 9.88138169e-01 -3.35304163e-03 -2.69442876e+01] [-2.09810810e-02 1.32633962e-04 9.99779864e-01 -4.10298184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24401273899997 meters 0.022629946658608884 Centerline is valid? [True, True] Translation: X:205.23, Y:-26.96, Z:-4.10 [[ 9.87960985e-01 1.53297072e-01 2.08110529e-02 2.05229449e+02] [-1.53260134e-01 9.88180140e-01 -3.36791978e-03 -2.69556304e+01] [-2.10813614e-02 1.37868589e-04 9.99777754e-01 -4.10402271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30401273899997 meters 0.02383482164783962 Centerline is valid? [True, True] Translation: X:205.29, Y:-26.97, Z:-4.11 [[ 9.88324707e-01 1.51094506e-01 1.96143912e-02 2.05286635e+02] [-1.51061277e-01 9.88519307e-01 -3.17342751e-03 -2.69715768e+01] [-1.98686919e-02 1.73401832e-04 9.99802583e-01 -4.10856785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36401273899997 meters 0.02753846187239523 Centerline is valid? [True, True] Translation: X:205.34, Y:-26.99, Z:-4.11 [[ 9.89073589e-01 1.46164724e-01 1.92174324e-02 2.05342380e+02] [-1.46131911e-01 9.89260230e-01 -3.10834017e-03 -2.69922200e+01] [-1.94653713e-02 2.66097035e-04 9.99810496e-01 -4.10997826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42401273899998 meters 0.02665311705189987 Centerline is valid? [True, True] Translation: X:205.40, Y:-27.00, Z:-4.11 [[ 9.88893992e-01 1.47455846e-01 1.85861755e-02 2.05400896e+02] [-1.47425390e-01 9.89068612e-01 -3.00581020e-03 -2.70011226e+01] [-1.88262271e-02 2.32353478e-04 9.99822744e-01 -4.11261972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48401273899998 meters 0.022569352377162705 Centerline is valid? [True, True] Translation: X:205.46, Y:-27.00, Z:-4.12 [[ 9.87904646e-01 1.54180371e-01 1.65173875e-02 2.05461742e+02] [-1.54157268e-01 9.88042714e-01 -2.67057180e-03 -2.69962726e+01] [-1.67316341e-02 9.19949608e-05 9.99860012e-01 -4.11710450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54401273899998 meters 0.021505120381905104 Centerline is valid? [True, True] Translation: X:205.52, Y:-27.00, Z:-4.12 [[ 9.87271924e-01 1.57983060e-01 1.83166951e-02 2.05520172e+02] [-1.57955315e-01 9.87441822e-01 -2.96085670e-03 -2.69973143e+01] [-1.85544360e-02 2.99513523e-05 9.99827851e-01 -4.11798904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60401273899998 meters 0.022135485568765448 Centerline is valid? [True, True] Translation: X:205.58, Y:-27.01, Z:-4.12 [[ 9.87693483e-01 1.55602328e-01 1.57955589e-02 2.05578420e+02] [-1.55581403e-01 9.87819777e-01 -2.55257650e-03 -2.70077751e+01] [-1.60003523e-02 6.36679739e-05 9.99871984e-01 -4.12340192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664012739 meters 0.024031733026058374 Centerline is valid? [True, True] Translation: X:205.63, Y:-27.02, Z:-4.12 [[ 9.88263097e-01 1.51865628e-01 1.65191694e-02 2.05634340e+02] [-1.51842232e-01 9.88401140e-01 -2.66879721e-03 -2.70222047e+01] [-1.67328645e-02 1.29166244e-04 9.99859987e-01 -4.12445202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724012739 meters 0.024702861109105915 Centerline is valid? [True, True] Translation: X:205.69, Y:-27.03, Z:-4.12 [[ 9.88672922e-01 1.48882527e-01 1.89695922e-02 2.05692455e+02] [-1.48851154e-01 9.88854869e-01 -3.06311088e-03 -2.70311611e+01] [-1.92142173e-02 2.04769088e-04 9.99815369e-01 -4.11908819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784012739 meters 0.02629301030250265 Centerline is valid? [True, True] Translation: X:205.75, Y:-27.05, Z:-4.12 [[ 9.89036015e-01 1.46403697e-01 1.93318044e-02 2.05749543e+02] [-1.46370659e-01 9.89224894e-01 -3.12067593e-03 -2.70456999e+01] [-1.95803806e-02 2.56851937e-04 9.99808253e-01 -4.11968471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844012739 meters 0.02706469557066862 Centerline is valid? [True, True] Translation: X:205.81, Y:-27.05, Z:-4.12 [[ 9.89247256e-01 1.44702400e-01 2.12387082e-02 2.05807305e+02] [-1.44662153e-01 9.89475171e-01 -3.42741063e-03 -2.70546872e+01] [-2.15111290e-02 3.18119301e-04 9.99768558e-01 -4.11692419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904012739 meters 0.02640763982877064 Centerline is valid? [True, True] Translation: X:205.87, Y:-27.06, Z:-4.12 [[ 9.88923391e-01 1.46693186e-01 2.26193501e-02 2.05865226e+02] [-1.46648088e-01 9.89181998e-01 -3.64884125e-03 -2.70617397e+01] [-2.29099140e-02 2.91340028e-04 9.99737491e-01 -4.11588911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96401273899997 meters 0.026406266029879104 Centerline is valid? [True, True] Translation: X:205.92, Y:-27.07, Z:-4.13 [[ 9.89077049e-01 1.46318585e-01 1.78174747e-02 2.05922642e+02] [-1.46290554e-01 9.89237492e-01 -2.87360162e-03 -2.70716742e+01] [-1.80461753e-02 2.35685175e-04 9.99837127e-01 -4.12652936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02401273899997 meters 0.025742304700250747 Centerline is valid? [True, True] Translation: X:205.98, Y:-27.08, Z:-4.13 [[ 9.89082035e-01 1.46171357e-01 1.87259804e-02 2.05981402e+02] [-1.46140385e-01 9.89259254e-01 -3.01921331e-03 -2.70776719e+01] [-1.89661719e-02 2.49627660e-04 9.99820095e-01 -4.12590092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08401273899997 meters 0.0253967863296811 Centerline is valid? [True, True] Translation: X:206.04, Y:-27.08, Z:-4.12 [[ 9.88830408e-01 1.47424911e-01 2.19161786e-02 2.06039884e+02] [-1.47382822e-01 9.89073216e-01 -3.53232840e-03 -2.70805913e+01] [-2.21974585e-02 2.62805491e-04 9.99753572e-01 -4.12189030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14401273899998 meters 0.026843446687734734 Centerline is valid? [True, True] Translation: X:206.10, Y:-27.09, Z:-4.13 [[ 9.89072389e-01 1.46319031e-01 1.80706847e-02 2.06096716e+02] [-1.46290249e-01 9.89237426e-01 -2.91165967e-03 -2.70915214e+01] [-1.83022289e-02 2.36277215e-04 9.99832472e-01 -4.13052605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20401273899998 meters 0.031371062075920685 Centerline is valid? [True, True] Translation: X:206.15, Y:-27.11, Z:-4.13 [[ 9.90028572e-01 1.39375740e-01 2.04408785e-02 2.06154573e+02] [-1.39337458e-01 9.90239483e-01 -3.29223390e-03 -2.71103686e+01] [-2.07002225e-02 4.11225573e-04 9.99785643e-01 -4.12668149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26401273899998 meters 0.04094933216188667 Centerline is valid? [True, True] Translation: X:206.21, Y:-27.14, Z:-4.13 [[ 9.91375433e-01 1.29298873e-01 2.13670668e-02 2.06210954e+02] [-1.29254706e-01 9.91605455e-01 -3.44119123e-03 -2.71410732e+01] [-2.16326422e-02 6.49718518e-04 9.99765776e-01 -4.12674012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32401273899998 meters 0.046419394174571325 Centerline is valid? [True, True] Translation: X:206.27, Y:-27.16, Z:-4.13 [[ 9.92080270e-01 1.24041768e-01 1.97579821e-02 2.06268207e+02] [-1.24002951e-01 9.92276745e-01 -3.18253843e-03 -2.71640207e+01] [-2.00001539e-02 7.07285484e-04 9.99799727e-01 -4.12996473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38401273899999 meters 0.04873413540152215 Centerline is valid? [True, True] Translation: X:206.33, Y:-27.19, Z:-4.13 [[ 9.92177734e-01 1.23310733e-01 1.94372428e-02 2.06326341e+02] [-1.23273027e-01 9.92367854e-01 -3.13085716e-03 -2.71858424e+01] [-1.96749632e-02 7.10279014e-04 9.99806177e-01 -4.13162670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444012739 meters 0.0398485499681357 Centerline is valid? [True, True] Translation: X:206.39, Y:-27.19, Z:-4.13 [[ 9.91448419e-01 1.28865810e-01 2.05824197e-02 2.06387167e+02] [-1.28824686e-01 9.91661836e-01 -3.31710583e-03 -2.71920343e+01] [-2.08382616e-02 6.37215567e-04 9.99782657e-01 -4.13083078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504012739 meters 0.033626611746385836 Centerline is valid? [True, True] Translation: X:206.45, Y:-27.20, Z:-4.13 [[ 9.90515928e-01 1.35804101e-01 2.08672516e-02 2.06447256e+02] [-1.35763369e-01 9.90735584e-01 -3.36298327e-03 -2.72021193e+01] [-2.11306357e-02 4.98080113e-04 9.99776599e-01 -4.13210625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564012739 meters 0.028746144105735304 Centerline is valid? [True, True] Translation: X:206.51, Y:-27.21, Z:-4.14 [[ 9.89780265e-01 1.41286421e-01 1.93177136e-02 2.06506717e+02] [-1.41252556e-01 9.89968698e-01 -3.11327777e-03 -2.72127654e+01] [-1.95637956e-02 3.52784484e-04 9.99808548e-01 -4.13796463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624012739 meters 0.028199946181876843 Centerline is valid? [True, True] Translation: X:206.56, Y:-27.24, Z:-4.14 [[ 9.89469566e-01 1.43715911e-01 1.71963668e-02 2.06564667e+02] [-1.43689451e-01 9.89618949e-01 -2.77092225e-03 -2.72362733e+01] [-1.74160760e-02 2.70806731e-04 9.99848292e-01 -4.14432066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68401273899997 meters 0.02521528510301991 Centerline is valid? [True, True] Translation: X:206.62, Y:-27.25, Z:-4.14 [[ 9.88874498e-01 1.47730794e-01 1.74022720e-02 2.06624504e+02] [-1.47704261e-01 9.89027588e-01 -2.80733785e-03 -2.72455847e+01] [-1.76260573e-02 2.05715079e-04 9.99844628e-01 -4.14398884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74401273899997 meters 0.022015907560066245 Centerline is valid? [True, True] Translation: X:206.68, Y:-27.24, Z:-4.14 [[ 9.87010755e-01 1.59621083e-01 1.81901103e-02 2.06684013e+02] [-1.59594106e-01 9.87178358e-01 -2.93450568e-03 -2.72449806e+01] [-1.84252922e-02 -6.64573309e-06 9.99830240e-01 -4.14369923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80401273899997 meters 0.027231456984828768 Centerline is valid? [True, True] Translation: X:206.75, Y:-27.23, Z:-4.14 [[ 9.84789393e-01 1.72714022e-01 1.89662513e-02 2.06746356e+02] [-1.72687131e-01 9.84971978e-01 -3.05897332e-03 -2.72340481e+01] [-1.92095537e-02 -2.62783048e-04 9.99815445e-01 -4.14310802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86401273899997 meters 0.03561829791600858 Centerline is valid? [True, True] Translation: X:206.81, Y:-27.23, Z:-4.14 [[ 9.82753362e-01 1.83776232e-01 2.05456961e-02 2.06808330e+02] [-1.83747097e-01 9.82967968e-01 -3.31319136e-03 -2.72273697e+01] [-2.08046470e-02 -5.19162073e-04 9.99783425e-01 -4.14115427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92401273899998 meters 0.04308193866022716 Centerline is valid? [True, True] Translation: X:206.87, Y:-27.21, Z:-4.14 [[ 9.81291298e-01 1.91284865e-01 2.18515102e-02 2.06871857e+02] [-1.91253766e-01 9.81534299e-01 -3.52374287e-03 -2.72148962e+01] [-2.21220454e-02 -7.21365398e-04 9.99755017e-01 -4.14010347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98401273899998 meters 0.0460163706345523 Centerline is valid? [True, True] Translation: X:206.93, Y:-27.21, Z:-4.14 [[ 9.80744074e-01 1.94031753e-01 2.21977679e-02 2.06932795e+02] [-1.94000364e-01 9.80994926e-01 -3.57954100e-03 -2.72116301e+01] [-2.24704423e-02 -7.95761437e-04 9.99747191e-01 -4.14088624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04401273899998 meters 0.04780112240461503 Centerline is valid? [True, True] Translation: X:206.99, Y:-27.20, Z:-4.15 [[ 9.80624553e-01 1.94829506e-01 2.04193286e-02 2.06993276e+02] [-1.94803128e-01 9.80836838e-01 -3.29229935e-03 -2.71984254e+01] [-2.06694668e-02 -7.49239500e-04 9.99786083e-01 -4.14560210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10401273899998 meters 0.0441967201702882 Centerline is valid? [True, True] Translation: X:207.05, Y:-27.20, Z:-4.15 [[ 9.81446994e-01 1.90506093e-01 2.16616215e-02 2.07053900e+02] [-1.90475383e-01 9.81685764e-01 -3.49131151e-03 -2.71977427e+01] [-2.19300216e-02 -6.99468470e-04 9.99759263e-01 -4.14538740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164012739 meters 0.038728104164260826 Centerline is valid? [True, True] Translation: X:207.11, Y:-27.20, Z:-4.14 [[ 9.82657645e-01 1.84067365e-01 2.24311809e-02 2.07113929e+02] [-1.84032766e-01 9.82913462e-01 -3.61490272e-03 -2.71961069e+01] [-2.27132953e-02 -5.75860480e-04 9.99741854e-01 -4.14464479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224012739 meters 0.036713268847519014 Centerline is valid? [True, True] Translation: X:207.17, Y:-27.20, Z:-4.15 [[ 9.83067491e-01 1.81940586e-01 2.18158305e-02 2.07171974e+02] [-1.81907344e-01 9.83309392e-01 -3.51536270e-03 -2.72031203e+01] [-2.20912981e-02 -5.12620990e-04 9.99755826e-01 -4.14705150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284012739 meters 0.029352032735200685 Centerline is valid? [True, True] Translation: X:207.23, Y:-27.21, Z:-4.15 [[ 9.84498425e-01 1.74219057e-01 2.02625755e-02 2.07231572e+02] [-1.74188761e-01 9.84706870e-01 -3.26420756e-03 -2.72114505e+01] [-2.05213845e-02 -3.15905736e-04 9.99789364e-01 -4.15152755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344012739 meters 0.02215305911287675 Centerline is valid? [True, True] Translation: X:207.29, Y:-27.23, Z:-4.15 [[ 9.86611903e-01 1.61738653e-01 2.09179819e-02 2.07289029e+02] [-1.61703560e-01 9.86833626e-01 -3.36955884e-03 -2.72335971e+01] [-2.11875558e-02 -5.80652776e-05 9.99775517e-01 -4.15168922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404012739 meters 0.022997134185189578 Centerline is valid? [True, True] Translation: X:207.35, Y:-27.25, Z:-4.15 [[ 9.88119577e-01 1.52316848e-01 2.04763011e-02 2.07345613e+02] [-1.52281200e-01 9.88331704e-01 -3.29817404e-03 -2.72509304e+01] [-2.07397451e-02 1.40834620e-04 9.99784898e-01 -4.15443618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46401273899997 meters 0.024043493590744383 Centerline is valid? [True, True] Translation: X:207.40, Y:-27.26, Z:-4.15 [[ 9.88457442e-01 1.49993084e-01 2.13063286e-02 2.07403455e+02] [-1.49953971e-01 9.88687026e-01 -3.43076834e-03 -2.72565518e+01] [-2.15798822e-02 1.96199910e-04 9.99767108e-01 -4.15275047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52401273899997 meters 0.023351087467205114 Centerline is valid? [True, True] Translation: X:207.46, Y:-27.26, Z:-4.15 [[ 9.88003502e-01 1.52956035e-01 2.12962891e-02 2.07461920e+02] [-1.52917676e-01 9.88232986e-01 -3.42783969e-03 -2.72581674e+01] [-2.15700041e-02 1.30138596e-04 9.99767332e-01 -4.15388923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58401273899997 meters 0.022572582685488164 Centerline is valid? [True, True] Translation: X:207.52, Y:-27.26, Z:-4.16 [[ 9.87868895e-01 1.53985068e-01 2.00909100e-02 2.07521755e+02] [-1.53951174e-01 9.88073170e-01 -3.23221496e-03 -2.72589822e+01] [-2.03490019e-02 9.99854475e-05 9.99792933e-01 -4.15828984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64401273899998 meters 0.023078907071091313 Centerline is valid? [True, True] Translation: X:207.58, Y:-27.27, Z:-4.16 [[ 9.88107387e-01 1.52321581e-01 2.10220622e-02 2.07579019e+02] [-1.52284120e-01 9.88330975e-01 -3.38087760e-03 -2.72659748e+01] [-2.12917359e-02 1.39343887e-04 9.99773296e-01 -4.15749420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70401273899998 meters 0.025479788667650365 Centerline is valid? [True, True] Translation: X:207.63, Y:-27.28, Z:-4.16 [[ 9.88765594e-01 1.47922413e-01 2.14839231e-02 2.07634833e+02] [-1.47882292e-01 9.88998940e-01 -3.45315852e-03 -2.72802308e+01] [-2.17583767e-02 2.37272547e-04 9.99763230e-01 -4.15883620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76401273899998 meters 0.0292333930738388 Centerline is valid? [True, True] Translation: X:207.69, Y:-27.30, Z:-4.16 [[ 9.89728664e-01 1.41245539e-01 2.20651046e-02 2.07691596e+02] [-1.41201599e-01 9.89974517e-01 -3.54473296e-03 -2.73001539e+01] [-2.23445690e-02 3.92695779e-04 9.99750252e-01 -4.15993138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82401273899998 meters 0.03421410427053445 Centerline is valid? [True, True] Translation: X:207.75, Y:-27.32, Z:-4.16 [[ 9.90532627e-01 1.35714704e-01 2.06551438e-02 2.07748418e+02] [-1.35675012e-01 9.90747841e-01 -3.31754192e-03 -2.73221194e+01] [-2.09142784e-02 4.83746632e-04 9.99781156e-01 -4.16324621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88401273899999 meters 0.03947468734353146 Centerline is valid? [True, True] Translation: X:207.81, Y:-27.35, Z:-4.16 [[ 9.91651997e-01 1.27163864e-01 2.13463940e-02 2.07805673e+02] [-1.27119494e-01 9.91881485e-01 -3.42832263e-03 -2.73485949e+01] [-2.16090518e-02 6.86160182e-04 9.99766262e-01 -4.16362817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944012739 meters 0.04521817564620679 Centerline is valid? [True, True] Translation: X:207.86, Y:-27.38, Z:-4.17 [[ 9.92366133e-01 1.21723052e-01 1.98231357e-02 2.07861319e+02] [-1.21683705e-01 9.92563822e-01 -3.18368475e-03 -2.73786208e+01] [-2.00632551e-02 7.47228333e-04 9.99798433e-01 -4.16682378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004012739 meters 0.04934212108035291 Centerline is valid? [True, True] Translation: X:207.92, Y:-27.41, Z:-4.17 [[ 9.92949064e-01 1.17213389e-01 1.76968220e-02 2.07917851e+02] [-1.17181311e-01 9.93106470e-01 -2.84244846e-03 -2.74107071e+01] [-1.79080015e-02 7.48669739e-04 9.99839359e-01 -4.17186891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064012739 meters 0.052734384638771246 Centerline is valid? [True, True] Translation: X:207.97, Y:-27.44, Z:-4.17 [[ 9.93071821e-01 1.15654019e-01 2.07967901e-02 2.07974868e+02] [-1.15609371e-01 9.93289139e-01 -3.34050374e-03 -2.74438955e+01] [-2.10435685e-02 9.13056304e-04 9.99778143e-01 -4.16771755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124012739 meters 0.05036323107198705 Centerline is valid? [True, True] Translation: X:208.04, Y:-27.46, Z:-4.17 [[ 9.93046582e-01 1.15994894e-01 2.00915692e-02 2.08035024e+02] [-1.15953234e-01 9.93249422e-01 -3.23018267e-03 -2.74619008e+01] [-2.03306242e-02 8.78039443e-04 9.99792926e-01 -4.16972130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18401273899997 meters 0.055403202210263264 Centerline is valid? [True, True] Translation: X:208.09, Y:-27.49, Z:-4.16 [[ 9.92884344e-01 1.17746512e-01 1.77886875e-02 2.08092408e+02] [-1.17714083e-01 9.93043402e-01 -2.86288169e-03 -2.74902575e+01] [-1.80020331e-02 7.48531368e-04 9.99837670e-01 -4.16184246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24401273899997 meters 0.05330305335880945 Centerline is valid? [True, True] Translation: X:208.15, Y:-27.52, Z:-4.17 [[ 9.92706425e-01 1.18923576e-01 1.97771623e-02 2.08149657e+02] [-1.18883714e-01 9.92903081e-01 -3.18337457e-03 -2.75200826e+01] [-2.00153837e-02 8.08973876e-04 9.99799345e-01 -4.17402533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30401273899997 meters 0.04835938435620754 Centerline is valid? [True, True] Translation: X:208.21, Y:-27.54, Z:-4.17 [[ 9.92355661e-01 1.21822835e-01 1.97341931e-02 2.08207645e+02] [-1.21783657e-01 9.92551576e-01 -3.17949920e-03 -2.75391873e+01] [-1.99745401e-02 7.51891814e-04 9.99800206e-01 -4.17490528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36401273899997 meters 0.04155338019545723 Centerline is valid? [True, True] Translation: X:208.27, Y:-27.55, Z:-4.17 [[ 9.91695539e-01 1.26617605e-01 2.25375342e-02 2.08266663e+02] [-1.26567739e-01 9.91951320e-01 -3.63117495e-03 -2.75546789e+01] [-2.28159075e-02 7.48495239e-04 9.99739403e-01 -4.17138191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42401273899998 meters 0.037035975192474445 Centerline is valid? [True, True] Translation: X:208.33, Y:-27.57, Z:-4.17 [[ 9.90987673e-01 1.31989482e-01 2.28518940e-02 2.08326076e+02] [-1.31939639e-01 9.91250914e-01 -3.68195288e-03 -2.75664051e+01] [-2.31379399e-02 6.33699287e-04 9.99732081e-01 -4.17244292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48401273899998 meters 0.028573190502201494 Centerline is valid? [True, True] Translation: X:208.39, Y:-27.57, Z:-4.18 [[ 9.89407504e-01 1.43888898e-01 1.92035675e-02 2.08385539e+02] [-1.43855934e-01 9.89593803e-01 -3.09429634e-03 -2.75688238e+01] [-1.94489663e-02 2.98972880e-04 9.99810806e-01 -4.18010861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54401273899998 meters 0.023805532701481537 Centerline is valid? [True, True] Translation: X:208.45, Y:-27.57, Z:-4.18 [[ 9.88071823e-01 1.52978617e-01 1.76526026e-02 2.08447364e+02] [-1.52952217e-01 9.88229493e-01 -2.84408717e-03 -2.75714130e+01] [-1.78799071e-02 1.10157688e-04 9.99840136e-01 -4.18319756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60401273899998 meters 0.022612527493200182 Centerline is valid? [True, True] Translation: X:208.51, Y:-27.57, Z:-4.18 [[ 9.87063845e-01 1.59276908e-01 1.83257240e-02 2.08508412e+02] [-1.59249531e-01 9.87233947e-01 -2.95303623e-03 -2.75728542e+01] [-1.85621273e-02 -3.52765625e-06 9.99827709e-01 -4.18319795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664012739 meters 0.02310870539994219 Centerline is valid? [True, True] Translation: X:208.57, Y:-27.57, Z:-4.18 [[ 9.86407007e-01 1.63136964e-01 1.96862353e-02 2.08569041e+02] [-1.63106138e-01 9.86603428e-01 -3.17228334e-03 -2.75748923e+01] [-1.99400239e-02 -8.17832944e-05 9.99801175e-01 -4.18220782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724012739 meters 0.023478759031657206 Centerline is valid? [True, True] Translation: X:208.63, Y:-27.58, Z:-4.19 [[ 9.86343141e-01 1.63633688e-01 1.87409897e-02 2.08628008e+02] [-1.63605850e-01 9.86521165e-01 -3.01952445e-03 -2.75810521e+01] [-1.89824789e-02 -8.78483232e-05 9.99819813e-01 -4.18535927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784012739 meters 0.023210523645318025 Centerline is valid? [True, True] Translation: X:208.69, Y:-27.59, Z:-4.18 [[ 9.86272715e-01 1.63879332e-01 2.02409794e-02 2.08687537e+02] [-1.63846915e-01 9.86480387e-01 -3.26094477e-03 -2.75919846e+01] [-2.05017307e-02 -1.00241198e-04 9.99789812e-01 -4.18368691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844012739 meters 0.024681627858850225 Centerline is valid? [True, True] Translation: X:208.75, Y:-27.60, Z:-4.18 [[ 9.85656515e-01 1.67487441e-01 2.07169475e-02 2.08747423e+02] [-1.67454278e-01 9.85874193e-01 -3.33761346e-03 -2.75952750e+01] [-2.09833123e-02 -1.79401045e-04 9.99779810e-01 -4.18335427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904012739 meters 0.02831253027911168 Centerline is valid? [True, True] Translation: X:208.81, Y:-27.59, Z:-4.18 [[ 9.84851648e-01 1.72049074e-01 2.15950742e-02 2.08807094e+02] [-1.72014147e-01 9.85088338e-01 -3.47855751e-03 -2.75910626e+01] [-2.18715383e-02 -2.88795164e-04 9.99760748e-01 -4.18248384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96401273899997 meters 0.029852124083405086 Centerline is valid? [True, True] Translation: X:208.87, Y:-27.59, Z:-4.18 [[ 9.84609694e-01 1.73440755e-01 2.14954567e-02 2.08865131e+02] [-1.73406487e-01 9.84844253e-01 -3.46225088e-03 -2.75938285e+01] [-2.17701724e-02 -3.18485846e-04 9.99762951e-01 -4.18360386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02401273899997 meters 0.03128673388509457 Centerline is valid? [True, True] Translation: X:208.92, Y:-27.60, Z:-4.18 [[ 9.84371951e-01 1.74496297e-01 2.37256209e-02 2.08923657e+02] [-1.74454890e-01 9.84657757e-01 -3.82000945e-03 -2.75960582e+01] [-2.40281942e-02 -3.78740436e-04 9.99711210e-01 -4.18003924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08401273899997 meters 0.028488843869556087 Centerline is valid? [True, True] Translation: X:208.98, Y:-27.61, Z:-4.19 [[ 9.84497050e-01 1.74000531e-01 2.21217887e-02 2.08982554e+02] [-1.73964433e-01 9.84745499e-01 -3.56069430e-03 -2.76050860e+01] [-2.24038946e-02 -3.42911384e-04 9.99748942e-01 -4.18527671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14401273899998 meters 0.030145947789285685 Centerline is valid? [True, True] Translation: X:209.04, Y:-27.60, Z:-4.19 [[ 9.84688399e-01 1.73055851e-01 2.09863957e-02 2.09042033e+02] [-1.73023160e-01 9.84911965e-01 -3.37742916e-03 -2.76000396e+01] [-2.12542362e-02 -3.05417193e-04 9.99774057e-01 -4.18786745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20401273899998 meters 0.027824789171745346 Centerline is valid? [True, True] Translation: X:209.10, Y:-27.61, Z:-4.19 [[ 9.84956753e-01 1.71610031e-01 2.02532066e-02 2.09100297e+02] [-1.71579303e-01 9.85164924e-01 -3.25825388e-03 -2.76059389e+01] [-2.05118978e-02 -2.65791902e-04 9.99789574e-01 -4.19075512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26401273899998 meters 0.02359176863624246 Centerline is valid? [True, True] Translation: X:209.16, Y:-27.62, Z:-4.19 [[ 9.86273981e-01 1.63839301e-01 2.05016721e-02 2.09158133e+02] [-1.63806154e-01 9.86487036e-01 -3.29725984e-03 -2.76189638e+01] [-2.07648545e-02 -1.06298474e-04 9.99784382e-01 -4.19212144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32401273899998 meters 0.02535040797908582 Centerline is valid? [True, True] Translation: X:209.21, Y:-27.65, Z:-4.19 [[ 9.88469861e-01 1.49896575e-01 2.14091219e-02 2.09213786e+02] [-1.49857165e-01 9.88701663e-01 -3.44252227e-03 -2.76504107e+01] [-2.16832568e-02 1.94519187e-04 9.99764872e-01 -4.19103378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38401273899999 meters 0.029213100160568908 Centerline is valid? [True, True] Translation: X:209.27, Y:-27.67, Z:-4.19 [[ 9.89560700e-01 1.42363428e-01 2.24114858e-02 2.09272148e+02] [-1.42318278e-01 9.89814382e-01 -3.60501543e-03 -2.76701268e+01] [-2.26964334e-02 3.77817518e-04 9.99742331e-01 -4.19152082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444012739 meters 0.031337083874127925 Centerline is valid? [True, True] Translation: X:209.33, Y:-27.69, Z:-4.20 [[ 9.90138271e-01 1.38601993e-01 2.03885272e-02 2.09331552e+02] [-1.38563817e-01 9.90348075e-01 -3.28023093e-03 -2.76897743e+01] [-2.06463852e-02 4.22770033e-04 9.99786751e-01 -4.19621992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504012739 meters 0.03189342145150832 Centerline is valid? [True, True] Translation: X:209.39, Y:-27.71, Z:-4.19 [[ 9.90030436e-01 1.39122663e-01 2.20140991e-02 2.09391199e+02] [-1.39078199e-01 9.90275054e-01 -3.54558031e-03 -2.77107229e+01] [-2.22932838e-02 4.48551158e-04 9.99751373e-01 -4.19333417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564012739 meters 0.03150398099742526 Centerline is valid? [True, True] Translation: X:209.45, Y:-27.73, Z:-4.19 [[ 9.89994871e-01 1.39247173e-01 2.28118671e-02 2.09451872e+02] [-1.39199360e-01 9.90257546e-01 -3.67839341e-03 -2.77286687e+01] [-2.31018294e-02 4.66193301e-04 9.99733008e-01 -4.19485912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624012739 meters 0.03358421513422276 Centerline is valid? [True, True] Translation: X:209.51, Y:-27.75, Z:-4.20 [[ 9.90378027e-01 1.36536696e-01 2.25631057e-02 2.09510879e+02] [-1.36489126e-01 9.90634873e-01 -3.64228613e-03 -2.77511962e+01] [-2.28491051e-02 5.27621567e-04 9.99738786e-01 -4.19763809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68401273899997 meters 0.03496349527328799 Centerline is valid? [True, True] Translation: X:209.57, Y:-27.77, Z:-4.20 [[ 9.90629104e-01 1.35226767e-01 1.91755155e-02 2.09569717e+02] [-1.35192150e-01 9.90814562e-01 -3.09618443e-03 -2.77729891e+01] [-1.94180670e-02 4.74791229e-04 9.99811339e-01 -4.20258124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74401273899997 meters 0.03335193305872318 Centerline is valid? [True, True] Translation: X:209.63, Y:-27.79, Z:-4.20 [[ 9.90178856e-01 1.38099685e-01 2.17786773e-02 2.09628474e+02] [-1.38055678e-01 9.90418219e-01 -3.51861406e-03 -2.77902750e+01] [-2.20559183e-02 4.77387179e-04 9.99756625e-01 -4.19972020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80401273899997 meters 0.02850612420640887 Centerline is valid? [True, True] Translation: X:209.69, Y:-27.80, Z:-4.21 [[ 9.89460380e-01 1.43551998e-01 1.89994921e-02 2.09689070e+02] [-1.43519503e-01 9.89642727e-01 -3.07000185e-03 -2.77998830e+01] [-1.92434140e-02 3.10847530e-04 9.99814780e-01 -4.20537768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86401273899997 meters 0.02703886348775789 Centerline is valid? [True, True] Translation: X:209.75, Y:-27.81, Z:-4.21 [[ 9.88817384e-01 1.48120936e-01 1.73311440e-02 2.09749475e+02] [-1.48094599e-01 9.88969235e-01 -2.80039046e-03 -2.78111461e+01] [-1.75547647e-02 2.02425942e-04 9.99845883e-01 -4.21044127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92401273899998 meters 0.02377097166157126 Centerline is valid? [True, True] Translation: X:209.81, Y:-27.81, Z:-4.21 [[ 9.87724717e-01 1.55232702e-01 1.73980178e-02 2.09811165e+02] [-1.55207203e-01 9.87877929e-01 -2.81463674e-03 -2.78141990e+01] [-1.76240414e-02 7.97885899e-05 9.99844681e-01 -4.21083393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98401273899998 meters 0.023366821675979713 Centerline is valid? [True, True] Translation: X:209.87, Y:-27.81, Z:-4.21 [[ 9.86440008e-01 1.63065755e-01 1.85921868e-02 2.09873619e+02] [-1.63038020e-01 9.86615201e-01 -3.00807249e-03 -2.78147048e+01] [-1.88338477e-02 -6.39502768e-05 9.99822625e-01 -4.20971869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04401273899998 meters 0.024555330906168692 Centerline is valid? [True, True] Translation: X:209.94, Y:-27.82, Z:-4.21 [[ 9.85726973e-01 1.67261451e-01 1.91296195e-02 2.09935500e+02] [-1.67232812e-01 9.85912565e-01 -3.09851374e-03 -2.78185324e+01] [-1.93783941e-02 -1.44811484e-04 9.99812211e-01 -4.21012463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10401273899998 meters 0.027887870660861593 Centerline is valid? [True, True] Translation: X:210.00, Y:-27.81, Z:-4.21 [[ 9.84471379e-01 1.74524092e-01 1.89061945e-02 2.09997489e+02] [-1.74497446e-01 9.84652863e-01 -3.06280599e-03 -2.78148971e+01] [-1.91505720e-02 -2.83837818e-04 9.99816571e-01 -4.21171736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164012739 meters 0.036733062728823804 Centerline is valid? [True, True] Translation: X:210.06, Y:-27.80, Z:-4.21 [[ 9.83048106e-01 1.82325158e-01 1.93379825e-02 2.10059558e+02] [-1.82298786e-01 9.83238190e-01 -3.13277706e-03 -2.78013233e+01] [-1.95850270e-02 -4.45620169e-04 9.99808096e-01 -4.21094444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224012739 meters 0.041864967316337716 Centerline is valid? [True, True] Translation: X:210.12, Y:-27.79, Z:-4.21 [[ 9.82003655e-01 1.87721495e-01 2.07234731e-02 2.10121860e+02] [-1.87692420e-01 9.82222117e-01 -3.35668293e-03 -2.77949282e+01] [-2.09851752e-02 -5.93363929e-04 9.99779611e-01 -4.21069765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284012739 meters 0.04710024667734547 Centerline is valid? [True, True] Translation: X:210.18, Y:-27.79, Z:-4.22 [[ 9.81511780e-01 1.90585417e-01 1.76585729e-02 2.10182199e+02] [-1.90564771e-01 9.81670458e-01 -2.86017188e-03 -2.77882894e+01] [-1.78800064e-02 -5.57809510e-04 9.99839984e-01 -4.21827711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344012739 meters 0.04191977328021859 Centerline is valid? [True, True] Translation: X:210.24, Y:-27.79, Z:-4.22 [[ 9.81601153e-01 1.90134413e-01 1.75522395e-02 2.10240659e+02] [-1.90113957e-01 9.81757916e-01 -2.84209574e-03 -2.77945443e+01] [-1.77724303e-02 -5.47121257e-04 9.99841908e-01 -4.22011028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404012739 meters 0.03974897486932608 Centerline is valid? [True, True] Translation: X:210.30, Y:-27.80, Z:-4.22 [[ 9.81931570e-01 1.88381747e-01 1.79640822e-02 2.10299398e+02] [-1.88360042e-01 9.82095738e-01 -2.90796882e-03 -2.78025427e+01] [-1.81902568e-02 -5.28288889e-04 9.99834404e-01 -4.22023130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46401273899997 meters 0.03891317415437335 Centerline is valid? [True, True] Translation: X:210.36, Y:-27.81, Z:-4.22 [[ 9.82346122e-01 1.86242131e-01 1.76058356e-02 2.10357148e+02] [-1.86220965e-01 9.82503760e-01 -2.84852257e-03 -2.78051876e+01] [-1.78283146e-02 -4.80340595e-04 9.99840948e-01 -4.22270316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52401273899997 meters 0.03623874167392449 Centerline is valid? [True, True] Translation: X:210.42, Y:-27.81, Z:-4.22 [[ 9.82756709e-01 1.83871367e-01 1.95082416e-02 2.10415484e+02] [-1.83844939e-01 9.82950194e-01 -3.15500246e-03 -2.78111982e+01] [-1.97557445e-02 -4.85891669e-04 9.99804718e-01 -4.22033470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58401273899997 meters 0.03314107797639578 Centerline is valid? [True, True] Translation: X:210.47, Y:-27.82, Z:-4.22 [[ 9.83488231e-01 1.79922551e-01 1.94621662e-02 2.10474656e+02] [-1.79895494e-01 9.83680695e-01 -3.14658519e-03 -2.78221528e+01] [-1.97106989e-02 -4.06526504e-04 9.99805643e-01 -4.22152890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64401273899998 meters 0.028097215804945057 Centerline is valid? [True, True] Translation: X:210.53, Y:-27.84, Z:-4.22 [[ 9.84644042e-01 1.73281345e-01 2.12058142e-02 2.10531792e+02] [-1.73247687e-01 9.84872320e-01 -3.42820538e-03 -2.78427861e+01] [-2.14790635e-02 -2.98296262e-04 9.99769254e-01 -4.21950855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70401273899998 meters 0.025442374101618766 Centerline is valid? [True, True] Translation: X:210.59, Y:-27.86, Z:-4.22 [[ 9.85310438e-01 1.69239333e-01 2.28339485e-02 2.10588707e+02] [-1.69199236e-01 9.85574957e-01 -3.69076437e-03 -2.78583978e+01] [-2.31291903e-02 -2.26937987e-04 9.99732459e-01 -4.21798221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76401273899998 meters 0.02616680080741406 Centerline is valid? [True, True] Translation: X:210.65, Y:-27.86, Z:-4.22 [[ 9.85213460e-01 1.70172331e-01 1.98951481e-02 2.10647113e+02] [-1.70142099e-01 9.85414294e-01 -3.21490634e-03 -2.78639998e+01] [-2.01520514e-02 -2.17633263e-04 9.99796903e-01 -4.22447627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82401273899998 meters 0.027975859233698032 Centerline is valid? [True, True] Translation: X:210.71, Y:-27.87, Z:-4.23 [[ 9.84763110e-01 1.72983079e-01 1.78457604e-02 2.10706229e+02] [-1.72959230e-01 9.84924765e-01 -2.88297383e-03 -2.78662493e+01] [-1.80754371e-02 -2.47542704e-04 9.99836595e-01 -4.22924428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88401273899999 meters 0.03230847981393625 Centerline is valid? [True, True] Translation: X:210.77, Y:-27.86, Z:-4.23 [[ 9.83759833e-01 1.78629293e-01 1.75546624e-02 2.10765719e+02] [-1.78607129e-01 9.83916387e-01 -2.83510482e-03 -2.78625134e+01] [-1.77787528e-02 -3.46325600e-04 9.99841886e-01 -4.23157251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944012739 meters 0.03194747430256942 Centerline is valid? [True, True] Translation: X:210.82, Y:-27.87, Z:-4.23 [[ 9.83678392e-01 1.78916044e-01 1.91277231e-02 2.10824480e+02] [-1.78889803e-01 9.83864270e-01 -3.08814152e-03 -2.78659820e+01] [-1.93716014e-02 -3.84016522e-04 9.99812279e-01 -4.22983328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004012739 meters 0.03220864465360882 Centerline is valid? [True, True] Translation: X:210.88, Y:-27.87, Z:-4.23 [[ 9.83797173e-01 1.78304895e-01 1.87213191e-02 2.10882178e+02] [-1.78279663e-01 9.83975219e-01 -3.02167783e-03 -2.78731344e+01] [-1.89600940e-02 -3.64912341e-04 9.99820175e-01 -4.23170180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064012739 meters 0.030794491879038138 Centerline is valid? [True, True] Translation: X:210.94, Y:-27.89, Z:-4.24 [[ 9.84028249e-01 1.77204453e-01 1.69407181e-02 2.10939514e+02] [-1.77183652e-01 9.84174011e-01 -2.73295409e-03 -2.78861856e+01] [-1.71569061e-02 -3.12314275e-04 9.99852761e-01 -4.23627334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124012739 meters 0.0322936170649308 Centerline is valid? [True, True] Translation: X:211.00, Y:-27.89, Z:-4.23 [[ 9.84052477e-01 1.76895437e-01 1.86742051e-02 2.10996744e+02] [-1.76870125e-01 9.84229592e-01 -3.01159762e-03 -2.78924087e+01] [-1.89124432e-02 -3.39338894e-04 9.99821086e-01 -4.23393756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18401273899997 meters 0.030691736341521076 Centerline is valid? [True, True] Translation: X:211.05, Y:-27.91, Z:-4.23 [[ 9.83964791e-01 1.77150248e-01 2.07624333e-02 2.11054580e+02] [-1.77119044e-01 9.84183744e-01 -3.34696920e-03 -2.79060041e+01] [-2.10269657e-02 -3.84122486e-04 9.99778835e-01 -4.23175865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24401273899997 meters 0.03359978605449196 Centerline is valid? [True, True] Translation: X:211.11, Y:-27.91, Z:-4.23 [[ 9.83124801e-01 1.81882905e-01 1.96019202e-02 2.11113852e+02] [-1.81856050e-01 9.83320089e-01 -3.15897712e-03 -2.79105259e+01] [-1.98495258e-02 -4.59059016e-04 9.99802873e-01 -4.23431615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30401273899997 meters 0.04224918419662897 Centerline is valid? [True, True] Translation: X:211.18, Y:-27.90, Z:-4.24 [[ 9.81484925e-01 1.90767181e-01 1.71821102e-02 2.11175025e+02] [-1.90747915e-01 9.81635151e-01 -2.76841532e-03 -2.79004473e+01] [-1.73946861e-02 -5.60293792e-04 9.99848544e-01 -4.23888970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36401273899997 meters 0.05147758685701001 Centerline is valid? [True, True] Translation: X:211.24, Y:-27.88, Z:-4.24 [[ 9.79554229e-01 2.00352298e-01 1.82337360e-02 2.11239245e+02] [-2.00332266e-01 9.79723612e-01 -2.93734571e-03 -2.78842877e+01] [-1.84525256e-02 -7.75516238e-04 9.99829437e-01 -4.23790413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42401273899998 meters 0.05896003346823177 Centerline is valid? [True, True] Translation: X:211.30, Y:-27.87, Z:-4.23 [[ 9.78952679e-01 2.03007970e-01 2.09622776e-02 2.11301717e+02] [-2.02982103e-01 9.79176625e-01 -3.37678162e-03 -2.78674812e+01] [-2.12112859e-02 -9.49257794e-04 9.99774565e-01 -4.23434318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48401273899998 meters 0.05094540830457849 Centerline is valid? [True, True] Translation: X:211.36, Y:-27.88, Z:-4.24 [[ 9.79954821e-01 1.98241667e-01 1.97177457e-02 2.11361607e+02] [-1.98217819e-01 9.80152849e-01 -3.17616609e-03 -2.78771770e+01] [-1.99560531e-02 -7.95909282e-04 9.99800541e-01 -4.23824602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54401273899998 meters 0.037994281440530485 Centerline is valid? [True, True] Translation: X:211.42, Y:-27.89, Z:-4.24 [[ 9.82602273e-01 1.84712456e-01 1.93412042e-02 2.11420571e+02] [-1.84686884e-01 9.82792474e-01 -3.11563702e-03 -2.78918264e+01] [-1.95838869e-02 -5.10634710e-04 9.99808087e-01 -4.24092469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60401273899998 meters 0.029774247833954822 Centerline is valid? [True, True] Translation: X:211.48, Y:-27.90, Z:-4.24 [[ 9.84420096e-01 1.74911038e-01 1.79778653e-02 2.11479790e+02] [-1.74887311e-01 9.84584198e-01 -2.89579933e-03 -2.79033709e+01] [-1.82072293e-02 -2.93417466e-04 9.99834192e-01 -4.24389238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664012739 meters 0.026751970146957717 Centerline is valid? [True, True] Translation: X:211.54, Y:-27.91, Z:-4.25 [[ 9.85191605e-01 1.70677377e-01 1.63320214e-02 2.11537624e+02] [-1.70657212e-01 9.85326948e-01 -2.63080676e-03 -2.79135126e+01] [-1.65414000e-02 -1.95328509e-04 9.99863163e-01 -4.24773180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724012739 meters 0.024119587717374658 Centerline is valid? [True, True] Translation: X:211.59, Y:-27.92, Z:-4.25 [[ 9.86110404e-01 1.65103646e-01 1.80847070e-02 2.11594994e+02] [-1.65078000e-01 9.86276216e-01 -2.91214186e-03 -2.79247487e+01] [-1.83173216e-02 -1.13693868e-04 9.99832217e-01 -4.24532943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784012739 meters 0.022978070976685073 Centerline is valid? [True, True] Translation: X:211.65, Y:-27.94, Z:-4.25 [[ 9.87278506e-01 1.57943057e-01 1.83068807e-02 2.11651859e+02] [-1.57915561e-01 9.87448222e-01 -2.94702373e-03 -2.79409094e+01] [-1.85425588e-02 1.85918397e-05 9.99828072e-01 -4.24685518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844012739 meters 0.02493135856260541 Centerline is valid? [True, True] Translation: X:211.71, Y:-27.96, Z:-4.25 [[ 9.88459520e-01 1.50406138e-01 1.80491081e-02 2.11706776e+02] [-1.50378170e-01 9.88624281e-01 -2.90468238e-03 -2.79621478e+01] [-1.82806686e-02 1.56969109e-04 9.99832882e-01 -4.24922364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904012739 meters 0.028224010412096254 Centerline is valid? [True, True] Translation: X:211.76, Y:-27.99, Z:-4.25 [[ 9.89515118e-01 1.43303039e-01 1.80019523e-02 2.11762819e+02] [-1.43274060e-01 9.89678815e-01 -2.89596050e-03 -2.79854633e+01] [-1.82311507e-02 2.86383898e-04 9.99833758e-01 -4.24999563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96401273899997 meters 0.03267553561651225 Centerline is valid? [True, True] Translation: X:211.82, Y:-28.01, Z:-4.25 [[ 9.90304964e-01 1.37908275e-01 1.66549407e-02 2.11817678e+02] [-1.37882717e-01 9.90444941e-01 -2.67870992e-03 -2.80137089e+01] [-1.68652180e-02 3.56311253e-04 9.99857709e-01 -4.25406301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02401273899997 meters 0.03803969675959955 Centerline is valid? [True, True] Translation: X:211.87, Y:-28.03, Z:-4.24 [[ 9.90419015e-01 1.37036153e-01 1.70665782e-02 2.11873201e+02] [-1.37009197e-01 9.90565974e-01 -2.74437161e-03 -2.80321380e+01] [-1.72816498e-02 3.79799659e-04 9.99850589e-01 -4.24426887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08401273899997 meters 0.02993234824601734 Centerline is valid? [True, True] Translation: X:211.93, Y:-28.05, Z:-4.25 [[ 9.89806584e-01 1.41294509e-01 1.78546126e-02 2.11930816e+02] [-1.41265721e-01 9.89967555e-01 -2.86975565e-03 -2.80466949e+01] [-1.80809679e-02 3.18258311e-04 9.99836475e-01 -4.25401174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14401273899998 meters 0.024955259265989436 Centerline is valid? [True, True] Translation: X:211.99, Y:-28.05, Z:-4.26 [[ 9.88605336e-01 1.49602899e-01 1.66872048e-02 2.11990809e+02] [-1.49578942e-01 9.88746150e-01 -2.68171021e-03 -2.80510104e+01] [-1.69006011e-02 1.55098592e-04 9.99857163e-01 -4.25636177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20401273899998 meters 0.023235050658876797 Centerline is valid? [True, True] Translation: X:212.05, Y:-28.05, Z:-4.26 [[ 9.87603011e-01 1.55944581e-01 1.79326758e-02 2.12048707e+02] [-1.55917960e-01 9.87765805e-01 -2.88173408e-03 -2.80541125e+01] [-1.81626748e-02 4.99830173e-05 9.99835044e-01 -4.25604474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26401273899998 meters 0.02328628017937232 Centerline is valid? [True, True] Translation: X:212.11, Y:-28.06, Z:-4.26 [[ 9.86708726e-01 1.61551985e-01 1.75170064e-02 2.12107965e+02] [-1.61527487e-01 9.86864202e-01 -2.81384862e-03 -2.80568394e+01] [-1.77414894e-02 -5.30290425e-05 9.99842606e-01 -4.25708231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32401273899998 meters 0.02386375102188329 Centerline is valid? [True, True] Translation: X:212.17, Y:-28.06, Z:-4.26 [[ 9.86399515e-01 1.63592743e-01 1.59188828e-02 2.12166100e+02] [-1.63572787e-01 9.86527956e-01 -2.55644860e-03 -2.80627249e+01] [-1.61226394e-02 -8.22163750e-05 9.99870018e-01 -4.26100237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38401273899999 meters 0.024066438463438714 Centerline is valid? [True, True] Translation: X:212.22, Y:-28.07, Z:-4.26 [[ 9.86114527e-01 1.64991715e-01 1.88646262e-02 2.12223083e+02] [-1.64963967e-01 9.86294945e-01 -3.02845240e-03 -2.80652033e+01] [-1.91057550e-02 -1.25582657e-04 9.99817461e-01 -4.25602885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444012739 meters 0.025429135203098512 Centerline is valid? [True, True] Translation: X:212.28, Y:-28.07, Z:-4.26 [[ 9.85675166e-01 1.67639819e-01 1.84758596e-02 2.12281768e+02] [-1.67613697e-01 9.85848295e-01 -2.96447308e-03 -2.80667930e+01] [-1.87113584e-02 -1.74799633e-04 9.99824912e-01 -4.25791846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504012739 meters 0.025975963269267606 Centerline is valid? [True, True] Translation: X:212.34, Y:-28.07, Z:-4.26 [[ 9.85482537e-01 1.68751548e-01 1.86301848e-02 2.12340839e+02] [-1.68725208e-01 9.85658600e-01 -2.98809766e-03 -2.80718180e+01] [-1.88672480e-02 -1.98663740e-04 9.99821978e-01 -4.25911126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564012739 meters 0.02454072312174496 Centerline is valid? [True, True] Translation: X:212.40, Y:-28.08, Z:-4.26 [[ 9.85828718e-01 1.66693973e-01 1.88376720e-02 2.12398612e+02] [-1.66666684e-01 9.86008668e-01 -3.02047259e-03 -2.80822790e+01] [-1.90776024e-02 -1.61943703e-04 9.99817993e-01 -4.25920964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624012739 meters 0.02317092396027751 Centerline is valid? [True, True] Translation: X:212.46, Y:-28.09, Z:-4.26 [[ 9.86467780e-01 1.63015928e-01 1.75250121e-02 2.12456552e+02] [-1.62991743e-01 9.86623434e-01 -2.80917611e-03 -2.80949384e+01] [-1.77485280e-02 -8.52705547e-05 9.99842479e-01 -4.26249031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68401273899997 meters 0.022461831184230136 Centerline is valid? [True, True] Translation: X:212.51, Y:-28.11, Z:-4.26 [[ 9.86983816e-01 1.59847901e-01 1.76520600e-02 2.12513777e+02] [-1.59822869e-01 9.87141655e-01 -2.82893914e-03 -2.81050428e+01] [-1.78772837e-02 -2.90857303e-05 9.99840188e-01 -4.26206696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74401273899997 meters 0.022724920234653945 Centerline is valid? [True, True] Translation: X:212.57, Y:-28.12, Z:-4.27 [[ 9.87602502e-01 1.56082824e-01 1.67167521e-02 2.12570546e+02] [-1.56059851e-01 9.87743970e-01 -2.67808279e-03 -2.81185773e+01] [-1.69298738e-02 3.60674245e-05 9.99856679e-01 -4.26509781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80401273899997 meters 0.025808996010996434 Centerline is valid? [True, True] Translation: X:212.63, Y:-28.14, Z:-4.27 [[ 9.89093484e-01 1.46330715e-01 1.67750142e-02 2.12627217e+02] [-1.46306196e-01 9.89235705e-01 -2.68628916e-03 -2.81406752e+01] [-1.69875296e-02 2.02702592e-04 9.99855681e-01 -4.26629106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86401273899997 meters 0.031445248067948926 Centerline is valid? [True, True] Translation: X:212.68, Y:-28.17, Z:-4.27 [[ 9.90256130e-01 1.38139730e-01 1.76128539e-02 2.12684056e+02] [-1.38111413e-01 9.90412684e-01 -2.81994586e-03 -2.81686340e+01] [-1.78335405e-02 3.59932531e-04 9.99840905e-01 -4.26582936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92401273899998 meters 0.033689981976781046 Centerline is valid? [True, True] Translation: X:212.74, Y:-28.18, Z:-4.27 [[ 9.90533854e-01 1.36144456e-01 1.75320179e-02 2.12741448e+02] [-1.36116085e-01 9.90688918e-01 -2.80709804e-03 -2.81830580e+01] [-1.77509467e-02 3.94135999e-04 9.99842362e-01 -4.26689006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98401273899998 meters 0.04163803432567597 Centerline is valid? [True, True] Translation: X:212.80, Y:-28.21, Z:-4.26 [[ 9.91287540e-01 1.30739862e-01 1.60031860e-02 2.12798199e+02] [-1.30715529e-01 9.91416607e-01 -2.56163757e-03 -2.82109072e+01] [-1.62007325e-02 4.47454481e-04 9.99868659e-01 -4.26405833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04401273899998 meters 0.04250333237262067 Centerline is valid? [True, True] Translation: X:212.85, Y:-28.24, Z:-4.27 [[ 9.91545871e-01 1.28794594e-01 1.57714478e-02 2.12854597e+02] [-1.28770715e-01 9.91671180e-01 -2.52459473e-03 -2.82411789e+01] [-1.59652444e-02 4.72350876e-04 9.99872436e-01 -4.27352206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10401273899998 meters 0.03112855063170893 Centerline is valid? [True, True] Translation: X:212.92, Y:-28.25, Z:-4.27 [[ 9.90388895e-01 1.37051326e-01 1.86217576e-02 2.12915040e+02] [-1.37019486e-01 9.90563866e-01 -2.98112996e-03 -2.82494584e+01] [-1.88546080e-02 4.00934366e-04 9.99822156e-01 -4.26727773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164012739 meters 0.02569437452584987 Centerline is valid? [True, True] Translation: X:212.98, Y:-28.25, Z:-4.27 [[ 9.89216693e-01 1.45311459e-01 1.83006445e-02 2.12975536e+02] [-1.45282120e-01 9.89385932e-01 -2.92969474e-03 -2.82545254e+01] [-1.85321185e-02 2.39346507e-04 9.99828237e-01 -4.26980316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224012739 meters 0.02189452213630007 Centerline is valid? [True, True] Translation: X:213.04, Y:-28.25, Z:-4.27 [[ 9.87348120e-01 1.57732456e-01 1.62530541e-02 2.13035104e+02] [-1.57710989e-01 9.87481885e-01 -2.60226340e-03 -2.82538599e+01] [-1.64600579e-02 6.05464141e-06 9.99864524e-01 -4.27448488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284012739 meters 0.022141130645806556 Centerline is valid? [True, True] Translation: X:213.09, Y:-28.26, Z:-4.27 [[ 9.86540395e-01 1.62484589e-01 1.83522934e-02 2.13094002e+02] [-1.62458053e-01 9.86711078e-01 -2.93763405e-03 -2.82563921e+01] [-1.85857314e-02 -8.33831882e-05 9.99827267e-01 -4.27143533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344012739 meters 0.0248135730466324 Centerline is valid? [True, True] Translation: X:213.15, Y:-28.25, Z:-4.27 [[ 9.85450650e-01 1.69017341e-01 1.78928805e-02 2.13154029e+02] [-1.68993208e-01 9.85613057e-01 -2.86325124e-03 -2.82520375e+01] [-1.81193958e-02 -2.02182485e-04 9.99835810e-01 -4.27375648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404012739 meters 0.02997952167562726 Centerline is valid? [True, True] Translation: X:213.22, Y:-28.25, Z:-4.28 [[ 9.84229109e-01 1.76116403e-01 1.66154477e-02 2.13216074e+02] [-1.76096618e-01 9.84369299e-01 -2.65790158e-03 -2.82460873e+01] [-1.68238366e-02 -3.09940029e-04 9.99858421e-01 -4.27659960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46401273899997 meters 0.0319591230988039 Centerline is valid? [True, True] Translation: X:213.28, Y:-28.25, Z:-4.28 [[ 9.83704717e-01 1.79229840e-01 1.42019035e-02 2.13276013e+02] [-1.79215706e-01 9.83807180e-01 -2.27213689e-03 -2.82453231e+01] [-1.43791694e-02 -3.10092380e-04 9.99896566e-01 -4.28284937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52401273899997 meters 0.032581032530376294 Centerline is valid? [True, True] Translation: X:213.33, Y:-28.25, Z:-4.28 [[ 9.83746044e-01 1.78996341e-01 1.42839457e-02 2.13333556e+02] [-1.78982029e-01 9.83849691e-01 -2.28454683e-03 -2.82486661e+01] [-1.44621811e-02 -3.09155676e-04 9.99895369e-01 -4.28386865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58401273899997 meters 0.031161832663582068 Centerline is valid? [True, True] Translation: X:213.39, Y:-28.25, Z:-4.28 [[ 9.84178408e-01 1.76466183e-01 1.58917183e-02 2.13392180e+02] [-1.76448157e-01 9.84306656e-01 -2.54050957e-03 -2.82515661e+01] [-1.60906381e-02 -3.03749732e-04 9.99870491e-01 -4.28052034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64401273899998 meters 0.027951939830299057 Centerline is valid? [True, True] Translation: X:213.45, Y:-28.26, Z:-4.28 [[ 9.84960829e-01 1.72136025e-01 1.48779981e-02 2.13450021e+02] [-1.72119740e-01 9.85073165e-01 -2.37778289e-03 -2.82576216e+01] [-1.50652188e-02 -2.18774172e-04 9.99886489e-01 -4.28437942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70401273899998 meters 0.025992195616394393 Centerline is valid? [True, True] Translation: X:213.51, Y:-28.26, Z:-4.28 [[ 9.85340554e-01 1.69809815e-01 1.63896450e-02 2.13509089e+02] [-1.69789745e-01 9.85476832e-01 -2.61849993e-03 -2.82618417e+01] [-1.65962624e-02 -2.02679477e-04 9.99862252e-01 -4.28265109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76401273899998 meters 0.024894699992034107 Centerline is valid? [True, True] Translation: X:213.57, Y:-28.26, Z:-4.28 [[ 9.85481534e-01 1.68899141e-01 1.72981518e-02 2.13568242e+02] [-1.68876660e-01 9.85633320e-01 -2.76276924e-03 -2.82625533e+01] [-1.75162641e-02 -1.98596026e-04 9.99846559e-01 -4.28032044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82401273899998 meters 0.024175072920593885 Centerline is valid? [True, True] Translation: X:213.63, Y:-28.27, Z:-4.29 [[ 9.85843725e-01 1.67018756e-01 1.47270188e-02 2.13626704e+02] [-1.67002261e-01 9.85953708e-01 -2.35154948e-03 -2.82657778e+01] [-1.49129117e-02 -1.41185127e-04 9.99888786e-01 -4.28678895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88401273899999 meters 0.021360924008920618 Centerline is valid? [True, True] Translation: X:213.68, Y:-28.28, Z:-4.28 [[ 9.87246416e-01 1.58286638e-01 1.70250993e-02 2.13682735e+02] [-1.58263308e-01 9.87393204e-01 -2.71762202e-03 -2.82811530e+01] [-1.72406306e-02 -1.14859267e-05 9.99851369e-01 -4.28465745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944012739 meters 0.026199544371374332 Centerline is valid? [True, True] Translation: X:213.74, Y:-28.31, Z:-4.28 [[ 9.89385262e-01 1.44122605e-01 1.85870674e-02 2.13737304e+02] [-1.44092323e-01 9.89559806e-01 -2.96528753e-03 -2.83122045e+01] [-1.88203798e-02 2.55558060e-04 9.99822848e-01 -4.28174414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004012739 meters 0.03563889504053728 Centerline is valid? [True, True] Translation: X:213.79, Y:-28.34, Z:-4.28 [[ 9.90989267e-01 1.32704324e-01 1.81613437e-02 2.13793701e+02] [-1.32673510e-01 9.91155563e-01 -2.89649562e-03 -2.83400462e+01] [-1.83850943e-02 4.60866865e-04 9.99830874e-01 -4.28464802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064012739 meters 0.04255428507507837 Centerline is valid? [True, True] Translation: X:213.85, Y:-28.37, Z:-4.29 [[ 9.91819481e-01 1.26571515e-01 1.65459540e-02 2.13849573e+02] [-1.26545088e-01 9.91957347e-01 -2.63875599e-03 -2.83694039e+01] [-1.67468720e-02 5.23360390e-04 9.99859624e-01 -4.28710047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124012739 meters 0.04692584705158979 Centerline is valid? [True, True] Translation: X:213.91, Y:-28.38, Z:-4.28 [[ 9.92001517e-01 1.25187974e-01 1.61543186e-02 2.13908433e+02] [-1.25162596e-01 9.92132897e-01 -2.57656916e-03 -2.83847409e+01] [-1.63497864e-02 5.34044056e-04 9.99866191e-01 -4.27966495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18401273899997 meters 0.04339031184864129 Centerline is valid? [True, True] Translation: X:213.97, Y:-28.41, Z:-4.29 [[ 9.91744576e-01 1.27033416e-01 1.74701786e-02 2.13965787e+02] [-1.27004021e-01 9.91898288e-01 -2.78644519e-03 -2.84058954e+01] [-1.76826119e-02 5.44658975e-04 9.99843502e-01 -4.28847778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24401273899997 meters 0.03573518500428642 Centerline is valid? [True, True] Translation: X:214.03, Y:-28.41, Z:-4.29 [[ 9.91062141e-01 1.32508414e-01 1.54062909e-02 2.14025897e+02] [-1.32486214e-01 9.91181802e-01 -2.45726079e-03 -2.84117860e+01] [-1.55960429e-02 3.94176995e-04 9.99878297e-01 -4.29311970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30401273899997 meters 0.028658507700042378 Centerline is valid? [True, True] Translation: X:214.09, Y:-28.42, Z:-4.30 [[ 9.90173312e-01 1.39165444e-01 1.37764583e-02 2.14085554e+02] [-1.39148335e-01 9.90269111e-01 -2.19738636e-03 -2.84185071e+01] [-1.39482014e-02 2.58822090e-04 9.99902686e-01 -4.29644058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36401273899997 meters 0.023692112978602606 Centerline is valid? [True, True] Translation: X:214.14, Y:-28.42, Z:-4.29 [[ 9.88940413e-01 1.47304831e-01 1.72669028e-02 2.14144406e+02] [-1.47279197e-01 9.89091125e-01 -2.75388175e-03 -2.84244419e+01] [-1.74842004e-02 1.80369383e-04 9.99847123e-01 -4.29175749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42401273899998 meters 0.021340823542321315 Centerline is valid? [True, True] Translation: X:214.20, Y:-28.43, Z:-4.29 [[ 9.88041987e-01 1.53063336e-01 1.85646544e-02 2.14203021e+02] [-1.53034728e-01 9.88216377e-01 -2.96040814e-03 -2.84295695e+01] [-1.87990254e-02 8.39707116e-05 9.99823279e-01 -4.29061825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48401273899998 meters 0.02086837738152974 Centerline is valid? [True, True] Translation: X:214.26, Y:-28.44, Z:-4.29 [[ 9.86996717e-01 1.59692022e-01 1.83286349e-02 2.14261596e+02] [-1.59665295e-01 9.87166884e-01 -2.92189591e-03 -2.84371261e+01] [-1.85600248e-02 -4.25452204e-05 9.99827747e-01 -4.29239296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54401273899998 meters 0.022985185005639095 Centerline is valid? [True, True] Translation: X:214.32, Y:-28.44, Z:-4.30 [[ 9.86103807e-01 1.65302243e-01 1.65665140e-02 2.14319099e+02] [-1.65281210e-01 9.86242947e-01 -2.64030471e-03 -2.84427429e+01] [-1.67750558e-02 -1.34518953e-04 9.99859280e-01 -4.29581828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60401273899998 meters 0.027891990614567725 Centerline is valid? [True, True] Translation: X:214.38, Y:-28.44, Z:-4.29 [[ 9.84689039e-01 1.73345205e-01 1.84102337e-02 2.14379721e+02] [-1.73320658e-01 9.84861081e-01 -2.93283908e-03 -2.84395751e+01] [-1.86399162e-02 -3.02939315e-04 9.99826216e-01 -4.29314054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664012739 meters 0.0338313674221469 Centerline is valid? [True, True] Translation: X:214.44, Y:-28.43, Z:-4.30 [[ 9.83393911e-01 1.80687475e-01 1.69838724e-02 2.14441578e+02] [-1.80667689e-01 9.83540477e-01 -2.70497183e-03 -2.84315391e+01] [-1.71930805e-02 -4.08384150e-04 9.99852105e-01 -4.29749591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724012739 meters 0.034622567608999094 Centerline is valid? [True, True] Translation: X:214.50, Y:-28.44, Z:-4.30 [[ 9.83350453e-01 1.80979862e-01 1.63760654e-02 2.14500663e+02] [-1.80961508e-01 9.83486721e-01 -2.60811458e-03 -2.84353064e+01] [-1.65776591e-02 -3.98746837e-04 9.99862502e-01 -4.30012656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784012739 meters 0.028064410394633994 Centerline is valid? [True, True] Translation: X:214.56, Y:-28.45, Z:-4.30 [[ 9.84643000e-01 1.73548319e-01 1.89510585e-02 2.14558935e+02] [-1.73522382e-01 9.84825304e-01 -3.01710704e-03 -2.84502696e+01] [-1.91870958e-02 -3.17659472e-04 9.99815860e-01 -4.29610930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844012739 meters 0.02430082922565649 Centerline is valid? [True, True] Translation: X:214.62, Y:-28.47, Z:-4.30 [[ 9.85746360e-01 1.67383353e-01 1.69389111e-02 2.14615105e+02] [-1.67361722e-01 9.85891871e-01 -2.69665638e-03 -2.84653933e+01] [-1.71513101e-02 -1.76706118e-04 9.99852890e-01 -4.30228598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904012739 meters 0.022130561623961178 Centerline is valid? [True, True] Translation: X:214.67, Y:-28.48, Z:-4.30 [[ 9.86494122e-01 1.63022119e-01 1.59102373e-02 2.14671816e+02] [-1.63002483e-01 9.86622410e-01 -2.53196644e-03 -2.84811323e+01] [-1.61101632e-02 -9.56381778e-05 9.99870218e-01 -4.30439394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96401273899997 meters 0.020953167062773094 Centerline is valid? [True, True] Translation: X:214.73, Y:-28.50, Z:-4.30 [[ 9.87174127e-01 1.58744485e-01 1.69537859e-02 2.14728277e+02] [-1.58721573e-01 9.87319699e-01 -2.69719590e-03 -2.84957302e+01] [-1.71669718e-02 -2.83295591e-05 9.99852636e-01 -4.30487230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02401273899997 meters 0.02164929980091668 Centerline is valid? [True, True] Translation: X:214.78, Y:-28.52, Z:-4.31 [[ 9.88236115e-01 1.52215596e-01 1.48254660e-02 2.14783803e+02] [-1.52197352e-01 9.88347311e-01 -2.35775153e-03 -2.85215986e+01] [-1.50115960e-02 7.36185479e-05 9.99887317e-01 -4.31045862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08401273899997 meters 0.024329869068519364 Centerline is valid? [True, True] Translation: X:214.84, Y:-28.55, Z:-4.31 [[ 9.89194272e-01 1.45765426e-01 1.57204689e-02 2.14839508e+02] [-1.45744114e-01 9.89319164e-01 -2.49907360e-03 -2.85507986e+01] [-1.59168396e-02 1.80903483e-04 9.99873303e-01 -4.30931424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14401273899998 meters 0.02525036735150387 Centerline is valid? [True, True] Translation: X:214.90, Y:-28.57, Z:-4.31 [[ 9.89381480e-01 1.44565222e-01 1.50061526e-02 2.14896935e+02] [-1.44545668e-01 9.89495255e-01 -2.38528175e-03 -2.85726982e+01] [-1.51933456e-02 1.90879235e-04 9.99884556e-01 -4.31111878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20401273899998 meters 0.02313917899490625 Centerline is valid? [True, True] Translation: X:214.96, Y:-28.58, Z:-4.31 [[ 9.88781734e-01 1.48401651e-01 1.69597294e-02 2.14955767e+02] [-1.48377238e-01 9.88927160e-01 -2.69584851e-03 -2.85814399e+01] [-1.71720054e-02 1.49167963e-04 9.99852539e-01 -4.30811075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26401273899998 meters 0.020701271318576006 Centerline is valid? [True, True] Translation: X:215.02, Y:-28.58, Z:-4.31 [[ 9.87432967e-01 1.56943791e-01 1.85683330e-02 2.15015317e+02] [-1.56916039e-01 9.87607537e-01 -2.95131990e-03 -2.85842093e+01] [-1.88014170e-02 5.61291846e-07 9.99823238e-01 -4.30696290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32401273899998 meters 0.022652200698973418 Centerline is valid? [True, True] Translation: X:215.07, Y:-28.59, Z:-4.31 [[ 9.86271433e-01 1.64354928e-01 1.60036927e-02 2.15074229e+02] [-1.64335291e-01 9.86401259e-01 -2.54348624e-03 -2.85851902e+01] [-1.62040971e-02 -1.21403675e-04 9.99868698e-01 -4.31295456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38401273899999 meters 0.028535802570074882 Centerline is valid? [True, True] Translation: X:215.14, Y:-28.58, Z:-4.31 [[ 9.84572767e-01 1.74013013e-01 1.83285975e-02 2.15135384e+02] [-1.73988945e-01 9.84743300e-01 -2.91188833e-03 -2.85787538e+01] [-1.85556701e-02 -3.22007402e-04 9.99827777e-01 -4.30838407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444012739 meters 0.03665857692915814 Centerline is valid? [True, True] Translation: X:215.20, Y:-28.57, Z:-4.31 [[ 9.83271368e-01 1.81315791e-01 1.73781790e-02 2.15196390e+02] [-1.81295301e-01 9.83424829e-01 -2.76046285e-03 -2.85687281e+01] [-1.75906482e-02 -4.36298100e-04 9.99845177e-01 -4.31334897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504012739 meters 0.034399869795340425 Centerline is valid? [True, True] Translation: X:215.25, Y:-28.58, Z:-4.32 [[ 9.83569984e-01 1.79741372e-01 1.68263439e-02 2.15254783e+02] [-1.79721935e-01 9.83713822e-01 -2.67265928e-03 -2.85795204e+01] [-1.70326945e-02 -3.95315636e-04 9.99854855e-01 -4.31532999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564012739 meters 0.027403053676761685 Centerline is valid? [True, True] Translation: X:215.31, Y:-28.60, Z:-4.32 [[ 9.85063919e-01 1.71527440e-01 1.50801964e-02 2.15312621e+02] [-1.71510873e-01 9.85179317e-01 -2.39469106e-03 -2.86000479e+01] [-1.52674528e-02 -2.27493896e-04 9.99883420e-01 -4.32007088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624012739 meters 0.0234613809576306 Centerline is valid? [True, True] Translation: X:215.37, Y:-28.62, Z:-4.32 [[ 9.86002311e-01 1.65942017e-01 1.62077305e-02 2.15369129e+02] [-1.65922125e-01 9.86135500e-01 -2.57380413e-03 -2.86179571e+01] [-1.64101207e-02 -1.51444271e-04 9.99865333e-01 -4.31966873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68401273899997 meters 0.02053399137567059 Centerline is valid? [True, True] Translation: X:215.43, Y:-28.64, Z:-4.31 [[ 9.87544146e-01 1.56124111e-01 1.95402545e-02 2.15425657e+02] [-1.56093295e-01 9.87737446e-01 -3.10185876e-03 -2.86444606e+01] [-1.97849160e-02 1.31197402e-05 9.99804259e-01 -4.31457670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74401273899997 meters 0.021579511645606113 Centerline is valid? [True, True] Translation: X:215.48, Y:-28.67, Z:-4.32 [[ 9.88365527e-01 1.50842152e-01 1.94995019e-02 2.15483992e+02] [-1.50810446e-01 9.88557854e-01 -3.09488317e-03 -2.86659603e+01] [-1.97432246e-02 1.18147268e-04 9.99805077e-01 -4.31557614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80401273899997 meters 0.02182678962500055 Centerline is valid? [True, True] Translation: X:215.54, Y:-28.68, Z:-4.32 [[ 9.88524066e-01 1.49933487e-01 1.84423367e-02 2.15544538e+02] [-1.49904964e-01 9.88696077e-01 -2.92724667e-03 -2.86792532e+01] [-1.86727582e-02 1.29055963e-04 9.99825641e-01 -4.31844927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86401273899997 meters 0.025872552980558287 Centerline is valid? [True, True] Translation: X:215.60, Y:-28.69, Z:-4.31 [[ 9.88382975e-01 1.50911576e-01 1.80219321e-02 2.15603257e+02] [-1.50884439e-01 9.88547259e-01 -2.86396953e-03 -2.86870858e+01] [-1.82477377e-02 1.11469619e-04 9.99833490e-01 -4.31264094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92401273899998 meters 0.020518058022924713 Centerline is valid? [True, True] Translation: X:215.66, Y:-28.69, Z:-4.32 [[ 9.87529400e-01 1.56086969e-01 2.05558296e-02 2.15662165e+02] [-1.56052789e-01 9.87743316e-01 -3.26635130e-03 -2.86891788e+01] [-2.08137181e-02 1.78233955e-05 9.99783371e-01 -4.31647884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98401273899998 meters 0.02081044896966195 Centerline is valid? [True, True] Translation: X:215.72, Y:-28.69, Z:-4.32 [[ 9.87006779e-01 1.59600020e-01 1.85863130e-02 2.15722679e+02] [-1.59572711e-01 9.87181762e-01 -2.95277607e-03 -2.86910285e+01] [-1.88193324e-02 -5.14583529e-05 9.99822899e-01 -4.32099775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04401273899998 meters 0.022054190064331562 Centerline is valid? [True, True] Translation: X:215.78, Y:-28.69, Z:-4.33 [[ 9.86432111e-01 1.63252268e-01 1.73316598e-02 2.15781646e+02] [-1.63229090e-01 9.86584352e-01 -2.75316787e-03 -2.86904690e+01] [-1.75486052e-02 -1.13217855e-04 9.99846005e-01 -4.32519195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10401273899998 meters 0.02223718271978769 Centerline is valid? [True, True] Translation: X:215.84, Y:-28.70, Z:-4.33 [[ 9.86377416e-01 1.63682592e-01 1.63585251e-02 2.15839898e+02] [-1.63662019e-01 9.86513049e-01 -2.59761933e-03 -2.86966096e+01] [-1.65630835e-02 -1.15036196e-04 9.99862816e-01 -4.32703462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164012739 meters 0.022623016073613483 Centerline is valid? [True, True] Translation: X:215.90, Y:-28.70, Z:-4.33 [[ 9.86120207e-01 1.65132913e-01 1.72643587e-02 2.15898071e+02] [-1.65110236e-01 9.86271311e-01 -2.74057893e-03 -2.87032248e+01] [-1.74799014e-02 -1.47982079e-04 9.99847204e-01 -4.32672776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224012739 meters 0.025391652438853857 Centerline is valid? [True, True] Translation: X:215.96, Y:-28.70, Z:-4.32 [[ 9.85379966e-01 1.69141695e-01 2.04305966e-02 2.15957837e+02] [-1.69110823e-01 9.85591710e-01 -3.24200146e-03 -2.86965853e+01] [-2.06845843e-02 -2.60431715e-04 9.99786017e-01 -4.32076429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284012739 meters 0.02465058459833453 Centerline is valid? [True, True] Translation: X:216.02, Y:-28.71, Z:-4.32 [[ 9.85298774e-01 1.69540251e-01 2.10339812e-02 2.16016035e+02] [-1.69507646e-01 9.85523224e-01 -3.33643887e-03 -2.87056496e+01] [-2.12951376e-02 -2.78031517e-04 9.99773194e-01 -4.32183484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344012739 meters 0.023197596751077316 Centerline is valid? [True, True] Translation: X:216.07, Y:-28.72, Z:-4.33 [[ 9.85775564e-01 1.66833417e-01 2.03260736e-02 2.16073630e+02] [-1.66802415e-01 9.85985074e-01 -3.22316337e-03 -2.87162993e+01] [-2.05789365e-02 -2.13122473e-04 9.99788209e-01 -4.32508891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404012739 meters 0.021687552823482233 Centerline is valid? [True, True] Translation: X:216.13, Y:-28.73, Z:-4.32 [[ 9.86442873e-01 1.62765240e-01 2.09268949e-02 2.16130386e+02] [-1.62731485e-01 9.86664816e-01 -3.31735074e-03 -2.87310351e+01] [-2.11877803e-02 -1.33087673e-04 9.99775505e-01 -4.32470274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46401273899997 meters 0.020713757153599018 Centerline is valid? [True, True] Translation: X:216.19, Y:-28.75, Z:-4.33 [[ 9.87111083e-01 1.58822306e-01 1.96770017e-02 2.16188051e+02] [-1.58791699e-01 9.87307183e-01 -3.11828017e-03 -2.87465355e+01] [-1.99224975e-02 -4.64555999e-05 9.99801526e-01 -4.32827094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52401273899997 meters 0.02099899895064034 Centerline is valid? [True, True] Translation: X:216.25, Y:-28.75, Z:-4.33 [[ 9.86882895e-01 1.59937902e-01 2.19549529e-02 2.16245481e+02] [-1.59900087e-01 9.87127075e-01 -3.47861448e-03 -2.87545015e+01] [-2.22286907e-02 -7.76137463e-05 9.99752909e-01 -4.32556903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58401273899997 meters 0.021589271815446242 Centerline is valid? [True, True] Translation: X:216.30, Y:-28.76, Z:-4.33 [[ 9.86609310e-01 1.61793496e-01 2.06139376e-02 2.16304427e+02] [-1.61760589e-01 9.86824631e-01 -3.26496460e-03 -2.87587605e+01] [-2.08705914e-02 -1.13278215e-04 9.99782179e-01 -4.32944720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64401273899998 meters 0.023784032509263645 Centerline is valid? [True, True] Translation: X:216.36, Y:-28.76, Z:-4.34 [[ 9.86042802e-01 1.65645729e-01 1.67655941e-02 2.16362159e+02] [-1.65624529e-01 9.86185311e-01 -2.65488913e-03 -2.87591763e+01] [-1.69737537e-02 -1.58959310e-04 9.99855923e-01 -4.33916715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70401273899998 meters 0.025105468358532633 Centerline is valid? [True, True] Translation: X:216.42, Y:-28.76, Z:-4.34 [[ 9.85508968e-01 1.68655259e-01 1.80963315e-02 2.16421245e+02] [-1.68631093e-01 9.85675074e-01 -2.86414753e-03 -2.87628029e+01] [-1.83201564e-02 -2.28961069e-04 9.99832146e-01 -4.33665141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76401273899998 meters 0.02638007874125626 Centerline is valid? [True, True] Translation: X:216.48, Y:-28.77, Z:-4.34 [[ 9.85171940e-01 1.70447356e-01 1.95945895e-02 2.16479933e+02] [-1.70419398e-01 9.85366743e-01 -3.10023439e-03 -2.87662262e+01] [-1.98362836e-02 -2.85034212e-04 9.99803201e-01 -4.33573581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82401273899998 meters 0.02565920357497657 Centerline is valid? [True, True] Translation: X:216.54, Y:-28.77, Z:-4.34 [[ 9.85549297e-01 1.68180902e-01 2.01932640e-02 2.16536977e+02] [-1.68150753e-01 9.85756117e-01 -3.19393922e-03 -2.87746999e+01] [-2.04427930e-02 -2.47727998e-04 9.99790994e-01 -4.33699083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88401273899999 meters 0.02278968252457198 Centerline is valid? [True, True] Translation: X:216.59, Y:-28.79, Z:-4.33 [[ 9.86337409e-01 1.63248559e-01 2.21002852e-02 2.16593329e+02] [-1.63211240e-01 9.86584959e-01 -3.49412646e-03 -2.87899210e+01] [-2.23742200e-02 -1.60627307e-04 9.99749653e-01 -4.33481562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944012739 meters 0.022113584145462342 Centerline is valid? [True, True] Translation: X:216.65, Y:-28.80, Z:-4.33 [[ 9.86416830e-01 1.62698570e-01 2.26055887e-02 2.16651098e+02] [-1.62659411e-01 9.86675809e-01 -3.57270703e-03 -2.88022719e+01] [-2.28856618e-02 -1.52833392e-04 9.99738077e-01 -4.33389613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004012739 meters 0.024693736355682366 Centerline is valid? [True, True] Translation: X:216.71, Y:-28.80, Z:-4.33 [[ 9.85565726e-01 1.67653169e-01 2.35077580e-02 2.16710451e+02] [-1.67612257e-01 9.85846000e-01 -3.71410469e-03 -2.88037768e+01] [-2.37977106e-02 -2.79694097e-04 9.99716755e-01 -4.33389357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064012739 meters 0.0271312890579365 Centerline is valid? [True, True] Translation: X:216.77, Y:-28.81, Z:-4.34 [[ 9.85053124e-01 1.70687184e-01 2.31566034e-02 2.16768223e+02] [-1.70648350e-01 9.85325207e-01 -3.65748386e-03 -2.88070056e+01] [-2.34410706e-02 -3.48820248e-04 9.99725159e-01 -4.33598439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124012739 meters 0.02585886362544839 Centerline is valid? [True, True] Translation: X:216.83, Y:-28.82, Z:-4.34 [[ 9.85384844e-01 1.69015149e-01 2.12270685e-02 2.16825140e+02] [-1.68982154e-01 9.85613412e-01 -3.35156405e-03 -2.88207301e+01] [-2.14881486e-02 -2.84415356e-04 9.99769063e-01 -4.34131363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18401273899997 meters 0.022823750608156793 Centerline is valid? [True, True] Translation: X:216.88, Y:-28.84, Z:-4.35 [[ 9.86283953e-01 1.63880371e-01 1.96770774e-02 2.16881850e+02] [-1.63851014e-01 9.86480207e-01 -3.10595920e-03 -2.88402754e+01] [-1.99200532e-02 -1.60751370e-04 9.99801563e-01 -4.34502334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24401273899997 meters 0.022380030086086165 Centerline is valid? [True, True] Translation: X:216.94, Y:-28.86, Z:-4.35 [[ 9.86515122e-01 1.62408164e-01 2.02854969e-02 2.16937741e+02] [-1.62376673e-01 9.86723654e-01 -3.20099451e-03 -2.88553786e+01] [-2.05360473e-02 -1.36061999e-04 9.99789104e-01 -4.34507078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30401273899997 meters 0.025420765827897148 Centerline is valid? [True, True] Translation: X:217.00, Y:-28.86, Z:-4.35 [[ 9.85790109e-01 1.66951539e-01 1.85753610e-02 2.16995352e+02] [-1.66925959e-01 9.85965080e-01 -2.93013984e-03 -2.88590459e+01] [-1.88038486e-02 -2.12207062e-04 9.99823169e-01 -4.34970936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36401273899997 meters 0.029636234836959072 Centerline is valid? [True, True] Translation: X:217.06, Y:-28.86, Z:-4.35 [[ 9.84900058e-01 1.71918934e-01 2.03901154e-02 2.17055677e+02] [-1.71889201e-01 9.85111042e-01 -3.21512339e-03 -2.88595581e+01] [-2.06392684e-02 -3.38265420e-04 9.99786930e-01 -4.34739394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42401273899998 meters 0.029230831671999767 Centerline is valid? [True, True] Translation: X:217.11, Y:-28.87, Z:-4.35 [[ 9.85005957e-01 1.71268308e-01 2.07468367e-02 2.17113720e+02] [-1.71237391e-01 9.85224369e-01 -3.27087726e-03 -2.88705089e+01] [-2.10004867e-02 -3.30800596e-04 9.99779411e-01 -4.34873650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48401273899998 meters 0.026381821786091286 Centerline is valid? [True, True] Translation: X:217.17, Y:-28.89, Z:-4.35 [[ 9.85629946e-01 1.67541435e-01 2.15285111e-02 2.17169656e+02] [-1.67507277e-01 9.85865000e-01 -3.39308004e-03 -2.88870547e+01] [-2.17926871e-02 -2.61860978e-04 9.99762477e-01 -4.34693468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54401273899998 meters 0.02696096998171764 Centerline is valid? [True, True] Translation: X:217.23, Y:-28.90, Z:-4.35 [[ 9.85603244e-01 1.67629216e-01 2.20611010e-02 2.17226586e+02] [-1.67593398e-01 9.85850076e-01 -3.47574710e-03 -2.88977945e+01] [-2.23315748e-02 -2.71587267e-04 9.99750582e-01 -4.34654431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60401273899998 meters 0.02972367046260112 Centerline is valid? [True, True] Translation: X:217.29, Y:-28.90, Z:-4.35 [[ 9.85119396e-01 1.70541995e-01 2.13355185e-02 2.17285210e+02] [-1.70509202e-01 9.85350354e-01 -3.36029003e-03 -2.89027919e+01] [-2.15960312e-02 -3.27615343e-04 9.99766725e-01 -4.34982416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664012739 meters 0.03118433648541038 Centerline is valid? [True, True] Translation: X:217.34, Y:-28.92, Z:-4.35 [[ 9.84962488e-01 1.71582068e-01 2.02111726e-02 2.17342009e+02] [-1.71552876e-01 9.85169774e-01 -3.18236646e-03 -2.89150430e+01] [-2.04574734e-02 -3.32773212e-04 9.99790669e-01 -4.35467677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724012739 meters 0.028970075757115948 Centerline is valid? [True, True] Translation: X:217.40, Y:-28.93, Z:-4.36 [[ 9.85012337e-01 1.71254706e-01 2.05553581e-02 2.17399153e+02] [-1.71224463e-01 9.85226733e-01 -3.23542918e-03 -2.89301507e+01] [-2.08057708e-02 -3.32642505e-04 9.99783481e-01 -4.35528043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784012739 meters 0.03109950247586732 Centerline is valid? [True, True] Translation: X:217.46, Y:-28.93, Z:-4.36 [[ 9.84628386e-01 1.73538311e-01 1.97837377e-02 2.17458132e+02] [-1.73510776e-01 9.84827051e-01 -3.11308863e-03 -2.89326558e+01] [-2.00238002e-02 -3.67456237e-04 9.99799436e-01 -4.35799908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844012739 meters 0.036148767478200484 Centerline is valid? [True, True] Translation: X:217.52, Y:-28.93, Z:-4.36 [[ 9.83341403e-01 1.80863192e-01 1.81160433e-02 2.17520096e+02] [-1.80841359e-01 9.83508150e-01 -2.84982435e-03 -2.89289550e+01] [-1.83327046e-02 -4.73779628e-04 9.99831830e-01 -4.36175163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904012739 meters 0.039543188047582625 Centerline is valid? [True, True] Translation: X:217.58, Y:-28.93, Z:-4.36 [[ 9.82747026e-01 1.83962120e-01 1.91369284e-02 2.17579716e+02] [-1.83938347e-01 9.82933173e-01 -3.01024526e-03 -2.89265395e+01] [-1.93640928e-02 -5.61705393e-04 9.99812341e-01 -4.36202249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96401273899997 meters 0.035169911622680836 Centerline is valid? [True, True] Translation: X:217.64, Y:-28.94, Z:-4.36 [[ 9.83676256e-01 1.78824311e-01 2.00721103e-02 2.17638158e+02] [-1.78797104e-01 9.83880903e-01 -3.15658488e-03 -2.89382591e+01] [-2.03130401e-02 -4.83777598e-04 9.99793552e-01 -4.36200465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02401273899997 meters 0.028159389321950345 Centerline is valid? [True, True] Translation: X:217.70, Y:-28.96, Z:-4.36 [[ 9.85359707e-01 1.69220648e-01 2.07514096e-02 2.17695936e+02] [-1.69189446e-01 9.85578147e-01 -3.26291438e-03 -2.89566444e+01] [-2.10042884e-02 -2.95775143e-04 9.99779342e-01 -4.36145127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08401273899997 meters 0.02393266025339573 Centerline is valid? [True, True] Translation: X:217.75, Y:-28.98, Z:-4.36 [[ 9.85991823e-01 1.65235244e-01 2.27472766e-02 2.17753042e+02] [-1.65196695e-01 9.86254156e-01 -3.57650796e-03 -2.89757795e+01] [-2.30255612e-02 -2.31367312e-04 9.99734850e-01 -4.35827002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14401273899998 meters 0.02529750948316006 Centerline is valid? [True, True] Translation: X:217.81, Y:-28.98, Z:-4.36 [[ 9.85720586e-01 1.66938593e-01 2.20552219e-02 2.17811350e+02] [-1.66902814e-01 9.85967259e-01 -3.46617844e-03 -2.89788101e+01] [-2.23243657e-02 -2.64395156e-04 9.99750745e-01 -4.36049730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20401273899998 meters 0.028651997361478117 Centerline is valid? [True, True] Translation: X:217.87, Y:-28.98, Z:-4.37 [[ 9.85056727e-01 1.71019317e-01 2.03871836e-02 2.17870462e+02] [-1.70989644e-01 9.85267620e-01 -3.20285428e-03 -2.89782508e+01] [-2.06345818e-02 -3.31004091e-04 9.99787030e-01 -4.36513754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26401273899998 meters 0.031967202499407196 Centerline is valid? [True, True] Translation: X:217.93, Y:-28.98, Z:-4.36 [[ 9.84859275e-01 1.72066436e-01 2.11033065e-02 2.17928705e+02] [-1.72034898e-01 9.85085279e-01 -3.31454588e-03 -2.89781594e+01] [-2.13588787e-02 -3.66143939e-04 9.99771806e-01 -4.36369693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32401273899998 meters 0.02698548036273582 Centerline is valid? [True, True] Translation: X:217.99, Y:-29.00, Z:-4.37 [[ 9.85479930e-01 1.68810150e-01 1.82329848e-02 2.17985083e+02] [-1.68786068e-01 9.85648552e-01 -2.86278143e-03 -2.89973758e+01] [-1.84545816e-02 -2.56260177e-04 9.99829667e-01 -4.37128839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38401273899999 meters 0.025088407815838498 Centerline is valid? [True, True] Translation: X:218.04, Y:-29.01, Z:-4.37 [[ 9.85858058e-01 1.66270192e-01 2.09311585e-02 2.18043090e+02] [-1.66237908e-01 9.86080202e-01 -3.28526280e-03 -2.90074496e+01] [-2.11860423e-02 -2.40749192e-04 9.99775522e-01 -4.36771541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444012739 meters 0.02506691283240304 Centerline is valid? [True, True] Translation: X:218.10, Y:-29.02, Z:-4.37 [[ 9.86006783e-01 1.65438663e-01 2.05103311e-02 2.18100006e+02] [-1.65407504e-01 9.86220057e-01 -3.21822015e-03 -2.90159586e+01] [-2.07601179e-02 -2.19375774e-04 9.99784461e-01 -4.36969064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504012739 meters 0.024650871570451725 Centerline is valid? [True, True] Translation: X:218.16, Y:-29.02, Z:-4.38 [[ 9.86118056e-01 1.65144404e-01 1.72773014e-02 2.18158478e+02] [-1.65122264e-01 9.86269382e-01 -2.71005019e-03 -2.90226019e+01] [-1.74876230e-02 -1.80437708e-04 9.99847064e-01 -4.37643973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564012739 meters 0.023314570293165696 Centerline is valid? [True, True] Translation: X:218.21, Y:-29.04, Z:-4.37 [[ 9.86650800e-01 1.61672699e-01 1.95483164e-02 2.18214994e+02] [-1.61643697e-01 9.86844425e-01 -3.06518583e-03 -2.90361114e+01] [-1.97867040e-02 -1.35594081e-04 9.99804215e-01 -4.37253971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624012739 meters 0.022181808664491317 Centerline is valid? [True, True] Translation: X:218.27, Y:-29.05, Z:-4.37 [[ 9.86946459e-01 1.59695555e-01 2.08330848e-02 2.18272591e+02] [-1.59662203e-01 9.87166308e-01 -3.26529423e-03 -2.90488276e+01] [-2.10871724e-02 -1.03585637e-04 9.99777635e-01 -4.37149771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68401273899997 meters 0.021642778844981253 Centerline is valid? [True, True] Translation: X:218.33, Y:-29.06, Z:-4.37 [[ 9.87540443e-01 1.55962292e-01 2.09675235e-02 2.18328475e+02] [-1.55927688e-01 9.87763009e-01 -3.28531669e-03 -2.90638758e+01] [-2.12233296e-02 -2.50343688e-05 9.99774759e-01 -4.37370619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74401273899997 meters 0.02183885883660172 Centerline is valid? [True, True] Translation: X:218.39, Y:-29.07, Z:-4.38 [[ 9.87671871e-01 1.55517178e-01 1.78516643e-02 2.18386323e+02] [-1.55492039e-01 9.87833188e-01 -2.79616732e-03 -2.90745368e+01] [-1.80693185e-02 -1.40958768e-05 9.99836736e-01 -4.38086340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80401273899997 meters 0.022353255044993022 Centerline is valid? [True, True] Translation: X:218.44, Y:-29.08, Z:-4.38 [[ 9.87092780e-01 1.59145087e-01 1.79076624e-02 2.18444166e+02] [-1.59120402e-01 9.87255202e-01 -2.80412488e-03 -2.90799012e+01] [-1.81256955e-02 -8.15430040e-05 9.99835713e-01 -4.38153486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86401273899997 meters 0.025343916396371298 Centerline is valid? [True, True] Translation: X:218.50, Y:-29.08, Z:-4.38 [[ 9.86163193e-01 1.64887672e-01 1.71525960e-02 2.18504379e+02] [-1.64865912e-01 9.86312335e-01 -2.68477442e-03 -2.90755195e+01] [-1.73605032e-02 -1.80252663e-04 9.99849279e-01 -4.38431491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92401273899998 meters 0.029883282840318475 Centerline is valid? [True, True] Translation: X:218.57, Y:-29.07, Z:-4.38 [[ 9.85084748e-01 1.71089053e-01 1.83460162e-02 2.18565826e+02] [-1.71065251e-01 9.85255520e-01 -2.87060719e-03 -2.90680258e+01] [-1.85666432e-02 -3.10574496e-04 9.99827577e-01 -4.38343699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98401273899998 meters 0.030914926093138895 Centerline is valid? [True, True] Translation: X:218.63, Y:-29.07, Z:-4.38 [[ 9.84713488e-01 1.73172035e-01 1.87294754e-02 2.18625497e+02] [-1.73147612e-01 9.84891526e-01 -2.93019310e-03 -2.90680174e+01] [-1.89539291e-02 -3.57563276e-04 9.99820294e-01 -4.38386231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04401273899998 meters 0.0276652483732589 Centerline is valid? [True, True] Translation: X:218.68, Y:-29.08, Z:-4.39 [[ 9.85318398e-01 1.69817347e-01 1.75989366e-02 2.18684347e+02] [-1.69795263e-01 9.85475516e-01 -2.75250210e-03 -2.90759538e+01] [-1.78107437e-02 -2.76125107e-04 9.99841338e-01 -4.38585901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10401273899998 meters 0.02318184697781614 Centerline is valid? [True, True] Translation: X:218.74, Y:-29.09, Z:-4.38 [[ 9.86636252e-01 1.61654857e-01 2.04111179e-02 2.18740800e+02] [-1.61623420e-01 9.86847346e-01 -3.19144829e-03 -2.90939118e+01] [-2.06585707e-02 -1.50116097e-04 9.99786578e-01 -4.38274085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164012739 meters 0.021793150404511796 Centerline is valid? [True, True] Translation: X:218.80, Y:-29.11, Z:-4.39 [[ 9.87582030e-01 1.55845757e-01 1.98452742e-02 2.18796141e+02] [-1.55814880e-01 9.87781403e-01 -3.10226891e-03 -2.91113589e+01] [-2.00862683e-02 -2.84439901e-05 9.99798250e-01 -4.38577229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224012739 meters 0.02187108929070497 Centerline is valid? [True, True] Translation: X:218.85, Y:-29.13, Z:-4.39 [[ 9.88059137e-01 1.53031225e-01 1.79049436e-02 2.18853030e+02] [-1.53005646e-01 9.88221354e-01 -2.79797819e-03 -2.91257367e+01] [-1.81222256e-02 2.50104608e-05 9.99835779e-01 -4.38857574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284012739 meters 0.02170710963396743 Centerline is valid? [True, True] Translation: X:218.91, Y:-29.13, Z:-4.39 [[ 9.87853575e-01 1.54151020e-01 1.95647200e-02 2.18911166e+02] [-1.54120719e-01 9.88047298e-01 -3.05628704e-03 -2.91308619e+01] [-1.98019985e-02 3.83535705e-06 9.99803921e-01 -4.38746482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344012739 meters 0.021883648067824536 Centerline is valid? [True, True] Translation: X:218.97, Y:-29.14, Z:-4.39 [[ 9.87905360e-01 1.53853341e-01 1.92911421e-02 2.18969381e+02] [-1.53823848e-01 9.88093695e-01 -3.01236806e-03 -2.91373584e+01] [-1.95249187e-02 8.49683794e-06 9.99809371e-01 -4.38921006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404012739 meters 0.022291819557867087 Centerline is valid? [True, True] Translation: X:219.03, Y:-29.15, Z:-4.39 [[ 9.88319677e-01 1.51152910e-01 1.94168611e-02 2.19025689e+02] [-1.51122528e-01 9.88510392e-01 -3.03105632e-03 -2.91505212e+01] [-1.96519219e-02 6.13274689e-05 9.99806880e-01 -4.38992675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46401273899997 meters 0.02409882154105021 Centerline is valid? [True, True] Translation: X:219.08, Y:-29.17, Z:-4.40 [[ 9.89158358e-01 1.45883046e-01 1.68487471e-02 2.19082696e+02] [-1.45859421e-01 9.89301833e-01 -2.62922548e-03 -2.91687788e+01] [-1.70520558e-02 1.43171866e-04 9.99854593e-01 -4.39688702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52401273899997 meters 0.02691798662177705 Centerline is valid? [True, True] Translation: X:219.14, Y:-29.19, Z:-4.40 [[ 9.89917667e-01 1.40775530e-01 1.56608643e-02 2.19139765e+02] [-1.40754488e-01 9.90041516e-01 -2.44329526e-03 -2.91899878e+01] [-1.58488620e-02 2.14324205e-04 9.99874376e-01 -4.39892908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58401273899997 meters 0.026283012815672788 Centerline is valid? [True, True] Translation: X:219.20, Y:-29.20, Z:-4.39 [[ 9.89846718e-01 1.40667168e-01 2.04015455e-02 2.19197209e+02] [-1.40631449e-01 9.90056902e-01 -3.18226485e-03 -2.92015258e+01] [-2.06463311e-02 2.80855522e-04 9.99786802e-01 -4.39067403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64401273899998 meters 0.024783245974101798 Centerline is valid? [True, True] Translation: X:219.26, Y:-29.21, Z:-4.39 [[ 9.89406397e-01 1.43661396e-01 2.08898266e-02 2.19256569e+02] [-1.43624635e-01 9.89626876e-01 -3.25740679e-03 -2.92090805e+01] [-2.11410974e-02 2.22605412e-04 9.99776477e-01 -4.39175752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70401273899998 meters 0.024239612052676246 Centerline is valid? [True, True] Translation: X:219.31, Y:-29.22, Z:-4.40 [[ 9.89132254e-01 1.45967932e-01 1.76280323e-02 2.19314316e+02] [-1.45942127e-01 9.89289311e-01 -2.74846843e-03 -2.92191229e+01] [-1.78404122e-02 1.45926247e-04 9.99840837e-01 -4.39732935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76401273899998 meters 0.023224140566148 Centerline is valid? [True, True] Translation: X:219.37, Y:-29.23, Z:-4.40 [[ 9.88794589e-01 1.48182417e-01 1.80895686e-02 2.19371726e+02] [-1.48155625e-01 9.88960039e-01 -2.81981098e-03 -2.92266627e+01] [-1.83077069e-02 1.08142499e-04 9.99832394e-01 -4.39818924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82401273899998 meters 0.02195673131199717 Centerline is valid? [True, True] Translation: X:219.43, Y:-29.23, Z:-4.39 [[ 9.88045754e-01 1.52581894e-01 2.20080567e-02 2.19430854e+02] [-1.52543359e-01 9.88290830e-01 -3.42911781e-03 -2.92311001e+01] [-2.22735819e-02 3.09424010e-05 9.99751913e-01 -4.39166596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88401273899999 meters 0.02289858505313822 Centerline is valid? [True, True] Translation: X:219.49, Y:-29.23, Z:-4.40 [[ 9.87091141e-01 1.58798497e-01 2.08354939e-02 2.19488772e+02] [-1.58765362e-01 9.87311008e-01 -3.24548696e-03 -2.92315722e+01] [-2.10864910e-02 -1.04363317e-04 9.99777650e-01 -4.39597571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944012739 meters 0.027467982959638173 Centerline is valid? [True, True] Translation: X:219.55, Y:-29.23, Z:-4.40 [[ 9.85818413e-01 1.66694248e-01 1.93671159e-02 2.19550353e+02] [-1.66667162e-01 9.86008602e-01 -3.01569247e-03 -2.92252952e+01] [-1.95988415e-02 -2.54937075e-04 9.99807892e-01 -4.39816226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004012739 meters 0.030849119309488304 Centerline is valid? [True, True] Translation: X:219.61, Y:-29.22, Z:-4.40 [[ 9.84838232e-01 1.72418398e-01 1.91194559e-02 2.19611206e+02] [-1.72393086e-01 9.85023737e-01 -2.97670885e-03 -2.92198333e+01] [-1.93463572e-02 -3.64485328e-04 9.99812775e-01 -4.39883291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064012739 meters 0.03260440696918836 Centerline is valid? [True, True] Translation: X:219.67, Y:-29.22, Z:-4.40 [[ 9.84394270e-01 1.74884021e-01 1.95831859e-02 2.19670874e+02] [-1.74857968e-01 9.84588950e-01 -3.04817704e-03 -2.92205928e+01] [-1.98144659e-02 -4.23668078e-04 9.99803584e-01 -4.39929344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124012739 meters 0.03748707313324232 Centerline is valid? [True, True] Translation: X:219.73, Y:-29.21, Z:-4.40 [[ 9.84179324e-01 1.76121952e-01 1.92903074e-02 2.19730495e+02] [-1.76096928e-01 9.84368255e-01 -3.00165793e-03 -2.92119887e+01] [-1.95174241e-02 -4.42794201e-04 9.99809419e-01 -4.40064683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18401273899997 meters 0.03449133227944104 Centerline is valid? [True, True] Translation: X:219.79, Y:-29.22, Z:-4.40 [[ 9.84709704e-01 1.73183872e-01 1.88187699e-02 2.19788495e+02] [-1.73159542e-01 9.84889438e-01 -2.92713586e-03 -2.92226807e+01] [-1.90413405e-02 -3.76270496e-04 9.99818626e-01 -4.40294932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24401273899997 meters 0.032071978658634974 Centerline is valid? [True, True] Translation: X:219.85, Y:-29.23, Z:-4.40 [[ 9.85048951e-01 1.71004389e-01 2.08821204e-02 2.19847399e+02] [-1.70973963e-01 9.85270197e-01 -3.24703910e-03 -2.92268671e+01] [-2.11297888e-02 -3.71806417e-04 9.99776672e-01 -4.39884957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30401273899997 meters 0.02939397851782925 Centerline is valid? [True, True] Translation: X:219.91, Y:-29.24, Z:-4.40 [[ 9.85216809e-01 1.69865443e-01 2.22164581e-02 2.19905131e+02] [-1.69830739e-01 9.85467196e-01 -3.45346198e-03 -2.92365390e+01] [-2.24802145e-02 -3.70628691e-04 9.99747219e-01 -4.39796367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36401273899997 meters 0.029679727879478656 Centerline is valid? [True, True] Translation: X:219.96, Y:-29.24, Z:-4.41 [[ 9.85685805e-01 1.67526390e-01 1.89315379e-02 2.19962832e+02] [-1.67500773e-01 9.85867555e-01 -2.94208728e-03 -2.92396245e+01] [-1.91568662e-02 -2.71073572e-04 9.99816454e-01 -4.40564064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42401273899998 meters 0.02515691367927495 Centerline is valid? [True, True] Translation: X:220.02, Y:-29.25, Z:-4.41 [[ 9.86274570e-01 1.64141676e-01 1.78880534e-02 2.20019740e+02] [-1.64118267e-01 9.86436755e-01 -2.77891025e-03 -2.92539845e+01] [-1.81015683e-02 -1.94987803e-04 9.99836134e-01 -4.40765693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48401273899998 meters 0.024434932191716056 Centerline is valid? [True, True] Translation: X:220.08, Y:-29.26, Z:-4.41 [[ 9.86457665e-01 1.62951774e-01 1.86545990e-02 2.20078656e+02] [-1.62926121e-01 9.86634018e-01 -2.89703223e-03 -2.92576787e+01] [-1.88773385e-02 -1.81521803e-04 9.99821791e-01 -4.40732734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54401273899998 meters 0.024930245156909017 Centerline is valid? [True, True] Translation: X:220.14, Y:-29.26, Z:-4.41 [[ 9.86382060e-01 1.63451119e-01 1.82801398e-02 2.20137387e+02] [-1.63426587e-01 9.86551416e-01 -2.83799715e-03 -2.92640021e+01] [-1.84981716e-02 -1.88111388e-04 9.99828876e-01 -4.40938580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60401273899998 meters 0.026125169020152928 Centerline is valid? [True, True] Translation: X:220.20, Y:-29.26, Z:-4.41 [[ 9.86033287e-01 1.65626327e-01 1.75007512e-02 2.20197461e+02] [-1.65604199e-01 9.86188558e-01 -2.71618647e-03 -2.92615867e+01] [-1.77089126e-02 -2.19947626e-04 9.99843161e-01 -4.41117093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664012739 meters 0.026155098091377255 Centerline is valid? [True, True] Translation: X:220.26, Y:-29.26, Z:-4.41 [[ 9.86045276e-01 1.65539160e-01 1.76493749e-02 2.20256380e+02] [-1.65516656e-01 9.86203193e-01 -2.73845112e-03 -2.92621561e+01] [-1.78591908e-02 -2.21028721e-04 9.99840488e-01 -4.41310983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724012739 meters 0.023754632265193545 Centerline is valid? [True, True] Translation: X:220.31, Y:-29.27, Z:-4.41 [[ 9.86897687e-01 1.60455406e-01 1.69415861e-02 2.20313533e+02] [-1.60433940e-01 9.87043083e-01 -2.62749674e-03 -2.92718771e+01] [-1.71436714e-02 -1.24934941e-04 9.99853029e-01 -4.41436904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784012739 meters 0.021977620973617426 Centerline is valid? [True, True] Translation: X:220.37, Y:-29.29, Z:-4.41 [[ 9.87834242e-01 1.54393393e-01 1.86062186e-02 2.20371167e+02] [-1.54366460e-01 9.88009453e-01 -2.88384004e-03 -2.92869301e+01] [-1.88283658e-02 -2.34201678e-05 9.99822730e-01 -4.41279883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844012739 meters 0.02234921520083486 Centerline is valid? [True, True] Translation: X:220.43, Y:-29.30, Z:-4.41 [[ 9.88699094e-01 1.48566261e-01 2.00541153e-02 2.20428367e+02] [-1.48533811e-01 9.88902451e-01 -3.10636163e-03 -2.93034112e+01] [-2.02930643e-02 9.25427669e-05 9.99794070e-01 -4.41109638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904012739 meters 0.03043648529189087 Centerline is valid? [True, True] Translation: X:220.49, Y:-29.32, Z:-4.41 [[ 9.89216328e-01 1.45222812e-01 1.90103214e-02 2.20485642e+02] [-1.45193051e-01 9.89398965e-01 -2.94382755e-03 -2.93199006e+01] [-1.92363032e-02 1.51915716e-04 9.99814954e-01 -4.40600099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96401273899997 meters 0.024958916722821994 Centerline is valid? [True, True] Translation: X:220.54, Y:-29.33, Z:-4.42 [[ 9.89488067e-01 1.43351464e-01 1.90715361e-02 2.20541732e+02] [-1.43321180e-01 9.89671826e-01 -2.95243671e-03 -2.93342336e+01] [-1.92977981e-02 1.88045835e-04 9.99813762e-01 -4.41551779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02401273899997 meters 0.026561888822458316 Centerline is valid? [True, True] Translation: X:220.60, Y:-29.35, Z:-4.42 [[ 9.89840261e-01 1.41015040e-01 1.81938431e-02 2.20598646e+02] [-1.40987112e-01 9.90007429e-01 -2.81507713e-03 -2.93501937e+01] [-1.84090080e-02 2.21379280e-04 9.99830515e-01 -4.41847561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08401273899997 meters 0.027066526784415176 Centerline is valid? [True, True] Translation: X:220.66, Y:-29.37, Z:-4.42 [[ 9.90035460e-01 1.39623721e-01 1.83031419e-02 2.20655221e+02] [-1.39595234e-01 9.90204603e-01 -2.83118344e-03 -2.93656349e+01] [-1.85191558e-02 2.47940621e-04 9.99828475e-01 -4.42016895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14401273899998 meters 0.024672203610977057 Centerline is valid? [True, True] Translation: X:220.71, Y:-29.37, Z:-4.42 [[ 9.89537506e-01 1.43052270e-01 1.87502359e-02 2.20713697e+02] [-1.43023011e-01 9.89715117e-01 -2.89921927e-03 -2.93708523e+01] [-1.89721319e-02 1.87171015e-04 9.99819995e-01 -4.41991306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20401273899998 meters 0.022891813831592358 Centerline is valid? [True, True] Translation: X:220.77, Y:-29.37, Z:-4.42 [[ 9.88858131e-01 1.47702756e-01 1.85335690e-02 2.20772774e+02] [-1.47675002e-01 9.89031792e-01 -2.86484594e-03 -2.93725932e+01] [-1.87534346e-02 9.59813708e-05 9.99824134e-01 -4.42148125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26401273899998 meters 0.022287454158607438 Centerline is valid? [True, True] Translation: X:220.83, Y:-29.38, Z:-4.42 [[ 9.88298720e-01 1.51491245e-01 1.77776024e-02 2.20830476e+02] [-1.51466335e-01 9.88458599e-01 -2.74720945e-03 -2.93754233e+01] [-1.79886021e-02 2.23553153e-05 9.99838192e-01 -4.42415727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32401273899998 meters 0.022432418247995342 Centerline is valid? [True, True] Translation: X:220.89, Y:-29.39, Z:-4.43 [[ 9.88526062e-01 1.49959882e-01 1.81179193e-02 2.20886602e+02] [-1.49933773e-01 9.88692081e-01 -2.79869652e-03 -2.93920299e+01] [-1.83327356e-02 5.00964529e-05 9.99831940e-01 -4.42527510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38401273899999 meters 0.023094730992715768 Centerline is valid? [True, True] Translation: X:220.94, Y:-29.41, Z:-4.42 [[ 9.89002793e-01 1.46634219e-01 1.92842389e-02 2.20942382e+02] [-1.46604030e-01 9.89190776e-01 -2.97765843e-03 -2.94132052e+01] [-1.95124178e-02 1.17765372e-04 9.99809608e-01 -4.42448713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444012739 meters 0.0223555819023428 Centerline is valid? [True, True] Translation: X:221.00, Y:-29.42, Z:-4.43 [[ 9.88623117e-01 1.49279319e-01 1.84395539e-02 2.21000492e+02] [-1.49252196e-01 9.88795065e-01 -2.84619923e-03 -2.94237664e+01] [-1.86578186e-02 6.16744392e-05 9.99825926e-01 -4.42547666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504012739 meters 0.022778146754964815 Centerline is valid? [True, True] Translation: X:221.06, Y:-29.42, Z:-4.43 [[ 9.87503395e-01 1.56616717e-01 1.75570350e-02 2.21058714e+02] [-1.56593300e-01 9.87659455e-01 -2.70922412e-03 -2.94236818e+01] [-1.77646814e-02 -7.39460402e-05 9.99842193e-01 -4.42799925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564012739 meters 0.030194175680977077 Centerline is valid? [True, True] Translation: X:221.12, Y:-29.41, Z:-4.42 [[ 9.85483971e-01 1.68579129e-01 2.00604190e-02 2.21121316e+02] [-1.68551058e-01 9.85688068e-01 -3.09416672e-03 -2.94142965e+01] [-2.02949276e-02 -3.31953133e-04 9.99793982e-01 -4.42453877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624012739 meters 0.0359157700036669 Centerline is valid? [True, True] Translation: X:221.18, Y:-29.41, Z:-4.42 [[ 9.84259098e-01 1.75428915e-01 2.14178445e-02 2.21182476e+02] [-1.75398540e-01 9.84491971e-01 -3.30327476e-03 -2.94097925e+01] [-2.16651858e-02 -5.05380423e-04 9.99765155e-01 -4.42436185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68401273899997 meters 0.03957888728253715 Centerline is valid? [True, True] Translation: X:221.24, Y:-29.41, Z:-4.43 [[ 9.84148685e-01 1.76438770e-01 1.79088253e-02 2.21241401e+02] [-1.76417703e-01 9.84311519e-01 -2.76194935e-03 -2.94076229e+01] [-1.81151780e-02 -4.41265009e-04 9.99835809e-01 -4.43244532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74401273899997 meters 0.039934467252802766 Centerline is valid? [True, True] Translation: X:221.30, Y:-29.41, Z:-4.44 [[ 9.84204729e-01 1.76193826e-01 1.72275305e-02 2.21299785e+02] [-1.76174304e-01 9.84355403e-01 -2.65627936e-03 -2.94103285e+01] [-1.74260328e-02 -4.20725504e-04 9.99848067e-01 -4.43618397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80401273899997 meters 0.03226598110906138 Centerline is valid? [True, True] Translation: X:221.36, Y:-29.43, Z:-4.44 [[ 9.84908674e-01 1.72229475e-01 1.70854503e-02 2.21357883e+02] [-1.72209738e-01 9.85056793e-01 -2.63089389e-03 -2.94256697e+01] [-1.72832564e-02 -3.51090708e-04 9.99850572e-01 -4.43695772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86401273899997 meters 0.029941584646589324 Centerline is valid? [True, True] Translation: X:221.42, Y:-29.43, Z:-4.44 [[ 9.85584984e-01 1.68330517e-01 1.69433292e-02 2.21415004e+02] [-1.68310534e-01 9.85730571e-01 -2.60880080e-03 -2.94349990e+01] [-1.71406984e-02 -2.80545886e-04 9.99853048e-01 -4.43778775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92401273899998 meters 0.028687886421456886 Centerline is valid? [True, True] Translation: X:221.47, Y:-29.44, Z:-4.44 [[ 9.85821373e-01 1.66739571e-01 1.88185201e-02 2.21474126e+02] [-1.66714662e-01 9.86000931e-01 -2.89585149e-03 -2.94412826e+01] [-1.90379314e-02 -2.82530926e-04 9.99818722e-01 -4.43538499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98401273899998 meters 0.025687476755579846 Centerline is valid? [True, True] Translation: X:221.53, Y:-29.45, Z:-4.43 [[ 9.86375725e-01 1.63153653e-01 2.10669210e-02 2.21532154e+02] [-1.63121692e-01 9.86600642e-01 -3.23829818e-03 -2.94539240e+01] [-2.13129780e-02 -2.42293093e-04 9.99772823e-01 -4.43229112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04401273899998 meters 0.02313895925893948 Centerline is valid? [True, True] Translation: X:221.59, Y:-29.47, Z:-4.43 [[ 9.87074320e-01 1.58732101e-01 2.20999474e-02 2.21589416e+02] [-1.58695895e-01 9.87321678e-01 -3.39375302e-03 -2.94697044e+01] [-2.23584547e-02 -1.57284484e-04 9.99750006e-01 -4.43118388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10401273899998 meters 0.021699931290127438 Centerline is valid? [True, True] Translation: X:221.64, Y:-29.49, Z:-4.43 [[ 9.88357435e-01 1.50604339e-01 2.16312987e-02 2.21644474e+02] [-1.50567726e-01 9.88594119e-01 -3.32076931e-03 -2.94934304e+01] [-2.18846970e-02 2.51315744e-05 9.99760501e-01 -4.43428737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164012739 meters 0.02316408321871526 Centerline is valid? [True, True] Translation: X:221.70, Y:-29.51, Z:-4.44 [[ 9.89218275e-01 1.45124963e-01 1.96455789e-02 2.21701317e+02] [-1.45093703e-01 9.89413325e-01 -3.01488793e-03 -2.95093174e+01] [-1.98751330e-02 1.31932447e-04 9.99802461e-01 -4.43883243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224012739 meters 0.02389171471004766 Centerline is valid? [True, True] Translation: X:221.76, Y:-29.53, Z:-4.44 [[ 9.89617235e-01 1.42579186e-01 1.81357103e-02 2.21758447e+02] [-1.42552134e-01 9.89783384e-01 -2.78242217e-03 -2.95250686e+01] [-1.83471402e-02 1.68248735e-04 9.99831663e-01 -4.44308791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284012739 meters 0.02364437986272034 Centerline is valid? [True, True] Translation: X:221.82, Y:-29.54, Z:-4.44 [[ 9.89531771e-01 1.43192810e-01 1.79636582e-02 2.21816452e+02] [-1.43166385e-01 9.89694799e-01 -2.75517292e-03 -2.95360638e+01] [-1.81730601e-02 1.54539140e-04 9.99834844e-01 -4.44463888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344012739 meters 0.034785114030542574 Centerline is valid? [True, True] Translation: X:221.87, Y:-29.55, Z:-4.44 [[ 9.89620592e-01 1.42704385e-01 1.69275870e-02 2.21873172e+02] [-1.42680862e-01 9.89765343e-01 -2.59553508e-03 -2.95483610e+01] [-1.71247332e-02 1.53352256e-04 9.99853349e-01 -4.43639590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404012739 meters 0.024697646689151764 Centerline is valid? [True, True] Translation: X:221.93, Y:-29.57, Z:-4.45 [[ 9.89839672e-01 1.41055582e-01 1.79093867e-02 2.21928430e+02] [-1.41029002e-01 9.90001660e-01 -2.74492014e-03 -2.95661226e+01] [-1.81175088e-02 1.91287928e-04 9.99835846e-01 -4.44796388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46401273899997 meters 0.024601912766454855 Centerline is valid? [True, True] Translation: X:221.99, Y:-29.58, Z:-4.45 [[ 9.89795074e-01 1.41437130e-01 1.73565736e-02 2.21985857e+02] [-1.41412242e-01 9.89947224e-01 -2.65915997e-03 -2.95798542e+01] [-1.75581958e-02 1.77591447e-04 9.99845827e-01 -4.45023084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52401273899997 meters 0.024103983544858168 Centerline is valid? [True, True] Translation: X:222.04, Y:-29.59, Z:-4.45 [[ 9.89774544e-01 1.41501511e-01 1.79909425e-02 2.22043151e+02] [-1.41474797e-01 9.89938023e-01 -2.75546905e-03 -2.95936092e+01] [-1.81998211e-02 1.82028195e-04 9.99834353e-01 -4.45047668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58401273899997 meters 0.024268309834565422 Centerline is valid? [True, True] Translation: X:222.10, Y:-29.61, Z:-4.45 [[ 9.89693071e-01 1.41771403e-01 2.02112631e-02 2.22099154e+02] [-1.41737766e-01 9.89899404e-01 -3.09442466e-03 -2.96116620e+01] [-2.04458182e-02 1.97831374e-04 9.99790943e-01 -4.44769925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64401273899998 meters 0.024238110822528334 Centerline is valid? [True, True] Translation: X:222.16, Y:-29.63, Z:-4.45 [[ 9.89634406e-01 1.41914927e-01 2.19976220e-02 2.22155744e+02] [-1.41875148e-01 9.89878836e-01 -3.36651839e-03 -2.96317262e+01] [-2.22527396e-02 2.10706554e-04 9.99752355e-01 -4.44526554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70401273899998 meters 0.022564789721525428 Centerline is valid? [True, True] Translation: X:222.21, Y:-29.64, Z:-4.45 [[ 9.89222967e-01 1.44937746e-01 2.07598621e-02 2.22213891e+02] [-1.44903002e-01 9.89440767e-01 -3.17618296e-03 -2.96424288e+01] [-2.10010027e-02 1.33786781e-04 9.99779446e-01 -4.44832751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76401273899998 meters 0.02153462686454883 Centerline is valid? [True, True] Translation: X:222.27, Y:-29.65, Z:-4.45 [[ 9.88567943e-01 1.49554407e-01 1.91546832e-02 2.22271064e+02] [-1.49525711e-01 9.88753497e-01 -2.92977010e-03 -2.96493784e+01] [-1.93774200e-02 3.21591766e-05 9.99812240e-01 -4.45174980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82401273899998 meters 0.022051168770450123 Centerline is valid? [True, True] Translation: X:222.33, Y:-29.66, Z:-4.45 [[ 9.87482767e-01 1.56176203e-01 2.20630424e-02 2.22329900e+02] [-1.56139813e-01 9.87729204e-01 -3.37314772e-03 -2.96554073e+01] [-2.23191167e-02 -1.13994064e-04 9.99750891e-01 -4.44800565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88401273899999 meters 0.02233696498605235 Centerline is valid? [True, True] Translation: X:222.39, Y:-29.67, Z:-4.45 [[ 9.87414593e-01 1.56279464e-01 2.42724148e-02 2.22386205e+02] [-1.56235483e-01 9.87712869e-01 -3.70963859e-03 -2.96712761e+01] [-2.45539168e-02 -1.29261191e-04 9.99698499e-01 -4.44606459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944012739 meters 0.02129739745719335 Centerline is valid? [True, True] Translation: X:222.44, Y:-29.70, Z:-4.45 [[ 9.88219692e-01 1.51485443e-01 2.17715533e-02 2.22442311e+02] [-1.51448919e-01 9.88459489e-01 -3.32631908e-03 -2.96993152e+01] [-2.20241873e-02 -1.01441871e-05 9.99757438e-01 -4.45334036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004012739 meters 0.021469004777827073 Centerline is valid? [True, True] Translation: X:222.50, Y:-29.73, Z:-4.46 [[ 9.88669012e-01 1.48743227e-01 2.02246448e-02 2.22499859e+02] [-1.48711144e-01 9.88875852e-01 -3.08954966e-03 -2.97250374e+01] [-2.04592124e-02 4.69119409e-05 9.99790687e-01 -4.45632643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064012739 meters 0.021215289981904306 Centerline is valid? [True, True] Translation: X:222.56, Y:-29.74, Z:-4.46 [[ 9.88382363e-01 1.50660481e-01 2.00430698e-02 2.22558714e+02] [-1.50629366e-01 9.88585565e-01 -3.06181635e-03 -2.97367629e+01] [-2.02755842e-02 7.17038737e-06 9.99794429e-01 -4.45717814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124012739 meters 0.02175585406877478 Centerline is valid? [True, True] Translation: X:222.62, Y:-29.75, Z:-4.46 [[ 9.87840957e-01 1.54296143e-01 1.90510612e-02 2.22617187e+02] [-1.54268716e-01 9.88024643e-01 -2.90984045e-03 -2.97482114e+01] [-1.92718951e-02 -6.45231710e-05 9.99814278e-01 -4.46158317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18401273899997 meters 0.022457589083289316 Centerline is valid? [True, True] Translation: X:222.68, Y:-29.76, Z:-4.46 [[ 9.87450913e-01 1.56807738e-01 1.87624127e-02 2.22675220e+02] [-1.56781598e-01 9.87629141e-01 -2.86531340e-03 -2.97596515e+01] [-1.89796088e-02 -1.12244702e-04 9.99819865e-01 -4.46196934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24401273899997 meters 0.023225725867306347 Centerline is valid? [True, True] Translation: X:222.73, Y:-29.77, Z:-4.46 [[ 9.87145953e-01 1.58668972e-01 1.91578683e-02 2.22734015e+02] [-1.58642082e-01 9.87331826e-01 -2.92496902e-03 -2.97726743e+01] [-1.93792749e-02 -1.51872795e-04 9.99812193e-01 -4.46316089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30401273899997 meters 0.024593462016166773 Centerline is valid? [True, True] Translation: X:222.79, Y:-29.78, Z:-4.46 [[ 9.86612449e-01 1.61553209e-01 2.22808550e-02 2.22792274e+02] [-1.61517587e-01 9.86863973e-01 -3.40112652e-03 -2.97805752e+01] [-2.25376360e-02 -2.43156155e-04 9.99745966e-01 -4.45829713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36401273899997 meters 0.025967149351877324 Centerline is valid? [True, True] Translation: X:222.85, Y:-29.79, Z:-4.46 [[ 9.86227958e-01 1.63794216e-01 2.29318596e-02 2.22851735e+02] [-1.63757106e-01 9.86494482e-01 -3.49967777e-03 -2.97858557e+01] [-2.31953799e-02 -3.03774896e-04 9.99730905e-01 -4.45928618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42401273899998 meters 0.02658407105172611 Centerline is valid? [True, True] Translation: X:222.91, Y:-29.79, Z:-4.46 [[ 9.86261828e-01 1.63699405e-01 2.21384795e-02 2.22909961e+02] [-1.63664806e-01 9.86510223e-01 -3.37805692e-03 -2.97915554e+01] [-2.23928223e-02 -2.91641375e-04 9.99749207e-01 -4.46176077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48401273899998 meters 0.025077781735320003 Centerline is valid? [True, True] Translation: X:222.97, Y:-29.80, Z:-4.46 [[ 9.86498547e-01 1.62200850e-01 2.26163838e-02 2.22969152e+02] [-1.62164366e-01 9.86757728e-01 -3.45018030e-03 -2.97994341e+01] [-2.28765137e-02 -2.63973691e-04 9.99738263e-01 -4.46223005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54401273899998 meters 0.02633922938468791 Centerline is valid? [True, True] Translation: X:223.03, Y:-29.80, Z:-4.46 [[ 9.86221187e-01 1.63931611e-01 2.22305309e-02 2.23028133e+02] [-1.63896814e-01 9.86471661e-01 -3.39074320e-03 -2.98003230e+01] [-2.24856387e-02 -2.99490403e-04 9.99747121e-01 -4.46349404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60401273899998 meters 0.03090524827428627 Centerline is valid? [True, True] Translation: X:223.09, Y:-29.79, Z:-4.47 [[ 9.85303471e-01 1.69528207e-01 2.09107121e-02 2.23089230e+02] [-1.69498698e-01 9.85525253e-01 -3.18849678e-03 -2.97922261e+01] [-2.11485750e-02 -4.02701548e-04 9.99776263e-01 -4.46758737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664012739 meters 0.0318426349062815 Centerline is valid? [True, True] Translation: X:223.15, Y:-29.79, Z:-4.47 [[ 9.84904038e-01 1.71908440e-01 2.02860513e-02 2.23147991e+02] [-1.71881187e-01 9.85112833e-01 -3.09254358e-03 -2.97931518e+01] [-2.05156838e-02 -4.40931919e-04 9.99789434e-01 -4.47011381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724012739 meters 0.02957248256649386 Centerline is valid? [True, True] Translation: X:223.21, Y:-29.80, Z:-4.47 [[ 9.85404693e-01 1.69050478e-01 1.99881683e-02 2.23206228e+02] [-1.69023456e-01 9.85607322e-01 -3.04591724e-03 -2.98013589e+01] [-2.02153988e-02 -3.77008140e-04 9.99795577e-01 -4.47149947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784012739 meters 0.0291650480303781 Centerline is valid? [True, True] Translation: X:223.26, Y:-29.81, Z:-4.47 [[ 9.85993586e-01 1.65341746e-01 2.18805055e-02 2.23264013e+02] [-1.65308477e-01 9.86236279e-01 -3.33308884e-03 -2.98065451e+01] [-2.21304471e-02 -3.30628833e-04 9.99755037e-01 -4.46933193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844012739 meters 0.025959344243226545 Centerline is valid? [True, True] Translation: X:223.32, Y:-29.81, Z:-4.47 [[ 9.86284059e-01 1.63697258e-01 2.11415057e-02 2.23322868e+02] [-1.63665848e-01 9.86510581e-01 -3.21928757e-03 -2.98140197e+01] [-2.13833076e-02 -2.85010443e-04 9.99771310e-01 -4.47192111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904012739 meters 0.025354729773173462 Centerline is valid? [True, True] Translation: X:223.38, Y:-29.82, Z:-4.47 [[ 9.86546833e-01 1.62056281e-01 2.15199582e-02 2.23380851e+02] [-1.62023364e-01 9.86781484e-01 -3.27607236e-03 -2.98201289e+01] [-2.17664044e-02 -2.54737217e-04 9.99763051e-01 -4.47259869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96401273899997 meters 0.023430728556078254 Centerline is valid? [True, True] Translation: X:223.44, Y:-29.83, Z:-4.47 [[ 9.87041707e-01 1.58770899e-01 2.32480094e-02 2.23438788e+02] [-1.58731608e-01 9.87315432e-01 -3.53757527e-03 -2.98302615e+01] [-2.35147824e-02 -1.98459578e-04 9.99723470e-01 -4.47179983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02401273899997 meters 0.022027591361369406 Centerline is valid? [True, True] Translation: X:223.50, Y:-29.84, Z:-4.48 [[ 9.87629212e-01 1.55271425e-01 2.18934716e-02 2.23495824e+02] [-1.55235741e-01 9.87871840e-01 -3.33045357e-03 -2.98441799e+01] [-2.21450683e-02 -1.09396055e-04 9.99754762e-01 -4.47527016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08401273899997 meters 0.021714622729948518 Centerline is valid? [True, True] Translation: X:223.55, Y:-29.85, Z:-4.48 [[ 9.87948641e-01 1.53525477e-01 1.96827570e-02 2.23553358e+02] [-1.53496308e-01 9.88144688e-01 -2.99330191e-03 -2.98523080e+01] [-1.99089599e-02 -6.40019730e-05 9.99801795e-01 -4.47977946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14401273899998 meters 0.021826036328490152 Centerline is valid? [True, True] Translation: X:223.61, Y:-29.86, Z:-4.48 [[ 9.87749601e-01 1.54471931e-01 2.21167140e-02 2.23612029e+02] [-1.54435372e-01 9.87997173e-01 -3.36191680e-03 -2.98606466e+01] [-2.23705727e-02 -9.48709762e-05 9.99749743e-01 -4.47584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20401273899998 meters 0.021760794271704978 Centerline is valid? [True, True] Translation: X:223.67, Y:-29.87, Z:-4.48 [[ 9.87770074e-01 1.54447957e-01 2.13567105e-02 2.23670147e+02] [-1.54413883e-01 9.88000921e-01 -3.24540735e-03 -2.98694671e+01] [-2.16016962e-02 -9.20563425e-05 9.99766652e-01 -4.47820541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26401273899998 meters 0.02169765095407001 Centerline is valid? [True, True] Translation: X:223.73, Y:-29.88, Z:-4.48 [[ 9.87766135e-01 1.54235728e-01 2.30087566e-02 2.23728165e+02] [-1.54196148e-01 9.88034074e-01 -3.49524108e-03 -2.98776846e+01] [-2.32725266e-02 -9.53808815e-05 9.99729154e-01 -4.47702821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32401273899998 meters 0.0217050243956663 Centerline is valid? [True, True] Translation: X:223.79, Y:-29.89, Z:-4.48 [[ 9.87785373e-01 1.54228634e-01 2.22167794e-02 2.23785894e+02] [-1.54191755e-01 9.88035181e-01 -3.37383806e-03 -2.98855851e+01] [-2.24713021e-02 -9.30163285e-05 9.99747484e-01 -4.47894580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38401273899999 meters 0.022160013375458833 Centerline is valid? [True, True] Translation: X:223.84, Y:-29.89, Z:-4.49 [[ 9.87713218e-01 1.55066428e-01 1.94165524e-02 2.23843536e+02] [-1.55038442e-01 9.87904041e-01 -2.94756053e-03 -2.98924642e+01] [-1.96387582e-02 -9.89675477e-05 9.99807136e-01 -4.48579244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444012739 meters 0.022026110999289184 Centerline is valid? [True, True] Translation: X:223.90, Y:-29.90, Z:-4.48 [[ 9.87658425e-01 1.55206355e-01 2.10195849e-02 2.23902394e+02] [-1.55173618e-01 9.87882065e-01 -3.18955762e-03 -2.98995292e+01] [-2.12599105e-02 -1.11491587e-04 9.99773976e-01 -4.48314019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504012739 meters 0.021400755111762784 Centerline is valid? [True, True] Translation: X:223.96, Y:-29.91, Z:-4.48 [[ 9.88002318e-01 1.52682649e-01 2.32255946e-02 2.23960134e+02] [-1.52642011e-01 9.88275268e-01 -3.52307662e-03 -2.99119237e+01] [-2.34911934e-02 -6.43936050e-05 9.99724042e-01 -4.48161066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564012739 meters 0.021235442374180197 Centerline is valid? [True, True] Translation: X:224.02, Y:-29.93, Z:-4.49 [[ 9.88434583e-01 1.50020208e-01 2.21587944e-02 2.24018453e+02] [-1.49982570e-01 9.88682931e-01 -3.36027120e-03 -2.99259136e+01] [-2.24121304e-02 -2.02466797e-06 9.99748817e-01 -4.48559602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624012739 meters 0.021541065905212892 Centerline is valid? [True, True] Translation: X:224.08, Y:-29.94, Z:-4.49 [[ 9.88923371e-01 1.47061544e-01 2.00865315e-02 2.24076749e+02] [-1.47030016e-01 9.89127342e-01 -3.04558020e-03 -2.99397041e+01] [-2.03160252e-02 5.85224029e-05 9.99793607e-01 -4.49021100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68401273899997 meters 0.021752113872184235 Centerline is valid? [True, True] Translation: X:224.14, Y:-29.95, Z:-4.49 [[ 9.89007035e-01 1.46626228e-01 1.91267624e-02 2.24135090e+02] [-1.46597568e-01 9.89191966e-01 -2.89964507e-03 -2.99486271e+01] [-1.93452037e-02 6.38325155e-05 9.99812862e-01 -4.49344617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74401273899997 meters 0.021247147065933086 Centerline is valid? [True, True] Translation: X:224.19, Y:-29.95, Z:-4.49 [[ 9.88564481e-01 1.49295057e-01 2.12427024e-02 2.24192386e+02] [-1.49260344e-01 9.88792691e-01 -3.21929022e-03 -2.99540207e+01] [-2.14852530e-02 1.17828945e-05 9.99769165e-01 -4.48881251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80401273899997 meters 0.021110478830912063 Centerline is valid? [True, True] Translation: X:224.25, Y:-29.96, Z:-4.49 [[ 9.88350260e-01 1.50459972e-01 2.29251223e-02 2.24250763e+02] [-1.50419888e-01 9.88616102e-01 -3.47283848e-03 -2.99600637e+01] [-2.31866682e-02 -1.60135134e-05 9.99731153e-01 -4.48795312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86401273899997 meters 0.02130883348902381 Centerline is valid? [True, True] Translation: X:224.31, Y:-29.97, Z:-4.49 [[ 9.88373831e-01 1.50742062e-01 1.98494624e-02 2.24308591e+02] [-1.50712086e-01 9.88573128e-01 -3.00610608e-03 -2.99694607e+01] [-2.00757917e-02 -2.03973015e-05 9.99798461e-01 -4.49476069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92401273899998 meters 0.021318355710883283 Centerline is valid? [True, True] Translation: X:224.37, Y:-29.98, Z:-4.50 [[ 9.88271129e-01 1.51482700e-01 1.93175247e-02 2.24365713e+02] [-1.51454468e-01 9.88459908e-01 -2.92465010e-03 -2.99768295e+01] [-1.95376326e-02 -3.53781664e-05 9.99809122e-01 -4.49581416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98401273899998 meters 0.02125164783930987 Centerline is valid? [True, True] Translation: X:224.42, Y:-29.98, Z:-4.49 [[ 9.88146822e-01 1.52123037e-01 2.06019546e-02 2.24424676e+02] [-1.52091095e-01 9.88361563e-01 -3.11769092e-03 -2.99834346e+01] [-2.08364526e-02 -5.26374569e-05 9.99782896e-01 -4.49447092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04401273899998 meters 0.02103051377991882 Centerline is valid? [True, True] Translation: X:224.48, Y:-30.00, Z:-4.49 [[ 9.88422832e-01 1.50099626e-01 2.21451343e-02 2.24481366e+02] [-1.50062238e-01 9.88670877e-01 -3.35003256e-03 -2.99960524e+01] [-2.23970880e-02 -1.18997394e-05 9.99749154e-01 -4.49298135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10401273899998 meters 0.02093980334286507 Centerline is valid? [True, True] Translation: X:224.54, Y:-30.00, Z:-4.49 [[ 9.88362908e-01 1.50281309e-01 2.35433707e-02 2.24538347e+02] [-1.50239137e-01 9.88643276e-01 -3.56004406e-03 -3.00038962e+01] [-2.38110033e-02 -1.85201999e-05 9.99716478e-01 -4.49024616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164012739 meters 0.021254962405971897 Centerline is valid? [True, True] Translation: X:224.60, Y:-30.01, Z:-4.49 [[ 9.88062846e-01 1.52320480e-01 2.30279015e-02 2.24597610e+02] [-1.52280719e-01 9.88331152e-01 -3.48078184e-03 -3.00063806e+01] [-2.32893868e-02 -6.74741892e-05 9.99728763e-01 -4.49302717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224012739 meters 0.021101954156300107 Centerline is valid? [True, True] Translation: X:224.66, Y:-30.02, Z:-4.50 [[ 9.88373184e-01 1.50514593e-01 2.15361771e-02 2.24656019e+02] [-1.50479408e-01 9.88607787e-01 -3.25436280e-03 -3.00178142e+01] [-2.17806615e-02 -2.42262665e-05 9.99762773e-01 -4.49793817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284012739 meters 0.021486983768150704 Centerline is valid? [True, True] Translation: X:224.71, Y:-30.04, Z:-4.50 [[ 9.89134320e-01 1.45210623e-01 2.29602075e-02 2.24712522e+02] [-1.45169216e-01 9.89400761e-01 -3.46893157e-03 -3.00362773e+01] [-2.32205725e-02 9.81239591e-05 9.99730361e-01 -4.49617820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344012739 meters 0.022704075194043483 Centerline is valid? [True, True] Translation: X:224.77, Y:-30.05, Z:-4.50 [[ 9.89631433e-01 1.41816045e-01 2.27560310e-02 2.24770921e+02] [-1.41774487e-01 9.89893014e-01 -3.43751781e-03 -3.00524607e+01] [-2.30135313e-02 1.75651055e-04 9.99735138e-01 -4.49802989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40401273899997 meters 0.02265897475009684 Centerline is valid? [True, True] Translation: X:224.83, Y:-30.06, Z:-4.50 [[ 9.89499499e-01 1.42881648e-01 2.18076946e-02 2.24829755e+02] [-1.42843739e-01 9.89739771e-01 -3.29428406e-03 -3.00617072e+01] [-2.20546354e-02 1.44599786e-04 9.99756756e-01 -4.49861893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46401273899997 meters 0.02114925359073085 Centerline is valid? [True, True] Translation: X:224.89, Y:-30.06, Z:-4.50 [[ 9.88449005e-01 1.50240535e-01 1.99084518e-02 2.24889694e+02] [-1.50210428e-01 9.88649473e-01 -3.00765166e-03 -3.00574027e+01] [-2.01343516e-02 -1.75467898e-05 9.99797283e-01 -4.50418601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52401273899997 meters 0.02171552811661953 Centerline is valid? [True, True] Translation: X:224.95, Y:-30.06, Z:-4.50 [[ 9.87877951e-01 1.53870792e-01 2.05166553e-02 2.24948503e+02] [-1.53839621e-01 9.88090973e-01 -3.09850611e-03 -3.00584331e+01] [-2.07490915e-02 -9.53285937e-05 9.99784710e-01 -4.50333055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58401273899997 meters 0.02181146506857745 Centerline is valid? [True, True] Translation: X:225.01, Y:-30.06, Z:-4.50 [[ 9.87774347e-01 1.54176764e-01 2.30513489e-02 2.25007658e+02] [-1.54137532e-01 9.88043274e-01 -3.47979732e-03 -3.00630162e+01] [-2.33122342e-02 -1.15823516e-04 9.99728226e-01 -4.50070923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64401273899998 meters 0.02122898044233911 Centerline is valid? [True, True] Translation: X:225.06, Y:-30.08, Z:-4.50 [[ 9.88745207e-01 1.47827017e-01 2.30236476e-02 2.25063995e+02] [-1.47786182e-01 9.89013232e-01 -3.47453128e-03 -3.00807065e+01] [-2.32843217e-02 3.28491727e-05 9.99728883e-01 -4.50235822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70401273899998 meters 0.02397132260504534 Centerline is valid? [True, True] Translation: X:225.12, Y:-30.11, Z:-4.50 [[ 9.90015515e-01 1.38773134e-01 2.47244334e-02 2.25121117e+02] [-1.38723237e-01 9.90324163e-01 -3.73036306e-03 -3.01057172e+01] [-2.50028780e-02 2.63263867e-04 9.99687345e-01 -4.50192314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76401273899998 meters 0.027448304741735128 Centerline is valid? [True, True] Translation: X:225.18, Y:-30.13, Z:-4.51 [[ 9.90814968e-01 1.33247797e-01 2.30374451e-02 2.25180994e+02] [-1.33202986e-01 9.91082683e-01 -3.47574143e-03 -3.01269280e+01] [-2.32951478e-02 3.75160164e-04 9.99728561e-01 -4.50646845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82401273899998 meters 0.03225273765769893 Centerline is valid? [True, True] Translation: X:225.24, Y:-30.15, Z:-4.51 [[ 9.91549617e-01 1.28106727e-01 2.04456294e-02 2.25237709e+02] [-1.28070322e-01 9.91760290e-01 -3.08557371e-03 -3.01533731e+01] [-2.06724461e-02 4.41021091e-04 9.99786205e-01 -4.51232100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88401273899999 meters 0.031938060097027994 Centerline is valid? [True, True] Translation: X:225.30, Y:-30.17, Z:-4.51 [[ 9.91247025e-01 1.30400762e-01 2.06149665e-02 2.25297054e+02] [-1.30364246e-01 9.91461287e-01 -3.11116561e-03 -3.01706454e+01] [-2.08446396e-02 3.96479101e-04 9.99782648e-01 -4.51154201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944012739 meters 0.025868841718546646 Centerline is valid? [True, True] Translation: X:225.36, Y:-30.18, Z:-4.51 [[ 9.90272127e-01 1.37738924e-01 1.97256841e-02 2.25357436e+02] [-1.37706908e-01 9.90468543e-01 -2.97877788e-03 -3.01762965e+01] [-1.99479633e-02 2.33437738e-04 9.99800992e-01 -4.51442110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004012739 meters 0.022355014231296138 Centerline is valid? [True, True] Translation: X:225.42, Y:-30.18, Z:-4.51 [[ 9.89370240e-01 1.43999653e-01 2.02639443e-02 2.25418653e+02] [-1.43967177e-01 9.89577732e-01 -3.06006100e-03 -3.01796104e+01] [-2.04933957e-02 1.10190432e-04 9.99789982e-01 -4.51449848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064012739 meters 0.021546133098072174 Centerline is valid? [True, True] Translation: X:225.48, Y:-30.19, Z:-4.52 [[ 9.88943247e-01 1.47120569e-01 1.86223531e-02 2.25477286e+02] [-1.47093691e-01 9.89118565e-01 -2.81239694e-03 -3.01865977e+01] [-1.88334766e-02 4.20703149e-05 9.99822633e-01 -4.51887865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124012739 meters 0.021710707435619578 Centerline is valid? [True, True] Translation: X:225.54, Y:-30.19, Z:-4.52 [[ 9.88181135e-01 1.52064344e-01 1.93514611e-02 2.25536269e+02] [-1.52036272e-01 9.88370595e-01 -2.92230739e-03 -3.01885784e+01] [-1.95707938e-02 -5.43549555e-05 9.99808472e-01 -4.51837868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18401273899997 meters 0.024943592462191043 Centerline is valid? [True, True] Translation: X:225.60, Y:-30.19, Z:-4.52 [[ 9.87088946e-01 1.58854979e-01 2.05063138e-02 2.25595236e+02] [-1.58824939e-01 9.87301907e-01 -3.09571164e-03 -3.01870151e+01] [-2.07376919e-02 -2.01171305e-04 9.99784931e-01 -4.51831778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24401273899997 meters 0.02659712982024872 Centerline is valid? [True, True] Translation: X:225.65, Y:-30.19, Z:-4.52 [[ 9.86589504e-01 1.62170436e-01 1.84905311e-02 2.25653995e+02] [-1.62146612e-01 9.86762732e-01 -2.79045775e-03 -3.01917048e+01] [-1.86982968e-02 -2.45140657e-04 9.99825142e-01 -4.52339736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30401273899997 meters 0.027500557358096346 Centerline is valid? [True, True] Translation: X:225.71, Y:-30.20, Z:-4.53 [[ 9.86481039e-01 1.62940281e-01 1.74821481e-02 2.25711257e+02] [-1.62919119e-01 9.86635903e-01 -2.63752523e-03 -3.02002228e+01] [-1.76782741e-02 -2.46307539e-04 9.99843697e-01 -4.52665541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36401273899997 meters 0.027514148238379332 Centerline is valid? [True, True] Translation: X:225.77, Y:-30.21, Z:-4.52 [[ 9.86520122e-01 1.62336018e-01 2.06171206e-02 2.25768713e+02] [-1.62306483e-01 9.86735496e-01 -3.10905489e-03 -3.02091334e+01] [-2.08483563e-02 -2.79147124e-04 9.99782610e-01 -4.52179649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42401273899998 meters 0.03008529802833841 Centerline is valid? [True, True] Translation: X:225.83, Y:-30.21, Z:-4.52 [[ 9.85967743e-01 1.65596326e-01 2.11060833e-02 2.25827339e+02] [-1.65566147e-01 9.86193556e-01 -3.18152377e-03 -3.02110966e+01] [-2.13415320e-02 -3.57573075e-04 9.99772180e-01 -4.52224483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48401273899998 meters 0.030445567576521976 Centerline is valid? [True, True] Translation: X:225.89, Y:-30.22, Z:-4.53 [[ 9.85658052e-01 1.67572657e-01 1.99401572e-02 2.25886268e+02] [-1.67546146e-01 9.85859656e-01 -3.00468621e-03 -3.02163399e+01] [-2.01616997e-02 -3.79303319e-04 9.99796660e-01 -4.52527774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54401273899998 meters 0.030016632385517255 Centerline is valid? [True, True] Translation: X:225.94, Y:-30.22, Z:-4.53 [[ 9.86030120e-01 1.65450250e-01 1.92566135e-02 2.25943857e+02] [-1.65425138e-01 9.86218084e-01 -2.90079843e-03 -3.02218880e+01] [-1.94711583e-02 -3.25253325e-04 9.99810366e-01 -4.52959976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60401273899998 meters 0.024002981318569584 Centerline is valid? [True, True] Translation: X:226.00, Y:-30.24, Z:-4.53 [[ 9.87368739e-01 1.57367722e-01 1.83949183e-02 2.26000568e+02] [-1.57343424e-01 9.87540062e-01 -2.76987879e-03 -3.02445141e+01] [-1.86016083e-02 -1.59427696e-04 9.99826962e-01 -4.53203582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664012739 meters 0.022260257921168276 Centerline is valid? [True, True] Translation: X:226.06, Y:-30.26, Z:-4.53 [[ 9.88033961e-01 1.53017986e-01 1.93491098e-02 2.26058315e+02] [-1.52990277e-01 9.88223400e-01 -2.91307715e-03 -3.02598118e+01] [-1.95669963e-02 -8.20065129e-05 9.99808545e-01 -4.53143229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724012739 meters 0.022515757476634656 Centerline is valid? [True, True] Translation: X:226.12, Y:-30.27, Z:-4.53 [[ 9.88019604e-01 1.53171463e-01 1.88617208e-02 2.26117479e+02] [-1.53145169e-01 9.88199623e-01 -2.83925349e-03 -3.02664596e+01] [-1.90740380e-02 -8.33433154e-05 9.99818071e-01 -4.53432821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784012739 meters 0.022371247858492774 Centerline is valid? [True, True] Translation: X:226.18, Y:-30.27, Z:-4.53 [[ 9.88161056e-01 1.52216456e-01 1.91801471e-02 2.26175576e+02] [-1.52189095e-01 9.88347179e-01 -2.88675489e-03 -3.02719936e+01] [-1.93960559e-02 -6.64304726e-05 9.99811877e-01 -4.53427546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844012739 meters 0.021987015258594114 Centerline is valid? [True, True] Translation: X:226.23, Y:-30.29, Z:-4.54 [[ 9.88725284e-01 1.48653714e-01 1.80107436e-02 2.26233812e+02] [-1.48629018e-01 9.88889313e-01 -2.70957995e-03 -3.02868172e+01] [-1.82134210e-02 2.11107442e-06 9.99834122e-01 -4.53880407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90401273899997 meters 0.022699681554275618 Centerline is valid? [True, True] Translation: X:226.29, Y:-30.30, Z:-4.54 [[ 9.89323426e-01 1.44426003e-01 1.95009878e-02 2.26291993e+02] [-1.44396238e-01 9.89515600e-01 -2.93328864e-03 -3.02995573e+01] [-1.97201748e-02 8.61018916e-05 9.99805535e-01 -4.53676499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96401273899997 meters 0.02384600041114722 Centerline is valid? [True, True] Translation: X:226.35, Y:-30.31, Z:-4.54 [[ 9.89752548e-01 1.41480902e-01 1.93144603e-02 2.26350945e+02] [-1.41451152e-01 9.89940975e-01 -2.90476433e-03 -3.03137777e+01] [-1.95311444e-02 1.42945237e-04 9.99809239e-01 -4.53839557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02401273899997 meters 0.02628077447506698 Centerline is valid? [True, True] Translation: X:226.41, Y:-30.33, Z:-4.54 [[ 9.90336411e-01 1.37378279e-01 1.90000428e-02 2.26409830e+02] [-1.37348735e-01 9.90518632e-01 -2.85744989e-03 -3.03325241e+01] [-1.92124479e-02 2.20204835e-04 9.99815400e-01 -4.54030098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08401273899997 meters 0.027280900911787767 Centerline is valid? [True, True] Translation: X:226.47, Y:-30.35, Z:-4.54 [[ 9.90480169e-01 1.36271663e-01 1.94696874e-02 2.26468588e+02] [-1.36240417e-01 9.90671475e-01 -2.92854618e-03 -3.03474021e+01] [-1.96871418e-02 2.48108577e-04 9.99806159e-01 -4.54019599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14401273899998 meters 0.02469202942504816 Centerline is valid? [True, True] Translation: X:226.53, Y:-30.35, Z:-4.55 [[ 9.90068424e-01 1.39455659e-01 1.77942526e-02 2.26529302e+02] [-1.39430072e-01 9.90228302e-01 -2.67668441e-03 -3.03537080e+01] [-1.79936514e-02 1.69046793e-04 9.99838087e-01 -4.54504037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20401273899998 meters 0.023273137145043282 Centerline is valid? [True, True] Translation: X:226.59, Y:-30.36, Z:-4.54 [[ 9.89602462e-01 1.42601132e-01 1.87585670e-02 2.26588889e+02] [-1.42573251e-01 9.89780230e-01 -2.82225057e-03 -3.03618886e+01] [-1.89693149e-02 1.18436239e-04 9.99820059e-01 -4.54388839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26401273899998 meters 0.02203736565493245 Centerline is valid? [True, True] Translation: X:226.65, Y:-30.37, Z:-4.54 [[ 9.88890407e-01 1.47394591e-01 1.92509032e-02 2.26647765e+02] [-1.47366134e-01 9.89077769e-01 -2.89633467e-03 -3.03682177e+01] [-1.94675444e-02 2.72263983e-05 9.99810489e-01 -4.54419410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32401273899998 meters 0.02189210029822545 Centerline is valid? [True, True] Translation: X:226.71, Y:-30.38, Z:-4.54 [[ 9.88657810e-01 1.48750714e-01 2.07113491e-02 2.26707589e+02] [-1.48718078e-01 9.88874727e-01 -3.11580635e-03 -3.03789205e+01] [-2.09444081e-02 3.14246364e-07 9.99780642e-01 -4.54370233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38401273899999 meters 0.021986947784040044 Centerline is valid? [True, True] Translation: X:226.77, Y:-30.40, Z:-4.55 [[ 9.88675579e-01 1.48669334e-01 2.04457718e-02 2.26766533e+02] [-1.48637511e-01 9.88886965e-01 -3.07588740e-03 -3.03971852e+01] [-2.06758473e-02 2.04611628e-06 9.99786232e-01 -4.54658868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444012739 meters 0.022074338193124207 Centerline is valid? [True, True] Translation: X:226.83, Y:-30.41, Z:-4.55 [[ 9.88597277e-01 1.49463736e-01 1.83307383e-02 2.26826926e+02] [-1.49438246e-01 9.88767208e-01 -2.76028119e-03 -3.04106807e+01] [-1.85373948e-02 -1.05069142e-05 9.99828168e-01 -4.55127173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504012739 meters 0.02181296917025624 Centerline is valid? [True, True] Translation: X:226.89, Y:-30.42, Z:-4.55 [[ 9.88533766e-01 1.49729668e-01 1.95453182e-02 2.26886738e+02] [-1.49700667e-01 9.88726973e-01 -2.94686096e-03 -3.04241660e+01] [-1.97662158e-02 -1.28756133e-05 9.99804629e-01 -4.54934581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564012739 meters 0.021948015948632948 Centerline is valid? [True, True] Translation: X:226.95, Y:-30.44, Z:-4.55 [[ 9.88510472e-01 1.49927259e-01 1.92058053e-02 2.26947238e+02] [-1.49899288e-01 9.88697030e-01 -2.89599598e-03 -3.04354402e+01] [-1.94229114e-02 -1.62141712e-05 9.99811357e-01 -4.55152684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624012739 meters 0.021762792144978237 Centerline is valid? [True, True] Translation: X:227.01, Y:-30.45, Z:-4.55 [[ 9.88552551e-01 1.49706385e-01 1.87577156e-02 2.27008508e+02] [-1.49679610e-01 9.88730498e-01 -2.83128083e-03 -3.04475018e+01] [-1.89701863e-02 -8.77766802e-06 9.99820050e-01 -4.55314634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68401273899997 meters 0.02170398082033377 Centerline is valid? [True, True] Translation: X:227.07, Y:-30.46, Z:-4.55 [[ 9.88563562e-01 1.49642809e-01 1.86845861e-02 2.27068608e+02] [-1.49616169e-01 9.88740122e-01 -2.82354349e-03 -3.04586500e+01] [-1.88967229e-02 -4.26397075e-06 9.99821441e-01 -4.55333922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74401273899997 meters 0.021550780330735167 Centerline is valid? [True, True] Translation: X:227.13, Y:-30.47, Z:-4.55 [[ 9.88438264e-01 1.50221909e-01 2.05712393e-02 2.27129575e+02] [-1.50189731e-01 9.88652304e-01 -3.10918154e-03 -3.04666354e+01] [-2.08048703e-02 -1.63548984e-05 9.99783555e-01 -4.55128982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80401273899997 meters 0.021935452873377663 Centerline is valid? [True, True] Translation: X:227.19, Y:-30.47, Z:-4.55 [[ 9.87947759e-01 1.53170178e-01 2.23186547e-02 2.27190486e+02] [-1.53133040e-01 9.88199823e-01 -3.37383022e-03 -3.04701752e+01] [-2.25720607e-02 -8.45554202e-05 9.99745215e-01 -4.54854884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86401273899997 meters 0.023072955268460246 Centerline is valid? [True, True] Translation: X:227.25, Y:-30.47, Z:-4.55 [[ 9.87514604e-01 1.55972462e-01 2.20793723e-02 2.27251408e+02] [-1.55936811e-01 9.87761393e-01 -3.33789217e-03 -3.04716527e+01] [-2.23297708e-02 -1.46769628e-04 9.99750649e-01 -4.55065165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92401273899998 meters 0.02334285988193838 Centerline is valid? [True, True] Translation: X:227.31, Y:-30.48, Z:-4.56 [[ 9.87475303e-01 1.56489478e-01 2.00890139e-02 2.27310281e+02] [-1.56460072e-01 9.87679615e-01 -3.03699746e-03 -3.04769096e+01] [-2.03167676e-02 -1.44168563e-04 9.99793583e-01 -4.55584502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98401273899998 meters 0.023728237725002942 Centerline is valid? [True, True] Translation: X:227.37, Y:-30.48, Z:-4.55 [[ 9.87362656e-01 1.56999131e-01 2.15929988e-02 2.27368866e+02] [-1.56965285e-01 9.87598727e-01 -3.26406987e-03 -3.04818318e+01] [-2.18376743e-02 -1.66530524e-04 9.99761516e-01 -4.55498324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04401273899998 meters 0.02407657298566985 Centerline is valid? [True, True] Translation: X:227.43, Y:-30.49, Z:-4.56 [[ 9.87124885e-01 1.58544137e-01 2.11711381e-02 2.27429669e+02] [-1.58511971e-01 9.87351871e-01 -3.19962653e-03 -3.04867966e+01] [-2.14106449e-02 -1.97447861e-04 9.99770746e-01 -4.55734960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10401273899998 meters 0.026091646660498645 Centerline is valid? [True, True] Translation: X:227.49, Y:-30.48, Z:-4.56 [[ 9.86951090e-01 1.59896496e-01 1.89909439e-02 2.27488733e+02] [-1.59870863e-01 9.87133765e-01 -2.87017436e-03 -3.04848824e+01] [-1.92055328e-02 -2.03376875e-04 9.99815536e-01 -4.56441975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164012739 meters 0.024793577435694346 Centerline is valid? [True, True] Translation: X:227.55, Y:-30.50, Z:-4.56 [[ 9.87245261e-01 1.57996319e-01 1.95948419e-02 2.27546286e+02] [-1.57968670e-01 9.87439686e-01 -2.96073133e-03 -3.04965945e+01] [-1.98165092e-02 -1.72403145e-04 9.99803619e-01 -4.56489721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224012739 meters 0.02274430796727518 Centerline is valid? [True, True] Translation: X:227.60, Y:-30.51, Z:-4.57 [[ 9.87923820e-01 1.53816278e-01 1.86300422e-02 2.27603366e+02] [-1.53790556e-01 9.88099461e-01 -2.81415634e-03 -3.05132957e+01] [-1.88411977e-02 -8.49524576e-05 9.99822485e-01 -4.56771245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284012739 meters 0.021739919136456915 Centerline is valid? [True, True] Translation: X:227.66, Y:-30.53, Z:-4.57 [[ 9.88520665e-01 1.49808248e-01 1.96056864e-02 2.27662017e+02] [-1.49778987e-01 9.88715069e-01 -2.96083563e-03 -3.05304882e+01] [-1.98279952e-02 -9.67263197e-06 9.99803406e-01 -4.56771037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344012739 meters 0.031881529671232284 Centerline is valid? [True, True] Translation: X:227.72, Y:-30.54, Z:-4.55 [[ 9.88556148e-01 1.49387005e-01 2.09824975e-02 2.27723267e+02] [-1.49353391e-01 9.88778804e-01 -3.16889372e-03 -3.05428073e+01] [-2.12204403e-02 -1.17776745e-06 9.99774821e-01 -4.55294392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40401273899997 meters 0.021806650262129378 Centerline is valid? [True, True] Translation: X:227.78, Y:-30.56, Z:-4.57 [[ 9.88685360e-01 1.48626895e-01 2.02806524e-02 2.27783811e+02] [-1.48595261e-01 9.88893344e-01 -3.06636460e-03 -3.05565127e+01] [-2.05111465e-02 1.80609409e-05 9.99789624e-01 -4.56885469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46401273899997 meters 0.02179155031872195 Centerline is valid? [True, True] Translation: X:227.84, Y:-30.57, Z:-4.57 [[ 9.88780566e-01 1.47867162e-01 2.11729634e-02 2.27843428e+02] [-1.47832421e-01 9.89007230e-01 -3.20537133e-03 -3.05748314e+01] [-2.14141831e-02 3.93584376e-05 9.99770689e-01 -4.56756155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52401273899997 meters 0.021808540489299477 Centerline is valid? [True, True] Translation: X:227.90, Y:-30.59, Z:-4.57 [[ 9.88898511e-01 1.46943106e-01 2.20784391e-02 2.27904784e+02] [-1.46905024e-01 9.89144943e-01 -3.34585982e-03 -3.05923292e+01] [-2.23304274e-02 6.52821763e-05 9.99750643e-01 -4.56678541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58401273899997 meters 0.02175146403284215 Centerline is valid? [True, True] Translation: X:227.97, Y:-30.61, Z:-4.57 [[ 9.88780324e-01 1.47714753e-01 2.22221115e-02 2.27965238e+02] [-1.47676272e-01 9.89030004e-01 -3.37188784e-03 -3.06051501e+01] [-2.24764126e-02 5.23777662e-05 9.99747372e-01 -4.56728697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64401273899998 meters 0.02987923339069852 Centerline is valid? [True, True] Translation: X:228.03, Y:-30.62, Z:-4.56 [[ 9.88503117e-01 1.49469663e-01 2.28124460e-02 2.28025179e+02] [-1.49429508e-01 9.88766312e-01 -3.46446274e-03 -3.06222371e+01] [-2.30740102e-02 1.57796436e-05 9.99733759e-01 -4.55675105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70401273899998 meters 0.021949630572336905 Centerline is valid? [True, True] Translation: X:228.09, Y:-30.64, Z:-4.57 [[ 9.87880671e-01 1.53529152e-01 2.28162117e-02 2.28086648e+02] [-1.53489970e-01 9.88144116e-01 -3.46918037e-03 -3.06360565e+01] [-2.30783257e-02 -7.49234217e-05 9.99733657e-01 -4.56948116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76401273899998 meters 0.025030992439193725 Centerline is valid? [True, True] Translation: X:228.15, Y:-30.64, Z:-4.57 [[ 9.86697608e-01 1.61277553e-01 2.04299068e-02 2.28148751e+02] [-1.61247725e-01 9.86909064e-01 -3.10982080e-03 -3.06393811e+01] [-2.06640045e-02 -2.25823255e-04 9.99786451e-01 -4.57495568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82401273899998 meters 0.028911172634283895 Centerline is valid? [True, True] Translation: X:228.21, Y:-30.64, Z:-4.58 [[ 9.85696477e-01 1.67438911e-01 1.91485138e-02 2.28209705e+02] [-1.67413852e-01 9.85882397e-01 -2.91567615e-03 -3.06437939e+01] [-1.93663803e-02 -3.31754742e-04 9.99812399e-01 -4.57916384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88401273899999 meters 0.030524544714116253 Centerline is valid? [True, True] Translation: X:228.27, Y:-30.65, Z:-4.58 [[ 9.85309910e-01 1.69602446e-01 1.99847890e-02 2.28271004e+02] [-1.69575590e-01 9.85512485e-01 -3.04326498e-03 -3.06510990e+01] [-2.02114043e-02 -3.90373243e-04 9.99795652e-01 -4.57835075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944012739 meters 0.03208340385592407 Centerline is valid? [True, True] Translation: X:228.33, Y:-30.66, Z:-4.58 [[ 9.85000801e-01 1.71464440e-01 1.93227312e-02 2.28332447e+02] [-1.71439683e-01 9.85190223e-01 -2.94290131e-03 -3.06551170e+01] [-1.95411688e-02 -4.13922763e-04 9.99808967e-01 -4.58087374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004012739 meters 0.03623616908463253 Centerline is valid? [True, True] Translation: X:228.39, Y:-30.65, Z:-4.58 [[ 9.84099650e-01 1.76570362e-01 1.92557958e-02 2.28393474e+02] [-1.76546743e-01 9.84287887e-01 -2.93320249e-03 -3.06521330e+01] [-1.94711632e-02 -5.12984484e-04 9.99810287e-01 -4.58055315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064012739 meters 0.04017447121206676 Centerline is valid? [True, True] Translation: X:228.46, Y:-30.65, Z:-4.58 [[ 9.83167293e-01 1.81495864e-01 2.10077390e-02 2.28455430e+02] [-1.81468875e-01 9.83391482e-01 -3.19994242e-03 -3.06467362e+01] [-2.12396079e-02 -6.66172040e-04 9.99774192e-01 -4.57954997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124012739 meters 0.043327020857251854 Centerline is valid? [True, True] Translation: X:228.51, Y:-30.65, Z:-4.58 [[ 9.83182825e-01 1.81323938e-01 2.17523091e-02 2.28514279e+02] [-1.81294968e-01 9.83423184e-01 -3.31300812e-03 -3.06462921e+01] [-2.19924527e-02 -6.86291505e-04 9.99757901e-01 -4.57880859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18401273899997 meters 0.03635965109038169 Centerline is valid? [True, True] Translation: X:228.57, Y:-30.66, Z:-4.58 [[ 9.83965515e-01 1.76931295e-01 2.25206837e-02 2.28573301e+02] [-1.76899121e-01 9.84223016e-01 -3.42874355e-03 -3.06575257e+01] [-2.27720272e-02 -6.10123741e-04 9.99740498e-01 -4.57861452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24401273899997 meters 0.035213773592589176 Centerline is valid? [True, True] Translation: X:228.63, Y:-30.66, Z:-4.58 [[ 9.84485600e-01 1.73960915e-01 2.29282230e-02 2.28632108e+02] [-1.73926768e-01 9.84752403e-01 -3.49047294e-03 -3.06633222e+01] [-2.31858286e-02 -5.51511368e-04 9.99731020e-01 -4.57921808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30401273899997 meters 0.04053298381495517 Centerline is valid? [True, True] Translation: X:228.69, Y:-30.67, Z:-4.57 [[ 9.84295593e-01 1.75139883e-01 2.20954156e-02 2.28691201e+02] [-1.75108482e-01 9.84543401e-01 -3.36312276e-03 -3.06697340e+01] [-2.23429125e-02 -5.58787769e-04 9.99750210e-01 -4.56978443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36401273899997 meters 0.04131622705628146 Centerline is valid? [True, True] Translation: X:228.75, Y:-30.67, Z:-4.58 [[ 9.84269728e-01 1.75482176e-01 2.04721435e-02 2.28750438e+02] [-1.75455313e-01 9.84482468e-01 -3.11509904e-03 -3.06653920e+01] [-2.07011107e-02 -5.25848663e-04 9.99785571e-01 -4.57707402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42401273899998 meters 0.03496573906697814 Centerline is valid? [True, True] Translation: X:228.81, Y:-30.67, Z:-4.59 [[ 9.85026553e-01 1.71234418e-01 2.00365464e-02 2.28809084e+02] [-1.71207831e-01 9.85230222e-01 -3.04761021e-03 -3.06719608e+01] [-2.02624668e-02 -4.28436666e-04 9.99794603e-01 -4.58883325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48401273899998 meters 0.02755793939123941 Centerline is valid? [True, True] Translation: X:228.87, Y:-30.69, Z:-4.59 [[ 9.86181487e-01 1.64460111e-01 1.99736285e-02 2.28866667e+02] [-1.64432310e-01 9.86383692e-01 -3.03758421e-03 -3.06920227e+01] [-2.02012229e-02 -2.88700562e-04 9.99795893e-01 -4.58936342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54401273899998 meters 0.0260014222252681 Centerline is valid? [True, True] Translation: X:228.93, Y:-30.70, Z:-4.59 [[ 9.86771003e-01 1.60958754e-01 1.93718313e-02 2.28925078e+02] [-1.60931933e-01 9.86961111e-01 -2.94584353e-03 -3.07017927e+01] [-1.95934034e-02 -2.10673270e-04 9.99808009e-01 -4.59161249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60401273899998 meters 0.024133183897288298 Centerline is valid? [True, True] Translation: X:228.98, Y:-30.71, Z:-4.59 [[ 9.87194123e-01 1.58277843e-01 1.98969305e-02 2.28983740e+02] [-1.58249013e-01 9.87394601e-01 -3.02519662e-03 -3.07143822e+01] [-2.01249433e-02 -1.62213278e-04 9.99797460e-01 -4.59162473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664012739 meters 0.024413610376124564 Centerline is valid? [True, True] Translation: X:229.04, Y:-30.72, Z:-4.59 [[ 9.87243527e-01 1.57933255e-01 2.01817993e-02 2.29041886e+02] [-1.57903532e-01 9.87449777e-01 -3.06799326e-03 -3.07233066e+01] [-2.04130514e-02 -1.57920916e-04 9.99791619e-01 -4.59244075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724012739 meters 0.02421053762464057 Centerline is valid? [True, True] Translation: X:229.10, Y:-30.73, Z:-4.59 [[ 9.87187310e-01 1.58058975e-01 2.18763648e-02 2.29101111e+02] [-1.58024100e-01 9.87429658e-01 -3.32473429e-03 -3.07340203e+01] [-2.21268756e-02 -1.74857367e-04 9.99755155e-01 -4.59051470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784012739 meters 0.025352595813713175 Centerline is valid? [True, True] Translation: X:229.16, Y:-30.74, Z:-4.59 [[ 9.86999404e-01 1.59294859e-01 2.13851261e-02 2.29159718e+02] [-1.59261834e-01 9.87231031e-01 -3.24954445e-03 -3.07376570e+01] [-2.16296958e-02 -1.98535974e-04 9.99766031e-01 -4.59210205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844012739 meters 0.026325537674164526 Centerline is valid? [True, True] Translation: X:229.22, Y:-30.74, Z:-4.60 [[ 9.86678298e-01 1.61357321e-01 2.07304370e-02 2.29218779e+02] [-1.61326759e-01 9.86896022e-01 -3.14932390e-03 -3.07426628e+01] [-2.09669522e-02 -2.37004657e-04 9.99780141e-01 -4.59541865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90401273899997 meters 0.025558665886738545 Centerline is valid? [True, True] Translation: X:229.28, Y:-30.75, Z:-4.60 [[ 9.86898661e-01 1.59973017e-01 2.09682435e-02 2.29276683e+02] [-1.59941453e-01 9.87121365e-01 -3.18467816e-03 -3.07519008e+01] [-2.12076638e-02 -2.10736722e-04 9.99775070e-01 -4.59655932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96401273899997 meters 0.023203795850128904 Centerline is valid? [True, True] Translation: X:229.33, Y:-30.77, Z:-4.60 [[ 9.87813737e-01 1.54211529e-01 2.10434309e-02 2.29334694e+02] [-1.54178450e-01 9.88037852e-01 -3.19512438e-03 -3.07710297e+01] [-2.12844312e-02 -8.82558070e-05 9.99773457e-01 -4.59853824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02401273899997 meters 0.02310923345344649 Centerline is valid? [True, True] Translation: X:229.39, Y:-30.79, Z:-4.60 [[ 9.88871591e-01 1.47597336e-01 1.86548299e-02 2.29394160e+02] [-1.47570169e-01 9.89047534e-01 -2.83218810e-03 -3.07920525e+01] [-1.88685369e-02 4.77739663e-05 9.99821972e-01 -4.60434550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08401273899997 meters 0.02362171947569548 Centerline is valid? [True, True] Translation: X:229.45, Y:-30.81, Z:-4.61 [[ 9.89162940e-01 1.45703402e-01 1.80885731e-02 2.29454436e+02] [-1.45677483e-01 9.89328313e-01 -2.74945565e-03 -3.08050687e+01] [-1.82961425e-02 8.45618421e-05 9.99832608e-01 -4.60723063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14401273899998 meters 0.024203251223020635 Centerline is valid? [True, True] Translation: X:229.52, Y:-30.82, Z:-4.61 [[ 9.89385824e-01 1.44339775e-01 1.67845395e-02 2.29515420e+02] [-1.44317265e-01 9.89528180e-01 -2.55110904e-03 -3.08184386e+01] [-1.69770013e-02 1.01732287e-04 9.99855875e-01 -4.61017990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20401273899998 meters 0.023347279498404493 Centerline is valid? [True, True] Translation: X:229.57, Y:-30.83, Z:-4.61 [[ 9.88899598e-01 1.47500669e-01 1.79203313e-02 2.29574976e+02] [-1.47475460e-01 9.89061954e-01 -2.72743255e-03 -3.08251820e+01] [-1.81266160e-02 5.43478491e-05 9.99835698e-01 -4.60964254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26401273899998 meters 0.023082244855411122 Centerline is valid? [True, True] Translation: X:229.64, Y:-30.83, Z:-4.61 [[ 9.88228324e-01 1.51833553e-01 1.87443930e-02 2.29635902e+02] [-1.51806756e-01 9.88406076e-01 -2.85259898e-03 -3.08253370e+01] [-1.89601922e-02 -2.65063825e-05 9.99820239e-01 -4.60878708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32401273899998 meters 0.023166756079242568 Centerline is valid? [True, True] Translation: X:229.69, Y:-30.83, Z:-4.61 [[ 9.87979858e-01 1.53313740e-01 1.97660533e-02 2.29694725e+02] [-1.53284237e-01 9.88177562e-01 -3.00809579e-03 -3.08313011e+01] [-1.99935528e-02 -5.78863556e-05 9.99800107e-01 -4.60859863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38401273899999 meters 0.022992864617962346 Centerline is valid? [True, True] Translation: X:229.76, Y:-30.84, Z:-4.61 [[ 9.88186568e-01 1.52025727e-01 1.93774199e-02 2.29755075e+02] [-1.51997141e-01 9.88376536e-01 -2.94822686e-03 -3.08447296e+01] [-1.96003935e-02 -3.19142437e-05 9.99807893e-01 -4.61185967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444012739 meters 0.023138665635996557 Centerline is valid? [True, True] Translation: X:229.81, Y:-30.86, Z:-4.61 [[ 9.88805239e-01 1.47880970e-01 1.98851398e-02 2.29813269e+02] [-1.47850017e-01 9.89005165e-01 -3.02597778e-03 -3.08612290e+01] [-2.01139905e-02 5.20844248e-05 9.99797692e-01 -4.61152156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504012739 meters 0.023738311550651713 Centerline is valid? [True, True] Translation: X:229.87, Y:-30.88, Z:-4.61 [[ 9.89189432e-01 1.44824931e-01 2.30218856e-02 2.29873734e+02] [-1.44782595e-01 9.89457286e-01 -3.50406409e-03 -3.08771205e+01] [-2.32866483e-02 1.33014826e-04 9.99728820e-01 -4.60704168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564012739 meters 0.02541567498958074 Centerline is valid? [True, True] Translation: X:229.93, Y:-30.90, Z:-4.61 [[ 9.89829981e-01 1.40434810e-01 2.26864086e-02 2.29932751e+02] [-1.40392458e-01 9.90089899e-01 -3.45680661e-03 -3.09017901e+01] [-2.29470399e-02 2.36650162e-04 9.99736654e-01 -4.60936302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624012739 meters 0.02581471495920388 Centerline is valid? [True, True] Translation: X:229.99, Y:-30.92, Z:-4.61 [[ 9.89841072e-01 1.40582285e-01 2.12432183e-02 2.29992939e+02] [-1.40545111e-01 9.90068973e-01 -3.24030396e-03 -3.09213875e+01] [-2.14877807e-02 2.21755457e-04 9.99769086e-01 -4.61135195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68401273899997 meters 0.023383291860813726 Centerline is valid? [True, True] Translation: X:230.05, Y:-30.93, Z:-4.62 [[ 9.89042913e-01 1.46311063e-01 1.96771087e-02 2.30053996e+02] [-1.46280237e-01 9.89238629e-01 -3.00469056e-03 -3.09302732e+01] [-1.99049755e-02 9.33957878e-05 9.99801872e-01 -4.61662294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74401273899997 meters 0.023631288165154474 Centerline is valid? [True, True] Translation: X:230.12, Y:-30.93, Z:-4.62 [[ 9.87487166e-01 1.56667476e-01 1.80110671e-02 2.30117760e+02] [-1.56643320e-01 9.87651402e-01 -2.75297885e-03 -3.09309654e+01] [-1.82199579e-02 -1.02782062e-04 9.99833998e-01 -4.61971774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80401273899997 meters 0.027686990013391623 Centerline is valid? [True, True] Translation: X:230.18, Y:-30.93, Z:-4.62 [[ 9.86143529e-01 1.64804762e-01 1.89823978e-02 2.30177754e+02] [-1.64779351e-01 9.86326174e-01 -2.90580660e-03 -3.09301177e+01] [-1.92017265e-02 -2.62364815e-04 9.99815595e-01 -4.61840639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86401273899997 meters 0.0404847331736235 Centerline is valid? [True, True] Translation: X:230.24, Y:-30.91, Z:-4.62 [[ 9.83569561e-01 1.79435431e-01 1.98455154e-02 2.30240221e+02] [-1.79410636e-01 9.83769586e-01 -3.03740608e-03 -3.09147701e+01] [-2.00684328e-02 -5.72996379e-04 9.99798445e-01 -4.61847408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92401273899998 meters 0.05672230979865813 Centerline is valid? [True, True] Translation: X:230.30, Y:-30.89, Z:-4.62 [[ 9.81135762e-01 1.92279581e-01 2.00294831e-02 2.30303931e+02] [-1.92256999e-01 9.81339825e-01 -3.06510148e-03 -3.08931623e+01] [-2.02450859e-02 -8.43527643e-04 9.99794691e-01 -4.61959955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98401273899998 meters 0.054315149959723405 Centerline is valid? [True, True] Translation: X:230.36, Y:-30.90, Z:-4.62 [[ 9.80559485e-01 1.95116137e-01 2.08035823e-02 2.30363507e+02] [-1.95092418e-01 9.80779697e-01 -3.18336603e-03 -3.08995353e+01] [-2.10248573e-02 -9.37141423e-04 9.99778514e-01 -4.61920205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04401273899998 meters 0.05223397870169001 Centerline is valid? [True, True] Translation: X:230.42, Y:-30.91, Z:-4.62 [[ 9.80996629e-01 1.92893641e-01 2.09202720e-02 2.30423136e+02] [-1.92869156e-01 9.81219263e-01 -3.20097008e-03 -3.09061291e+01] [-2.11448206e-02 -8.94734327e-04 9.99776023e-01 -4.62219927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10401273899998 meters 0.04950729905000378 Centerline is valid? [True, True] Translation: X:230.48, Y:-30.92, Z:-4.62 [[ 9.82129519e-01 1.87095414e-01 2.04184914e-02 2.30481128e+02] [-1.87070841e-01 9.82341459e-01 -3.12395262e-03 -3.09151990e+01] [-2.06424078e-02 -7.51578277e-04 9.99786640e-01 -4.62360973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164012739 meters 0.04598891664287603 Centerline is valid? [True, True] Translation: X:230.54, Y:-30.92, Z:-4.62 [[ 9.82641946e-01 1.84319284e-01 2.10049615e-02 2.30540648e+02] [-1.84292659e-01 9.82866162e-01 -3.21304157e-03 -3.09249341e+01] [-2.12372914e-02 -7.13790786e-04 9.99774208e-01 -4.62363424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224012739 meters 0.04398302292678621 Centerline is valid? [True, True] Translation: X:230.60, Y:-30.94, Z:-4.63 [[ 9.82706197e-01 1.84030625e-01 2.05246193e-02 2.30598403e+02] [-1.84005154e-01 9.82920266e-01 -3.13896242e-03 -3.09353369e+01] [-2.07517295e-02 -6.91957919e-04 9.99784420e-01 -4.62657724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284012739 meters 0.043910262475779616 Centerline is valid? [True, True] Translation: X:230.66, Y:-30.94, Z:-4.63 [[ 9.82969670e-01 1.82726795e-01 1.95331813e-02 2.30655562e+02] [-1.82703486e-01 9.83163525e-01 -2.98645696e-03 -3.09433699e+01] [-1.97500171e-02 -6.33183700e-04 9.99804749e-01 -4.62831304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344012739 meters 0.0442078989008446 Centerline is valid? [True, True] Translation: X:230.71, Y:-30.95, Z:-4.63 [[ 9.83226109e-01 1.81364133e-01 1.93253842e-02 2.30713529e+02] [-1.81341077e-01 9.83415828e-01 -2.95347051e-03 -3.09451941e+01] [-1.95405423e-02 -6.00556674e-04 9.99808885e-01 -4.62911840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40401273899997 meters 0.04366845040315814 Centerline is valid? [True, True] Translation: X:230.77, Y:-30.95, Z:-4.63 [[ 9.83111153e-01 1.81927981e-01 1.98663197e-02 2.30772250e+02] [-1.81903755e-01 9.83311656e-01 -3.03494736e-03 -3.09476243e+01] [-2.00869256e-02 -6.30067564e-04 9.99798039e-01 -4.62868294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46401273899997 meters 0.045548591960376965 Centerline is valid? [True, True] Translation: X:230.83, Y:-30.95, Z:-4.63 [[ 9.82921067e-01 1.82909980e-01 2.02512956e-02 2.30831503e+02] [-1.82885034e-01 9.83129442e-01 -3.09279351e-03 -3.09480769e+01] [-2.04753477e-02 -6.63686993e-04 9.99790138e-01 -4.62918384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52401273899997 meters 0.043910610149586644 Centerline is valid? [True, True] Translation: X:230.89, Y:-30.95, Z:-4.63 [[ 9.82974713e-01 1.82460409e-01 2.16544046e-02 2.30890879e+02] [-1.82431802e-01 9.83212952e-01 -3.30600592e-03 -3.09512825e+01] [-2.18941062e-02 -7.00731818e-04 9.99760050e-01 -4.62866942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58401273899997 meters 0.041690109692291095 Centerline is valid? [True, True] Translation: X:230.95, Y:-30.96, Z:-4.63 [[ 9.83620275e-01 1.78874389e-01 2.22510135e-02 2.30949617e+02] [-1.78843290e-01 9.83871712e-01 -3.39603711e-03 -3.09556106e+01] [-2.24996068e-02 -6.39033491e-04 9.99746648e-01 -4.62922914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64401273899998 meters 0.036565179551431404 Centerline is valid? [True, True] Translation: X:231.01, Y:-30.97, Z:-4.63 [[ 9.84302776e-01 1.75051684e-01 2.24711524e-02 2.31008306e+02] [-1.75018988e-01 9.84559087e-01 -3.42885169e-03 -3.09699882e+01] [-2.27244035e-02 -5.57850117e-04 9.99741612e-01 -4.63060378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70401273899998 meters 0.03420667069660992 Centerline is valid? [True, True] Translation: X:231.07, Y:-30.98, Z:-4.64 [[ 9.84996510e-01 1.71428856e-01 1.98499968e-02 2.31066508e+02] [-1.71402618e-01 9.85196413e-01 -3.02835828e-03 -3.09791378e+01] [-2.00752937e-02 -4.19419094e-04 9.99798383e-01 -4.63761837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76401273899998 meters 0.035439532999637036 Centerline is valid? [True, True] Translation: X:231.13, Y:-30.98, Z:-4.64 [[ 9.84849822e-01 1.72400012e-01 1.86832705e-02 2.31126154e+02] [-1.72376950e-01 9.85026936e-01 -2.84998447e-03 -3.09805471e+01] [-1.88948621e-02 -4.13758490e-04 9.99821391e-01 -4.63946093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82401273899998 meters 0.037672083660619755 Centerline is valid? [True, True] Translation: X:231.19, Y:-30.98, Z:-4.64 [[ 9.84542027e-01 1.74121206e-01 1.89420637e-02 2.31185596e+02] [-1.74097836e-01 9.84724124e-01 -2.88856346e-03 -3.09802773e+01] [-1.91556672e-02 -4.53860180e-04 9.99816410e-01 -4.64048882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88401273899999 meters 0.033090987543527926 Centerline is valid? [True, True] Translation: X:231.24, Y:-30.99, Z:-4.63 [[ 9.84931031e-01 1.71511863e-01 2.22383746e-02 2.31243925e+02] [-1.71479013e-01 9.85181940e-01 -3.39004039e-03 -3.09893346e+01] [-2.24902772e-02 -4.74458573e-04 9.99746949e-01 -4.63473575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944012739 meters 0.03173447566453935 Centerline is valid? [True, True] Translation: X:231.30, Y:-31.00, Z:-4.64 [[ 9.85287464e-01 1.69505158e-01 2.18315126e-02 2.31302566e+02] [-1.69473029e-01 9.85529210e-01 -3.32699334e-03 -3.09981184e+01] [-2.20795359e-02 -4.21807748e-04 9.99756128e-01 -4.63665490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004012739 meters 0.027493324933979383 Centerline is valid? [True, True] Translation: X:231.36, Y:-31.01, Z:-4.64 [[ 9.86350773e-01 1.63473138e-01 1.97151321e-02 2.31361368e+02] [-1.63445744e-01 9.86547751e-01 -3.00382175e-03 -3.10106462e+01] [-1.99409635e-02 -2.59532544e-04 9.99801126e-01 -4.64201426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064012739 meters 0.025968988109661872 Centerline is valid? [True, True] Translation: X:231.42, Y:-31.01, Z:-4.64 [[ 9.86696345e-01 1.61164652e-01 2.13606760e-02 2.31420610e+02] [-1.61131969e-01 9.86927506e-01 -3.25378588e-03 -3.10146825e+01] [-2.16058339e-02 -2.31389152e-04 9.99766540e-01 -4.63830113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124012739 meters 0.024904787152549426 Centerline is valid? [True, True] Translation: X:231.48, Y:-31.02, Z:-4.64 [[ 9.87025097e-01 1.59094466e-01 2.16889234e-02 2.31478289e+02] [-1.59060294e-01 9.87263346e-01 -3.30272184e-03 -3.10240311e+01] [-2.19381238e-02 -1.89977187e-04 9.99759312e-01 -4.64021145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18401273899997 meters 0.023025121796211145 Centerline is valid? [True, True] Translation: X:231.54, Y:-31.04, Z:-4.64 [[ 9.88105145e-01 1.52380970e-01 2.06944961e-02 2.31535037e+02] [-1.52348407e-01 9.88321829e-01 -3.15032284e-03 -3.10412979e+01] [-2.09328715e-02 -3.99233001e-05 9.99780883e-01 -4.64341017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24401273899997 meters 0.023130086775561613 Centerline is valid? [True, True] Translation: X:231.59, Y:-31.06, Z:-4.64 [[ 9.88825890e-01 1.47590472e-01 2.09860083e-02 2.31590628e+02] [-1.47555928e-01 9.89048557e-01 -3.19364843e-03 -3.10578061e+01] [-2.12275333e-02 6.13523230e-05 9.99774669e-01 -4.64313736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30401273899997 meters 0.0231394039216153 Centerline is valid? [True, True] Translation: X:231.65, Y:-31.07, Z:-4.64 [[ 9.88870237e-01 1.47251688e-01 2.12743004e-02 2.31649220e+02] [-1.47216137e-01 9.89099053e-01 -3.23623142e-03 -3.10651799e+01] [-2.15189309e-02 6.82926093e-05 9.99768439e-01 -4.64384538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36401273899997 meters 0.02314718059857253 Centerline is valid? [True, True] Translation: X:231.71, Y:-31.07, Z:-4.64 [[ 9.88589028e-01 1.49130841e-01 2.12538499e-02 2.31707239e+02] [-1.49095815e-01 9.88817471e-01 -3.23207377e-03 -3.10698505e+01] [-2.14981800e-02 2.63325916e-05 9.99768887e-01 -4.64443487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42401273899998 meters 0.02357768379403273 Centerline is valid? [True, True] Translation: X:231.76, Y:-31.09, Z:-4.65 [[ 9.89124901e-01 1.45657054e-01 2.03949197e-02 2.31764246e+02] [-1.45624088e-01 9.89335137e-01 -3.10028198e-03 -3.10862858e+01] [-2.06289886e-02 9.65745340e-05 9.99787195e-01 -4.64645764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48401273899998 meters 0.032803376045250666 Centerline is valid? [True, True] Translation: X:231.82, Y:-31.11, Z:-4.64 [[ 9.90097359e-01 1.38688273e-01 2.17435556e-02 2.31820666e+02] [-1.38649144e-01 9.90336053e-01 -3.30421543e-03 -3.11133329e+01] [-2.19916829e-02 2.56769599e-04 9.99758121e-01 -4.63833715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54401273899998 meters 0.028138269101652687 Centerline is valid? [True, True] Translation: X:231.88, Y:-31.13, Z:-4.65 [[ 9.90660649e-01 1.34764269e-01 2.07381612e-02 2.31878797e+02] [-1.34727825e-01 9.90877634e-01 -3.15096282e-03 -3.11288907e+01] [-2.09736173e-02 3.27527512e-04 9.99779976e-01 -4.64974452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60401273899998 meters 0.028725553592155003 Centerline is valid? [True, True] Translation: X:231.94, Y:-31.15, Z:-4.65 [[ 9.90628782e-01 1.35235105e-01 1.91332962e-02 2.31936766e+02] [-1.35204178e-01 9.90813494e-01 -2.90681897e-03 -3.11478816e+01] [-1.93506320e-02 2.92676957e-04 9.99812716e-01 -4.65361408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664012739 meters 0.02516834396083658 Centerline is valid? [True, True] Translation: X:232.00, Y:-31.16, Z:-4.65 [[ 9.89720090e-01 1.41407329e-01 2.14035390e-02 2.31995973e+02] [-1.41370037e-01 9.89951478e-01 -3.25313503e-03 -3.11564683e+01] [-2.16484822e-02 1.93873979e-04 9.99765625e-01 -4.65045018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724012739 meters 0.02320285657153329 Centerline is valid? [True, True] Translation: X:232.06, Y:-31.16, Z:-4.65 [[ 9.88814113e-01 1.47610184e-01 2.13982314e-02 2.32055666e+02] [-1.47574372e-01 9.89045616e-01 -3.25183711e-03 -3.11643953e+01] [-2.16438313e-02 5.76318514e-05 9.99765743e-01 -4.65301686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784012739 meters 0.023333822731573608 Centerline is valid? [True, True] Translation: X:232.11, Y:-31.17, Z:-4.65 [[ 9.88201002e-01 1.51715175e-01 2.10067901e-02 2.32113960e+02] [-1.51681594e-01 9.88424253e-01 -3.19208063e-03 -3.11723349e+01] [-2.12479079e-02 -3.19261321e-05 9.99774237e-01 -4.65443330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844012739 meters 0.025362451732229067 Centerline is valid? [True, True] Translation: X:232.17, Y:-31.17, Z:-4.65 [[ 9.87007928e-01 1.58985696e-01 2.32141696e-02 2.32173818e+02] [-1.58946716e-01 9.87280864e-01 -3.52654999e-03 -3.11721887e+01] [-2.34795764e-02 -2.09083222e-04 9.99724295e-01 -4.65050377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90401273899997 meters 0.02925595992386244 Centerline is valid? [True, True] Translation: X:232.23, Y:-31.17, Z:-4.66 [[ 9.86065622e-01 1.64839239e-01 2.24190488e-02 2.32234530e+02] [-1.64804417e-01 9.86320390e-01 -3.40477316e-03 -3.11700128e+01] [-2.26736052e-02 -3.37428519e-04 9.99742864e-01 -4.65500504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96401273899997 meters 0.03002227546181883 Centerline is valid? [True, True] Translation: X:232.29, Y:-31.17, Z:-4.66 [[ 9.85810803e-01 1.66316142e-01 2.27156520e-02 2.32293862e+02] [-1.66280799e-01 9.86072410e-01 -3.44920982e-03 -3.11729588e+01] [-2.29729370e-02 -3.76908464e-04 9.99736016e-01 -4.65518243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02401273899997 meters 0.029061897832965557 Centerline is valid? [True, True] Translation: X:232.35, Y:-31.18, Z:-4.66 [[ 9.86033100e-01 1.65043102e-01 2.23494805e-02 2.32352322e+02] [-1.65008587e-01 9.86286296e-01 -3.39254696e-03 -3.11800498e+01] [-2.26029028e-02 -3.42692599e-04 9.99744463e-01 -4.65768376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08401273899997 meters 0.026124914940308837 Centerline is valid? [True, True] Translation: X:232.41, Y:-31.19, Z:-4.66 [[ 9.86792558e-01 1.60410039e-01 2.25625297e-02 2.32410197e+02] [-1.60373676e-01 9.87050435e-01 -3.42378509e-03 -3.11895404e+01] [-2.28195642e-02 -2.39870172e-04 9.99739571e-01 -4.65770164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14401273899998 meters 0.02402596810397801 Centerline is valid? [True, True] Translation: X:232.47, Y:-31.20, Z:-4.66 [[ 9.87539366e-01 1.55912325e-01 2.13856914e-02 2.32468328e+02] [-1.55878623e-01 9.87770889e-01 -3.24422215e-03 -3.11980544e+01] [-2.16299777e-02 -1.29775045e-04 9.99766036e-01 -4.66100977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20401273899998 meters 0.023012838305195935 Centerline is valid? [True, True] Translation: X:232.53, Y:-31.21, Z:-4.66 [[ 9.88659447e-01 1.48735131e-01 2.07450787e-02 2.32525172e+02] [-1.48701856e-01 9.88877070e-01 -3.14605196e-03 -3.12120071e+01] [-2.09822611e-02 2.55422728e-05 9.99779848e-01 -4.66261956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26401273899998 meters 0.025201270556962325 Centerline is valid? [True, True] Translation: X:232.58, Y:-31.23, Z:-4.66 [[ 9.89910825e-01 1.39913501e-01 2.23779038e-02 2.32582409e+02] [-1.39872550e-01 9.90163704e-01 -3.39256176e-03 -3.12321513e+01] [-2.26324533e-02 2.28279134e-04 9.99743827e-01 -4.66000182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32401273899998 meters 0.02838253909898704 Centerline is valid? [True, True] Translation: X:232.64, Y:-31.25, Z:-4.66 [[ 9.90656470e-01 1.34692563e-01 2.13932848e-02 2.32640995e+02] [-1.34653929e-01 9.90887382e-01 -3.24283441e-03 -3.12483142e+01] [-2.16351216e-02 3.31845039e-04 9.99765878e-01 -4.66263204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38401273899999 meters 0.03150655026360857 Centerline is valid? [True, True] Translation: X:232.70, Y:-31.26, Z:-4.66 [[ 9.91270672e-01 1.29948470e-01 2.22677097e-02 2.32700458e+02] [-1.29905409e-01 9.91520645e-01 -3.37568113e-03 -3.12649929e+01] [-2.25175585e-02 4.53517769e-04 9.99746345e-01 -4.66277121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444012739 meters 0.035982813124185116 Centerline is valid? [True, True] Translation: X:232.76, Y:-31.29, Z:-4.67 [[ 9.91926666e-01 1.25049449e-01 2.10742887e-02 2.32758881e+02] [-1.25009765e-01 9.92150366e-01 -3.19522954e-03 -3.12857244e+01] [-2.13084249e-02 5.34941517e-04 9.99772807e-01 -4.66573833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504012739 meters 0.039190736615393566 Centerline is valid? [True, True] Translation: X:232.82, Y:-31.30, Z:-4.67 [[ 9.92402524e-01 1.21432301e-01 1.97845038e-02 2.32818180e+02] [-1.21396603e-01 9.92599549e-01 -2.99988849e-03 -3.13031939e+01] [-2.00023729e-02 5.75325343e-04 9.99799767e-01 -4.67026190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564012739 meters 0.0434416965310575 Centerline is valid? [True, True] Translation: X:232.88, Y:-31.32, Z:-4.67 [[ 9.92928901e-01 1.16829047e-01 2.10516496e-02 2.32876866e+02] [-1.16787585e-01 9.93151785e-01 -3.19254033e-03 -3.13243603e+01] [-2.12804648e-02 7.11394238e-04 9.99773292e-01 -4.66836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624012739 meters 0.04552768204518857 Centerline is valid? [True, True] Translation: X:232.94, Y:-31.34, Z:-4.67 [[ 9.93074892e-01 1.15210560e-01 2.29953631e-02 2.32936351e+02] [-1.15160637e-01 9.93340758e-01 -3.48798548e-03 -3.13437146e+01] [-2.32440841e-02 8.15670136e-04 9.99729487e-01 -4.66523878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68401273899997 meters 0.04347475478270567 Centerline is valid? [True, True] Translation: X:233.00, Y:-31.36, Z:-4.67 [[ 9.93210238e-01 1.14328972e-01 2.15013796e-02 2.32996847e+02] [-1.14285053e-01 9.93442635e-01 -3.26446432e-03 -3.13591527e+01] [-2.17336101e-02 7.85013070e-04 9.99763489e-01 -4.66924675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74401273899997 meters 0.045985599457993354 Centerline is valid? [True, True] Translation: X:233.06, Y:-31.38, Z:-4.68 [[ 9.93211030e-01 1.14832124e-01 1.85858422e-02 2.33055880e+02] [-1.14799347e-01 9.93384685e-01 -2.82452564e-03 -3.13792740e+01] [-1.87872373e-02 6.71707480e-04 9.99823279e-01 -4.67570388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80401273899997 meters 0.04834031605924581 Centerline is valid? [True, True] Translation: X:233.12, Y:-31.39, Z:-4.66 [[ 9.92723761e-01 1.18765330e-01 1.98577638e-02 2.33115939e+02] [-1.18728630e-01 9.92922144e-01 -3.02118440e-03 -3.13926924e+01] [-2.00760254e-02 6.41516456e-04 9.99798250e-01 -4.66343045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86401273899997 meters 0.03909841108957248 Centerline is valid? [True, True] Translation: X:233.18, Y:-31.40, Z:-4.67 [[ 9.92403797e-01 1.21282880e-01 2.06195743e-02 2.33176609e+02] [-1.21243847e-01 9.92617795e-01 -3.13734516e-03 -3.13997905e+01] [-2.08478626e-02 6.13516737e-04 9.99782471e-01 -4.67353157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92401273899998 meters 0.034713444108803074 Centerline is valid? [True, True] Translation: X:233.23, Y:-31.41, Z:-4.68 [[ 9.91629260e-01 1.27511373e-01 2.03042195e-02 2.33234572e+02] [-1.27474819e-01 9.91836994e-01 -3.08983805e-03 -3.14124116e+01] [-2.05324655e-02 4.75697123e-04 9.99789074e-01 -4.67665051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98401273899998 meters 0.026756223353774422 Centerline is valid? [True, True] Translation: X:233.30, Y:-31.41, Z:-4.68 [[ 9.90281945e-01 1.37449254e-01 2.11983921e-02 2.33295871e+02] [-1.37411685e-01 9.90508770e-01 -3.22575135e-03 -3.14125306e+01] [-2.14405704e-02 2.81496538e-04 9.99770085e-01 -4.67502756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04401273899998 meters 0.022323071635078313 Centerline is valid? [True, True] Translation: X:233.36, Y:-31.40, Z:-4.68 [[ 9.88456882e-01 1.50179112e-01 1.99806647e-02 2.33359243e+02] [-1.50148331e-01 9.88658806e-01 -3.04047222e-03 -3.14017879e+01] [-2.02106755e-02 5.31223335e-06 9.99795743e-01 -4.67942025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10401273899998 meters 0.024218630201191357 Centerline is valid? [True, True] Translation: X:233.42, Y:-31.40, Z:-4.68 [[ 9.87293907e-01 1.57691771e-01 1.95970986e-02 2.33420315e+02] [-1.57663629e-01 9.87488372e-01 -2.98259067e-03 -3.13961375e+01] [-1.98222370e-02 -1.45056077e-04 9.99803510e-01 -4.68169365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164012739 meters 0.026218545103050533 Centerline is valid? [True, True] Translation: X:233.48, Y:-31.39, Z:-4.68 [[ 9.86457109e-01 1.62668147e-01 2.10106330e-02 2.33480920e+02] [-1.62636937e-01 9.86680802e-01 -3.19718093e-03 -3.13913723e+01] [-2.12508677e-02 -2.63223136e-04 9.99774140e-01 -4.68040901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224012739 meters 0.031086152901451142 Centerline is valid? [True, True] Translation: X:233.54, Y:-31.40, Z:-4.68 [[ 9.87168520e-01 1.58559110e-01 1.89029801e-02 2.33539793e+02] [-1.58533107e-01 9.87349474e-01 -2.87581271e-03 -3.14018818e+01] [-1.91198338e-02 -1.57836385e-04 9.99817187e-01 -4.67639622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284012739 meters 0.022219257914876746 Centerline is valid? [True, True] Translation: X:233.60, Y:-31.41, Z:-4.68 [[ 9.88325468e-01 1.50981260e-01 2.04310643e-02 2.33598270e+02] [-1.50949273e-01 9.88536625e-01 -3.10774516e-03 -3.14129165e+01] [-2.06660667e-02 -1.25906128e-05 9.99786434e-01 -4.68457383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344012739 meters 0.022665325590336547 Centerline is valid? [True, True] Translation: X:233.66, Y:-31.42, Z:-4.69 [[ 9.89074142e-01 1.46107490e-01 1.96199816e-02 2.33657243e+02] [-1.46077042e-01 9.89268717e-01 -2.98388676e-03 -3.14249138e+01] [-1.98454022e-02 8.52563518e-05 9.99803057e-01 -4.68826706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40401273899997 meters 0.023696524686116955 Centerline is valid? [True, True] Translation: X:233.72, Y:-31.44, Z:-4.69 [[ 9.89515594e-01 1.42981609e-01 2.03751997e-02 2.33716496e+02] [-1.42948104e-01 9.89725333e-01 -3.09899954e-03 -3.14380677e+01] [-2.06089513e-02 1.53912197e-04 9.99787601e-01 -4.68718124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46401273899997 meters 0.02617631200773088 Centerline is valid? [True, True] Translation: X:233.78, Y:-31.45, Z:-4.69 [[ 9.90152921e-01 1.38497567e-01 2.03866911e-02 2.33775296e+02] [-1.38463068e-01 9.90362743e-01 -3.10099298e-03 -3.14543427e+01] [-2.06196993e-02 2.47653466e-04 9.99787361e-01 -4.68779756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52401273899997 meters 0.0285315701488471 Centerline is valid? [True, True] Translation: X:233.84, Y:-31.47, Z:-4.69 [[ 9.90704821e-01 1.34385077e-01 2.10857620e-02 2.33835520e+02] [-1.34347226e-01 9.90929126e-01 -3.20795472e-03 -3.14680550e+01] [-2.13255970e-02 3.45322569e-04 9.99772524e-01 -4.68773238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58401273899997 meters 0.030725125061323896 Centerline is valid? [True, True] Translation: X:233.90, Y:-31.48, Z:-4.69 [[ 9.91227482e-01 1.30364618e-01 2.17518855e-02 2.33895431e+02] [-1.30323296e-01 9.91466018e-01 -3.31265268e-03 -3.14834227e+01] [-2.19981080e-02 4.48814954e-04 9.99757912e-01 -4.68781567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64401273899998 meters 0.03482288313414215 Centerline is valid? [True, True] Translation: X:233.95, Y:-31.50, Z:-4.69 [[ 9.91785420e-01 1.26363950e-01 1.98452246e-02 2.33953208e+02] [-1.26328724e-01 9.91983825e-01 -3.02384012e-03 -3.15015501e+01] [-2.00682462e-02 4.91978660e-04 9.99798491e-01 -4.69155939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70401273899998 meters 0.037330441589635915 Centerline is valid? [True, True] Translation: X:234.01, Y:-31.52, Z:-4.70 [[ 9.92014988e-01 1.24740314e-01 1.86042616e-02 2.34012275e+02] [-1.24709075e-01 9.92189303e-01 -2.83450469e-03 -3.15182637e+01] [-1.88125263e-02 4.91750886e-04 9.99822908e-01 -4.69607260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76401273899998 meters 0.038180834717463474 Centerline is valid? [True, True] Translation: X:234.07, Y:-31.54, Z:-4.70 [[ 9.91984344e-01 1.25154102e-01 1.74216200e-02 2.34072589e+02] [-1.25126730e-01 9.92137210e-01 -2.65673359e-03 -3.15352309e+01] [-1.76171386e-02 4.55527794e-04 9.99844702e-01 -4.69898178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82401273899998 meters 0.03357938768666319 Centerline is valid? [True, True] Translation: X:234.13, Y:-31.54, Z:-4.70 [[ 9.91646463e-01 1.27442995e-01 1.98890744e-02 2.34133379e+02] [-1.27407698e-01 9.91845782e-01 -3.03702974e-03 -3.15427041e+01] [-2.01139427e-02 4.77638607e-04 9.99797580e-01 -4.69504370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88401273899999 meters 0.0319334453710264 Centerline is valid? [True, True] Translation: X:234.19, Y:-31.55, Z:-4.70 [[ 9.91057224e-01 1.31821739e-01 2.07028407e-02 2.34193104e+02] [-1.31784437e-01 9.91273355e-01 -3.16180825e-03 -3.15524930e+01] [-2.09389694e-02 4.05220694e-04 9.99780674e-01 -4.69515589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944012739 meters 0.028775345622814034 Centerline is valid? [True, True] Translation: X:234.25, Y:-31.56, Z:-4.70 [[ 9.90632857e-01 1.35263575e-01 1.87164978e-02 2.34254973e+02] [-1.35233704e-01 9.90809606e-01 -2.85841929e-03 -3.15580260e+01] [-1.89311258e-02 3.00542752e-04 9.99820745e-01 -4.70007064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004012739 meters 0.027330035821385257 Centerline is valid? [True, True] Translation: X:234.32, Y:-31.57, Z:-4.70 [[ 9.90024139e-01 1.39487208e-01 1.98877462e-02 2.34315020e+02] [-1.39454260e-01 9.90223845e-01 -3.04083282e-03 -3.15670274e+01] [-2.01174778e-02 2.37066973e-04 9.99797595e-01 -4.69854484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064012739 meters 0.02377981874283716 Centerline is valid? [True, True] Translation: X:234.38, Y:-31.57, Z:-4.70 [[ 9.89504593e-01 1.42910905e-01 2.13806838e-02 2.34377214e+02] [-1.42873607e-01 9.89735541e-01 -3.26981025e-03 -3.15691631e+01] [-2.16285142e-02 1.80756839e-04 9.99766060e-01 -4.69735429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124012739 meters 0.02248981537006918 Centerline is valid? [True, True] Translation: X:234.44, Y:-31.57, Z:-4.70 [[ 9.88919069e-01 1.47041027e-01 2.04453275e-02 2.34439805e+02] [-1.47007736e-01 9.89130390e-01 -3.13003819e-03 -3.15736526e+01] [-2.06833388e-02 8.97331447e-05 9.99786073e-01 -4.70050971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18401273899997 meters 0.022276357043439287 Centerline is valid? [True, True] Translation: X:234.50, Y:-31.58, Z:-4.70 [[ 9.88733753e-01 1.48283652e-01 2.04334011e-02 2.34500980e+02] [-1.48250625e-01 9.88944869e-01 -3.13017184e-03 -3.15817143e+01] [-2.06716605e-02 6.56420732e-05 9.99786316e-01 -4.70252210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24401273899997 meters 0.022581168330713094 Centerline is valid? [True, True] Translation: X:234.56, Y:-31.59, Z:-4.71 [[ 9.88828184e-01 1.47975153e-01 1.79492668e-02 2.34561434e+02] [-1.47949567e-01 9.88991077e-01 -2.75241327e-03 -3.15934729e+01] [-1.81589535e-02 6.60775532e-05 9.99835110e-01 -4.70861030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30401273899997 meters 0.02241581271914616 Centerline is valid? [True, True] Translation: X:234.62, Y:-31.60, Z:-4.71 [[ 9.88710233e-01 1.48758371e-01 1.79728037e-02 2.34621749e+02] [-1.48732803e-01 9.88873573e-01 -2.75844607e-03 -3.16015888e+01] [-1.81831725e-02 5.41583880e-05 9.99834671e-01 -4.71042811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36401273899997 meters 0.021851609514671987 Centerline is valid? [True, True] Translation: X:234.68, Y:-31.61, Z:-4.71 [[ 9.88107132e-01 1.52426183e-01 2.02621197e-02 2.34680710e+02] [-1.52394446e-01 9.88314858e-01 -3.11036642e-03 -3.16073363e+01] [-2.04994553e-02 -1.44592638e-05 9.99789864e-01 -4.70684544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42401273899998 meters 0.021815704639925933 Centerline is valid? [True, True] Translation: X:234.74, Y:-31.62, Z:-4.71 [[ 9.88139545e-01 1.52199045e-01 2.03884770e-02 2.34741280e+02] [-1.52166857e-01 9.88349862e-01 -3.13003181e-03 -3.16179817e+01] [-2.06273363e-02 -9.54225020e-06 9.99787234e-01 -4.70894120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48401273899998 meters 0.021978414659221256 Centerline is valid? [True, True] Translation: X:234.80, Y:-31.64, Z:-4.71 [[ 9.88556875e-01 1.49360246e-01 2.11381531e-02 2.34802247e+02] [-1.49324984e-01 9.88782845e-01 -3.24579212e-03 -3.16357648e+01] [-2.13858354e-02 5.21957577e-05 9.99771296e-01 -4.70831555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54401273899998 meters 0.031401511649553474 Centerline is valid? [True, True] Translation: X:234.86, Y:-31.66, Z:-4.70 [[ 9.88963856e-01 1.46835183e-01 1.97464039e-02 2.34861972e+02] [-1.46803837e-01 9.89160967e-01 -3.03565794e-03 -3.16560623e+01] [-1.99781134e-02 1.03308136e-04 9.99800412e-01 -4.70051225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60401273899998 meters 0.022210570985279655 Centerline is valid? [True, True] Translation: X:234.92, Y:-31.66, Z:-4.72 [[ 9.88515077e-01 1.50043844e-01 1.80218789e-02 2.34922836e+02] [-1.50018216e-01 9.88679343e-01 -2.77333481e-03 -3.16640491e+01] [-1.82339812e-02 3.78731632e-05 9.99833746e-01 -4.71589024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664012739 meters 0.021935237846313228 Centerline is valid? [True, True] Translation: X:234.98, Y:-31.67, Z:-4.71 [[ 9.87754449e-01 1.54494497e-01 2.17393179e-02 2.34984665e+02] [-1.54458184e-01 9.87993648e-01 -3.34981890e-03 -3.16687654e+01] [-2.19958366e-02 -4.90170517e-05 9.99758061e-01 -4.70972670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724012739 meters 0.02179718340649377 Centerline is valid? [True, True] Translation: X:235.05, Y:-31.68, Z:-4.71 [[ 9.87855620e-01 1.53940950e-01 2.10584631e-02 2.35046464e+02] [-1.53906674e-01 9.88080049e-01 -3.24849690e-03 -3.16816820e+01] [-2.13075239e-02 -3.19920902e-05 9.99772968e-01 -4.71366812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784012739 meters 0.02180475258331015 Centerline is valid? [True, True] Translation: X:235.11, Y:-31.69, Z:-4.72 [[ 9.87962872e-01 1.53316242e-01 2.05789787e-02 2.35107561e+02] [-1.53283291e-01 9.88177175e-01 -3.17855171e-03 -3.16924277e+01] [-2.08230007e-02 -1.41225025e-05 9.99783178e-01 -4.71516642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844012739 meters 0.021774417837862995 Centerline is valid? [True, True] Translation: X:235.17, Y:-31.70, Z:-4.71 [[ 9.87842836e-01 1.54024007e-01 2.10508282e-02 2.35169967e+02] [-1.53989602e-01 9.88067105e-01 -3.25543809e-03 -3.16996167e+01] [-2.13010465e-02 -2.57474707e-05 9.99773107e-01 -4.71474505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90401273899997 meters 0.022874862022100605 Centerline is valid? [True, True] Translation: X:235.23, Y:-31.70, Z:-4.72 [[ 9.87039787e-01 1.59284770e-01 1.95146165e-02 2.35232341e+02] [-1.59256158e-01 9.87232671e-01 -3.02155792e-03 -3.16997529e+01] [-1.97467551e-02 -1.25424968e-04 9.99805006e-01 -4.71876910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96401273899997 meters 0.02600789920132767 Centerline is valid? [True, True] Translation: X:235.29, Y:-31.69, Z:-4.72 [[ 9.86030281e-01 1.65250210e-01 2.08962668e-02 2.35292874e+02] [-1.65218730e-01 9.86251641e-01 -3.23599638e-03 -3.16940944e+01] [-2.11437265e-02 -2.61664248e-04 9.99776412e-01 -4.71756401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02401273899997 meters 0.027114114543423787 Centerline is valid? [True, True] Translation: X:235.35, Y:-31.70, Z:-4.72 [[ 9.85693473e-01 1.67295650e-01 2.05071373e-02 2.35352510e+02] [-1.67265790e-01 9.85906727e-01 -3.17500160e-03 -3.16972028e+01] [-2.07492885e-02 -3.00564150e-04 9.99784665e-01 -4.71916198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08401273899997 meters 0.02705192016538005 Centerline is valid? [True, True] Translation: X:235.41, Y:-31.70, Z:-4.72 [[ 9.85822653e-01 1.66535195e-01 2.04872226e-02 2.35411624e+02] [-1.66505238e-01 9.86035470e-01 -3.17141785e-03 -3.17001307e+01] [-2.07292808e-02 -2.84774305e-04 9.99785085e-01 -4.71991719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14401273899998 meters 0.02635300240969735 Centerline is valid? [True, True] Translation: X:235.47, Y:-31.71, Z:-4.72 [[ 9.86004421e-01 1.65453693e-01 2.05025982e-02 2.35471058e+02] [-1.65423473e-01 9.86217525e-01 -3.17306372e-03 -3.17081046e+01] [-2.07450168e-02 -2.62956144e-04 9.99784764e-01 -4.72181421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20401273899998 meters 0.02563701616050804 Centerline is valid? [True, True] Translation: X:235.53, Y:-31.72, Z:-4.72 [[ 9.86003631e-01 1.65536686e-01 1.98606278e-02 2.35530335e+02] [-1.65508355e-01 9.86203599e-01 -3.07325576e-03 -3.17160767e+01] [-2.00953592e-02 -2.56858499e-04 9.99798035e-01 -4.72363052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26401273899998 meters 0.026015398237796934 Centerline is valid? [True, True] Translation: X:235.59, Y:-31.72, Z:-4.72 [[ 9.85894183e-01 1.65961831e-01 2.16640367e-02 2.35587905e+02] [-1.65928237e-01 9.86132134e-01 -3.35168558e-03 -3.17232580e+01] [-2.19198546e-02 -2.90268081e-04 9.99759689e-01 -4.72089501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32401273899998 meters 0.02584290068057657 Centerline is valid? [True, True] Translation: X:235.65, Y:-31.73, Z:-4.72 [[ 9.85830851e-01 1.66417779e-01 2.10394114e-02 2.35647159e+02] [-1.66386224e-01 9.86055291e-01 -3.25383389e-03 -3.17314937e+01] [-2.12875187e-02 -2.92938379e-04 9.99773352e-01 -4.72407422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38401273899999 meters 0.028726171513302975 Centerline is valid? [True, True] Translation: X:235.71, Y:-31.73, Z:-4.73 [[ 9.85686778e-01 1.67345656e-01 2.04207282e-02 2.35705076e+02] [-1.67316139e-01 9.85898240e-01 -3.15764912e-03 -3.17338121e+01] [-2.06611789e-02 -3.04264419e-04 9.99786489e-01 -4.72622270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444012739 meters 0.03063724050332659 Centerline is valid? [True, True] Translation: X:235.76, Y:-31.74, Z:-4.73 [[ 9.84978074e-01 1.71316824e-01 2.16503973e-02 2.35764713e+02] [-1.71284633e-01 9.85215903e-01 -3.34642916e-03 -3.17370379e+01] [-2.19036154e-02 -4.12221013e-04 9.99760002e-01 -4.72514732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504012739 meters 0.032821429915788285 Centerline is valid? [True, True] Translation: X:235.83, Y:-31.74, Z:-4.73 [[ 9.84560221e-01 1.73988277e-01 1.92158975e-02 2.35825274e+02] [-1.73963435e-01 9.84747635e-01 -2.96973273e-03 -3.17371106e+01] [-1.94395083e-02 -4.18982823e-04 9.99810947e-01 -4.73053004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564012739 meters 0.036748731422092805 Centerline is valid? [True, True] Translation: X:235.88, Y:-31.73, Z:-4.73 [[ 9.83956818e-01 1.77429521e-01 1.86479179e-02 2.35884542e+02] [-1.77406751e-01 9.84133396e-01 -2.88156013e-03 -3.17337710e+01] [-1.88633126e-02 -4.72935783e-04 9.99821960e-01 -4.73362420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624012739 meters 0.03848138307664211 Centerline is valid? [True, True] Translation: X:235.95, Y:-31.73, Z:-4.74 [[ 9.83464672e-01 1.80127288e-01 1.87456410e-02 2.35945446e+02] [-1.80104786e-01 9.83643167e-01 -2.89572124e-03 -3.17315151e+01] [-1.89606201e-02 -5.28340119e-04 9.99820092e-01 -4.73534033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68401273899997 meters 0.038957707002012724 Centerline is valid? [True, True] Translation: X:236.00, Y:-31.73, Z:-4.74 [[ 9.83209276e-01 1.81594787e-01 1.79681186e-02 2.36004869e+02] [-1.81574364e-01 9.83373300e-01 -2.77526026e-03 -3.17314778e+01] [-1.81733409e-02 -5.33888085e-04 9.99834709e-01 -4.73821370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74401273899997 meters 0.040436568431123955 Centerline is valid? [True, True] Translation: X:236.06, Y:-31.73, Z:-4.74 [[ 9.83237208e-01 1.81313232e-01 1.92380952e-02 2.36063991e+02] [-1.81289785e-01 9.83425234e-01 -2.97041693e-03 -3.17285712e+01] [-1.94578042e-02 -5.67045706e-04 9.99810518e-01 -4.73747363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80401273899997 meters 0.031810264718782566 Centerline is valid? [True, True] Translation: X:236.12, Y:-31.74, Z:-4.74 [[ 9.84771002e-01 1.72688412e-01 2.01193101e-02 2.36123326e+02] [-1.72660993e-01 9.84976416e-01 -3.10519608e-03 -3.17441706e+01] [-2.03532774e-02 -4.15913010e-04 9.99792764e-01 -4.73669761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86401273899997 meters 0.02282864764356284 Centerline is valid? [True, True] Translation: X:236.18, Y:-31.77, Z:-4.74 [[ 9.86957410e-01 1.59802314e-01 1.94496908e-02 2.36178985e+02] [-1.59774179e-01 9.87149026e-01 -3.00203561e-03 -3.17714199e+01] [-1.96794755e-02 -1.44677086e-04 9.99806330e-01 -4.73987152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92401273899998 meters 0.0207315590871339 Centerline is valid? [True, True] Translation: X:236.23, Y:-31.80, Z:-4.74 [[ 9.88315299e-01 1.50986628e-01 2.08784174e-02 2.36234193e+02] [-1.50952245e-01 9.88535805e-01 -3.22221919e-03 -3.17979605e+01] [-2.11255752e-02 3.29245485e-05 9.99776830e-01 -4.73852984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98401273899998 meters 0.021224035163820987 Centerline is valid? [True, True] Translation: X:236.29, Y:-31.81, Z:-4.74 [[ 9.88736519e-01 1.48292839e-01 2.02319257e-02 2.36291880e+02] [-1.48260007e-01 9.88943490e-01 -3.12151302e-03 -3.18146775e+01] [-2.04711292e-02 8.67684669e-05 9.99790441e-01 -4.73966520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04401273899998 meters 0.021059992294907015 Centerline is valid? [True, True] Translation: X:236.35, Y:-31.83, Z:-4.75 [[ 9.88442509e-01 1.50538611e-01 1.78754827e-02 2.36348468e+02] [-1.50513355e-01 9.88604130e-01 -2.75760774e-03 -3.18295713e+01] [-1.80869024e-02 3.52378358e-05 9.99836418e-01 -4.74646257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10401273899998 meters 0.020653348412640122 Centerline is valid? [True, True] Translation: X:236.41, Y:-31.84, Z:-4.74 [[ 9.88022198e-01 1.53118990e-01 1.91497305e-02 2.36406469e+02] [-1.53090503e-01 9.88207759e-01 -2.95347941e-03 -3.18389521e+01] [-1.93761460e-02 -1.35386558e-05 9.99812265e-01 -4.74407663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164012739 meters 0.021842635361899967 Centerline is valid? [True, True] Translation: X:236.46, Y:-31.85, Z:-4.75 [[ 9.87478317e-01 1.56842206e-01 1.69439094e-02 2.36463929e+02] [-1.56820463e-01 9.87623671e-01 -2.61262853e-03 -3.18453461e+01] [-1.71439764e-02 -7.72376966e-05 9.99853028e-01 -4.75099413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224012739 meters 0.021811199702466668 Centerline is valid? [True, True] Translation: X:236.52, Y:-31.86, Z:-4.75 [[ 9.87305618e-01 1.57732717e-01 1.86549561e-02 2.36522107e+02] [-1.57706547e-01 9.87481837e-01 -2.87504914e-03 -3.18552364e+01] [-1.88749197e-02 -1.03456543e-04 9.99821847e-01 -4.74854612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284012739 meters 0.021450667936505602 Centerline is valid? [True, True] Translation: X:236.58, Y:-31.87, Z:-4.75 [[ 9.87412452e-01 1.56959332e-01 1.95042914e-02 2.36579086e+02] [-1.56930592e-01 9.87605062e-01 -3.00497530e-03 -3.18670590e+01] [-1.97341958e-02 -9.36699758e-05 9.99805257e-01 -4.74841193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344012739 meters 0.021143689098481782 Centerline is valid? [True, True] Translation: X:236.64, Y:-31.88, Z:-4.75 [[ 9.87503327e-01 1.56310367e-01 2.01059347e-02 2.36637837e+02] [-1.56279719e-01 9.87707984e-01 -3.09634926e-03 -3.18806357e+01] [-2.03427837e-02 -8.44946301e-05 9.99793061e-01 -4.74759928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40401273899997 meters 0.022447708624089013 Centerline is valid? [True, True] Translation: X:236.70, Y:-31.88, Z:-4.75 [[ 9.86951770e-01 1.59646914e-01 2.09538919e-02 2.36696038e+02] [-1.59614389e-01 9.87174168e-01 -3.22638707e-03 -3.18838940e+01] [-2.12002235e-02 -1.60254226e-04 9.99775237e-01 -4.74648018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46401273899997 meters 0.027937699126622664 Centerline is valid? [True, True] Translation: X:236.76, Y:-31.88, Z:-4.75 [[ 9.85363576e-01 1.69395743e-01 1.90710572e-02 2.36758419e+02] [-1.69370645e-01 9.85548055e-01 -2.93538557e-03 -3.18764225e+01] [-1.92926852e-02 -3.37655235e-04 9.99813822e-01 -4.74989948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52401273899997 meters 0.038091310126261546 Centerline is valid? [True, True] Translation: X:236.82, Y:-31.87, Z:-4.75 [[ 9.83852717e-01 1.77933064e-01 1.93301683e-02 2.36819815e+02] [-1.77908923e-01 9.84042460e-01 -2.97528018e-03 -3.18653332e+01] [-1.95511070e-02 -5.11771914e-04 9.99808728e-01 -4.75165732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58401273899997 meters 0.03783819028095169 Centerline is valid? [True, True] Translation: X:236.88, Y:-31.87, Z:-4.75 [[ 9.83320397e-01 1.80763068e-01 2.01422531e-02 2.36879125e+02] [-1.80737455e-01 9.83526493e-01 -3.09997991e-03 -3.18678318e+01] [-2.03708015e-02 -5.92186089e-04 9.99792318e-01 -4.75186275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64401273899998 meters 0.04503374710291218 Centerline is valid? [True, True] Translation: X:236.94, Y:-31.86, Z:-4.76 [[ 9.83132493e-01 1.81964927e-01 1.84191877e-02 2.36938975e+02] [-1.81943734e-01 9.83304859e-01 -2.83398564e-03 -3.18604915e+01] [-1.86273628e-02 -5.65072430e-04 9.99826336e-01 -4.75662532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70401273899998 meters 0.04071070199950098 Centerline is valid? [True, True] Translation: X:237.00, Y:-31.87, Z:-4.76 [[ 9.82966257e-01 1.83094600e-01 1.59281410e-02 2.36997043e+02] [-1.83078922e-01 9.83095168e-01 -2.44935542e-03 -3.18689631e+01] [-1.61073422e-02 -5.08473155e-04 9.99870139e-01 -4.76244059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76401273899998 meters 0.04331456372287929 Centerline is valid? [True, True] Translation: X:237.06, Y:-31.87, Z:-4.76 [[ 9.82447591e-01 1.85635420e-01 1.83363425e-02 2.37057592e+02] [-1.85615104e-01 9.82618486e-01 -2.81860652e-03 -3.18659183e+01] [-1.85408624e-02 -6.34368948e-04 9.99827902e-01 -4.75840280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82401273899998 meters 0.050752923275444756 Centerline is valid? [True, True] Translation: X:237.12, Y:-31.86, Z:-4.76 [[ 9.82117524e-01 1.87317568e-01 1.89023377e-02 2.37118764e+02] [-1.87296304e-01 9.82299168e-01 -2.90489218e-03 -3.18562901e+01] [-1.91118880e-02 -6.87392488e-04 9.99817115e-01 -4.75873150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88401273899999 meters 0.048444302785531954 Centerline is valid? [True, True] Translation: X:237.18, Y:-31.85, Z:-4.76 [[ 9.81649266e-01 1.89778032e-01 1.86819779e-02 2.37179883e+02] [-1.89757718e-01 9.81826751e-01 -2.87035355e-03 -3.18484626e+01] [-1.88871957e-02 -7.27369031e-04 9.99821356e-01 -4.76119462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944012739 meters 0.04690348360391786 Centerline is valid? [True, True] Translation: X:237.24, Y:-31.85, Z:-4.76 [[ 9.81850944e-01 1.88804329e-01 1.79345660e-02 2.37238734e+02] [-1.88785452e-01 9.82014492e-01 -2.75520947e-03 -3.18507097e+01] [-1.81321992e-02 -6.80580124e-04 9.99835367e-01 -4.76315716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004012739 meters 0.04393696235506758 Centerline is valid? [True, True] Translation: X:237.30, Y:-31.85, Z:-4.76 [[ 9.82612985e-01 1.84814708e-01 1.77551703e-02 2.37298346e+02] [-1.84795616e-01 9.82773198e-01 -2.72428680e-03 -3.18519092e+01] [-1.79527938e-02 -6.04158047e-04 9.99838653e-01 -4.76445949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064012739 meters 0.04179238517668914 Centerline is valid? [True, True] Translation: X:237.36, Y:-31.86, Z:-4.75 [[ 9.83083628e-01 1.81881542e-01 2.15797209e-02 2.37357970e+02] [-1.81852645e-01 9.83320220e-01 -3.31050027e-03 -3.18623986e+01] [-2.18218948e-02 -6.69830711e-04 9.99761650e-01 -4.74994967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124012739 meters 0.038132233635367524 Centerline is valid? [True, True] Translation: X:237.42, Y:-31.86, Z:-4.76 [[ 9.83361021e-01 1.80420610e-01 2.12015376e-02 2.37416497e+02] [-1.80392385e-01 9.83589351e-01 -3.25216533e-03 -3.18624851e+01] [-2.14403642e-02 -6.26543311e-04 9.99769933e-01 -4.75994948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18401273899997 meters 0.03749608587951861 Centerline is valid? [True, True] Translation: X:237.48, Y:-31.86, Z:-4.77 [[ 9.83718138e-01 1.78853824e-01 1.76049363e-02 2.37475402e+02] [-1.78834123e-01 9.83875534e-01 -2.69985171e-03 -3.18640972e+01] [-1.78039450e-02 -4.92470253e-04 9.99841376e-01 -4.76793625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24401273899997 meters 0.03434157411831307 Centerline is valid? [True, True] Translation: X:237.53, Y:-31.87, Z:-4.77 [[ 9.84590545e-01 1.73934834e-01 1.81144213e-02 2.37533472e+02] [-1.73913209e-01 9.84757076e-01 -2.77444124e-03 -3.18732247e+01] [-1.83208765e-02 -4.18648517e-04 9.99832071e-01 -4.76849013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30401273899997 meters 0.025394041330542422 Centerline is valid? [True, True] Translation: X:237.59, Y:-31.89, Z:-4.76 [[ 9.86007244e-01 1.65333707e-01 2.13185423e-02 2.37591067e+02] [-1.65301755e-01 9.86237635e-01 -3.26460428e-03 -3.18943795e+01] [-2.15648979e-02 -3.05068986e-04 9.99767404e-01 -4.76354462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36401273899997 meters 0.02276407348091689 Centerline is valid? [True, True] Translation: X:237.65, Y:-31.91, Z:-4.77 [[ 9.87073654e-01 1.59212125e-01 1.83603008e-02 2.37647012e+02] [-1.59187365e-01 9.87244386e-01 -2.81163774e-03 -3.19119045e+01] [-1.85737507e-02 -1.47434362e-04 9.99827482e-01 -4.77032808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42401273899998 meters 0.021339484080143047 Centerline is valid? [True, True] Translation: X:237.70, Y:-31.93, Z:-4.77 [[ 9.87671081e-01 1.55410627e-01 1.87982184e-02 2.37704508e+02] [-1.55384016e-01 9.87849954e-01 -2.87694868e-03 -3.19286941e+01] [-1.90169275e-02 -7.94636584e-05 9.99819159e-01 -4.77046373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48401273899998 meters 0.020797657251307042 Centerline is valid? [True, True] Translation: X:237.76, Y:-31.94, Z:-4.77 [[ 9.87863422e-01 1.54005489e-01 2.02031820e-02 2.37761315e+02] [-1.53974474e-01 9.88069991e-01 -3.09116668e-03 -3.19394654e+01] [-2.04382145e-02 -5.71238194e-05 9.99791116e-01 -4.76833784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54401273899998 meters 0.02111737832074369 Centerline is valid? [True, True] Translation: X:237.82, Y:-31.95, Z:-4.78 [[ 9.87910181e-01 1.54105051e-01 1.68851400e-02 2.37818793e+02] [-1.54083416e-01 9.88054468e-01 -2.58262447e-03 -3.19519050e+01] [-1.70814335e-02 -5.03190554e-05 9.99854100e-01 -4.77655444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60401273899998 meters 0.021342372320714273 Centerline is valid? [True, True] Translation: X:237.88, Y:-31.96, Z:-4.78 [[ 9.87702805e-01 1.55336810e-01 1.77100360e-02 2.37876322e+02] [-1.55313225e-01 9.87861564e-01 -2.70788439e-03 -3.19626528e+01] [-1.79156979e-02 -7.60177837e-05 9.99839498e-01 -4.77554865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664012739 meters 0.022427146452243512 Centerline is valid? [True, True] Translation: X:237.93, Y:-31.97, Z:-4.78 [[ 9.87371225e-01 1.57502276e-01 1.70615589e-02 2.37933904e+02] [-1.57480723e-01 9.87518618e-01 -2.60797449e-03 -3.19676636e+01] [-1.72593690e-02 -1.11827651e-04 9.99851040e-01 -4.77854990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724012739 meters 0.02279813260811382 Centerline is valid? [True, True] Translation: X:237.99, Y:-31.97, Z:-4.77 [[ 9.86983598e-01 1.59629204e-01 1.95420927e-02 2.37992257e+02] [-1.59601371e-01 9.87177029e-01 -2.98577105e-03 -3.19740699e+01] [-1.97681213e-02 -1.72037729e-04 9.99804577e-01 -4.77447389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784012739 meters 0.022742511893750254 Centerline is valid? [True, True] Translation: X:238.05, Y:-31.98, Z:-4.78 [[ 9.87038382e-01 1.59346559e-01 1.90763550e-02 2.38049693e+02] [-1.59320001e-01 9.87222694e-01 -2.91373511e-03 -3.19819172e+01] [-1.92969042e-02 -1.63276511e-04 9.99813784e-01 -4.77618831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844012739 meters 0.021380812849588593 Centerline is valid? [True, True] Translation: X:238.11, Y:-32.00, Z:-4.78 [[ 9.87600359e-01 1.55834804e-01 1.90011598e-02 2.38107001e+02] [-1.55807832e-01 9.87783126e-01 -2.90083650e-03 -3.19958592e+01] [-1.92210763e-02 -9.56623452e-05 9.99815253e-01 -4.77750358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90401273899997 meters 0.020596908471085446 Centerline is valid? [True, True] Translation: X:238.16, Y:-32.02, Z:-4.78 [[ 9.88634231e-01 1.48928038e-01 2.05620285e-02 2.38163551e+02] [-1.48894980e-01 9.88848036e-01 -3.13803662e-03 -3.20178136e+01] [-2.08000632e-02 4.07876048e-05 9.99783654e-01 -4.77697831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96401273899997 meters 0.022405189863050283 Centerline is valid? [True, True] Translation: X:238.22, Y:-32.04, Z:-4.78 [[ 9.89617552e-01 1.42464051e-01 1.90025018e-02 2.38218685e+02] [-1.42434641e-01 9.89799964e-01 -2.89918441e-03 -3.20447173e+01] [-1.92217051e-02 1.62469269e-04 9.99815233e-01 -4.77991541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02401273899997 meters 0.022679024455675923 Centerline is valid? [True, True] Translation: X:238.28, Y:-32.06, Z:-4.78 [[ 9.89702466e-01 1.41814323e-01 1.94352062e-02 2.38275228e+02] [-1.41783452e-01 9.89893260e-01 -2.96424004e-03 -3.20617758e+01] [-1.96591513e-02 1.78125051e-04 9.99806724e-01 -4.78006118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08401273899997 meters 0.021318942936927227 Centerline is valid? [True, True] Translation: X:238.33, Y:-32.07, Z:-4.78 [[ 9.89173312e-01 1.45492502e-01 1.91856744e-02 2.38332136e+02] [-1.45463127e-01 9.89359349e-01 -2.92528499e-03 -3.20705872e+01] [-1.94071334e-02 1.02805639e-04 9.99811659e-01 -4.78184958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14401273899998 meters 0.021049781932121772 Centerline is valid? [True, True] Translation: X:238.39, Y:-32.07, Z:-4.79 [[ 9.88042218e-01 1.53243326e-01 1.70017069e-02 2.38390362e+02] [-1.53221419e-01 9.88188485e-01 -2.59149263e-03 -3.20723318e+01] [-1.71980199e-02 -4.45215215e-05 9.99852102e-01 -4.78750056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20401273899998 meters 0.02266184390247578 Centerline is valid? [True, True] Translation: X:238.45, Y:-32.08, Z:-4.79 [[ 9.87118615e-01 1.59055815e-01 1.72652053e-02 2.38448788e+02] [-1.59034138e-01 9.87269581e-01 -2.63011572e-03 -3.20776390e+01] [-1.74637472e-02 -1.49520851e-04 9.99847486e-01 -4.78707896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26401273899998 meters 0.026931456150781106 Centerline is valid? [True, True] Translation: X:238.51, Y:-32.08, Z:-4.79 [[ 9.86285920e-01 1.63994138e-01 1.86012661e-02 2.38506795e+02] [-1.63969871e-01 9.86461280e-01 -2.83273117e-03 -3.20775777e+01] [-1.88139801e-02 -2.56164330e-04 9.99822969e-01 -4.78717427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32401273899998 meters 0.0295578709886062 Centerline is valid? [True, True] Translation: X:238.57, Y:-32.08, Z:-4.79 [[ 9.85815428e-01 1.66843806e-01 1.81958017e-02 2.38565606e+02] [-1.66821107e-01 9.85983291e-01 -2.76899466e-03 -3.20804101e+01] [-1.84027461e-02 -3.05726134e-04 9.99830608e-01 -4.78985932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38401273899999 meters 0.030582987115937602 Centerline is valid? [True, True] Translation: X:238.62, Y:-32.09, Z:-4.79 [[ 9.85587792e-01 1.68229347e-01 1.77648644e-02 2.38623623e+02] [-1.68207949e-01 9.85747829e-01 -2.70262326e-03 -3.20885736e+01] [-1.79663371e-02 -3.24518920e-04 9.99838540e-01 -4.79122441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444012739 meters 0.02855344748217023 Centerline is valid? [True, True] Translation: X:238.68, Y:-32.10, Z:-4.79 [[ 9.85615347e-01 1.67947026e-01 1.88728502e-02 2.38681353e+02] [-1.67922842e-01 9.85795963e-01 -2.87025044e-03 -3.21011507e+01] [-1.90868295e-02 -3.40219758e-04 9.99817772e-01 -4.78977903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504012739 meters 0.02882999970666886 Centerline is valid? [True, True] Translation: X:238.74, Y:-32.11, Z:-4.79 [[ 9.85551597e-01 1.68096246e-01 2.07774327e-02 2.38739595e+02] [-1.68066991e-01 9.85770515e-01 -3.15877281e-03 -3.21088183e+01] [-2.10127583e-02 -3.78867013e-04 9.99779136e-01 -4.78793327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564012739 meters 0.029903698736487586 Centerline is valid? [True, True] Translation: X:238.80, Y:-32.12, Z:-4.79 [[ 9.85464443e-01 1.68626789e-01 2.06115716e-02 2.38797111e+02] [-1.68598137e-01 9.85679895e-01 -3.13255059e-03 -3.21155636e+01] [-2.08446436e-02 -3.88055336e-04 9.99782652e-01 -4.78942954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624012739 meters 0.03051050106232391 Centerline is valid? [True, True] Translation: X:238.86, Y:-32.12, Z:-4.79 [[ 9.85371785e-01 1.69298342e-01 1.95068619e-02 2.38855395e+02] [-1.69272833e-01 9.85564775e-01 -2.96352991e-03 -3.21241081e+01] [-1.97269966e-02 -3.81803015e-04 9.99805331e-01 -4.79334899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68401273899997 meters 0.029555561345435744 Centerline is valid? [True, True] Translation: X:238.91, Y:-32.14, Z:-4.80 [[ 9.85618220e-01 1.68085672e-01 1.74336085e-02 2.38913250e+02] [-1.68065121e-01 9.85772339e-01 -2.64781742e-03 -3.21355491e+01] [-1.76306292e-02 -3.20244423e-04 9.99844517e-01 -4.79810503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74401273899997 meters 0.029467779099292556 Centerline is valid? [True, True] Translation: X:238.97, Y:-32.15, Z:-4.80 [[ 9.85699651e-01 1.67587782e-01 1.76219366e-02 2.38970809e+02] [-1.67566720e-01 9.85857107e-01 -2.67554935e-03 -3.21460507e+01] [-1.78211009e-02 -3.15562062e-04 9.99841142e-01 -4.79844489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80401273899997 meters 0.02966341590201519 Centerline is valid? [True, True] Translation: X:239.03, Y:-32.15, Z:-4.80 [[ 9.85572800e-01 1.68213450e-01 1.87214106e-02 2.39029651e+02] [-1.68189809e-01 9.85750533e-01 -2.84151562e-03 -3.21529662e+01] [-1.89326216e-02 -3.48229973e-04 9.99820701e-01 -4.79715002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86401273899997 meters 0.031625922362335315 Centerline is valid? [True, True] Translation: X:239.09, Y:-32.16, Z:-4.80 [[ 9.85293480e-01 1.69945239e-01 1.77587549e-02 2.39087661e+02] [-1.69924262e-01 9.85453441e-01 -2.69461951e-03 -3.21575327e+01] [-1.79583639e-02 -3.62652284e-04 9.99838670e-01 -4.80029325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92401273899998 meters 0.030603135523250755 Centerline is valid? [True, True] Translation: X:239.15, Y:-32.16, Z:-4.80 [[ 9.85450564e-01 1.68861462e-01 1.93130392e-02 2.39145943e+02] [-1.68836469e-01 9.85639725e-01 -2.92918116e-03 -3.21642263e+01] [-1.95303245e-02 -3.74182119e-04 9.99809195e-01 -4.79766248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98401273899998 meters 0.030210568191240864 Centerline is valid? [True, True] Translation: X:239.20, Y:-32.17, Z:-4.80 [[ 9.85788110e-01 1.66942791e-01 1.87591947e-02 2.39203327e+02] [-1.66918880e-01 9.85966530e-01 -2.84432562e-03 -3.21717708e+01] [-1.89707777e-02 -3.27361373e-04 9.99819985e-01 -4.80007794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04401273899998 meters 0.029174109808656 Centerline is valid? [True, True] Translation: X:239.26, Y:-32.18, Z:-4.80 [[ 9.86033474e-01 1.65588597e-01 1.78439180e-02 2.39262069e+02] [-1.65566760e-01 9.86194876e-01 -2.70451882e-03 -3.21790582e+01] [-1.80454180e-02 -2.87613594e-04 9.99837127e-01 -4.80266681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10401273899998 meters 0.027799104271117953 Centerline is valid? [True, True] Translation: X:239.32, Y:-32.19, Z:-4.80 [[ 9.86187499e-01 1.64648348e-01 1.80315681e-02 2.39320694e+02] [-1.64625906e-01 9.86352293e-01 -2.73212551e-03 -3.21856810e+01] [-1.82353185e-02 -2.74075223e-04 9.99833685e-01 -4.80308441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164012739 meters 0.036957846646032015 Centerline is valid? [True, True] Translation: X:239.38, Y:-32.19, Z:-4.79 [[ 9.86179072e-01 1.64564989e-01 1.92146275e-02 2.39378799e+02] [-1.64539508e-01 9.86366200e-01 -2.91044141e-03 -3.21921458e+01] [-1.94316159e-02 -2.91348953e-04 9.99811146e-01 -4.79044282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224012739 meters 0.02799451975653795 Centerline is valid? [True, True] Translation: X:239.44, Y:-32.19, Z:-4.80 [[ 9.86033179e-01 1.65577019e-01 1.79671894e-02 2.39436436e+02] [-1.65554930e-01 9.86196819e-01 -2.72023831e-03 -3.21935283e+01] [-1.81695940e-02 -2.92311563e-04 9.99834877e-01 -4.80389964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284012739 meters 0.028859543453812947 Centerline is valid? [True, True] Translation: X:239.49, Y:-32.20, Z:-4.80 [[ 9.86172158e-01 1.64697789e-01 1.84150224e-02 2.39493887e+02] [-1.64674454e-01 9.86344036e-01 -2.78689309e-03 -3.21978370e+01] [-1.86225426e-02 -2.84127369e-04 9.99826545e-01 -4.80497524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344012739 meters 0.02317833181182963 Centerline is valid? [True, True] Translation: X:239.55, Y:-32.22, Z:-4.80 [[ 9.87101075e-01 1.58799666e-01 2.03503030e-02 2.39551038e+02] [-1.58769941e-01 9.87310807e-01 -3.07842605e-03 -3.22167611e+01] [-2.05809271e-02 -1.92298737e-04 9.99788172e-01 -4.80245761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40401273899997 meters 0.02140605331410038 Centerline is valid? [True, True] Translation: X:239.61, Y:-32.23, Z:-4.81 [[ 9.88144616e-01 1.52522688e-01 1.75227865e-02 2.39607366e+02] [-1.52499685e-01 9.88299968e-01 -2.64942351e-03 -3.22347127e+01] [-1.77218666e-02 -5.42058426e-05 9.99842954e-01 -4.80850186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46401273899997 meters 0.021304209819319457 Centerline is valid? [True, True] Translation: X:239.66, Y:-32.25, Z:-4.81 [[ 9.88170020e-01 1.52379856e-01 1.73317802e-02 2.39663435e+02] [-1.52357341e-01 9.88322001e-01 -2.61987497e-03 -3.22458024e+01] [-1.75285958e-02 -5.17420357e-05 9.99846361e-01 -4.80926398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52401273899997 meters 0.021263501514717592 Centerline is valid? [True, True] Translation: X:239.72, Y:-32.25, Z:-4.81 [[ 9.88155564e-01 1.52457526e-01 1.74723814e-02 2.39721407e+02] [-1.52434694e-01 9.88310022e-01 -2.63902613e-03 -3.22534429e+01] [-1.76704690e-02 -5.56287476e-05 9.99843864e-01 -4.80959207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58401273899997 meters 0.02102403752711585 Centerline is valid? [True, True] Translation: X:239.78, Y:-32.27, Z:-4.81 [[ 9.88358889e-01 1.51031462e-01 1.83358501e-02 2.39777726e+02] [-1.51006098e-01 9.88528956e-01 -2.76802071e-03 -3.22671385e+01] [-1.85435770e-02 -3.30272995e-05 9.99828053e-01 -4.80989768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64401273899998 meters 0.020887079187880856 Centerline is valid? [True, True] Translation: X:239.83, Y:-32.28, Z:-4.81 [[ 9.88644118e-01 1.49100600e-01 1.87568331e-02 2.39834297e+02] [-1.49073732e-01 9.88822032e-01 -2.83044803e-03 -3.22824766e+01] [-1.89691913e-02 2.15468365e-06 9.99820069e-01 -4.80972269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70401273899998 meters 0.020852861788100883 Centerline is valid? [True, True] Translation: X:239.89, Y:-32.29, Z:-4.81 [[ 9.88601349e-01 1.49402843e-01 1.86054471e-02 2.39891542e+02] [-1.49376486e-01 9.88776411e-01 -2.80625899e-03 -3.22912326e+01] [-1.88158903e-02 -4.94488528e-06 9.99822965e-01 -4.81095371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76401273899998 meters 0.020977011736989216 Centerline is valid? [True, True] Translation: X:239.95, Y:-32.30, Z:-4.81 [[ 9.88509233e-01 1.50117901e-01 1.77232179e-02 2.39948806e+02] [-1.50094121e-01 9.88668102e-01 -2.67193514e-03 -3.22995713e+01] [-1.79234855e-02 -1.89182609e-05 9.99839361e-01 -4.81328713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82401273899998 meters 0.021330544582646695 Centerline is valid? [True, True] Translation: X:240.01, Y:-32.31, Z:-4.82 [[ 9.88206349e-01 1.52105999e-01 1.76628488e-02 2.40006606e+02] [-1.52082718e-01 9.88364185e-01 -2.66174322e-03 -3.23088975e+01] [-1.78621943e-02 -5.58625020e-05 9.99840457e-01 -4.81531246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88401273899999 meters 0.021613725301952616 Centerline is valid? [True, True] Translation: X:240.06, Y:-32.32, Z:-4.81 [[ 9.88046352e-01 1.53071046e-01 1.82664073e-02 2.40064513e+02] [-1.53046328e-01 9.88215184e-01 -2.75178390e-03 -3.23187642e+01] [-1.84723595e-02 -7.67165255e-05 9.99829368e-01 -4.81462469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944012739 meters 0.0217629897768053 Centerline is valid? [True, True] Translation: X:240.12, Y:-32.33, Z:-4.82 [[ 9.88000603e-01 1.53453167e-01 1.75195327e-02 2.40122579e+02] [-1.53430504e-01 9.88155918e-01 -2.63846912e-03 -3.23298457e+01] [-1.77169114e-02 -8.12216498e-05 9.99843040e-01 -4.81711220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004012739 meters 0.030869410682137544 Centerline is valid? [True, True] Translation: X:240.18, Y:-32.35, Z:-4.81 [[ 9.88156399e-01 1.52376423e-01 1.81206240e-02 2.40180009e+02] [-1.52352014e-01 9.88322529e-01 -2.72806430e-03 -3.23483132e+01] [-1.83247136e-02 -6.49593564e-05 9.99832086e-01 -4.80651996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064012739 meters 0.020982814646805778 Centerline is valid? [True, True] Translation: X:240.24, Y:-32.37, Z:-4.82 [[ 9.88564703e-01 1.49704926e-01 1.81180486e-02 2.40235586e+02] [-1.49680087e-01 9.88730719e-01 -2.72705271e-03 -3.23701669e+01] [-1.83221244e-02 -1.60430311e-05 9.99832136e-01 -4.81860675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124012739 meters 0.021312917131951575 Centerline is valid? [True, True] Translation: X:240.29, Y:-32.38, Z:-4.82 [[ 9.88175651e-01 1.52262787e-01 1.80257324e-02 2.40291458e+02] [-1.52238641e-01 9.88340042e-01 -2.71231279e-03 -3.23848123e+01] [-1.82285374e-02 -6.39715518e-05 9.99833844e-01 -4.81943967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18401273899997 meters 0.02295679708350678 Centerline is valid? [True, True] Translation: X:240.35, Y:-32.39, Z:-4.82 [[ 9.87493511e-01 1.56708571e-01 1.72913114e-02 2.40349511e+02] [-1.56687051e-01 9.87644877e-01 -2.60078589e-03 -3.23921408e+01] [-1.74852406e-02 -1.41065395e-04 9.99847112e-01 -4.82125219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24401273899997 meters 0.029000523764517373 Centerline is valid? [True, True] Translation: X:240.41, Y:-32.39, Z:-4.82 [[ 9.86171821e-01 1.64712718e-01 1.82992009e-02 2.40409122e+02] [-1.64690010e-01 9.86341538e-01 -2.75141369e-03 -3.23913853e+01] [-1.85024548e-02 -3.00328937e-04 9.99828770e-01 -4.81955027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30401273899997 meters 0.03562388539592831 Centerline is valid? [True, True] Translation: X:240.47, Y:-32.39, Z:-4.82 [[ 9.84968365e-01 1.71421690e-01 2.12585067e-02 2.40469586e+02] [-1.71392621e-01 9.85197624e-01 -3.19550362e-03 -3.23899602e+01] [-2.14916089e-02 -4.96081209e-04 9.99768906e-01 -4.81544032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36401273899997 meters 0.040482208186502666 Centerline is valid? [True, True] Translation: X:240.53, Y:-32.39, Z:-4.82 [[ 9.84073229e-01 1.76842952e-01 1.80679177e-02 2.40531325e+02] [-1.76822871e-01 9.84238943e-01 -2.71570654e-03 -3.23856651e+01] [-1.82634017e-02 -5.22366965e-04 9.99833074e-01 -4.82292410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42401273899998 meters 0.04048276975008192 Centerline is valid? [True, True] Translation: X:240.59, Y:-32.39, Z:-4.82 [[ 9.84106312e-01 1.76537395e-01 1.92175747e-02 2.40590698e+02] [-1.76514617e-01 9.84293780e-01 -2.88855368e-03 -3.23885077e+01] [-1.94256770e-02 -5.49538928e-04 9.99811153e-01 -4.82264334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48401273899998 meters 0.0387143785874552 Centerline is valid? [True, True] Translation: X:240.65, Y:-32.40, Z:-4.82 [[ 9.84432110e-01 1.74697845e-01 1.93412454e-02 2.40649069e+02] [-1.74674436e-01 9.84621955e-01 -2.90623169e-03 -3.23980478e+01] [-1.95515273e-02 -5.17433349e-04 9.99808717e-01 -4.82351295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54401273899998 meters 0.03640761186640781 Centerline is valid? [True, True] Translation: X:240.71, Y:-32.42, Z:-4.82 [[ 9.85773955e-01 1.67097823e-01 1.81115284e-02 2.40707777e+02] [-1.67076029e-01 9.85940261e-01 -2.72057529e-03 -3.24166348e+01] [-1.83114873e-02 -3.44129980e-04 9.99832271e-01 -4.81690690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60401273899998 meters 0.02727134074710601 Centerline is valid? [True, True] Translation: X:240.77, Y:-32.42, Z:-4.83 [[ 9.86374898e-01 1.63474203e-01 1.84593000e-02 2.40765636e+02] [-1.63450929e-01 9.86547569e-01 -2.77284307e-03 -3.24236806e+01] [-1.86642658e-02 -2.82126923e-04 9.99825768e-01 -4.82750248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664012739 meters 0.02883708039649959 Centerline is valid? [True, True] Translation: X:240.82, Y:-32.43, Z:-4.83 [[ 9.86410852e-01 1.63230729e-01 1.86911838e-02 2.40823373e+02] [-1.63206839e-01 9.86587882e-01 -2.80679910e-03 -3.24250697e+01] [-1.88986513e-02 -2.81871935e-04 9.99821365e-01 -4.82815410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724012739 meters 0.027175500598491775 Centerline is valid? [True, True] Translation: X:240.88, Y:-32.43, Z:-4.83 [[ 9.86343524e-01 1.63647430e-01 1.86003306e-02 2.40881551e+02] [-1.63623876e-01 9.86518847e-01 -2.79153145e-03 -3.24321300e+01] [-1.88064037e-02 -2.90049228e-04 9.99823102e-01 -4.82895603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784012739 meters 0.026888806953057096 Centerline is valid? [True, True] Translation: X:240.94, Y:-32.44, Z:-4.83 [[ 9.86497206e-01 1.62480322e-01 2.05768882e-02 2.40939889e+02] [-1.62451265e-01 9.86711739e-01 -3.08704749e-03 -3.24367902e+01] [-2.08050417e-02 -2.97377799e-04 9.99783507e-01 -4.82683930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844012739 meters 0.024345015748351802 Centerline is valid? [True, True] Translation: X:241.00, Y:-32.45, Z:-4.83 [[ 9.87058026e-01 1.58937600e-01 2.13375725e-02 2.40997588e+02] [-1.58905550e-01 9.87288603e-01 -3.20009434e-03 -3.24508598e+01] [-2.15749574e-02 -2.31979893e-04 9.99767207e-01 -4.82764060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90401273899997 meters 0.023077637545403006 Centerline is valid? [True, True] Translation: X:241.05, Y:-32.46, Z:-4.83 [[ 9.87497975e-01 1.56315648e-01 2.03265073e-02 2.41054975e+02] [-1.56286027e-01 9.87707138e-01 -3.04751207e-03 -3.24596315e+01] [-2.05530101e-02 -1.67337075e-04 9.99788751e-01 -4.82924614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96401273899997 meters 0.022848145082335843 Centerline is valid? [True, True] Translation: X:241.11, Y:-32.47, Z:-4.83 [[ 9.87741453e-01 1.55009370e-01 1.84097274e-02 2.41113327e+02] [-1.54984872e-01 9.87912991e-01 -2.75875290e-03 -3.24681987e+01] [-1.86148415e-02 -1.28294661e-04 9.99826721e-01 -4.83405710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02401273899997 meters 0.022664580398382362 Centerline is valid? [True, True] Translation: X:241.17, Y:-32.47, Z:-4.83 [[ 9.87634146e-01 1.55306306e-01 2.14183405e-02 2.41171009e+02] [-1.55273242e-01 9.87866351e-01 -3.20839850e-03 -3.24723667e+01] [-2.16567424e-02 -1.56971244e-04 9.99765453e-01 -4.82937373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08401273899997 meters 0.022570614320955664 Centerline is valid? [True, True] Translation: X:241.23, Y:-32.48, Z:-4.83 [[ 9.87680575e-01 1.55007898e-01 2.14390708e-02 2.41228825e+02] [-1.54974733e-01 9.87913219e-01 -3.20995561e-03 -3.24784783e+01] [-2.16775100e-02 -1.52103474e-04 9.99765004e-01 -4.83119174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14401273899998 meters 0.022371205008992222 Centerline is valid? [True, True] Translation: X:241.29, Y:-32.49, Z:-4.83 [[ 9.87881808e-01 1.53864096e-01 2.03807072e-02 2.41285981e+02] [-1.53833910e-01 9.88092012e-01 -3.05008852e-03 -3.24872799e+01] [-2.06073131e-02 -1.22116922e-04 9.99787639e-01 -4.83415436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20401273899998 meters 0.02127496031574539 Centerline is valid? [True, True] Translation: X:241.34, Y:-32.50, Z:-4.84 [[ 9.88729245e-01 1.48498384e-01 1.90449392e-02 2.41343053e+02] [-1.48471058e-01 9.88912650e-01 -2.84869168e-03 -3.25045504e+01] [-1.92568074e-02 -1.10374995e-05 9.99814570e-01 -4.83665529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26401273899998 meters 0.02154553402832421 Centerline is valid? [True, True] Translation: X:241.40, Y:-32.52, Z:-4.84 [[ 9.89305721e-01 1.44598744e-01 1.91152634e-02 2.41399841e+02] [-1.44570505e-01 9.89490373e-01 -2.85832012e-03 -3.25205498e+01] [-1.93276786e-02 6.42491643e-05 9.99813201e-01 -4.83755249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32401273899998 meters 0.021215230023362862 Centerline is valid? [True, True] Translation: X:241.46, Y:-32.53, Z:-4.84 [[ 9.88814825e-01 1.47740286e-01 2.04462669e-02 2.41458440e+02] [-1.47708671e-01 9.89026192e-01 -3.05628863e-03 -3.25254837e+01] [-2.06734304e-02 2.01260112e-06 9.99786282e-01 -4.83610729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38401273899999 meters 0.021820648549667875 Centerline is valid? [True, True] Translation: X:241.52, Y:-32.53, Z:-4.84 [[ 9.88248022e-01 1.51587589e-01 1.96735744e-02 2.41516549e+02] [-1.51559097e-01 9.88443826e-01 -2.93989510e-03 -3.25276971e+01] [-1.98918747e-02 -7.63636578e-05 9.99802134e-01 -4.83835194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444012739 meters 0.022162693518077103 Centerline is valid? [True, True] Translation: X:241.57, Y:-32.53, Z:-4.84 [[ 9.88065545e-01 1.52726706e-01 2.00257663e-02 2.41574590e+02] [-1.52697454e-01 9.88268457e-01 -2.99080770e-03 -3.25337983e+01] [-2.02476094e-02 -1.02769481e-04 9.99794991e-01 -4.83922751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504012739 meters 0.021967775897607903 Centerline is valid? [True, True] Translation: X:241.63, Y:-32.54, Z:-4.84 [[ 9.88200080e-01 1.51919742e-01 1.95190853e-02 2.41631581e+02] [-1.51891816e-01 9.88392829e-01 -2.91399673e-03 -3.25435628e+01] [-1.97352176e-02 -8.51775087e-05 9.99805238e-01 -4.84291589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564012739 meters 0.021871400261234512 Centerline is valid? [True, True] Translation: X:241.69, Y:-32.55, Z:-4.85 [[ 9.88388435e-01 1.50789188e-01 1.87329161e-02 2.41689820e+02] [-1.50763284e-01 9.88565940e-01 -2.79555461e-03 -3.25542176e+01] [-1.89402623e-02 -6.11421082e-05 9.99820615e-01 -4.84524774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624012739 meters 0.021478418645951743 Centerline is valid? [True, True] Translation: X:241.75, Y:-32.57, Z:-4.84 [[ 9.88884944e-01 1.47368038e-01 1.97288722e-02 2.41745883e+02] [-1.47338645e-01 9.89081726e-01 -2.94318258e-03 -3.25681673e+01] [-1.99471981e-02 3.64363272e-06 9.99801035e-01 -4.84490755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68401273899997 meters 0.021778025500312954 Centerline is valid? [True, True] Translation: X:241.80, Y:-32.58, Z:-4.85 [[ 9.89293677e-01 1.44609184e-01 1.96521145e-02 2.41803165e+02] [-1.44579498e-01 9.89488848e-01 -2.93054933e-03 -3.25833395e+01] [-1.98693325e-02 5.78810753e-05 9.99802584e-01 -4.84661666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74401273899997 meters 0.021865723967523 Centerline is valid? [True, True] Translation: X:241.86, Y:-32.59, Z:-4.85 [[ 9.89352976e-01 1.44263563e-01 1.92019157e-02 2.41859988e+02] [-1.44235173e-01 9.89539297e-01 -2.86256614e-03 -3.25932569e+01] [-1.94140142e-02 6.24966956e-05 9.99811528e-01 -4.84817311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80401273899997 meters 0.021589432079401366 Centerline is valid? [True, True] Translation: X:241.92, Y:-32.60, Z:-4.85 [[ 9.89162413e-01 1.45610693e-01 1.88479625e-02 2.41918036e+02] [-1.45583610e-01 9.89341966e-01 -2.80848201e-03 -3.25993462e+01] [-1.90560252e-02 3.40904177e-05 9.99818417e-01 -4.85025686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86401273899997 meters 0.02208374370893057 Centerline is valid? [True, True] Translation: X:241.98, Y:-32.61, Z:-4.85 [[ 9.89480251e-01 1.43503974e-01 1.83151004e-02 2.41975760e+02] [-1.43478055e-01 9.89649738e-01 -2.72826029e-03 -3.26114708e+01] [-1.85170505e-02 7.17447001e-05 9.99828542e-01 -4.85206047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92401273899998 meters 0.02349484853818089 Centerline is valid? [True, True] Translation: X:242.03, Y:-32.63, Z:-4.85 [[ 9.89962532e-01 1.40156955e-01 1.81717715e-02 2.42032256e+02] [-1.40130891e-01 9.90129290e-01 -2.70610412e-03 -3.26273916e+01] [-1.83716826e-02 1.32515154e-04 9.99831218e-01 -4.85367989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98401273899998 meters 0.025253972213290437 Centerline is valid? [True, True] Translation: X:242.09, Y:-32.65, Z:-4.85 [[ 9.90428831e-01 1.36734823e-01 1.88233740e-02 2.42089297e+02] [-1.36706259e-01 9.90607666e-01 -2.80201317e-03 -3.26451998e+01] [-1.90297114e-02 2.01921587e-04 9.99818898e-01 -4.85388754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04401273899998 meters 0.025188420425067803 Centerline is valid? [True, True] Translation: X:242.15, Y:-32.66, Z:-4.85 [[ 9.90379155e-01 1.36938457e-01 1.99245493e-02 2.42145743e+02] [-1.36906513e-01 9.90579535e-01 -2.96499071e-03 -3.26560829e+01] [-2.01428720e-02 2.08664427e-04 9.99797090e-01 -4.85237761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10401273899998 meters 0.022370224885200744 Centerline is valid? [True, True] Translation: X:242.20, Y:-32.66, Z:-4.86 [[ 9.89828494e-01 1.40948921e-01 1.93120248e-02 2.42204814e+02] [-1.40919695e-01 9.90016862e-01 -2.87280377e-03 -3.26583244e+01] [-1.95241488e-02 1.22138393e-04 9.99809378e-01 -4.85523989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164012739 meters 0.021546177845983734 Centerline is valid? [True, True] Translation: X:242.26, Y:-32.66, Z:-4.86 [[ 9.89298296e-01 1.44545170e-01 1.98890796e-02 2.42262352e+02] [-1.44514918e-01 9.89498202e-01 -2.95762515e-03 -3.26638742e+01] [-2.01077189e-02 5.17048257e-05 9.99797818e-01 -4.85537370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224012739 meters 0.021563497644731703 Centerline is valid? [True, True] Translation: X:242.32, Y:-32.67, Z:-4.86 [[ 9.89237250e-01 1.44885198e-01 2.04436477e-02 2.42319303e+02] [-1.44853334e-01 9.89448471e-01 -3.03879159e-03 -3.26740106e+01] [-2.06682119e-02 4.47553039e-05 9.99786389e-01 -4.85602475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284012739 meters 0.02181044700984896 Centerline is valid? [True, True] Translation: X:242.38, Y:-32.69, Z:-4.86 [[ 9.89438362e-01 1.43523864e-01 2.03132466e-02 2.42376073e+02] [-1.43492144e-01 9.89646854e-01 -3.01817462e-03 -3.26864401e+01] [-2.05361207e-02 7.15064503e-05 9.99789109e-01 -4.85702725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344012739 meters 0.021742281481028317 Centerline is valid? [True, True] Translation: X:242.43, Y:-32.70, Z:-4.86 [[ 9.89517258e-01 1.43024955e-01 1.99864423e-02 2.42434239e+02] [-1.42994171e-01 9.89719079e-01 -2.96834801e-03 -3.26965339e+01] [-2.02055111e-02 7.92868547e-05 9.99795845e-01 -4.85916533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40401273899997 meters 0.021516465609941995 Centerline is valid? [True, True] Translation: X:242.49, Y:-32.71, Z:-4.86 [[ 9.89401292e-01 1.43759202e-01 2.04542018e-02 2.42491740e+02] [-1.43727138e-01 9.89612696e-01 -3.03681122e-03 -3.27063158e+01] [-2.06783073e-02 6.48010557e-05 9.99786179e-01 -4.85949276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46401273899997 meters 0.02119468223292846 Centerline is valid? [True, True] Translation: X:242.55, Y:-32.71, Z:-4.86 [[ 9.89112561e-01 1.45753698e-01 2.03027407e-02 2.42550167e+02] [-1.45722552e-01 9.89320908e-01 -3.01312742e-03 -3.27127663e+01] [-2.05251003e-02 2.17550077e-05 9.99789338e-01 -4.86039872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52401273899997 meters 0.02123170052106936 Centerline is valid? [True, True] Translation: X:242.61, Y:-32.72, Z:-4.86 [[ 9.88853033e-01 1.47604047e-01 1.95633219e-02 2.42607647e+02] [-1.47575508e-01 9.89046533e-01 -2.90249691e-03 -3.27205885e+01] [-1.97774560e-02 -1.69242818e-05 9.99804407e-01 -4.86281478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58401273899997 meters 0.021179043084219584 Centerline is valid? [True, True] Translation: X:242.67, Y:-32.73, Z:-4.86 [[ 9.88984312e-01 1.46543167e-01 2.08597747e-02 2.42665319e+02] [-1.46510511e-01 9.89204276e-01 -3.09353408e-03 -3.27330701e+01] [-2.10879147e-02 3.28041873e-06 9.99777625e-01 -4.86222014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64401273899998 meters 0.02135615617225865 Centerline is valid? [True, True] Translation: X:242.72, Y:-32.75, Z:-4.86 [[ 9.89380182e-01 1.43948318e-01 2.01429006e-02 2.42721573e+02] [-1.43917349e-01 9.89585205e-01 -2.98629743e-03 -3.27485556e+01] [-2.03629889e-02 5.56706469e-05 9.99792651e-01 -4.86450802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70401273899998 meters 0.021682782420118573 Centerline is valid? [True, True] Translation: X:242.78, Y:-32.76, Z:-4.87 [[ 9.89546333e-01 1.42868932e-01 1.96602118e-02 2.42779625e+02] [-1.42839239e-01 9.89741614e-01 -2.91359898e-03 -3.27604596e+01] [-1.98747925e-02 7.48914879e-05 9.99802474e-01 -4.86670332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76401273899998 meters 0.02147192725454754 Centerline is valid? [True, True] Translation: X:242.84, Y:-32.77, Z:-4.86 [[ 9.89457062e-01 1.43215945e-01 2.15386768e-02 2.42837822e+02] [-1.43180413e-01 9.89691461e-01 -3.19088264e-03 -3.27696496e+01] [-2.17736297e-02 7.33247273e-05 9.99762924e-01 -4.86364794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82401273899998 meters 0.021536323796831115 Centerline is valid? [True, True] Translation: X:242.89, Y:-32.78, Z:-4.86 [[ 9.89570965e-01 1.42354041e-01 2.20143801e-02 2.42894671e+02] [-1.42316732e-01 9.89815800e-01 -3.26028312e-03 -3.27802678e+01] [-2.22542957e-02 9.32668753e-05 9.99752338e-01 -4.86401616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88401273899999 meters 0.021569337530204995 Centerline is valid? [True, True] Translation: X:242.95, Y:-32.79, Z:-4.86 [[ 9.89420978e-01 1.43255033e-01 2.28937686e-02 2.42952971e+02] [-1.43214956e-01 9.89685804e-01 -3.38917629e-03 -3.27875926e+01] [-2.31431543e-02 7.45920570e-05 9.99732159e-01 -4.86371649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944012739 meters 0.02123978290976864 Centerline is valid? [True, True] Translation: X:243.01, Y:-32.79, Z:-4.87 [[ 9.89157239e-01 1.45256818e-01 2.16428471e-02 2.43012334e+02] [-1.45221501e-01 9.89393984e-01 -3.20306049e-03 -3.27912556e+01] [-2.18785691e-02 2.53237373e-05 9.99760635e-01 -4.86690045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004012739 meters 0.021772886714256905 Centerline is valid? [True, True] Translation: X:243.07, Y:-32.79, Z:-4.87 [[ 9.88907880e-01 1.47367278e-01 1.85496614e-02 2.43070268e+02] [-1.47341715e-01 9.89081839e-01 -2.74477853e-03 -3.27919680e+01] [-1.87516238e-02 -1.88058194e-05 9.99824173e-01 -4.87378461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064012739 meters 0.021604195117788234 Centerline is valid? [True, True] Translation: X:243.13, Y:-32.80, Z:-4.87 [[ 9.89043976e-01 1.46098117e-01 2.11507205e-02 2.43127863e+02] [-1.46064622e-01 9.89270105e-01 -3.12828121e-03 -3.27978401e+01] [-2.13808115e-02 4.63568849e-06 9.99771404e-01 -4.87039734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124012739 meters 0.02223231282831254 Centerline is valid? [True, True] Translation: X:243.19, Y:-32.81, Z:-4.87 [[ 9.89659265e-01 1.41868885e-01 2.11603171e-02 2.43185951e+02] [-1.41834417e-01 9.89885453e-01 -3.12852219e-03 -3.28102852e+01] [-2.13901301e-02 9.49097229e-05 9.99771200e-01 -4.87179933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18401273899997 meters 0.024882811984304892 Centerline is valid? [True, True] Translation: X:243.24, Y:-32.83, Z:-4.88 [[ 9.90543420e-01 1.35791418e-01 1.96067301e-02 2.43243940e+02] [-1.35760651e-01 9.90737426e-01 -2.89800277e-03 -3.28262885e+01] [-1.98186452e-02 2.08775142e-04 9.99803570e-01 -4.87668712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24401273899997 meters 0.03135515271152828 Centerline is valid? [True, True] Translation: X:243.30, Y:-32.85, Z:-4.88 [[ 9.91425426e-01 1.29302500e-01 1.88808836e-02 2.43300346e+02] [-1.29272800e-01 9.91605142e-01 -2.79027423e-03 -3.28519211e+01] [-1.90831707e-02 3.25564130e-04 9.99817847e-01 -4.87911575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30401273899997 meters 0.034046666515115745 Centerline is valid? [True, True] Translation: X:243.36, Y:-32.87, Z:-4.88 [[ 9.91745500e-01 1.26549247e-01 2.06434192e-02 2.43358959e+02] [-1.26513152e-01 9.91960240e-01 -3.05048472e-03 -3.28667739e+01] [-2.08634876e-02 4.13640469e-04 9.99782248e-01 -4.87544270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36401273899997 meters 0.03119798217136282 Centerline is valid? [True, True] Translation: X:243.42, Y:-32.87, Z:-4.87 [[ 9.91742590e-01 1.26280164e-01 2.23596895e-02 2.43419427e+02] [-1.26237754e-01 9.91994513e-01 -3.30386187e-03 -3.28727571e+01] [-2.25979016e-02 4.53943548e-04 9.99744532e-01 -4.87383446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42401273899998 meters 0.03242194919214043 Centerline is valid? [True, True] Translation: X:243.48, Y:-32.89, Z:-4.88 [[ 9.91669403e-01 1.27035607e-01 2.13014025e-02 2.43478741e+02] [-1.26997290e-01 9.91898070e-01 -3.14751452e-03 -3.28872957e+01] [-2.15286664e-02 4.16073463e-04 9.99768145e-01 -4.87720254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48401273899998 meters 0.031841009741173334 Centerline is valid? [True, True] Translation: X:243.54, Y:-32.90, Z:-4.88 [[ 9.91777113e-01 1.26272307e-01 2.08197607e-02 2.43539559e+02] [-1.26235525e-01 9.91995527e-01 -3.07682344e-03 -3.28978562e+01] [-2.10416271e-02 4.23329647e-04 9.99778511e-01 -4.87908450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54401273899998 meters 0.032091358873047975 Centerline is valid? [True, True] Translation: X:243.60, Y:-32.91, Z:-4.88 [[ 9.91745182e-01 1.26553227e-01 2.06343188e-02 2.43598442e+02] [-1.26517149e-01 9.91959732e-01 -3.04989114e-03 -3.29097012e+01] [-2.08543869e-02 4.14119670e-04 9.99782438e-01 -4.88012370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60401273899998 meters 0.030829407611215134 Centerline is valid? [True, True] Translation: X:243.66, Y:-32.92, Z:-4.88 [[ 9.91775535e-01 1.26478599e-01 1.96074618e-02 2.43659714e+02] [-1.26446004e-01 9.91969258e-01 -2.89832178e-03 -3.29166488e+01] [-1.98165750e-02 3.95199435e-04 9.99803554e-01 -4.88404540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664012739 meters 0.031834987723368076 Centerline is valid? [True, True] Translation: X:243.72, Y:-32.93, Z:-4.88 [[ 9.91786756e-01 1.26412682e-01 1.94644167e-02 2.43719506e+02] [-1.26380541e-01 9.91977660e-01 -2.87753887e-03 -3.29303128e+01] [-1.96720240e-02 3.93981415e-04 9.99806409e-01 -4.88485482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724012739 meters 0.029906089770095717 Centerline is valid? [True, True] Translation: X:243.78, Y:-32.94, Z:-4.88 [[ 9.91717682e-01 1.26425094e-01 2.26436439e-02 2.43780352e+02] [-1.26381513e-01 9.91976049e-01 -3.35124605e-03 -3.29374682e+01] [-2.28856340e-02 4.61751985e-04 9.99737983e-01 -4.88034593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784012739 meters 0.03152156678893307 Centerline is valid? [True, True] Translation: X:243.84, Y:-32.95, Z:-4.88 [[ 9.91398329e-01 1.28958968e-01 2.23369210e-02 2.43840236e+02] [-1.28917183e-01 9.91649850e-01 -3.30667592e-03 -3.29513945e+01] [-2.25768299e-02 3.98620042e-04 9.99745031e-01 -4.88301842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844012739 meters 0.02753378849151345 Centerline is valid? [True, True] Translation: X:243.90, Y:-32.95, Z:-4.89 [[ 9.91126174e-01 1.31208047e-01 2.12921319e-02 2.43901874e+02] [-1.31170533e-01 9.91354799e-01 -3.15508696e-03 -3.29534436e+01] [-2.15220300e-02 3.34188976e-04 9.99768318e-01 -4.88676633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90401273899997 meters 0.02478078165313624 Centerline is valid? [True, True] Translation: X:243.96, Y:-32.96, Z:-4.89 [[ 9.90501835e-01 1.35958151e-01 2.05303860e-02 2.43962375e+02] [-1.35924283e-01 9.90714556e-01 -3.04268032e-03 -3.29557748e+01] [-2.07534294e-02 2.23202446e-04 9.99784599e-01 -4.88874312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96401273899997 meters 0.023019442966357582 Centerline is valid? [True, True] Translation: X:244.02, Y:-32.96, Z:-4.89 [[ 9.89992596e-01 1.39715256e-01 1.98571563e-02 2.44022528e+02] [-1.39684328e-01 9.90191713e-01 -2.94291438e-03 -3.29551017e+01] [-2.00735617e-02 1.39729914e-04 9.99798496e-01 -4.89264219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02401273899997 meters 0.022926977494575205 Centerline is valid? [True, True] Translation: X:244.08, Y:-32.96, Z:-4.90 [[ 9.89913802e-01 1.40465116e-01 1.84449338e-02 2.44081024e+02] [-1.40438568e-01 9.90085622e-01 -2.73324839e-03 -3.29616214e+01] [-1.86459898e-02 1.15300219e-04 9.99826142e-01 -4.89672468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08401273899997 meters 0.022934564714257883 Centerline is valid? [True, True] Translation: X:244.14, Y:-32.97, Z:-4.90 [[ 9.89972918e-01 1.39891773e-01 1.95937018e-02 2.44139152e+02] [-1.39861723e-01 9.90166791e-01 -2.90246767e-03 -3.29686503e+01] [-1.98070642e-02 1.32955487e-04 9.99803812e-01 -4.89611574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14401273899998 meters 0.023505383393850977 Centerline is valid? [True, True] Translation: X:244.20, Y:-32.98, Z:-4.90 [[ 9.90093784e-01 1.38962848e-01 2.00904188e-02 2.44197186e+02] [-1.38931084e-01 9.90297583e-01 -2.97505350e-03 -3.29766406e+01] [-2.03089151e-02 1.54398330e-04 9.99793741e-01 -4.89611373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20401273899998 meters 0.023564533562488166 Centerline is valid? [True, True] Translation: X:244.26, Y:-32.98, Z:-4.90 [[ 9.90143933e-01 1.38721854e-01 1.92675795e-02 2.44255986e+02] [-1.38692605e-01 9.90331371e-01 -2.85255934e-03 -3.29839262e+01] [-1.94770008e-02 1.52173521e-04 9.99810294e-01 -4.89967744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26401273899998 meters 0.023523603686906463 Centerline is valid? [True, True] Translation: X:244.31, Y:-32.99, Z:-4.90 [[ 9.90163649e-01 1.38473292e-01 2.00273682e-02 2.44313987e+02] [-1.38441660e-01 9.90366155e-01 -2.96406995e-03 -3.29911613e+01] [-2.02448722e-02 1.62292214e-04 9.99795038e-01 -4.89822171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32401273899998 meters 0.02346370421302344 Centerline is valid? [True, True] Translation: X:244.37, Y:-33.00, Z:-4.90 [[ 9.90127312e-01 1.38736843e-01 1.99998467e-02 2.44372394e+02] [-1.38705371e-01 9.90329271e-01 -2.95906433e-03 -3.29983127e+01] [-2.02169649e-02 1.55764247e-04 9.99795604e-01 -4.89959193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38401273899999 meters 0.02286323335247487 Centerline is valid? [True, True] Translation: X:244.43, Y:-33.00, Z:-4.90 [[ 9.89995244e-01 1.39462564e-01 2.14385160e-02 2.44431325e+02] [-1.39426593e-01 9.90227333e-01 -3.17086139e-03 -3.30036827e+01] [-2.16712210e-02 1.50038442e-04 9.99765140e-01 -4.89867371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444012739 meters 0.023336971990177285 Centerline is valid? [True, True] Translation: X:244.49, Y:-33.01, Z:-4.90 [[ 9.90168478e-01 1.38225552e-01 2.14495378e-02 2.44490191e+02] [-1.38189275e-01 9.90400760e-01 -3.17149654e-03 -3.30116065e+01] [-2.16820204e-02 1.76219815e-04 9.99764902e-01 -4.90040916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504012739 meters 0.024474026437190044 Centerline is valid? [True, True] Translation: X:244.55, Y:-33.02, Z:-4.90 [[ 9.90322881e-01 1.37217460e-01 2.07836278e-02 2.44547977e+02] [-1.37183189e-01 9.90540929e-01 -3.07254613e-03 -3.30234611e+01] [-2.10086409e-02 1.91648391e-04 9.99779276e-01 -4.90294418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564012739 meters 0.022324983555873413 Centerline is valid? [True, True] Translation: X:244.61, Y:-33.02, Z:-4.90 [[ 9.89676477e-01 1.41562805e-01 2.23705874e-02 2.44606500e+02] [-1.41524230e-01 9.89929271e-01 -3.30625691e-03 -3.30245462e+01] [-2.26133423e-02 1.06144541e-04 9.99744280e-01 -4.89962824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.624012739 meters 0.021673537455674772 Centerline is valid? [True, True] Translation: X:244.67, Y:-33.03, Z:-4.90 [[ 9.89282246e-01 1.44379064e-01 2.18019410e-02 2.44665968e+02] [-1.44343135e-01 9.89522453e-01 -3.22103010e-03 -3.30271781e+01] [-2.20385595e-02 3.95473707e-05 9.99757121e-01 -4.90258918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68401273899997 meters 0.021664003829610656 Centerline is valid? [True, True] Translation: X:244.72, Y:-33.03, Z:-4.90 [[ 9.88750697e-01 1.47954333e-01 2.19448141e-02 2.44724304e+02] [-1.47918835e-01 9.88994193e-01 -3.24107474e-03 -3.30281969e+01] [-2.21828248e-02 -4.14364241e-05 9.99753930e-01 -4.90261052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74401273899997 meters 0.021790695789603156 Centerline is valid? [True, True] Translation: X:244.78, Y:-33.03, Z:-4.91 [[ 9.88627297e-01 1.48942194e-01 2.07916036e-02 2.44783134e+02] [-1.48910572e-01 9.88845903e-01 -3.06960472e-03 -3.30331057e+01] [-2.10168857e-02 -6.13945702e-05 9.99779119e-01 -4.90679403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80401273899997 meters 0.022042278937522978 Centerline is valid? [True, True] Translation: X:244.84, Y:-33.05, Z:-4.91 [[ 9.89484512e-01 1.43421216e-01 1.87284346e-02 2.44839279e+02] [-1.43394584e-01 9.89661736e-01 -2.76423816e-03 -3.30486124e+01] [-1.89312655e-02 4.96147563e-05 9.99820786e-01 -4.91264671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86401273899997 meters 0.02603707422938755 Centerline is valid? [True, True] Translation: X:244.90, Y:-33.07, Z:-4.91 [[ 9.90849530e-01 1.33613099e-01 1.90983838e-02 2.44895769e+02] [-1.33583602e-01 9.91033542e-01 -2.81768036e-03 -3.30710683e+01] [-1.93036180e-02 2.40666356e-04 9.99813639e-01 -4.91223687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92401273899998 meters 0.03107076349756008 Centerline is valid? [True, True] Translation: X:244.95, Y:-33.09, Z:-4.92 [[ 9.91587472e-01 1.28129648e-01 1.83597067e-02 2.44952673e+02] [-1.28101461e-01 9.91757371e-01 -2.70803996e-03 -3.30917013e+01] [-1.85553546e-02 3.33353249e-04 9.99827779e-01 -4.91608508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98401273899998 meters 0.03462337787856565 Centerline is valid? [True, True] Translation: X:245.01, Y:-33.11, Z:-4.91 [[ 9.92266418e-01 1.22486697e-01 2.01088216e-02 2.45011308e+02] [-1.22451729e-01 9.92470039e-01 -2.96577590e-03 -3.31105844e+01] [-2.03206711e-02 4.80479844e-04 9.99793398e-01 -4.91370219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04401273899998 meters 0.03731899053201575 Centerline is valid? [True, True] Translation: X:245.07, Y:-33.13, Z:-4.92 [[ 9.92505879e-01 1.20673458e-01 1.92352834e-02 2.45070015e+02] [-1.20641121e-01 9.92692133e-01 -2.83701574e-03 -3.31332443e+01] [-1.94370670e-02 4.95188647e-04 9.99810960e-01 -4.91670557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10401273899998 meters 0.036853519223298555 Centerline is valid? [True, True] Translation: X:245.13, Y:-33.15, Z:-4.92 [[ 9.92424806e-01 1.21500019e-01 1.81865504e-02 2.45130507e+02] [-1.21471204e-01 9.92591325e-01 -2.68488433e-03 -3.31470857e+01] [-1.83780256e-02 4.55403625e-04 9.99831006e-01 -4.91840766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164012739 meters 0.03278621408328095 Centerline is valid? [True, True] Translation: X:245.19, Y:-33.16, Z:-4.92 [[ 9.91832062e-01 1.26071543e-01 1.93681950e-02 2.45190514e+02] [-1.26039665e-01 9.92021072e-01 -2.86277535e-03 -3.31559070e+01] [-1.95745721e-02 3.98231573e-04 9.99808320e-01 -4.91774930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224012739 meters 0.028069861976370403 Centerline is valid? [True, True] Translation: X:245.25, Y:-33.16, Z:-4.92 [[ 9.91262137e-01 1.30338146e-01 2.02816103e-02 2.45251604e+02] [-1.30304081e-01 9.91469545e-01 -2.99778600e-03 -3.31598250e+01] [-2.04993249e-02 3.28815149e-04 9.99789813e-01 -4.91739370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284012739 meters 0.02606382837262621 Centerline is valid? [True, True] Translation: X:245.31, Y:-33.17, Z:-4.92 [[ 9.90686964e-01 1.34586413e-01 2.06357910e-02 2.45310906e+02] [-1.34552064e-01 9.90901830e-01 -3.05038414e-03 -3.31693618e+01] [-2.08585833e-02 2.45387544e-04 9.99782406e-01 -4.91918918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344012739 meters 0.024163714446195222 Centerline is valid? [True, True] Translation: X:245.37, Y:-33.18, Z:-4.92 [[ 9.90436999e-01 1.36651188e-01 1.90000942e-02 2.45370986e+02] [-1.36622445e-01 9.90619209e-01 -2.80878297e-03 -3.31789480e+01] [-1.92056818e-02 1.86083240e-04 9.99815537e-01 -4.92350244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40401273899997 meters 0.022386459914477984 Centerline is valid? [True, True] Translation: X:245.43, Y:-33.19, Z:-4.92 [[ 9.89811882e-01 1.40846248e-01 2.08511856e-02 2.45430000e+02] [-1.40812550e-01 9.90031475e-01 -3.08295318e-03 -3.31854475e+01] [-2.10775525e-02 1.15435077e-04 9.99777837e-01 -4.92160190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46401273899997 meters 0.021643524832616796 Centerline is valid? [True, True] Translation: X:245.49, Y:-33.19, Z:-4.92 [[ 9.89321521e-01 1.44157798e-01 2.14815447e-02 2.45489636e+02] [-1.44122817e-01 9.89554712e-01 -3.17592391e-03 -3.31921234e+01] [-2.17149980e-02 4.60291365e-05 9.99764201e-01 -4.92093027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52401273899997 meters 0.021725446175534596 Centerline is valid? [True, True] Translation: X:245.55, Y:-33.19, Z:-4.92 [[ 9.88495146e-01 1.49530127e-01 2.27615194e-02 2.45549644e+02] [-1.49492270e-01 9.88757167e-01 -3.36539820e-03 -3.31938493e+01] [-2.30088439e-02 -7.59914179e-05 9.99735259e-01 -4.91946131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58401273899997 meters 0.022170475103332407 Centerline is valid? [True, True] Translation: X:245.61, Y:-33.20, Z:-4.92 [[ 9.88279359e-01 1.50999953e-01 2.24259575e-02 2.45608369e+02] [-1.50963595e-01 9.88533764e-01 -3.31521803e-03 -3.32008606e+01] [-2.26694140e-02 -1.09141619e-04 9.99743010e-01 -4.92259618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64401273899998 meters 0.02174539052752773 Centerline is valid? [True, True] Translation: X:245.67, Y:-33.21, Z:-4.93 [[ 9.88703264e-01 1.48433127e-01 2.08197773e-02 2.45666862e+02] [-1.48401236e-01 9.88922446e-01 -3.07708162e-03 -3.32100660e+01] [-2.10458859e-02 -4.73600424e-05 9.99778510e-01 -4.92672283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70401273899998 meters 0.027224269121598584 Centerline is valid? [True, True] Translation: X:245.73, Y:-33.22, Z:-4.92 [[ 9.89303322e-01 1.44788868e-01 1.77516532e-02 2.45726344e+02] [-1.44765106e-01 9.89462573e-01 -2.62320237e-03 -3.32233071e+01] [-1.79444069e-02 2.53228726e-05 9.99838986e-01 -4.92327866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76401273899998 meters 0.02281839510421634 Centerline is valid? [True, True] Translation: X:245.78, Y:-33.23, Z:-4.93 [[ 9.89866829e-01 1.40809967e-01 1.83361311e-02 2.45784287e+02] [-1.40783929e-01 9.90036637e-01 -2.70964070e-03 -3.32324395e+01] [-1.85349860e-02 1.00750853e-04 9.99828207e-01 -4.93408560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82401273899998 meters 0.02678370820892991 Centerline is valid? [True, True] Translation: X:245.84, Y:-33.25, Z:-4.93 [[ 9.90880904e-01 1.33366099e-01 1.91968379e-02 2.45842216e+02] [-1.33336176e-01 9.91066809e-01 -2.83606974e-03 -3.32487114e+01] [-1.94035845e-02 2.50574381e-04 9.99811701e-01 -4.93419990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88401273899999 meters 0.03189382747553475 Centerline is valid? [True, True] Translation: X:245.90, Y:-33.27, Z:-4.94 [[ 9.91882427e-01 1.25635513e-01 1.96206207e-02 2.45901107e+02] [-1.25602742e-01 9.92076383e-01 -2.89863339e-03 -3.32651847e+01] [-1.98293257e-02 4.10699765e-04 9.99803295e-01 -4.93510289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944012739 meters 0.03785619345573918 Centerline is valid? [True, True] Translation: X:245.96, Y:-33.28, Z:-4.94 [[ 9.92840006e-01 1.18032805e-01 1.83570102e-02 2.45959448e+02] [-1.18002815e-01 9.93009557e-01 -2.71217480e-03 -3.32835334e+01] [-1.85488122e-02 5.26576757e-04 9.99827817e-01 -4.93835397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004012739 meters 0.044711952736566876 Centerline is valid? [True, True] Translation: X:246.02, Y:-33.31, Z:-4.94 [[ 9.93766980e-01 1.10186686e-01 1.69140346e-02 2.46018031e+02] [-1.10160091e-01 9.93910715e-01 -2.49895351e-03 -3.33072767e+01] [-1.70863917e-02 6.20125891e-04 9.99853825e-01 -4.94109537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064012739 meters 0.05288635665708031 Centerline is valid? [True, True] Translation: X:246.07, Y:-33.34, Z:-4.94 [[ 9.94172317e-01 1.05821617e-01 2.05715555e-02 2.46073820e+02] [-1.05781331e-01 9.94384769e-01 -3.03981811e-03 -3.33388883e+01] [-2.07777199e-02 8.46016507e-04 9.99783762e-01 -4.93603930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.124012739 meters 0.053091726387357395 Centerline is valid? [True, True] Translation: X:246.13, Y:-33.36, Z:-4.94 [[ 9.94105885e-01 1.06635535e-01 1.95538289e-02 2.46134014e+02] [-1.06599290e-01 9.94297864e-01 -2.88962411e-03 -3.33587177e+01] [-1.97504669e-02 7.88168063e-04 9.99804630e-01 -4.93901309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18401273899997 meters 0.051489810546421926 Centerline is valid? [True, True] Translation: X:246.20, Y:-33.37, Z:-4.94 [[ 9.93956214e-01 1.08178036e-01 1.86696928e-02 2.46195029e+02] [-1.08145214e-01 9.94131272e-01 -2.76175971e-03 -3.33688585e+01] [-1.88588872e-02 7.26030313e-04 9.99821892e-01 -4.94122414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24401273899997 meters 0.04073372983115294 Centerline is valid? [True, True] Translation: X:246.26, Y:-33.37, Z:-4.94 [[ 9.93246302e-01 1.14605127e-01 1.80955167e-02 2.46255739e+02] [-1.14575300e-01 9.93410952e-01 -2.67991406e-03 -3.33700795e+01] [-1.82834164e-02 5.88515474e-04 9.99832671e-01 -4.94314361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30401273899997 meters 0.03683527741354062 Centerline is valid? [True, True] Translation: X:246.31, Y:-33.38, Z:-4.94 [[ 9.92447730e-01 1.21356330e-01 1.78925938e-02 2.46314562e+02] [-1.21328264e-01 9.92608901e-01 -2.64988251e-03 -3.33785938e+01] [-1.80819279e-02 4.58992529e-04 9.99836403e-01 -4.94438654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36401273899997 meters 0.032675316609299496 Centerline is valid? [True, True] Translation: X:246.38, Y:-33.38, Z:-4.94 [[ 9.92105543e-01 1.24034492e-01 1.84942279e-02 2.46376311e+02] [-1.24004977e-01 9.92277817e-01 -2.73869971e-03 -3.33820579e+01] [-1.86911053e-02 4.23702868e-04 9.99825216e-01 -4.94456908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42401273899998 meters 0.030921908241719365 Centerline is valid? [True, True] Translation: X:246.44, Y:-33.39, Z:-4.94 [[ 9.91682933e-01 1.27086193e-01 2.03484600e-02 2.46437322e+02] [-1.27051092e-01 9.91891595e-01 -3.01383158e-03 -3.33912032e+01] [-2.05664829e-02 4.03471271e-04 9.99788406e-01 -4.94289087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48401273899998 meters 0.031104451430498555 Centerline is valid? [True, True] Translation: X:246.50, Y:-33.40, Z:-4.95 [[ 9.91630740e-01 1.27788318e-01 1.84016897e-02 2.46497190e+02] [-1.27759725e-01 9.91801402e-01 -2.72598217e-03 -3.34034512e+01] [-1.85991703e-02 3.52172901e-04 9.99826958e-01 -4.94878214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54401273899998 meters 0.0320918682691313 Centerline is valid? [True, True] Translation: X:246.56, Y:-33.42, Z:-4.95 [[ 9.91764162e-01 1.26783461e-01 1.81604319e-02 2.46558167e+02] [-1.26755415e-01 9.91930350e-01 -2.69182170e-03 -3.34187148e+01] [-1.83551620e-02 3.67719214e-04 9.99831462e-01 -4.95013057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60401273899998 meters 0.02968694153963387 Centerline is valid? [True, True] Translation: X:246.62, Y:-33.43, Z:-4.95 [[ 9.91328528e-01 1.29955332e-01 1.94772126e-02 2.46618817e+02] [-1.29923612e-01 9.91519793e-01 -2.89061956e-03 -3.34279555e+01] [-1.96876932e-02 3.35003831e-04 9.99806122e-01 -4.94749032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664012739 meters 0.024135055721406326 Centerline is valid? [True, True] Translation: X:246.68, Y:-33.42, Z:-4.95 [[ 9.90012184e-01 1.39787033e-01 1.83155775e-02 2.46680766e+02] [-1.39760655e-01 9.90181583e-01 -2.71864937e-03 -3.34236994e+01] [-1.85157794e-02 1.31698890e-04 9.99828560e-01 -4.95134036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724012739 meters 0.02353785261338916 Centerline is valid? [True, True] Translation: X:246.74, Y:-33.42, Z:-4.96 [[ 9.88545757e-01 1.49972078e-01 1.69015722e-02 2.46742761e+02] [-1.49951099e-01 9.88690231e-01 -2.50898460e-03 -3.34166306e+01] [-1.70866969e-02 -5.41632426e-05 9.99854010e-01 -4.95533037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784012739 meters 0.02523337444773531 Centerline is valid? [True, True] Translation: X:246.80, Y:-33.42, Z:-4.95 [[ 9.87679061e-01 1.55394256e-01 1.85120796e-02 2.46803273e+02] [-1.55370034e-01 9.87852519e-01 -2.74836137e-03 -3.34160204e+01] [-1.87142840e-02 -1.61723472e-04 9.99824859e-01 -4.95333609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844012739 meters 0.025043986288647305 Centerline is valid? [True, True] Translation: X:246.86, Y:-33.42, Z:-4.95 [[ 9.87804732e-01 1.54449290e-01 1.96781208e-02 2.46862300e+02] [-1.54421743e-01 9.88000705e-01 -2.92097592e-03 -3.34227977e+01] [-1.98931399e-02 -1.53375886e-04 9.99802100e-01 -4.95380818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90401273899997 meters 0.02399151632144549 Centerline is valid? [True, True] Translation: X:246.92, Y:-33.43, Z:-4.95 [[ 9.88140573e-01 1.52138207e-01 2.07888090e-02 2.46921096e+02] [-1.52106956e-01 9.88359223e-01 -3.08558868e-03 -3.34327208e+01] [-2.10162470e-02 -1.13127093e-04 9.99779128e-01 -4.95265626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96401273899997 meters 0.023778639723486105 Centerline is valid? [True, True] Translation: X:246.98, Y:-33.44, Z:-4.96 [[ 9.88338133e-01 1.51010547e-01 1.95844087e-02 2.46981417e+02] [-1.50982595e-01 9.88532148e-01 -2.90660643e-03 -3.34374326e+01] [-1.97987459e-02 -8.41948908e-05 9.99803982e-01 -4.95591163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02401273899997 meters 0.02348583434526595 Centerline is valid? [True, True] Translation: X:247.04, Y:-33.44, Z:-4.96 [[ 9.88482810e-01 1.50085522e-01 1.93925335e-02 2.47041559e+02] [-1.50057937e-01 9.88673016e-01 -2.87812940e-03 -3.34431421e+01] [-1.96048401e-02 -6.50221426e-05 9.99807805e-01 -4.95664789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08401273899997 meters 0.02283014917392558 Centerline is valid? [True, True] Translation: X:247.10, Y:-33.46, Z:-4.95 [[ 9.89062805e-01 1.45787686e-01 2.23767365e-02 2.47100496e+02] [-1.45749854e-01 9.89315900e-01 -3.32115188e-03 -3.34557350e+01] [-2.26218442e-02 2.34217194e-05 9.99744093e-01 -4.95288682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14401273899998 meters 0.024495494623403467 Centerline is valid? [True, True] Translation: X:247.16, Y:-33.48, Z:-4.96 [[ 9.89977884e-01 1.39568813e-01 2.15484666e-02 2.47160712e+02] [-1.39532227e-01 9.90212361e-01 -3.19956635e-03 -3.34759557e+01] [-2.17841177e-02 1.60794405e-04 9.99762685e-01 -4.95506272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20401273899998 meters 0.02689914976531169 Centerline is valid? [True, True] Translation: X:247.22, Y:-33.49, Z:-4.96 [[ 9.90702497e-01 1.34638174e-01 1.95223939e-02 2.47220421e+02] [-1.34607129e-01 9.90894798e-01 -2.90163876e-03 -3.34924470e+01] [-1.97353099e-02 2.46807368e-04 9.99805209e-01 -4.96038268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26401273899998 meters 0.027350004780338836 Centerline is valid? [True, True] Translation: X:247.28, Y:-33.50, Z:-4.96 [[ 9.90819941e-01 1.33652673e-01 2.03176635e-02 2.47281272e+02] [-1.33618772e-01 9.91028195e-01 -3.02317201e-03 -3.35031917e+01] [-2.05394325e-02 2.80597855e-04 9.99789004e-01 -4.96145149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32401273899998 meters 0.027861374264937316 Centerline is valid? [True, True] Translation: X:247.34, Y:-33.52, Z:-4.96 [[ 9.90909685e-01 1.33142820e-01 1.92609950e-02 2.47342065e+02] [-1.33112197e-01 9.91096822e-01 -2.86904851e-03 -3.35173553e+01] [-1.94715041e-02 2.79094588e-04 9.99810373e-01 -4.96362290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38401273899999 meters 0.028168319453133292 Centerline is valid? [True, True] Translation: X:247.40, Y:-33.53, Z:-4.96 [[ 9.90845365e-01 1.33534189e-01 1.98515041e-02 2.47402676e+02] [-1.33501667e-01 9.91044167e-01 -2.96050547e-03 -3.35302025e+01] [-2.00690460e-02 2.83194234e-04 9.99798556e-01 -4.96485676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444012739 meters 0.02691157344705206 Centerline is valid? [True, True] Translation: X:247.46, Y:-33.54, Z:-4.96 [[ 9.90572870e-01 1.35427072e-01 2.06130434e-02 2.47464559e+02] [-1.35392336e-01 9.90787284e-01 -3.07795561e-03 -3.35390737e+01] [-2.08399798e-02 2.58091212e-04 9.99782791e-01 -4.96448730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504012739 meters 0.025091022972816457 Centerline is valid? [True, True] Translation: X:247.53, Y:-33.54, Z:-4.97 [[ 9.90003748e-01 1.39811774e-01 1.85808243e-02 2.47526915e+02] [-1.39784269e-01 9.90178087e-01 -2.77729728e-03 -3.35399426e+01] [-1.87866239e-02 1.52227776e-04 9.99823504e-01 -4.96896173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564012739 meters 0.023750145109553943 Centerline is valid? [True, True] Translation: X:247.59, Y:-33.54, Z:-4.97 [[ 9.89560813e-01 1.42550589e-01 2.11831732e-02 2.47589436e+02] [-1.42515380e-01 9.89787510e-01 -3.17030962e-03 -3.35428435e+01] [-2.14187697e-02 1.18286180e-04 9.99770585e-01 -4.96500865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.624012739 meters 0.024828545176260656 Centerline is valid? [True, True] Translation: X:247.65, Y:-33.56, Z:-4.97 [[ 9.89862642e-01 1.40740896e-01 1.90774972e-02 2.47649393e+02] [-1.40711947e-01 9.90046453e-01 -2.85812273e-03 -3.35557050e+01] [-1.92898632e-02 1.44717149e-04 9.99813923e-01 -4.96970926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68401273899997 meters 0.025409629813482004 Centerline is valid? [True, True] Translation: X:247.71, Y:-33.57, Z:-4.97 [[ 9.90077242e-01 1.38999594e-01 2.06438233e-02 2.47710001e+02] [-1.38965243e-01 9.90292419e-01 -3.09626684e-03 -3.35674999e+01] [-2.08738015e-02 1.96769405e-04 9.99782099e-01 -4.96799208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74401273899997 meters 0.024227708263946962 Centerline is valid? [True, True] Translation: X:247.77, Y:-33.57, Z:-4.96 [[ 9.89668641e-01 1.41197279e-01 2.48859469e-02 2.47772680e+02] [-1.41147975e-01 9.89981462e-01 -3.73558857e-03 -3.35730281e+01] [-2.51640811e-02 1.84393834e-04 9.99683317e-01 -4.96109617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80401273899997 meters 0.022999873615728757 Centerline is valid? [True, True] Translation: X:247.84, Y:-33.57, Z:-4.97 [[ 9.88860655e-01 1.47098956e-01 2.27266733e-02 2.47836237e+02] [-1.47059321e-01 9.89121780e-01 -3.41469665e-03 -3.35711640e+01] [-2.29817459e-02 3.44900124e-05 9.99735884e-01 -4.96760274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86401273899997 meters 0.02304611617337152 Centerline is valid? [True, True] Translation: X:247.90, Y:-33.57, Z:-4.97 [[ 9.88361178e-01 1.50502036e-01 2.21656997e-02 2.47897337e+02] [-1.50465161e-01 9.88609698e-01 -3.33165976e-03 -3.35745082e+01] [-2.24146472e-02 -4.22823965e-05 9.99748759e-01 -4.96977519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92401273899998 meters 0.023490406854768518 Centerline is valid? [True, True] Translation: X:247.96, Y:-33.58, Z:-4.97 [[ 9.88108511e-01 1.52359875e-01 2.06891180e-02 2.47957209e+02] [-1.52328147e-01 9.88325079e-01 -3.11018155e-03 -3.35786383e+01] [-2.09214411e-02 -7.83381455e-05 9.99781120e-01 -4.97395065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98401273899998 meters 0.023364465781970774 Centerline is valid? [True, True] Translation: X:248.02, Y:-33.59, Z:-4.97 [[ 9.88117336e-01 1.52188033e-01 2.15158969e-02 2.48016345e+02] [-1.52153673e-01 9.88351555e-01 -3.23469260e-03 -3.35868669e+01] [-2.17575517e-02 -7.74669058e-05 9.99763273e-01 -4.97202734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04401273899998 meters 0.022990244073679583 Centerline is valid? [True, True] Translation: X:248.08, Y:-33.60, Z:-4.97 [[ 9.88244877e-01 1.51114388e-01 2.31625601e-02 2.48076348e+02] [-1.51074284e-01 9.88516281e-01 -3.48173898e-03 -3.35978878e+01] [-2.34227086e-02 -5.84564710e-05 9.99725649e-01 -4.97079747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10401273899998 meters 0.028371037565437646 Centerline is valid? [True, True] Translation: X:248.14, Y:-33.61, Z:-4.96 [[ 9.88262582e-01 1.51176265e-01 2.19728315e-02 2.48135827e+02] [-1.51140191e-01 9.88506820e-01 -3.30290191e-03 -3.36083342e+01] [-2.22196142e-02 -5.68435768e-05 9.99753112e-01 -4.96301949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164012739 meters 0.02435954793606881 Centerline is valid? [True, True] Translation: X:248.20, Y:-33.61, Z:-4.98 [[ 9.87723563e-01 1.55055067e-01 1.89759994e-02 2.48195839e+02] [-1.55028877e-01 9.87905821e-01 -2.85244000e-03 -3.36090931e+01] [-1.91887855e-02 -1.24405681e-04 9.99815871e-01 -4.98004030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224012739 meters 0.025391680894996115 Centerline is valid? [True, True] Translation: X:248.25, Y:-33.61, Z:-4.98 [[ 9.87360951e-01 1.57266485e-01 1.96368308e-02 2.48254634e+02] [-1.57238881e-01 9.87556187e-01 -2.95156077e-03 -3.36133477e+01] [-1.98566553e-02 -1.73417431e-04 9.99802822e-01 -4.97975151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284012739 meters 0.028199319441441238 Centerline is valid? [True, True] Translation: X:248.31, Y:-33.61, Z:-4.98 [[ 9.86593490e-01 1.61796435e-01 2.13353693e-02 2.48314659e+02] [-1.61764930e-01 9.86824113e-01 -3.20578971e-03 -3.36105629e+01] [-2.15729423e-02 -2.88503274e-04 9.99767235e-01 -4.97698193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344012739 meters 0.0297313892740596 Centerline is valid? [True, True] Translation: X:248.37, Y:-33.61, Z:-4.98 [[ 9.86313077e-01 1.63463333e-01 2.15928668e-02 2.48374408e+02] [-1.63431484e-01 9.86549355e-01 -3.24347615e-03 -3.36103238e+01] [-2.18326183e-02 -3.29871331e-04 9.99761586e-01 -4.97813040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40401273899997 meters 0.02819007914766281 Centerline is valid? [True, True] Translation: X:248.43, Y:-33.62, Z:-4.98 [[ 9.86677673e-01 1.61388216e-01 2.05186257e-02 2.48433339e+02] [-1.61359027e-01 9.86890962e-01 -3.08122170e-03 -3.36157345e+01] [-2.07469191e-02 -2.70692833e-04 9.99784723e-01 -4.98162737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46401273899997 meters 0.025349553287991905 Centerline is valid? [True, True] Translation: X:248.49, Y:-33.63, Z:-4.98 [[ 9.87311734e-01 1.57400417e-01 2.09916464e-02 2.48491046e+02] [-1.57368986e-01 9.87534846e-01 -3.15127985e-03 -3.36285336e+01] [-2.12259951e-02 -1.92138526e-04 9.99774685e-01 -4.98214386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52401273899997 meters 0.033042336059969625 Centerline is valid? [True, True] Translation: X:248.55, Y:-33.64, Z:-4.97 [[ 9.87644974e-01 1.55203259e-01 2.16645848e-02 2.48548657e+02] [-1.55169274e-01 9.87882546e-01 -3.25128532e-03 -3.36417724e+01] [-2.19066753e-02 -1.50562287e-04 9.99760009e-01 -4.96887595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58401273899997 meters 0.023902664959750207 Centerline is valid? [True, True] Translation: X:248.61, Y:-33.65, Z:-4.98 [[ 9.87511623e-01 1.55883737e-01 2.28266120e-02 2.48606490e+02] [-1.55846216e-01 9.87775394e-01 -3.42453676e-03 -3.36481444e+01] [-2.30813952e-02 -1.75671238e-04 9.99733574e-01 -4.98108774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64401273899998 meters 0.023928951885934635 Centerline is valid? [True, True] Translation: X:248.66, Y:-33.66, Z:-4.99 [[ 9.87622834e-01 1.55490704e-01 2.05858736e-02 2.48663403e+02] [-1.55460121e-01 9.87837344e-01 -3.08749815e-03 -3.36620783e+01] [-2.08155720e-02 -1.50998726e-04 9.99783321e-01 -4.98534986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70401273899998 meters 0.023767893858882942 Centerline is valid? [True, True] Translation: X:248.72, Y:-33.67, Z:-4.99 [[ 9.87570622e-01 1.55947726e-01 1.96105438e-02 2.48721348e+02] [-1.55920076e-01 9.87765298e-01 -2.94057183e-03 -3.36721603e+01] [-1.98291901e-02 -1.53655114e-04 9.99803370e-01 -4.98712822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76401273899998 meters 0.025936811010899126 Centerline is valid? [True, True] Translation: X:248.78, Y:-33.67, Z:-4.98 [[ 9.86875002e-01 1.59934420e-01 2.23318441e-02 2.48779688e+02] [-1.59899609e-01 9.87127606e-01 -3.34739039e-03 -3.36730645e+01] [-2.25797428e-02 -2.67397254e-04 9.99745009e-01 -4.98399585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82401273899998 meters 0.02942382513121684 Centerline is valid? [True, True] Translation: X:248.84, Y:-33.67, Z:-4.98 [[ 9.86125934e-01 1.64479053e-01 2.24116626e-02 2.48840617e+02] [-1.64445194e-01 9.86380505e-01 -3.35809097e-03 -3.36705671e+01] [-2.26587627e-02 -3.73989607e-04 9.99743187e-01 -4.98448837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88401273899999 meters 0.030026515443156293 Centerline is valid? [True, True] Translation: X:248.90, Y:-33.67, Z:-4.99 [[ 9.85951515e-01 1.65715491e-01 2.09281426e-02 2.48899840e+02] [-1.65686255e-01 9.86173532e-01 -3.13532664e-03 -3.36732940e+01] [-2.11583525e-02 -3.76225529e-04 9.99776066e-01 -4.98892920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944012739 meters 0.028231488105586466 Centerline is valid? [True, True] Translation: X:248.96, Y:-33.68, Z:-4.99 [[ 9.86382694e-01 1.62977415e-01 2.20803776e-02 2.48957874e+02] [-1.62944210e-01 9.86629743e-01 -3.30683775e-03 -3.36802166e+01] [-2.23240972e-02 -3.36062153e-04 9.99750730e-01 -4.98713780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004012739 meters 0.026823901727446597 Centerline is valid? [True, True] Translation: X:249.02, Y:-33.69, Z:-4.99 [[ 9.86717892e-01 1.61047029e-01 2.12522186e-02 2.49016373e+02] [-1.61015841e-01 9.86946693e-01 -3.18183950e-03 -3.36888565e+01] [-2.14872327e-02 -2.82365900e-04 9.99769083e-01 -4.99008422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064012739 meters 0.025577591235122654 Centerline is valid? [True, True] Translation: X:249.08, Y:-33.70, Z:-4.99 [[ 9.86781241e-01 1.60592353e-01 2.17457827e-02 2.49075134e+02] [-1.60559612e-01 9.87020779e-01 -3.25469090e-03 -3.36957784e+01] [-2.19862178e-02 -2.79826515e-04 9.99758235e-01 -4.98987524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.124012739 meters 0.026089226590781077 Centerline is valid? [True, True] Translation: X:249.13, Y:-33.70, Z:-4.99 [[ 9.86597651e-01 1.61393735e-01 2.40236855e-02 2.49134395e+02] [-1.61354044e-01 9.86890041e-01 -3.59434093e-03 -3.36990729e+01] [-2.42888401e-02 -3.30150479e-04 9.99704928e-01 -4.98657965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18401273899997 meters 0.024828164761538256 Centerline is valid? [True, True] Translation: X:249.19, Y:-33.71, Z:-4.99 [[ 9.87072704e-01 1.58514659e-01 2.36765596e-02 2.49192291e+02] [-1.58475305e-01 9.87356591e-01 -3.54126701e-03 -3.37054854e+01] [-2.39385499e-02 -2.56662011e-04 9.99713399e-01 -4.98773837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24401273899997 meters 0.02125061036621036 Centerline is valid? [True, True] Translation: X:249.25, Y:-33.73, Z:-4.99 [[ 9.88271447e-01 1.51003159e-01 2.27506633e-02 2.49249278e+02] [-1.50964854e-01 9.88533278e-01 -3.40178402e-03 -3.37270862e+01] [-2.30034678e-02 -7.26645292e-05 9.99735383e-01 -4.99184039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30401273899997 meters 0.021222409845235594 Centerline is valid? [True, True] Translation: X:249.31, Y:-33.75, Z:-4.99 [[ 9.89157298e-01 1.45059409e-01 2.29261528e-02 2.49305551e+02] [-1.45018927e-01 9.89422945e-01 -3.42742904e-03 -3.37472858e+01] [-2.31808425e-02 6.55403635e-05 9.99731286e-01 -4.99288745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36401273899997 meters 0.021377582058489584 Centerline is valid? [True, True] Translation: X:249.36, Y:-33.76, Z:-5.00 [[ 9.89317534e-01 1.44098728e-01 2.20538575e-02 2.49364007e+02] [-1.44061046e-01 9.89563313e-01 -3.29627658e-03 -3.37582978e+01] [-2.22986776e-02 8.39624365e-05 9.99751350e-01 -4.99574911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42401273899998 meters 0.02145822308413083 Centerline is valid? [True, True] Translation: X:249.42, Y:-33.77, Z:-5.00 [[ 9.89426506e-01 1.43590117e-01 2.04222489e-02 2.49422578e+02] [-1.43557706e-01 9.89637242e-01 -3.05195811e-03 -3.37748363e+01] [-2.06488491e-02 8.79170409e-05 9.99786786e-01 -4.99967578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48401273899998 meters 0.02128460174661296 Centerline is valid? [True, True] Translation: X:249.48, Y:-33.79, Z:-5.00 [[ 9.89357860e-01 1.43856236e-01 2.18267710e-02 2.49480183e+02] [-1.43819278e-01 9.89598593e-01 -3.26183450e-03 -3.37909193e+01] [-2.20689771e-02 8.80111482e-05 9.99756447e-01 -4.99814775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54401273899998 meters 0.020918984678440954 Centerline is valid? [True, True] Translation: X:249.54, Y:-33.80, Z:-5.00 [[ 9.88844444e-01 1.47460942e-01 2.10222584e-02 2.49538883e+02] [-1.47427479e-01 9.89067880e-01 -3.14136060e-03 -3.37995231e+01] [-2.12556686e-02 7.05842007e-06 9.99774073e-01 -5.00118092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60401273899998 meters 0.021488005870145772 Centerline is valid? [True, True] Translation: X:249.60, Y:-33.80, Z:-5.00 [[ 9.88285787e-01 1.51276843e-01 2.01623466e-02 2.49598271e+02] [-1.51246859e-01 9.88491432e-01 -3.01263420e-03 -3.38043183e+01] [-2.03860486e-02 -7.21480336e-05 9.99792180e-01 -5.00317412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664012739 meters 0.02377031954839227 Centerline is valid? [True, True] Translation: X:249.66, Y:-33.80, Z:-5.00 [[ 9.87367985e-01 1.56882031e-01 2.21921410e-02 2.49657822e+02] [-1.56847134e-01 9.87617327e-01 -3.31530424e-03 -3.38049507e+01] [-2.24374547e-02 -2.07348448e-04 9.99748227e-01 -5.00085230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724012739 meters 0.025205863869239096 Centerline is valid? [True, True] Translation: X:249.72, Y:-33.81, Z:-5.00 [[ 9.87034777e-01 1.59054404e-01 2.15416960e-02 2.49716371e+02] [-1.59022061e-01 9.87269788e-01 -3.21715004e-03 -3.38098493e+01] [-2.17791675e-02 -2.50165927e-04 9.99762775e-01 -5.00375559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784012739 meters 0.025261557166090354 Centerline is valid? [True, True] Translation: X:249.77, Y:-33.82, Z:-5.00 [[ 9.86860578e-01 1.59914594e-01 2.30980880e-02 2.49774298e+02] [-1.59877671e-01 9.87130811e-01 -3.44843285e-03 -3.38189190e+01] [-2.33522891e-02 -2.89746078e-04 9.99727256e-01 -5.00148470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844012739 meters 0.02598570959205835 Centerline is valid? [True, True] Translation: X:249.83, Y:-33.82, Z:-5.00 [[ 9.86760970e-01 1.60485761e-01 2.33903468e-02 2.49831396e+02] [-1.60448087e-01 9.87038107e-01 -3.49083832e-03 -3.38246992e+01] [-2.36473935e-02 -3.08313379e-04 9.99720314e-01 -5.00186941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90401273899997 meters 0.025933230379923483 Centerline is valid? [True, True] Translation: X:249.89, Y:-33.83, Z:-5.00 [[ 9.86703439e-01 1.60842877e-01 2.33643295e-02 2.49889870e+02] [-1.60805425e-01 9.86979973e-01 -3.48534261e-03 -3.38330164e+01] [-2.36207179e-02 -3.18111392e-04 9.99720941e-01 -5.00333885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96401273899997 meters 0.023780365790451855 Centerline is valid? [True, True] Translation: X:249.95, Y:-33.85, Z:-5.00 [[ 9.87308128e-01 1.56828390e-01 2.50502804e-02 2.49946489e+02] [-1.56784075e-01 9.87625840e-01 -3.73561550e-03 -3.38494350e+01] [-2.53261548e-02 -2.39281503e-04 9.99679213e-01 -5.00162427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024012739 meters 0.02245363880706919 Centerline is valid? [True, True] Translation: X:250.01, Y:-33.86, Z:-5.00 [[ 9.87726569e-01 1.54265019e-01 2.44648393e-02 2.50005697e+02] [-1.54221983e-01 9.88029491e-01 -3.64760255e-03 -3.38638234e+01] [-2.47346802e-02 -1.70182066e-04 9.99694037e-01 -5.00388318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084012739 meters 0.020884265181897666 Centerline is valid? [True, True] Translation: X:250.06, Y:-33.89, Z:-5.01 [[ 9.88757799e-01 1.47688623e-01 2.33684900e-02 2.50064214e+02] [-1.47647518e-01 9.89033908e-01 -3.48421778e-03 -3.38887680e+01] [-2.36268083e-02 -5.25205687e-06 9.99720848e-01 -5.00738015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144012739 meters 0.021049091959698726 Centerline is valid? [True, True] Translation: X:250.12, Y:-33.90, Z:-5.01 [[ 9.88496525e-01 1.49267809e-01 2.43668233e-02 2.50124232e+02] [-1.49223578e-01 9.88796804e-01 -3.63380827e-03 -3.38989293e+01] [-2.46362476e-02 -4.40976988e-05 9.99696481e-01 -5.00616562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204012739 meters 0.02248798223656019 Centerline is valid? [True, True] Translation: X:250.19, Y:-33.90, Z:-5.01 [[ 9.87622882e-01 1.54823429e-01 2.51146983e-02 2.50185336e+02] [-1.54778206e-01 9.87942139e-01 -3.74648388e-03 -3.39007118e+01] [-2.53919123e-02 -1.87094748e-04 9.99677556e-01 -5.00730091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264012739 meters 0.025213720551285325 Centerline is valid? [True, True] Translation: X:250.25, Y:-33.90, Z:-5.01 [[ 9.86925058e-01 1.59171436e-01 2.53650005e-02 2.50245240e+02] [-1.59126741e-01 9.87250912e-01 -3.78383768e-03 -3.39018360e+01] [-2.56438988e-02 -3.01885651e-04 9.99671096e-01 -5.00831477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324012739 meters 0.024556494520580858 Centerline is valid? [True, True] Translation: X:250.30, Y:-33.91, Z:-5.01 [[ 9.87039309e-01 1.58543761e-01 2.48450874e-02 2.50303900e+02] [-1.58500682e-01 9.87351912e-01 -3.70622590e-03 -3.39129301e+01] [-2.51184435e-02 -2.79772661e-04 9.99684443e-01 -5.01123402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384012739 meters 0.023586220739649194 Centerline is valid? [True, True] Translation: X:250.36, Y:-33.92, Z:-5.01 [[ 9.87356238e-01 1.56510240e-01 2.51436767e-02 2.50363468e+02] [-1.56465473e-01 9.87676309e-01 -3.75027282e-03 -3.39247122e+01] [-2.54207699e-02 -2.31261999e-04 9.99676813e-01 -5.01188146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444012739 meters 0.0219493503142737 Centerline is valid? [True, True] Translation: X:250.42, Y:-33.94, Z:-5.02 [[ 9.87831395e-01 1.53638159e-01 2.41754073e-02 2.50423718e+02] [-1.53595896e-01 9.88127165e-01 -3.60654797e-03 -3.39420056e+01] [-2.44424801e-02 -1.50582036e-04 9.99701227e-01 -5.01574346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504012739 meters 0.02261977810260355 Centerline is valid? [True, True] Translation: X:250.48, Y:-33.95, Z:-5.02 [[ 9.87786458e-01 1.54225366e-01 2.21912316e-02 2.50484276e+02] [-1.54189831e-01 9.88035685e-01 -3.31384943e-03 -3.39471649e+01] [-2.24368083e-02 -1.48286665e-04 9.99748252e-01 -5.01985275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564012739 meters 0.023674058940483637 Centerline is valid? [True, True] Translation: X:250.54, Y:-33.95, Z:-5.02 [[ 9.87337152e-01 1.56896022e-01 2.34304406e-02 2.50544515e+02] [-1.56857154e-01 9.87615102e-01 -3.49909271e-03 -3.39482422e+01] [-2.36892507e-02 -2.20447997e-04 9.99719346e-01 -5.01767258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624012739 meters 0.02479089495735357 Centerline is valid? [True, True] Translation: X:250.61, Y:-33.95, Z:-5.02 [[ 9.86855542e-01 1.59798827e-01 2.40930237e-02 2.50605185e+02] [-1.59758608e-01 9.87149556e-01 -3.59744666e-03 -3.39469638e+01] [-2.43582854e-02 -2.98907752e-04 9.99703248e-01 -5.01897371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684012739 meters 0.025133871925876038 Centerline is valid? [True, True] Translation: X:250.66, Y:-33.95, Z:-5.02 [[ 9.86885207e-01 1.59533898e-01 2.46276859e-02 2.50663510e+02] [-1.59491807e-01 9.87192406e-01 -3.67664417e-03 -3.39517877e+01] [-2.48988139e-02 -2.99488384e-04 9.99689932e-01 -5.01983645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744012739 meters 0.023615219360356075 Centerline is valid? [True, True] Translation: X:250.72, Y:-33.96, Z:-5.02 [[ 9.87414857e-01 1.56018686e-01 2.58857028e-02 2.50721461e+02] [-1.55970993e-01 9.87754079e-01 -3.86378722e-03 -3.39587448e+01] [-2.61715316e-02 -2.22257883e-04 9.99657442e-01 -5.01951819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80401273900003 meters 0.021618800804938824 Centerline is valid? [True, True] Translation: X:250.78, Y:-33.97, Z:-5.02 [[ 9.88204926e-01 1.51033865e-01 2.52941924e-02 2.50778966e+02] [-1.50986708e-01 9.88528585e-01 -3.77495653e-03 -3.39690534e+01] [-2.55741785e-02 -8.86562040e-05 9.99672923e-01 -5.02235542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86401273900003 meters 0.02119925730321935 Centerline is valid? [True, True] Translation: X:250.84, Y:-33.98, Z:-5.02 [[ 9.88857175e-01 1.46409416e-01 2.69401087e-02 2.50838094e+02] [-1.46354224e-01 9.89224081e-01 -4.01984817e-03 -3.39802882e+01] [-2.72383479e-02 3.22569903e-05 9.99628967e-01 -5.02249008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92401273900003 meters 0.02191825438879315 Centerline is valid? [True, True] Translation: X:250.90, Y:-33.99, Z:-5.02 [[ 9.89352115e-01 1.42797968e-01 2.81270692e-02 2.50899090e+02] [-1.42736340e-01 9.89751848e-01 -4.19714759e-03 -3.39890675e+01] [-2.84381629e-02 1.37701938e-04 9.99595544e-01 -5.02175938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98401273900004 meters 0.023001577257388897 Centerline is valid? [True, True] Translation: X:250.96, Y:-34.00, Z:-5.03 [[ 9.89865207e-01 1.39524916e-01 2.64512603e-02 2.50960517e+02] [-1.39469204e-01 9.90218536e-01 -3.94859537e-03 -3.39965108e+01] [-2.67434557e-02 2.19440952e-04 9.99642306e-01 -5.02733533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044012739 meters 0.023657556044252483 Centerline is valid? [True, True] Translation: X:251.02, Y:-34.00, Z:-5.02 [[ 9.89915486e-01 1.38821431e-01 2.82124211e-02 2.51020749e+02] [-1.38757658e-01 9.90317396e-01 -4.21527520e-03 -3.40020887e+01] [-2.85244219e-02 2.58076725e-04 9.99593063e-01 -5.02472109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104012739 meters 0.02361915158602418 Centerline is valid? [True, True] Translation: X:251.08, Y:-34.01, Z:-5.02 [[ 9.89785721e-01 1.39325745e-01 3.02086791e-02 2.51080408e+02] [-1.39252850e-01 9.90246570e-01 -4.51388276e-03 -3.40052681e+01] [-3.05429409e-02 2.61132047e-04 9.99533421e-01 -5.02179658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164012739 meters 0.023957519718571827 Centerline is valid? [True, True] Translation: X:251.14, Y:-34.02, Z:-5.03 [[ 9.89966138e-01 1.38142841e-01 2.97254179e-02 2.51141659e+02] [-1.38071675e-01 9.90412272e-01 -4.44341714e-03 -3.40162506e+01] [-3.00542449e-02 2.94594272e-04 9.99548226e-01 -5.02650230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224012739 meters 0.037187011888291106 Centerline is valid? [True, True] Translation: X:251.20, Y:-34.04, Z:-5.02 [[ 9.90579080e-01 1.33934187e-01 2.85433095e-02 2.51201240e+02] [-1.33866692e-01 9.90990144e-01 -4.27122746e-03 -3.40362828e+01] [-2.88582018e-02 4.09990135e-04 9.99583431e-01 -5.01883901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284012739 meters 0.028761948710506337 Centerline is valid? [True, True] Translation: X:251.26, Y:-34.05, Z:-5.03 [[ 9.90945773e-01 1.31444848e-01 2.73628835e-02 2.51261093e+02] [-1.31381758e-01 9.91323375e-01 -4.09873269e-03 -3.40536627e+01] [-2.76642233e-02 4.66638099e-04 9.99617163e-01 -5.03454732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344012739 meters 0.026364840632616314 Centerline is valid? [True, True] Translation: X:251.32, Y:-34.06, Z:-5.04 [[ 9.90426231e-01 1.35277456e-01 2.74934635e-02 2.51322399e+02] [-1.35215112e-01 9.90807689e-01 -4.12280118e-03 -3.40617092e+01] [-2.77984571e-02 3.65798689e-04 9.99613481e-01 -5.03636541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404012739 meters 0.02248990477450969 Centerline is valid? [True, True] Translation: X:251.38, Y:-34.06, Z:-5.04 [[ 9.89606170e-01 1.41231178e-01 2.70810395e-02 2.51384127e+02] [-1.41172824e-01 9.89976623e-01 -4.06436934e-03 -3.40642527e+01] [-2.73836117e-02 1.99018150e-04 9.99624979e-01 -5.04031101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464012739 meters 0.02274553289791361 Centerline is valid? [True, True] Translation: X:251.44, Y:-34.08, Z:-5.04 [[ 9.89521650e-01 1.41838859e-01 2.69933577e-02 2.51444490e+02] [-1.41781065e-01 9.89889744e-01 -4.05280070e-03 -3.40754701e+01] [-2.72952926e-02 1.83187038e-04 9.99627397e-01 -5.04143401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524012739 meters 0.02335668874324712 Centerline is valid? [True, True] Translation: X:251.50, Y:-34.09, Z:-5.04 [[ 9.89720344e-01 1.40378281e-01 2.73418972e-02 2.51504479e+02] [-1.40318317e-01 9.90097917e-01 -4.10908243e-03 -3.40911867e+01] [-2.76479814e-02 2.30273475e-04 9.99617695e-01 -5.04253509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584012739 meters 0.022163262706169983 Centerline is valid? [True, True] Translation: X:251.56, Y:-34.09, Z:-5.05 [[ 9.89098458e-01 1.44829021e-01 2.66232241e-02 2.51564999e+02] [-1.44773728e-01 9.89456691e-01 -4.00298230e-03 -3.40922315e+01] [-2.69222753e-02 1.05000195e-04 9.99637524e-01 -5.04528064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644012739 meters 0.02219762569447338 Centerline is valid? [True, True] Translation: X:251.63, Y:-34.08, Z:-5.04 [[ 9.87766736e-01 1.53289608e-01 2.86211520e-02 2.51626268e+02] [-1.53229248e-01 9.88181298e-01 -4.30344085e-03 -3.40847620e+01] [-2.89425599e-02 -1.34801892e-04 9.99581067e-01 -5.04379224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704012739 meters 0.022342483725459713 Centerline is valid? [True, True] Translation: X:251.68, Y:-34.09, Z:-5.04 [[ 9.87702113e-01 1.53339800e-01 3.05195399e-02 2.51684227e+02] [-1.53271217e-01 9.88173509e-01 -4.58798627e-03 -3.40938758e+01] [-3.08621217e-02 -1.46203284e-04 9.99523641e-01 -5.04269841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764012739 meters 0.022359083162706135 Centerline is valid? [True, True] Translation: X:251.74, Y:-34.11, Z:-5.04 [[ 9.88008378e-01 1.50832337e-01 3.30007699e-02 2.51742744e+02] [-1.50750779e-01 9.88559356e-01 -4.96004707e-03 -3.41073533e+01] [-3.33713553e-02 -7.43237039e-05 9.99443018e-01 -5.03934741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824012739 meters 0.02234648262577078 Centerline is valid? [True, True] Translation: X:251.80, Y:-34.11, Z:-5.04 [[ 9.87807128e-01 1.52194098e-01 3.27724764e-02 2.51802832e+02] [-1.52114422e-01 9.88350617e-01 -4.92549549e-03 -3.41137053e+01] [-3.31403286e-02 -1.19726754e-04 9.99450701e-01 -5.04341166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884012739 meters 0.02436132986692744 Centerline is valid? [True, True] Translation: X:251.86, Y:-34.11, Z:-5.05 [[ 9.87000870e-01 1.57931241e-01 2.97826349e-02 2.51862679e+02] [-1.57868054e-01 9.87450071e-01 -4.47602614e-03 -3.41135635e+01] [-3.01157693e-02 -2.83884938e-04 9.99546377e-01 -5.04914128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944012739 meters 0.02529003632115489 Centerline is valid? [True, True] Translation: X:251.92, Y:-34.12, Z:-5.05 [[ 9.86568231e-01 1.60567860e-01 3.00181418e-02 2.51921600e+02] [-1.60504904e-01 9.87024735e-01 -4.51093209e-03 -3.41214274e+01] [-3.03529591e-02 -3.67716681e-04 9.99539175e-01 -5.05229365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004012739 meters 0.025327926205823217 Centerline is valid? [True, True] Translation: X:251.98, Y:-34.13, Z:-5.05 [[ 9.86606044e-01 1.60291770e-01 3.02499945e-02 2.51980125e+02] [-1.60227731e-01 9.87069611e-01 -4.54502164e-03 -3.41316499e+01] [-3.05873799e-02 -3.62742179e-04 9.99532031e-01 -5.05388704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064012739 meters 0.025807490269656168 Centerline is valid? [True, True] Translation: X:252.04, Y:-34.14, Z:-5.06 [[ 9.86734907e-01 1.59734569e-01 2.89670757e-02 2.52038187e+02] [-1.59675631e-01 9.87159945e-01 -4.35146942e-03 -3.41412594e+01] [-2.92902170e-02 -3.31589335e-04 9.99570895e-01 -5.05641762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124012739 meters 0.029083920857191768 Centerline is valid? [True, True] Translation: X:252.10, Y:-34.14, Z:-5.06 [[ 9.86074424e-01 1.63749998e-01 2.90373598e-02 2.52098942e+02] [-1.63692541e-01 9.86501765e-01 -4.36108500e-03 -3.41402288e+01] [-2.93595343e-02 -4.52844828e-04 9.99568813e-01 -5.05862282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184012739 meters 0.033303257546575274 Centerline is valid? [True, True] Translation: X:252.16, Y:-34.14, Z:-5.06 [[ 9.85404014e-01 1.68036139e-01 2.72540982e-02 2.52157971e+02] [-1.67987182e-01 9.85780685e-01 -4.09250059e-03 -3.41377532e+01] [-2.75542516e-02 -5.45572635e-04 9.99620161e-01 -5.06436183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244012739 meters 0.03721067166217327 Centerline is valid? [True, True] Translation: X:252.22, Y:-34.14, Z:-5.06 [[ 9.84756794e-01 1.71454139e-01 2.92836877e-02 2.52217305e+02] [-1.71399168e-01 9.85191860e-01 -4.39586055e-03 -3.41359042e+01] [-2.96037392e-02 -6.90346156e-04 9.99561475e-01 -5.06252521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30401273900003 meters 0.03130777429480552 Centerline is valid? [True, True] Translation: X:252.27, Y:-34.15, Z:-5.06 [[ 9.85163391e-01 1.68904709e-01 3.04021943e-02 2.52274351e+02] [-1.68844289e-01 9.85632179e-01 -4.56230632e-03 -3.41518686e+01] [-3.07359760e-02 -6.38619701e-04 9.99527334e-01 -5.06491092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36401273900003 meters 0.029120838135808153 Centerline is valid? [True, True] Translation: X:252.33, Y:-34.17, Z:-5.07 [[ 9.86307472e-01 1.62267989e-01 2.94392657e-02 2.52331795e+02] [-1.62208414e-01 9.86746636e-01 -4.41660922e-03 -3.41650278e+01] [-2.97657707e-02 -4.19161920e-04 9.99556813e-01 -5.06632142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42401273900003 meters 0.023522845406134207 Centerline is valid? [True, True] Translation: X:252.39, Y:-34.19, Z:-5.07 [[ 9.87308491e-01 1.55856842e-01 3.05055422e-02 2.52388425e+02] [-1.55789833e-01 9.87779626e-01 -4.57580765e-03 -3.41884690e+01] [-3.08459240e-02 -2.34719578e-04 9.99524124e-01 -5.06920851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48401273900004 meters 0.022718886255431017 Centerline is valid? [True, True] Translation: X:252.45, Y:-34.20, Z:-5.07 [[ 9.87706499e-01 1.53318250e-01 3.04858460e-02 2.52447824e+02] [-1.53250135e-01 9.88176852e-01 -4.57234992e-03 -3.41997549e+01] [-3.08264320e-02 -1.55820264e-04 9.99524740e-01 -5.07025430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544012739 meters 0.023501281203986705 Centerline is valid? [True, True] Translation: X:252.51, Y:-34.20, Z:-5.07 [[ 9.87371162e-01 1.55375949e-01 3.09273759e-02 2.52507774e+02] [-1.55306863e-01 9.87855386e-01 -4.63831078e-03 -3.42030594e+01] [-3.12724568e-02 -2.23499407e-04 9.99510872e-01 -5.07109838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604012739 meters 0.024058732376294346 Centerline is valid? [True, True] Translation: X:252.57, Y:-34.21, Z:-5.07 [[ 9.87182356e-01 1.56535107e-01 3.11087852e-02 2.52567731e+02] [-1.56465807e-01 9.87672360e-01 -4.66475576e-03 -3.42052045e+01] [-3.14554854e-02 -2.62496587e-04 9.99505119e-01 -5.07459726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664012739 meters 0.022657181368294428 Centerline is valid? [True, True] Translation: X:252.62, Y:-34.22, Z:-5.08 [[ 9.87964351e-01 1.51897605e-01 2.92157349e-02 2.52624927e+02] [-1.51834473e-01 9.88396229e-01 -4.38029755e-03 -3.42180275e+01] [-2.95420789e-02 -1.08377884e-04 9.99563532e-01 -5.07876405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724012739 meters 0.023453265864915595 Centerline is valid? [True, True] Translation: X:252.68, Y:-34.24, Z:-5.08 [[ 9.89379640e-01 1.42172211e-01 3.02487986e-02 2.52683592e+02] [-1.42099986e-01 9.89841920e-01 -4.53511176e-03 -3.42417221e+01] [-3.05862957e-02 1.88593397e-04 9.99532112e-01 -5.08037875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784012739 meters 0.029305371685360265 Centerline is valid? [True, True] Translation: X:252.74, Y:-34.27, Z:-5.09 [[ 9.90850780e-01 1.31978832e-01 2.82191337e-02 2.52740909e+02] [-1.31911819e-01 9.91252423e-01 -4.23144181e-03 -3.42714092e+01] [-2.85307455e-02 4.70290139e-04 9.99592805e-01 -5.08572713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844012739 meters 0.031753519632763204 Centerline is valid? [True, True] Translation: X:252.80, Y:-34.29, Z:-5.09 [[ 9.91293768e-01 1.28999529e-01 2.63777664e-02 2.52800717e+02] [-1.28939885e-01 9.91644518e-01 -3.95676711e-03 -3.42899655e+01] [-2.66677885e-02 5.21172419e-04 9.99644215e-01 -5.09034170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904012739 meters 0.029061020207121015 Centerline is valid? [True, True] Translation: X:252.86, Y:-34.30, Z:-5.09 [[ 9.90654499e-01 1.33462407e-01 2.81327073e-02 2.52860674e+02] [-1.33396257e-01 9.91053782e-01 -4.22360663e-03 -3.42989193e+01] [-2.84447187e-02 4.31337058e-04 9.99595274e-01 -5.08869324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964012739 meters 0.023336093732837734 Centerline is valid? [True, True] Translation: X:252.92, Y:-34.29, Z:-5.09 [[ 9.89107628e-01 1.44265003e-01 2.92182867e-02 2.52923639e+02] [-1.44198341e-01 9.89539081e-01 -4.38696871e-03 -3.42922744e+01] [-2.95455226e-02 1.25955757e-04 9.99563428e-01 -5.08708795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024012739 meters 0.024254079472767896 Centerline is valid? [True, True] Translation: X:252.98, Y:-34.28, Z:-5.09 [[ 9.87533736e-01 1.54898890e-01 2.79902683e-02 2.52984023e+02] [-1.54841982e-01 9.87930311e-01 -4.20245716e-03 -3.42804257e+01] [-2.83033904e-02 -1.84000403e-04 9.99599362e-01 -5.09213314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084012739 meters 0.028312194338434404 Centerline is valid? [True, True] Translation: X:253.04, Y:-34.28, Z:-5.09 [[ 9.86577735e-01 1.60849182e-01 2.81409495e-02 2.53044386e+02] [-1.60794117e-01 9.86978932e-01 -4.22367068e-03 -3.42755389e+01] [-2.84538982e-02 -3.57919660e-04 9.99595042e-01 -5.09389631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144012739 meters 0.027012479702770938 Centerline is valid? [True, True] Translation: X:253.10, Y:-34.29, Z:-5.10 [[ 9.86714750e-01 1.60431360e-01 2.56082335e-02 2.53101993e+02] [-1.60385644e-01 9.87046949e-01 -3.84266322e-03 -3.42859305e+01] [-2.58930124e-02 -3.15580538e-04 9.99664670e-01 -5.10152409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204012739 meters 0.02443594366483225 Centerline is valid? [True, True] Translation: X:253.16, Y:-34.30, Z:-5.11 [[ 9.87398135e-01 1.56465988e-01 2.37342999e-02 2.53160519e+02] [-1.56425595e-01 9.87683328e-01 -3.56053869e-03 -3.43001537e+01] [-2.39990755e-02 -1.96982724e-04 9.99711961e-01 -5.10811695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264012739 meters 0.023540572787008943 Centerline is valid? [True, True] Translation: X:253.22, Y:-34.31, Z:-5.11 [[ 9.87935175e-01 1.53002948e-01 2.39622257e-02 2.53217071e+02] [-1.52960768e-01 9.88225726e-01 -3.59423572e-03 -3.43125983e+01] [-2.42300165e-02 -1.14408549e-04 9.99706404e-01 -5.10944863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324012739 meters 0.02290559524841508 Centerline is valid? [True, True] Translation: X:253.27, Y:-34.33, Z:-5.11 [[ 9.88974167e-01 1.46199076e-01 2.35780988e-02 2.53274566e+02] [-1.46156335e-01 9.89255188e-01 -3.53526249e-03 -3.43323145e+01] [-2.38416086e-02 5.01947700e-05 9.99715747e-01 -5.11269651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384012739 meters 0.025704538404491977 Centerline is valid? [True, True] Translation: X:253.33, Y:-34.36, Z:-5.11 [[ 9.90038322e-01 1.38869600e-01 2.32240256e-02 2.53332333e+02] [-1.38826115e-01 9.90310650e-01 -3.48215669e-03 -3.43581996e+01] [-2.34825656e-02 2.23367308e-04 9.99724222e-01 -5.11420167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444012739 meters 0.031369941483013156 Centerline is valid? [True, True] Translation: X:253.39, Y:-34.39, Z:-5.12 [[ 9.91245689e-01 1.30276265e-01 2.14494662e-02 2.53389694e+02] [-1.30237094e-01 9.91477653e-01 -3.21905006e-03 -3.43856059e+01] [-2.16860323e-02 3.97353340e-04 9.99764751e-01 -5.12013209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504012739 meters 0.0346930690486908 Centerline is valid? [True, True] Translation: X:253.45, Y:-34.41, Z:-5.12 [[ 9.91901231e-01 1.25255103e-01 2.10501315e-02 2.53448789e+02] [-1.25216241e-01 9.92124443e-01 -3.15937009e-03 -3.44061779e+01] [-2.12800772e-02 4.97964739e-04 9.99773430e-01 -5.12291855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564012739 meters 0.0382981504134514 Centerline is valid? [True, True] Translation: X:253.51, Y:-34.43, Z:-5.12 [[ 9.92380306e-01 1.21179468e-01 2.22904412e-02 2.53506564e+02] [-1.21134851e-01 9.92630420e-01 -3.34608501e-03 -3.44340911e+01] [-2.25316469e-02 6.20439585e-04 9.99745938e-01 -5.12195063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624012739 meters 0.039961276333319966 Centerline is valid? [True, True] Translation: X:253.57, Y:-34.45, Z:-5.13 [[ 9.92326656e-01 1.22010775e-01 2.00294205e-02 2.53565143e+02] [-1.21974913e-01 9.92528628e-01 -3.00707665e-03 -3.44549355e+01] [-2.02466690e-02 5.40915497e-04 9.99794869e-01 -5.12801259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684012739 meters 0.03386242630267893 Centerline is valid? [True, True] Translation: X:253.62, Y:-34.47, Z:-5.13 [[ 9.91718934e-01 1.26988979e-01 1.91665250e-02 2.53624357e+02] [-1.26957012e-01 9.91904038e-01 -2.88047480e-03 -3.44663490e+01] [-1.93771421e-02 4.23296656e-04 9.99812156e-01 -5.13069671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744012739 meters 0.02911764605853058 Centerline is valid? [True, True] Translation: X:253.68, Y:-34.48, Z:-5.14 [[ 9.91001282e-01 1.32694836e-01 1.75652865e-02 2.53684555e+02] [-1.32668884e-01 9.91156899e-01 -2.63976565e-03 -3.44765996e+01] [-1.77602382e-02 2.85644188e-04 9.99842234e-01 -5.13502273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80401273900003 meters 0.026533484797206346 Centerline is valid? [True, True] Translation: X:253.74, Y:-34.49, Z:-5.14 [[ 9.90284275e-01 1.38140830e-01 1.59425950e-02 2.53743636e+02] [-1.38120151e-01 9.90412582e-01 -2.39629300e-03 -3.44884219e+01] [-1.61207726e-02 1.71017654e-04 9.99870037e-01 -5.13980304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86401273900003 meters 0.025874110059907515 Centerline is valid? [True, True] Translation: X:253.80, Y:-34.50, Z:-5.14 [[ 9.89924798e-01 1.40715663e-01 1.57479158e-02 2.53804130e+02] [-1.40695818e-01 9.90050042e-01 -2.36657228e-03 -3.44975079e+01] [-1.59242385e-02 1.27062681e-04 9.99873193e-01 -5.14175985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92401273900003 meters 0.023714183028421657 Centerline is valid? [True, True] Translation: X:253.87, Y:-34.49, Z:-5.14 [[ 9.88439340e-01 1.50698364e-01 1.66635362e-02 2.53866091e+02] [-1.50677505e-01 9.88579790e-01 -2.50751275e-03 -3.44918254e+01] [-1.68511132e-02 -3.22958047e-05 9.99858009e-01 -5.14038545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98401273900004 meters 0.02668448648410067 Centerline is valid? [True, True] Translation: X:253.93, Y:-34.49, Z:-5.14 [[ 9.87049194e-01 1.59337197e-01 1.85888948e-02 2.53927136e+02] [-1.59312767e-01 9.87224198e-01 -2.79727799e-03 -3.44880045e+01] [-1.87971172e-02 -2.00397277e-04 9.99823299e-01 -5.13802394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044012739 meters 0.029112871548262274 Centerline is valid? [True, True] Translation: X:253.99, Y:-34.49, Z:-5.14 [[ 9.86533606e-01 1.62649930e-01 1.72175852e-02 2.53986828e+02] [-1.62629483e-01 9.86683810e-01 -2.59054605e-03 -3.44899963e+01] [-1.74096647e-02 -2.44426231e-04 9.99848410e-01 -5.14341442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104012739 meters 0.02749688824415286 Centerline is valid? [True, True] Translation: X:254.05, Y:-34.50, Z:-5.15 [[ 9.87002593e-01 1.59769706e-01 1.73067304e-02 2.54045497e+02] [-1.59748611e-01 9.87154295e-01 -2.60354766e-03 -3.45019484e+01] [-1.75003813e-02 -1.95017844e-04 9.99846838e-01 -5.14517252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164012739 meters 0.025423056629196725 Centerline is valid? [True, True] Translation: X:254.10, Y:-34.52, Z:-5.15 [[ 9.87590215e-01 1.56124751e-01 1.70478338e-02 2.54104578e+02] [-1.56103747e-01 9.87737336e-01 -2.56409701e-03 -3.45188148e+01] [-1.72391010e-02 -1.28953615e-04 9.99851387e-01 -5.14684190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224012739 meters 0.024877861613407326 Centerline is valid? [True, True] Translation: X:254.16, Y:-34.53, Z:-5.15 [[ 9.88018840e-01 1.53471976e-01 1.62826203e-02 2.54163095e+02] [-1.53452452e-01 9.88152997e-01 -2.44918801e-03 -3.45329920e+01] [-1.64656017e-02 -7.87641116e-05 9.99864430e-01 -5.15001579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284012739 meters 0.02505175264298233 Centerline is valid? [True, True] Translation: X:254.22, Y:-34.54, Z:-5.15 [[ 9.87660858e-01 1.55570288e-01 1.79976676e-02 2.54222544e+02] [-1.55546778e-01 9.87824817e-01 -2.70742517e-03 -3.45434549e+01] [-1.81997376e-02 -1.25461330e-04 9.99834363e-01 -5.14753109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344012739 meters 0.027585824512212413 Centerline is valid? [True, True] Translation: X:254.28, Y:-34.55, Z:-5.15 [[ 9.86964528e-01 1.60171408e-01 1.56888845e-02 2.54282873e+02] [-1.60154123e-01 9.87089199e-01 -2.36011030e-03 -3.45505934e+01] [-1.58643506e-02 -1.83294389e-04 9.99874136e-01 -5.15330085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404012739 meters 0.03217211347847502 Centerline is valid? [True, True] Translation: X:254.34, Y:-34.55, Z:-5.16 [[ 9.86099959e-01 1.65515127e-01 1.45469410e-02 2.54342105e+02] [-1.65500846e-01 9.86207220e-01 -2.18852719e-03 -3.45503395e+01] [-1.47085326e-02 -2.49424471e-04 9.99891793e-01 -5.15757562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464012739 meters 0.03455333166385572 Centerline is valid? [True, True] Translation: X:254.40, Y:-34.55, Z:-5.15 [[ 9.85248938e-01 1.70248460e-01 1.73202590e-02 2.54401811e+02] [-1.70228958e-01 9.85401094e-01 -2.60497681e-03 -3.45543582e+01] [-1.75108954e-02 -3.81858999e-04 9.99846600e-01 -5.15202660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524012739 meters 0.037472544665007476 Centerline is valid? [True, True] Translation: X:254.46, Y:-34.55, Z:-5.15 [[ 9.85144641e-01 1.70749238e-01 1.82957586e-02 2.54460446e+02] [-1.70727571e-01 9.85314430e-01 -2.75129210e-03 -3.45541404e+01] [-1.84968560e-02 -4.13169760e-04 9.99828833e-01 -5.15204448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584012739 meters 0.03187817698317924 Centerline is valid? [True, True] Translation: X:254.52, Y:-34.57, Z:-5.15 [[ 9.85782762e-01 1.67086471e-01 1.77329219e-02 2.54517914e+02] [-1.67065543e-01 9.85942189e-01 -2.66554490e-03 -3.45723865e+01] [-1.79290123e-02 -3.34912008e-04 9.99839206e-01 -5.15434830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644012739 meters 0.027244291556329424 Centerline is valid? [True, True] Translation: X:254.58, Y:-34.59, Z:-5.16 [[ 9.86956177e-01 1.60038826e-01 1.74664855e-02 2.54576870e+02] [-1.60017428e-01 9.87110699e-01 -2.62498128e-03 -3.45900202e+01] [-1.76614536e-02 -2.04200585e-04 9.99844004e-01 -5.15610288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704012739 meters 0.024099124838377374 Centerline is valid? [True, True] Translation: X:254.64, Y:-34.61, Z:-5.16 [[ 9.88271402e-01 1.51867773e-01 1.59942130e-02 2.54636118e+02] [-1.51848766e-01 9.88400818e-01 -2.40321811e-03 -3.46141713e+01] [-1.61736646e-02 -5.36697709e-05 9.99869196e-01 -5.15897538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764012739 meters 0.024193236214171798 Centerline is valid? [True, True] Translation: X:254.70, Y:-34.63, Z:-5.16 [[ 9.89179147e-01 1.45896466e-01 1.54543232e-02 2.54697463e+02] [-1.45877954e-01 9.89299863e-01 -2.32447468e-03 -3.46320522e+01] [-1.56280925e-02 4.48768281e-05 9.99877873e-01 -5.16170793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824012739 meters 0.024557643327660233 Centerline is valid? [True, True] Translation: X:254.76, Y:-34.64, Z:-5.16 [[ 9.89385667e-01 1.44567652e-01 1.47036022e-02 2.54758740e+02] [-1.44550706e-01 9.89494916e-01 -2.21444434e-03 -3.46439159e+01] [-1.48692766e-02 6.55234108e-05 9.99889444e-01 -5.16467513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884012739 meters 0.024841079755593635 Centerline is valid? [True, True] Translation: X:254.82, Y:-34.65, Z:-5.17 [[ 9.89276106e-01 1.45537747e-01 1.23105786e-02 2.54819132e+02] [-1.45525922e-01 9.89352699e-01 -1.85571152e-03 -3.46499430e+01] [-1.24495802e-02 4.43027605e-05 9.99922500e-01 -5.17074534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944012739 meters 0.024409230039449743 Centerline is valid? [True, True] Translation: X:254.88, Y:-34.66, Z:-5.17 [[ 9.88944776e-01 1.47718970e-01 1.29358393e-02 2.54880064e+02] [-1.47706058e-01 9.89029375e-01 -1.95318396e-03 -3.46565212e+01] [-1.30824474e-02 2.08892489e-05 9.99914421e-01 -5.17071473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004012739 meters 0.02433232347752256 Centerline is valid? [True, True] Translation: X:254.94, Y:-34.66, Z:-5.17 [[ 9.88417383e-01 1.51101379e-01 1.41227052e-02 2.54940747e+02] [-1.51086325e-01 9.88518271e-01 -2.13299574e-03 -3.46551940e+01] [-1.42828507e-02 -2.54575555e-05 9.99897995e-01 -5.16984817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064012739 meters 0.02474265973313918 Centerline is valid? [True, True] Translation: X:255.00, Y:-34.66, Z:-5.17 [[ 9.88201075e-01 1.52614800e-01 1.29367262e-02 2.55000789e+02] [-1.52602301e-01 9.88285749e-01 -1.95365135e-03 -3.46621222e+01] [-1.30833383e-02 -4.35738247e-05 9.99914409e-01 -5.17473179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124012739 meters 0.02518693597347204 Centerline is valid? [True, True] Translation: X:255.06, Y:-34.66, Z:-5.18 [[ 9.87812415e-01 1.55151207e-01 1.24393104e-02 2.55061499e+02] [-1.55139852e-01 9.87890732e-01 -1.87853364e-03 -3.46647582e+01] [-1.25801362e-02 -7.41939141e-05 9.99920864e-01 -5.17527812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184012739 meters 0.0258185691346341 Centerline is valid? [True, True] Translation: X:255.12, Y:-34.67, Z:-5.18 [[ 9.87671621e-01 1.56068652e-01 1.21385372e-02 2.55120246e+02] [-1.56057905e-01 9.87746207e-01 -1.83341248e-03 -3.46680744e+01] [-1.22759323e-02 -8.35052121e-05 9.99924644e-01 -5.17792388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244012739 meters 0.024987113642527974 Centerline is valid? [True, True] Translation: X:255.18, Y:-34.68, Z:-5.18 [[ 9.87839915e-01 1.54829874e-01 1.41426048e-02 2.55180010e+02] [-1.54815169e-01 9.87941144e-01 -2.13530879e-03 -3.46759485e+01] [-1.43026708e-02 -8.01465056e-05 9.99897708e-01 -5.17526376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30401273900003 meters 0.024576775590480448 Centerline is valid? [True, True] Translation: X:255.24, Y:-34.69, Z:-5.18 [[ 9.88168159e-01 1.52805571e-01 1.31964949e-02 2.55238498e+02] [-1.52792592e-01 9.88256270e-01 -1.99213591e-03 -3.46872658e+01] [-1.33459282e-02 -4.77613860e-05 9.99910938e-01 -5.17853042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36401273900003 meters 0.02495123093624315 Centerline is valid? [True, True] Translation: X:255.30, Y:-34.70, Z:-5.19 [[ 9.88780311e-01 1.49022883e-01 1.02798885e-02 2.55296289e+02] [-1.49014799e-01 9.88833748e-01 -1.55216928e-03 -3.47011383e+01] [-1.03964095e-02 2.89890379e-06 9.99945956e-01 -5.18619233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42401273900003 meters 0.025157020438689275 Centerline is valid? [True, True] Translation: X:255.36, Y:-34.71, Z:-5.19 [[ 9.88995691e-01 1.47703515e-01 8.43772451e-03 2.55355529e+02] [-1.47698023e-01 9.89031684e-01 -1.27381984e-03 -3.47138691e+01] [-8.53332455e-03 1.35671013e-05 9.99963590e-01 -5.18934556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48401273900004 meters 0.025503172000628415 Centerline is valid? [True, True] Translation: X:255.41, Y:-34.72, Z:-5.19 [[ 9.88744896e-01 1.49396941e-01 8.00531699e-03 2.55413107e+02] [-1.49392049e-01 9.88777303e-01 -1.20900279e-03 -3.47231593e+01] [-8.09609705e-03 -5.35363376e-07 9.99967226e-01 -5.19262120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544012739 meters 0.02464183573263416 Centerline is valid? [True, True] Translation: X:255.47, Y:-34.74, Z:-5.19 [[ 9.88586587e-01 1.50221921e-01 1.13988865e-02 2.55470677e+02] [-1.50212068e-01 9.88652302e-01 -1.72058506e-03 -3.47350764e+01] [-1.15280050e-02 -1.13030002e-05 9.99933550e-01 -5.18679471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604012739 meters 0.024680774463950478 Centerline is valid? [True, True] Translation: X:255.53, Y:-34.74, Z:-5.19 [[ 9.88583414e-01 1.50210848e-01 1.18124538e-02 2.55530159e+02] [-1.50200270e-01 9.88653984e-01 -1.78263523e-03 -3.47439305e+01] [-1.19462007e-02 -1.19501378e-05 9.99928642e-01 -5.18691311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664012739 meters 0.02530304710028631 Centerline is valid? [True, True] Translation: X:255.59, Y:-34.75, Z:-5.19 [[ 9.88509608e-01 1.50887909e-01 9.03297048e-03 2.55589445e+02] [-1.50881752e-01 9.88550878e-01 -1.36317920e-03 -3.47540775e+01] [-9.13523816e-03 -1.53946725e-05 9.99958273e-01 -5.19448947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724012739 meters 0.025508271208206607 Centerline is valid? [True, True] Translation: X:255.65, Y:-34.76, Z:-5.19 [[ 9.88230473e-01 1.52667511e-01 9.65211877e-03 2.55648771e+02] [-1.52660564e-01 9.88277608e-01 -1.45687195e-03 -3.47584328e+01] [-9.76138987e-03 -3.37726358e-05 9.99952356e-01 -5.19360392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784012739 meters 0.026067253651068004 Centerline is valid? [True, True] Translation: X:255.71, Y:-34.76, Z:-5.19 [[ 9.87855593e-01 1.55074758e-01 9.65130247e-03 2.55708191e+02] [-1.55067926e-01 9.87902736e-01 -1.45677561e-03 -3.47609250e+01] [-9.76045724e-03 -5.75235273e-05 9.99952364e-01 -5.19440518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844012739 meters 0.0259922777896155 Centerline is valid? [True, True] Translation: X:255.77, Y:-34.77, Z:-5.20 [[ 9.87953706e-01 1.54458650e-01 9.48684456e-03 2.55767423e+02] [-1.54452027e-01 9.87999252e-01 -1.43124043e-03 -3.47695499e+01] [-9.59406280e-03 -5.12630863e-05 9.99953975e-01 -5.19719051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904012739 meters 0.024614832511279237 Centerline is valid? [True, True] Translation: X:255.83, Y:-34.78, Z:-5.19 [[ 9.88638468e-01 1.49842430e-01 1.18838707e-02 2.55825467e+02] [-1.49831709e-01 9.88709890e-01 -1.79246131e-03 -3.47834325e+01] [-1.20182872e-02 -8.48443930e-06 9.99927778e-01 -5.19286008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964012739 meters 0.02485570745219692 Centerline is valid? [True, True] Translation: X:255.89, Y:-34.80, Z:-5.19 [[ 9.89422492e-01 1.44497185e-01 1.27944011e-02 2.55885444e+02] [-1.44484320e-01 9.89505210e-01 -1.92908313e-03 -3.47996173e+01] [-1.29388736e-02 6.00878956e-05 9.99916287e-01 -5.18986014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024012739 meters 0.025236097256997193 Centerline is valid? [True, True] Translation: X:255.95, Y:-34.81, Z:-5.20 [[ 9.89476026e-01 1.44311762e-01 1.05503616e-02 2.55946090e+02] [-1.44303002e-01 9.89532270e-01 -1.59090938e-03 -3.48088442e+01] [-1.06695102e-02 5.17178419e-05 9.99943078e-01 -5.19511542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084012739 meters 0.025050503714742715 Centerline is valid? [True, True] Translation: X:256.01, Y:-34.82, Z:-5.20 [[ 9.89308403e-01 1.45468391e-01 1.03842080e-02 2.56006379e+02] [-1.45459963e-01 9.89362899e-01 -1.56634153e-03 -3.48177173e+01] [-1.05016033e-02 3.91083229e-05 9.99944856e-01 -5.19568628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144012739 meters 0.024876841068499342 Centerline is valid? [True, True] Translation: X:256.07, Y:-34.83, Z:-5.20 [[ 9.89356949e-01 1.45106422e-01 1.08145276e-02 2.56066055e+02] [-1.45097262e-01 9.89416052e-01 -1.63100917e-03 -3.48307679e+01] [-1.09367371e-02 4.44919108e-05 9.99940191e-01 -5.19530078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204012739 meters 0.025050837377687093 Centerline is valid? [True, True] Translation: X:256.13, Y:-34.85, Z:-5.20 [[ 9.89383182e-01 1.44952844e-01 1.04686434e-02 2.56125301e+02] [-1.44944264e-01 9.89438564e-01 -1.57773810e-03 -3.48462311e+01] [-1.05867771e-02 4.36177325e-05 9.99943958e-01 -5.19761796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264012739 meters 0.02510197167827054 Centerline is valid? [True, True] Translation: X:256.19, Y:-34.85, Z:-5.20 [[ 9.89037630e-01 1.47388239e-01 9.01515579e-03 2.56185156e+02] [-1.47381953e-01 9.89078716e-01 -1.36141220e-03 -3.48544131e+01] [-9.11735487e-03 1.78166320e-05 9.99958436e-01 -5.20217640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324012739 meters 0.024843250490104683 Centerline is valid? [True, True] Translation: X:256.25, Y:-34.86, Z:-5.20 [[ 9.88259451e-01 1.52429914e-01 1.04105116e-02 2.56245328e+02] [-1.52421807e-01 9.88314282e-01 -1.57242008e-03 -3.48601466e+01] [-1.05285412e-02 -3.28299800e-05 9.99944573e-01 -5.20019942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384012739 meters 0.026204417945098035 Centerline is valid? [True, True] Translation: X:256.30, Y:-34.87, Z:-5.20 [[ 9.87745788e-01 1.55816539e-01 8.91424598e-03 2.56304176e+02] [-1.55810731e-01 9.87786011e-01 -1.34655969e-03 -3.48698073e+01] [-9.01518374e-03 -5.88765233e-05 9.99959361e-01 -5.20388851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444012739 meters 0.027411429793130805 Centerline is valid? [True, True] Translation: X:256.36, Y:-34.87, Z:-5.20 [[ 9.87275954e-01 1.58733692e-01 9.47661333e-03 2.56364189e+02] [-1.58727263e-01 9.87321430e-01 -1.43150469e-03 -3.48748369e+01] [-9.58369145e-03 -9.09067431e-05 9.99954071e-01 -5.20419022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504012739 meters 0.030909881429864068 Centerline is valid? [True, True] Translation: X:256.42, Y:-34.87, Z:-5.21 [[ 9.86533614e-01 1.63430039e-01 6.48462523e-03 2.56424737e+02] [-1.63427130e-01 9.86554922e-01 -9.79539745e-04 -3.48735507e+01] [-6.55752516e-03 -9.34148068e-05 9.99978495e-01 -5.21281822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564012739 meters 0.03587057912114211 Centerline is valid? [True, True] Translation: X:256.49, Y:-34.87, Z:-5.22 [[ 9.85655862e-01 1.68714403e-01 4.23936339e-03 2.56485401e+02] [-1.68713209e-01 9.85664975e-01 -6.40254104e-04 -3.48694527e+01] [-4.28661209e-03 -8.41663889e-05 9.99990809e-01 -5.21741689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624012739 meters 0.03430011906006742 Centerline is valid? [True, True] Translation: X:256.54, Y:-34.87, Z:-5.21 [[ 9.85787076e-01 1.67876834e-01 6.41944148e-03 2.56544451e+02] [-1.67874077e-01 9.85807970e-01 -9.69799475e-04 -3.48733099e+01] [-6.49114344e-03 -1.21642024e-04 9.99978925e-01 -5.21429842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684012739 meters 0.029623226546619044 Centerline is valid? [True, True] Translation: X:256.60, Y:-34.89, Z:-5.21 [[ 9.86905405e-01 1.61063822e-01 8.72735518e-03 2.56602294e+02] [-1.61058468e-01 9.86943987e-01 -1.31742363e-03 -3.48851828e+01] [-8.82560000e-03 -1.05441956e-04 9.99961048e-01 -5.21140010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744012739 meters 0.026634804621014065 Centerline is valid? [True, True] Translation: X:256.66, Y:-34.90, Z:-5.21 [[ 9.87711875e-01 1.56001833e-01 9.41697846e-03 2.56659854e+02] [-1.55995370e-01 9.87756764e-01 -1.42150511e-03 -3.48994584e+01] [-9.52344157e-03 -6.49675619e-05 9.99954649e-01 -5.21084555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80401273900003 meters 0.02642490719278631 Centerline is valid? [True, True] Translation: X:256.72, Y:-34.91, Z:-5.21 [[ 9.88100068e-01 1.53627132e-01 7.54723960e-03 2.56717412e+02] [-1.53622912e-01 9.88128890e-01 -1.13924359e-03 -3.49060628e+01] [-7.63266421e-03 -3.37422500e-05 9.99970870e-01 -5.21449931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86401273900003 meters 0.0269156496658646 Centerline is valid? [True, True] Translation: X:256.77, Y:-34.91, Z:-5.22 [[ 9.88112977e-01 1.53603736e-01 6.21581794e-03 2.56774391e+02] [-1.53600873e-01 9.88132527e-01 -9.38268755e-04 -3.49121144e+01] [-6.28617348e-03 -2.76395287e-05 9.99980241e-01 -5.21886501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92401273900003 meters 0.025593397307760217 Centerline is valid? [True, True] Translation: X:256.83, Y:-34.92, Z:-5.21 [[ 9.88273115e-01 1.52411024e-01 9.33438617e-03 2.56832549e+02] [-1.52404529e-01 9.88317195e-01 -1.40744938e-03 -3.49201616e+01] [-9.43984516e-03 -3.16583458e-05 9.99955443e-01 -5.21304780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98401273900004 meters 0.024875958801727976 Centerline is valid? [True, True] Translation: X:256.89, Y:-34.92, Z:-5.21 [[ 9.88167698e-01 1.52991834e-01 1.08673916e-02 2.56891918e+02] [-1.52983071e-01 9.88227452e-01 -1.63801564e-03 -3.49238704e+01] [-1.09900577e-02 -4.38928024e-05 9.99939607e-01 -5.20840181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044012739 meters 0.024931782570627514 Centerline is valid? [True, True] Translation: X:256.95, Y:-34.93, Z:-5.21 [[ 9.88223062e-01 1.52485692e-01 1.27786592e-02 2.56949233e+02] [-1.52473543e-01 9.88305677e-01 -1.92537041e-03 -3.49290118e+01] [-1.29228129e-02 -4.57120041e-05 9.99916496e-01 -5.21016578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104012739 meters 0.02459260138376532 Centerline is valid? [True, True] Translation: X:257.01, Y:-34.94, Z:-5.21 [[ 9.88396948e-01 1.51317390e-01 1.32106367e-02 2.57007100e+02] [-1.51304315e-01 9.88485228e-01 -1.98947015e-03 -3.49383602e+01] [-1.33595607e-02 -3.24401166e-05 9.99910757e-01 -5.21034808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164012739 meters 0.024927063098517895 Centerline is valid? [True, True] Translation: X:257.07, Y:-34.95, Z:-5.22 [[ 9.88407547e-01 1.51460027e-01 1.05062886e-02 2.57066174e+02] [-1.51451770e-01 9.88463383e-01 -1.58174255e-03 -3.49480328e+01] [-1.06246523e-02 -2.77897269e-05 9.99943556e-01 -5.21505802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224012739 meters 0.025775299145571886 Centerline is valid? [True, True] Translation: X:257.13, Y:-34.95, Z:-5.21 [[ 9.87725104e-01 1.55764571e-01 1.16840687e-02 2.57125665e+02] [-1.55754661e-01 9.87794205e-01 -1.75892627e-03 -3.49466489e+01] [-1.18154337e-02 -8.25125243e-05 9.99930192e-01 -5.21144603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284012739 meters 0.030050076771915485 Centerline is valid? [True, True] Translation: X:257.19, Y:-34.94, Z:-5.21 [[ 9.86506631e-01 1.63257819e-01 1.23106136e-02 2.57186781e+02] [-1.63247412e-01 9.86583423e-01 -1.85242529e-03 -3.49416312e+01] [-1.24478703e-02 -1.82245976e-04 9.99922506e-01 -5.21157762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344012739 meters 0.033478042798564006 Centerline is valid? [True, True] Translation: X:257.25, Y:-34.94, Z:-5.21 [[ 9.85824186e-01 1.67402196e-01 1.12773914e-02 2.57247206e+02] [-1.67393734e-01 9.85888664e-01 -1.69682980e-03 -3.49389560e+01] [-1.14023054e-02 -2.14988807e-04 9.99934968e-01 -5.21480518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404012739 meters 0.040817789036047165 Centerline is valid? [True, True] Translation: X:257.31, Y:-34.93, Z:-5.22 [[ 9.85581934e-01 1.68947067e-01 9.22715435e-03 2.57306869e+02] [-1.68941470e-01 9.85625107e-01 -1.38839650e-03 -3.49306356e+01] [-9.32908051e-03 -1.90470512e-04 9.99956465e-01 -5.22475700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464012739 meters 0.0355249120504206 Centerline is valid? [True, True] Translation: X:257.37, Y:-34.93, Z:-5.22 [[ 9.85493785e-01 1.69527622e-01 7.89847786e-03 2.57366063e+02] [-1.69523542e-01 9.85525422e-01 -1.18805850e-03 -3.49331749e+01] [-7.98555946e-03 -1.68153677e-04 9.99968101e-01 -5.22347886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524012739 meters 0.03183561062960473 Centerline is valid? [True, True] Translation: X:257.42, Y:-34.94, Z:-5.22 [[ 9.86181430e-01 1.65324613e-01 1.06752208e-02 2.57424702e+02] [-1.65316926e-01 9.86239190e-01 -1.60464387e-03 -3.49449341e+01] [-1.07936082e-02 -1.82324702e-04 9.99941731e-01 -5.21893865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584012739 meters 0.024540485684350882 Centerline is valid? [True, True] Translation: X:257.48, Y:-34.97, Z:-5.21 [[ 9.88020028e-01 1.53737034e-01 1.34665762e-02 2.57481633e+02] [-1.53723730e-01 9.88111795e-01 -2.02369739e-03 -3.49713159e+01] [-1.36176000e-02 -7.06787662e-05 9.99907274e-01 -5.21351373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644012739 meters 0.02420182777331131 Centerline is valid? [True, True] Translation: X:257.54, Y:-34.99, Z:-5.22 [[ 9.89222648e-01 1.45829633e-01 1.31251881e-02 2.57537242e+02] [-1.45816296e-01 9.89309717e-01 -1.97258938e-03 -3.49910573e+01] [-1.32725381e-02 3.74637821e-05 9.99911915e-01 -5.21708742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704012739 meters 0.026340155355955353 Centerline is valid? [True, True] Translation: X:257.59, Y:-35.01, Z:-5.22 [[ 9.90142676e-01 1.39470958e-01 1.28581689e-02 2.57594859e+02] [-1.39457635e-01 9.90226155e-01 -1.93141565e-03 -3.50113573e+01] [-1.30018715e-02 1.19207238e-04 9.99915465e-01 -5.21719675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764012739 meters 0.028258953214260026 Centerline is valid? [True, True] Translation: X:257.65, Y:-35.03, Z:-5.22 [[ 9.90600881e-01 1.36135351e-01 1.33064431e-02 2.57652799e+02] [-1.36120787e-01 9.90690233e-01 -1.99842676e-03 -3.50283293e+01] [-1.34546198e-02 1.68359802e-04 9.99909468e-01 -5.21637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824012739 meters 0.026274992563818208 Centerline is valid? [True, True] Translation: X:257.71, Y:-35.04, Z:-5.22 [[ 9.90389051e-01 1.37681841e-01 1.31620164e-02 2.57713200e+02] [-1.37667734e-01 9.90476496e-01 -1.97619148e-03 -3.50368195e+01] [-1.33087536e-02 1.45213424e-04 9.99911424e-01 -5.21733360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884012739 meters 0.026522073233788773 Centerline is valid? [True, True] Translation: X:257.77, Y:-35.05, Z:-5.22 [[ 9.90329262e-01 1.38001550e-01 1.42662355e-02 2.57771792e+02] [-1.37985008e-01 9.90432001e-01 -2.14215654e-03 -3.50495871e+01] [-1.44253571e-02 1.52913695e-04 9.99895937e-01 -5.21702568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944012739 meters 0.028941075664328325 Centerline is valid? [True, True] Translation: X:257.83, Y:-35.07, Z:-5.22 [[ 9.90924581e-01 1.33538557e-01 1.53599526e-02 2.57830018e+02] [-1.33518842e-01 9.91043591e-01 -2.30653126e-03 -3.50711925e+01] [-1.55303934e-02 2.34755443e-04 9.99879369e-01 -5.21582486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004012739 meters 0.032324332094789555 Centerline is valid? [True, True] Translation: X:257.89, Y:-35.09, Z:-5.22 [[ 9.91416611e-01 1.29996558e-01 1.39282965e-02 2.57888856e+02] [-1.29980000e-01 9.91514410e-01 -2.09138871e-03 -3.50901726e+01] [-1.40819800e-02 2.63037535e-04 9.99900809e-01 -5.22017253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064012739 meters 0.029440197475643887 Centerline is valid? [True, True] Translation: X:257.95, Y:-35.10, Z:-5.22 [[ 9.91187768e-01 1.31883086e-01 1.23959922e-02 2.57950583e+02] [-1.31870100e-01 9.91265256e-01 -1.86269846e-03 -3.50981155e+01] [-1.25333748e-02 2.11623192e-04 9.99921432e-01 -5.22336335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124012739 meters 0.03160532295434689 Centerline is valid? [True, True] Translation: X:258.01, Y:-35.10, Z:-5.21 [[ 9.90464932e-01 1.37150759e-01 1.29956818e-02 2.58011681e+02] [-1.37136893e-01 9.90550173e-01 -1.95642853e-03 -3.51025924e+01] [-1.31412005e-02 1.55586432e-04 9.99913639e-01 -5.20806123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184012739 meters 0.02687193286466293 Centerline is valid? [True, True] Translation: X:258.07, Y:-35.12, Z:-5.23 [[ 9.90434596e-01 1.37367473e-01 1.30187656e-02 2.58071072e+02] [-1.37353588e-01 9.90520143e-01 -1.95896962e-03 -3.51195470e+01] [-1.31644483e-02 1.52057103e-04 9.99913333e-01 -5.22550387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244012739 meters 0.02803943621137644 Centerline is valid? [True, True] Translation: X:258.13, Y:-35.14, Z:-5.23 [[ 9.90680258e-01 1.35594743e-01 1.29109361e-02 2.58130692e+02] [-1.35580909e-01 9.90764369e-01 -1.94482370e-03 -3.51392233e+01] [-1.30554033e-02 1.76221993e-04 9.99914759e-01 -5.22735043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30401273900003 meters 0.02708627268351607 Centerline is valid? [True, True] Translation: X:258.19, Y:-35.15, Z:-5.23 [[ 9.90381807e-01 1.37748148e-01 1.30124291e-02 2.58190281e+02] [-1.37734251e-01 9.90467276e-01 -1.96244619e-03 -3.51525408e+01] [-1.31587085e-02 1.51313833e-04 9.99913409e-01 -5.22778176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36401273900003 meters 0.025256716614579684 Centerline is valid? [True, True] Translation: X:258.25, Y:-35.16, Z:-5.23 [[ 9.89815569e-01 1.41833211e-01 1.21852081e-02 2.58251940e+02] [-1.41821300e-01 9.89890565e-01 -1.84045083e-03 -3.51560601e+01] [-1.23230596e-02 9.35848239e-05 9.99924064e-01 -5.23069263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42401273900003 meters 0.023706667827418308 Centerline is valid? [True, True] Translation: X:258.31, Y:-35.15, Z:-5.23 [[ 9.88707215e-01 1.49294174e-01 1.30112277e-02 2.58311519e+02] [-1.49281231e-01 9.88792824e-01 -1.96586802e-03 -3.51517675e+01] [-1.31589012e-02 1.33580580e-06 9.99913418e-01 -5.23167334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48401273900004 meters 0.029131057677631706 Centerline is valid? [True, True] Translation: X:258.37, Y:-35.15, Z:-5.22 [[ 9.88263502e-01 1.52264551e-01 1.22782846e-02 2.58370194e+02] [-1.52253253e-01 9.88339772e-01 -1.85514213e-03 -3.51543080e+01] [-1.24175894e-02 -3.60395171e-05 9.99922898e-01 -5.22088455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544012739 meters 0.023238057181526717 Centerline is valid? [True, True] Translation: X:258.43, Y:-35.17, Z:-5.23 [[ 9.88767662e-01 1.48679829e-01 1.52584011e-02 2.58428944e+02] [-1.48661971e-01 9.88885387e-01 -2.30434543e-03 -3.51663367e+01] [-1.54314196e-02 1.01182580e-05 9.99880929e-01 -5.22853538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604012739 meters 0.023863885004506924 Centerline is valid? [True, True] Translation: X:258.49, Y:-35.18, Z:-5.23 [[ 9.89307480e-01 1.45091953e-01 1.47998546e-02 2.58487567e+02] [-1.45074759e-01 9.89418173e-01 -2.23455273e-03 -3.51830497e+01] [-1.49674607e-02 6.35743955e-05 9.99887979e-01 -5.23197270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664012739 meters 0.024025417419182897 Centerline is valid? [True, True] Translation: X:258.55, Y:-35.20, Z:-5.23 [[ 9.89414028e-01 1.44404520e-01 1.43950249e-02 2.58548010e+02] [-1.44388180e-01 9.89518736e-01 -2.17352801e-03 -3.51963040e+01] [-1.45580142e-02 7.20476548e-05 9.99894024e-01 -5.23251227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724012739 meters 0.023271986199885093 Centerline is valid? [True, True] Translation: X:258.61, Y:-35.20, Z:-5.23 [[ 9.88861225e-01 1.48100585e-01 1.48220605e-02 2.58608431e+02] [-1.48083668e-01 9.88972303e-01 -2.23849973e-03 -3.51996291e+01] [-1.49901305e-02 1.86604867e-05 9.99887642e-01 -5.23156184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784012739 meters 0.023101847488981135 Centerline is valid? [True, True] Translation: X:258.67, Y:-35.21, Z:-5.23 [[ 9.88254554e-01 1.51964765e-01 1.61135236e-02 2.58668361e+02] [-1.51945285e-01 9.88385911e-01 -2.43354277e-03 -3.52067165e+01] [-1.62961925e-02 -4.34142170e-05 9.99867207e-01 -5.23103411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844012739 meters 0.023961611416173752 Centerline is valid? [True, True] Translation: X:258.73, Y:-35.21, Z:-5.24 [[ 9.87992651e-01 1.53902148e-01 1.35885744e-02 2.58726869e+02] [-1.53888482e-01 9.88086092e-01 -2.05196777e-03 -3.52137830e+01] [-1.37424836e-02 -6.37960064e-05 9.99905566e-01 -5.23567527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904012739 meters 0.02456303480283082 Centerline is valid? [True, True] Translation: X:258.79, Y:-35.22, Z:-5.23 [[ 9.87508881e-01 1.56725741e-01 1.62250665e-02 2.58786449e+02] [-1.56706621e-01 9.87642155e-01 -2.45108327e-03 -3.52167601e+01] [-1.64087075e-02 -1.22108849e-04 9.99865361e-01 -5.23258510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964012739 meters 0.025114912163037528 Centerline is valid? [True, True] Translation: X:258.85, Y:-35.22, Z:-5.23 [[ 9.87204274e-01 1.58408893e-01 1.82850662e-02 2.58846322e+02] [-1.58384907e-01 9.87373584e-01 -2.76178023e-03 -3.52218066e+01] [-1.84916819e-02 -1.69637259e-04 9.99829000e-01 -5.22984994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024012739 meters 0.02545850908736698 Centerline is valid? [True, True] Translation: X:258.91, Y:-35.23, Z:-5.23 [[ 9.87098670e-01 1.59107411e-01 1.79177929e-02 2.58905923e+02] [-1.59084501e-01 9.87261262e-01 -2.70588804e-03 -3.52294942e+01] [-1.81200697e-02 -1.79464663e-04 9.99835802e-01 -5.23143779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084012739 meters 0.02386365597036985 Centerline is valid? [True, True] Translation: X:258.97, Y:-35.24, Z:-5.23 [[ 9.87604829e-01 1.55956583e-01 1.77269915e-02 2.58965538e+02] [-1.55933660e-01 9.87763904e-01 -2.67659198e-03 -3.52398899e+01] [-1.79275144e-02 -1.20819489e-04 9.99839282e-01 -5.23281228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144012739 meters 0.023279580208808315 Centerline is valid? [True, True] Translation: X:259.03, Y:-35.25, Z:-5.24 [[ 9.88121275e-01 1.52785923e-01 1.65168615e-02 2.59025444e+02] [-1.52765580e-01 9.88259307e-01 -2.49387490e-03 -3.52510613e+01] [-1.67039711e-02 -5.89570834e-05 9.99860477e-01 -5.23617258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204012739 meters 0.023242435619021767 Centerline is valid? [True, True] Translation: X:259.08, Y:-35.26, Z:-5.24 [[ 9.88898475e-01 1.47895408e-01 1.43789691e-02 2.59084593e+02] [-1.47879474e-01 9.89003007e-01 -2.17100407e-03 -3.52620258e+01] [-1.45419252e-02 2.05482297e-05 9.99894260e-01 -5.24060967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264012739 meters 0.024149848390160784 Centerline is valid? [True, True] Translation: X:259.14, Y:-35.27, Z:-5.24 [[ 9.89489004e-01 1.43884131e-01 1.44522674e-02 2.59143962e+02] [-1.43867603e-01 9.89594538e-01 -2.18224960e-03 -3.52744174e+01] [-1.46158759e-02 8.00989178e-05 9.99893179e-01 -5.24115970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324012739 meters 0.0251479471213868 Centerline is valid? [True, True] Translation: X:259.20, Y:-35.29, Z:-5.24 [[ 9.89879919e-01 1.41161235e-01 1.45345204e-02 2.59204414e+02] [-1.41144224e-01 9.89986612e-01 -2.19477668e-03 -3.52853511e+01] [-1.46987980e-02 1.21101759e-04 9.99891959e-01 -5.24303318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384012739 meters 0.025868962595113513 Centerline is valid? [True, True] Translation: X:259.26, Y:-35.29, Z:-5.24 [[ 9.90070057e-01 1.39820178e-01 1.45464541e-02 2.59264848e+02] [-1.39802989e-01 9.90176902e-01 -2.19692771e-03 -3.52948257e+01] [-1.47107377e-02 1.41474570e-04 9.99891781e-01 -5.24421309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444012739 meters 0.027957749116157206 Centerline is valid? [True, True] Translation: X:259.32, Y:-35.31, Z:-5.24 [[ 9.90472949e-01 1.36916758e-01 1.47356142e-02 2.59324422e+02] [-1.36898798e-01 9.90582539e-01 -2.22550415e-03 -3.53102227e+01] [-1.49015509e-02 1.87013791e-04 9.99888948e-01 -5.24496631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504012739 meters 0.026438728710556594 Centerline is valid? [True, True] Translation: X:259.39, Y:-35.31, Z:-5.25 [[ 9.90411804e-01 1.37380712e-01 1.45258114e-02 2.59386431e+02] [-1.37363299e-01 9.90518303e-01 -2.19453096e-03 -3.53142032e+01] [-1.46895683e-02 1.78175996e-04 9.99892087e-01 -5.24512705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564012739 meters 0.027239061317040947 Centerline is valid? [True, True] Translation: X:259.45, Y:-35.33, Z:-5.24 [[ 9.90308260e-01 1.37993228e-01 1.57295950e-02 2.59446260e+02] [-1.37972831e-01 9.90433155e-01 -2.37980062e-03 -3.53264500e+01] [-1.59075088e-02 1.86479445e-04 9.99873450e-01 -5.24480013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624012739 meters 0.027277578189569315 Centerline is valid? [True, True] Translation: X:259.51, Y:-35.34, Z:-5.24 [[ 9.90407073e-01 1.37020804e-01 1.78642119e-02 2.59507416e+02] [-1.36994303e-01 9.90568143e-01 -2.70463578e-03 -3.53369594e+01] [-1.80663106e-02 2.31395137e-04 9.99836764e-01 -5.24132785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684012739 meters 0.027754751774043185 Centerline is valid? [True, True] Translation: X:259.57, Y:-35.35, Z:-5.24 [[ 9.90712562e-01 1.34888475e-01 1.71382172e-02 2.59568565e+02] [-1.34863720e-01 9.90860752e-01 -2.59739187e-03 -3.53491486e+01] [-1.73319451e-02 2.61945035e-04 9.99849756e-01 -5.24454306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744012739 meters 0.03242595955126552 Centerline is valid? [True, True] Translation: X:259.63, Y:-35.37, Z:-5.25 [[ 9.91537306e-01 1.29027301e-01 1.43431531e-02 2.59625946e+02] [-1.29009310e-01 9.91640994e-01 -2.17642333e-03 -3.53686606e+01] [-1.45040766e-02 3.07604636e-04 9.99894763e-01 -5.25034316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80401273900003 meters 0.03392195672934451 Centerline is valid? [True, True] Translation: X:259.69, Y:-35.38, Z:-5.25 [[ 9.91720830e-01 1.27617485e-01 1.42678890e-02 2.59687012e+02] [-1.27599536e-01 9.91823407e-01 -2.16509521e-03 -3.53830733e+01] [-1.44275303e-02 3.26594002e-04 9.99895864e-01 -5.25102411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86401273900003 meters 0.03309854893358307 Centerline is valid? [True, True] Translation: X:259.75, Y:-35.39, Z:-5.25 [[ 9.91356203e-01 1.30074153e-01 1.71346006e-02 2.59747666e+02] [-1.30048562e-01 9.91504206e-01 -2.60416081e-03 -3.53902915e+01] [-1.73277626e-02 3.53320805e-04 9.99849801e-01 -5.24717962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92401273900003 meters 0.0287295045651519 Centerline is valid? [True, True] Translation: X:259.81, Y:-35.39, Z:-5.25 [[ 9.90635100e-01 1.35743714e-01 1.46881785e-02 2.59809873e+02] [-1.35725530e-01 9.90743961e-01 -2.23245036e-03 -3.53916693e+01] [-1.48552652e-02 2.17982875e-04 9.99889631e-01 -5.25307941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98401273900004 meters 0.026876960814917722 Centerline is valid? [True, True] Translation: X:259.87, Y:-35.39, Z:-5.25 [[ 9.90147588e-01 1.39243161e-01 1.48019162e-02 2.59871011e+02] [-1.39225081e-01 9.90258206e-01 -2.25006071e-03 -3.53944270e+01] [-1.49710246e-02 1.67094203e-04 9.99887914e-01 -5.25448129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044012739 meters 0.025323319862862733 Centerline is valid? [True, True] Translation: X:259.93, Y:-35.40, Z:-5.25 [[ 9.89879623e-01 1.40824949e-01 1.75118603e-02 2.59932067e+02] [-1.40799825e-01 9.90034496e-01 -2.66560307e-03 -3.54005034e+01] [-1.77127292e-02 1.72959298e-04 9.99843102e-01 -5.25015452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104012739 meters 0.025585713622278423 Centerline is valid? [True, True] Translation: X:259.99, Y:-35.41, Z:-5.26 [[ 9.89825767e-01 1.41432155e-01 1.55529949e-02 2.59993175e+02] [-1.41412415e-01 9.89947940e-01 -2.36730593e-03 -3.54120522e+01] [-1.57314684e-02 1.43833849e-04 9.99876242e-01 -5.25582257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164012739 meters 0.02512899659883956 Centerline is valid? [True, True] Translation: X:260.05, Y:-35.43, Z:-5.25 [[ 9.89772001e-01 1.41605550e-01 1.72989378e-02 2.60053877e+02] [-1.41581117e-01 9.89923150e-01 -2.63525734e-03 -3.54274245e+01] [-1.74977860e-02 1.59101007e-04 9.99846889e-01 -5.25345382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224012739 meters 0.025746926250238843 Centerline is valid? [True, True] Translation: X:260.11, Y:-35.45, Z:-5.26 [[ 9.89821773e-01 1.41622643e-01 1.39958494e-02 2.60113510e+02] [-1.41606627e-01 9.89920709e-01 -2.13380101e-03 -3.54467022e+01] [-1.41569757e-02 1.30177674e-04 9.99899777e-01 -5.26178626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284012739 meters 0.0237554353593932 Centerline is valid? [True, True] Translation: X:260.17, Y:-35.46, Z:-5.26 [[ 9.89011291e-01 1.47193956e-01 1.38060324e-02 2.60173529e+02] [-1.47178881e-01 9.89107647e-01 -2.10722037e-03 -3.54573961e+01] [-1.39658224e-02 5.21083321e-05 9.99902472e-01 -5.26127982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344012739 meters 0.023482756984362523 Centerline is valid? [True, True] Translation: X:260.23, Y:-35.46, Z:-5.26 [[ 9.87796950e-01 1.54932023e-01 1.59139324e-02 2.60234640e+02] [-1.54912937e-01 9.87925131e-01 -2.43254864e-03 -3.54606419e+01] [-1.60986534e-02 -6.24098916e-05 9.99870406e-01 -5.25967994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404012739 meters 0.024731847860649137 Centerline is valid? [True, True] Translation: X:260.30, Y:-35.47, Z:-5.26 [[ 9.87169288e-01 1.58860228e-01 1.61314857e-02 2.60295411e+02] [-1.58841144e-01 9.87301074e-01 -2.46570423e-03 -3.54683450e+01] [-1.63183355e-02 -1.28276146e-04 9.99866839e-01 -5.25958334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464012739 meters 0.02687507274652261 Centerline is valid? [True, True] Translation: X:260.36, Y:-35.47, Z:-5.26 [[ 9.86496604e-01 1.63066266e-01 1.52919594e-02 2.60355845e+02] [-1.63049614e-01 9.86615101e-01 -2.33783215e-03 -3.54707337e+01] [-1.54684997e-02 -1.87084609e-04 9.99880338e-01 -5.26096855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524012739 meters 0.026988883101215975 Centerline is valid? [True, True] Translation: X:260.41, Y:-35.48, Z:-5.27 [[ 9.86692407e-01 1.62073280e-01 1.30516514e-02 2.60414630e+02] [-1.62061062e-01 9.86778714e-01 -1.99546617e-03 -3.54815076e+01] [-1.32025035e-02 -1.46253171e-04 9.99912832e-01 -5.26746336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584012739 meters 0.023331907429939982 Centerline is valid? [True, True] Translation: X:260.47, Y:-35.50, Z:-5.27 [[ 9.88006601e-01 1.53730677e-01 1.44857226e-02 2.60472100e+02] [-1.53714732e-01 9.88112786e-01 -2.21438525e-03 -3.55036026e+01] [-1.46539467e-02 -3.88417377e-05 9.99892624e-01 -5.26660264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644012739 meters 0.024147133670743767 Centerline is valid? [True, True] Translation: X:260.53, Y:-35.53, Z:-5.27 [[ 9.89053178e-01 1.47001068e-01 1.28256327e-02 2.60531941e+02] [-1.46988015e-01 9.89136332e-01 -1.95962270e-03 -3.55262295e+01] [-1.29743659e-02 5.29567642e-05 9.99915828e-01 -5.26960534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704012739 meters 0.025222415844320237 Centerline is valid? [True, True] Translation: X:260.59, Y:-35.54, Z:-5.27 [[ 9.89527173e-01 1.43888871e-01 1.14876746e-02 2.60591759e+02] [-1.43878172e-01 9.89593849e-01 -1.75674995e-03 -3.55432800e+01] [-1.16209089e-02 8.55261877e-05 9.99932471e-01 -5.27227961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764012739 meters 0.02655918484310674 Centerline is valid? [True, True] Translation: X:260.65, Y:-35.57, Z:-5.26 [[ 9.89920854e-01 1.40599033e-01 1.69886459e-02 2.60651514e+02] [-1.40575073e-01 9.90066602e-01 -2.60234761e-03 -3.55662135e+01] [-1.71857784e-02 1.87938034e-04 9.99852296e-01 -5.26373490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824012739 meters 0.02597689148450853 Centerline is valid? [True, True] Translation: X:260.71, Y:-35.58, Z:-5.26 [[ 9.89825510e-01 1.41343108e-01 1.63580586e-02 2.60712741e+02] [-1.41320969e-01 9.89960654e-01 -2.50739025e-03 -3.55795723e+01] [-1.65482367e-02 1.70142148e-04 9.99863054e-01 -5.26450437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884012739 meters 0.023605350519642226 Centerline is valid? [True, True] Translation: X:260.78, Y:-35.58, Z:-5.26 [[ 9.89062306e-01 1.46560690e-01 1.66047763e-02 2.60776020e+02] [-1.46538553e-01 9.89201676e-01 -2.54874492e-03 -3.55806107e+01] [-1.67990183e-02 8.76276324e-05 9.99858883e-01 -5.26364804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944012739 meters 0.022714569936544967 Centerline is valid? [True, True] Translation: X:260.84, Y:-35.58, Z:-5.26 [[ 9.87991747e-01 1.53425160e-01 1.82490297e-02 2.60838466e+02] [-1.53399561e-01 9.88160270e-01 -2.80277894e-03 -3.55840622e+01] [-1.84629829e-02 -3.02706766e-05 9.99829544e-01 -5.26156032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004012739 meters 0.0231966898318103 Centerline is valid? [True, True] Translation: X:260.90, Y:-35.59, Z:-5.27 [[ 9.87651632e-01 1.55764786e-01 1.67804946e-02 2.60900270e+02] [-1.55743433e-01 9.87794173e-01 -2.57986224e-03 -3.55913322e+01] [-1.69775264e-02 -6.54466869e-05 9.99855869e-01 -5.26524538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064012739 meters 0.025668909154757884 Centerline is valid? [True, True] Translation: X:260.96, Y:-35.59, Z:-5.27 [[ 9.86600955e-01 1.62360904e-01 1.60465627e-02 2.60961913e+02] [-1.62342206e-01 9.86731427e-01 -2.46977887e-03 -3.55928318e+01] [-1.62346432e-02 -1.68348187e-04 9.99868195e-01 -5.26709493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124012739 meters 0.030338752279849453 Centerline is valid? [True, True] Translation: X:261.02, Y:-35.59, Z:-5.27 [[ 9.85374650e-01 1.69623872e-01 1.62647086e-02 2.61023788e+02] [-1.69605596e-01 9.85508832e-01 -2.50659646e-03 -3.55913664e+01] [-1.64541926e-02 -2.88648983e-04 9.99864579e-01 -5.26816248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184012739 meters 0.0323265571342711 Centerline is valid? [True, True] Translation: X:261.08, Y:-35.60, Z:-5.27 [[ 9.84937219e-01 1.72047415e-01 1.72731388e-02 2.61084130e+02] [-1.72027164e-01 9.85088608e-01 -2.66263549e-03 -3.55969207e+01] [-1.74736718e-02 -3.48920284e-04 9.99847263e-01 -5.26789491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244012739 meters 0.03504971765066894 Centerline is valid? [True, True] Translation: X:261.14, Y:-35.60, Z:-5.27 [[ 9.84013470e-01 1.77258657e-01 1.72296015e-02 2.61144596e+02] [-1.77239305e-01 9.84164201e-01 -2.65596152e-03 -3.55989691e+01] [-1.74275491e-02 -4.40260680e-04 9.99848032e-01 -5.26899299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30401273900003 meters 0.038412066691906194 Centerline is valid? [True, True] Translation: X:261.20, Y:-35.60, Z:-5.27 [[ 9.83753457e-01 1.78874531e-01 1.52655665e-02 2.61204000e+02] [-1.78859534e-01 9.83871806e-01 -2.35316278e-03 -3.55964096e+01] [-1.54402813e-02 -4.15460091e-04 9.99880705e-01 -5.27484152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36401273900003 meters 0.035547343092807396 Centerline is valid? [True, True] Translation: X:261.26, Y:-35.61, Z:-5.27 [[ 9.83979929e-01 1.77507110e-01 1.65748666e-02 2.61262478e+02] [-1.77489248e-01 9.84119425e-01 -2.55427046e-03 -3.56073500e+01] [-1.67650493e-02 -4.28509754e-04 9.99859365e-01 -5.27302848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42401273900003 meters 0.03213827267573448 Centerline is valid? [True, True] Translation: X:261.32, Y:-35.62, Z:-5.28 [[ 9.84994756e-01 1.71815440e-01 1.62722147e-02 2.61321374e+02] [-1.71797456e-01 9.85129102e-01 -2.50713916e-03 -3.56198240e+01] [-1.64609975e-02 -3.26006161e-04 9.99864455e-01 -5.27631130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48401273900004 meters 0.028813734590640464 Centerline is valid? [True, True] Translation: X:261.38, Y:-35.64, Z:-5.28 [[ 9.85880616e-01 1.66780258e-01 1.49585010e-02 2.61380380e+02] [-1.66764482e-01 9.85994065e-01 -2.30466599e-03 -3.56363268e+01] [-1.51333660e-02 -2.22421139e-04 9.99885459e-01 -5.27886384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544012739 meters 0.027131280849186534 Centerline is valid? [True, True] Translation: X:261.44, Y:-35.65, Z:-5.28 [[ 9.86339077e-01 1.63991472e-01 1.55570703e-02 2.61439194e+02] [-1.63974056e-01 9.86461739e-01 -2.39719492e-03 -3.56477295e+01] [-1.57395741e-02 -1.86508889e-04 9.99876108e-01 -5.27942490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604012739 meters 0.031090699058335045 Centerline is valid? [True, True] Translation: X:261.50, Y:-35.64, Z:-5.28 [[ 9.85289879e-01 1.70148996e-01 1.59114402e-02 2.61500734e+02] [-1.70131582e-01 9.85418304e-01 -2.45165723e-03 -3.56408532e+01] [-1.60965715e-02 -2.91445445e-04 9.99870399e-01 -5.27894694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664012739 meters 0.03730334657623885 Centerline is valid? [True, True] Translation: X:261.56, Y:-35.63, Z:-5.28 [[ 9.83974147e-01 1.77617173e-01 1.57168367e-02 2.61562907e+02] [-1.77601140e-01 9.84099575e-01 -2.42121658e-03 -3.56324298e+01] [-1.58969820e-02 -4.08913605e-04 9.99873551e-01 -5.28004817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724012739 meters 0.03834209241314302 Centerline is valid? [True, True] Translation: X:261.62, Y:-35.63, Z:-5.28 [[ 9.83968766e-01 1.77538570e-01 1.68974235e-02 2.61621094e+02] [-1.77520025e-01 9.84113746e-01 -2.60317183e-03 -3.56344084e+01] [-1.70911502e-02 -4.38191271e-04 9.99853840e-01 -5.28018043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784012739 meters 0.03523803993633877 Centerline is valid? [True, True] Translation: X:261.68, Y:-35.64, Z:-5.28 [[ 9.84437160e-01 1.75096020e-01 1.49954142e-02 2.61679308e+02] [-1.75081145e-01 9.84551299e-01 -2.30933927e-03 -3.56423310e+01] [-1.51681106e-02 -3.52014893e-04 9.99884896e-01 -5.28451674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844012739 meters 0.03412131204471148 Centerline is valid? [True, True] Translation: X:261.74, Y:-35.65, Z:-5.28 [[ 9.84960339e-01 1.71972916e-01 1.66866990e-02 2.61737325e+02] [-1.71954062e-01 9.85101620e-01 -2.56892614e-03 -3.56474269e+01] [-1.68798799e-02 -3.39055316e-04 9.99857467e-01 -5.28189024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904012739 meters 0.03068652218151807 Centerline is valid? [True, True] Translation: X:261.80, Y:-35.66, Z:-5.28 [[ 9.85502995e-01 1.68799132e-01 1.70499177e-02 2.61795933e+02] [-1.68778991e-01 9.85650429e-01 -2.62382765e-03 -3.56571947e+01] [-1.72481585e-02 -2.91877894e-04 9.99851197e-01 -5.28179469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964012739 meters 0.03184960283220779 Centerline is valid? [True, True] Translation: X:261.85, Y:-35.66, Z:-5.28 [[ 9.85317110e-01 1.69853272e-01 1.73221834e-02 2.61854685e+02] [-1.69832665e-01 9.85469312e-01 -2.66463108e-03 -3.56564446e+01] [-1.75230765e-02 -3.16365976e-04 9.99846409e-01 -5.28208531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024012739 meters 0.03229443207407111 Centerline is valid? [True, True] Translation: X:261.91, Y:-35.66, Z:-5.28 [[ 9.85183567e-01 1.70327990e-01 2.00428448e-02 2.61913939e+02] [-1.70300525e-01 9.85387352e-01 -3.08178201e-03 -3.56583655e+01] [-2.02748795e-02 -3.77185997e-04 9.99794372e-01 -5.27788527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084012739 meters 0.03113590859635617 Centerline is valid? [True, True] Translation: X:261.97, Y:-35.67, Z:-5.29 [[ 9.85601060e-01 1.68271930e-01 1.65864025e-02 2.61971106e+02] [-1.68252840e-01 9.85740575e-01 -2.54975211e-03 -3.56671320e+01] [-1.67789416e-02 -2.77670942e-04 9.99859185e-01 -5.28706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144012739 meters 0.0302045069386366 Centerline is valid? [True, True] Translation: X:262.03, Y:-35.67, Z:-5.29 [[ 9.85801947e-01 1.67034962e-01 1.71418582e-02 2.62029701e+02] [-1.67014403e-01 9.85950937e-01 -2.63408298e-03 -3.56749423e+01] [-1.73410151e-02 -2.66253081e-04 9.99849598e-01 -5.28659985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204012739 meters 0.030386375632960882 Centerline is valid? [True, True] Translation: X:262.09, Y:-35.68, Z:-5.29 [[ 9.85438110e-01 1.69139708e-01 1.74209573e-02 2.62088117e+02] [-1.69118818e-01 9.85592037e-01 -2.67617026e-03 -3.56808568e+01] [-1.76226035e-02 -3.09011544e-04 9.99844662e-01 -5.28696152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264012739 meters 0.03391162950367914 Centerline is valid? [True, True] Translation: X:262.15, Y:-35.68, Z:-5.29 [[ 9.84762050e-01 1.73116558e-01 1.65638705e-02 2.62147514e+02] [-1.73098247e-01 9.84901277e-01 -2.54374588e-03 -3.56760338e+01] [-1.67541418e-02 -3.62192545e-04 9.99859574e-01 -5.28889169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324012739 meters 0.03708110764710223 Centerline is valid? [True, True] Translation: X:262.21, Y:-35.67, Z:-5.29 [[ 9.84149083e-01 1.76430333e-01 1.79699604e-02 2.62208471e+02] [-1.76409351e-01 9.84313025e-01 -2.75867824e-03 -3.56721295e+01] [-1.81747806e-02 -4.55118389e-04 9.99834721e-01 -5.28749479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384012739 meters 0.038440003305969285 Centerline is valid? [True, True] Translation: X:262.27, Y:-35.67, Z:-5.29 [[ 9.84073747e-01 1.76950626e-01 1.69509799e-02 2.62266500e+02] [-1.76932037e-01 9.84219632e-01 -2.60202591e-03 -3.56711588e+01] [-1.71439174e-02 -4.38586029e-04 9.99852936e-01 -5.29225158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444012739 meters 0.03325076594416085 Centerline is valid? [True, True] Translation: X:262.33, Y:-35.68, Z:-5.29 [[ 9.85132612e-01 1.70869688e-01 1.78125635e-02 2.62325250e+02] [-1.70848193e-01 9.85293574e-01 -2.73283631e-03 -3.56786419e+01] [-1.80175633e-02 -3.51038119e-04 9.99837609e-01 -5.29280605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504012739 meters 0.028774635118184465 Centerline is valid? [True, True] Translation: X:262.38, Y:-35.69, Z:-5.29 [[ 9.86055433e-01 1.65399018e-01 1.83806434e-02 2.62384154e+02] [-1.65375187e-01 9.86226697e-01 -2.81956681e-03 -3.56928252e+01] [-1.85938348e-02 -2.59453176e-04 9.99827086e-01 -5.29309005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564012739 meters 0.024140460771497216 Centerline is valid? [True, True] Translation: X:262.44, Y:-35.71, Z:-5.30 [[ 9.87235686e-01 1.58357402e-01 1.69892134e-02 2.62441467e+02] [-1.58336006e-01 9.87381851e-01 -2.60571492e-03 -3.57061929e+01] [-1.71874753e-02 -1.17549438e-04 9.99852278e-01 -5.29755982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624012739 meters 0.022991726061144895 Centerline is valid? [True, True] Translation: X:262.50, Y:-35.72, Z:-5.30 [[ 9.88735931e-01 1.48596647e-01 1.78967694e-02 2.62497438e+02] [-1.48571320e-01 9.88897888e-01 -2.74398515e-03 -3.57242284e+01] [-1.81058244e-02 5.41300661e-05 9.99836075e-01 -5.29633885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684012739 meters 0.024795937684700085 Centerline is valid? [True, True] Translation: X:262.55, Y:-35.74, Z:-5.30 [[ 9.89436552e-01 1.43992622e-01 1.67760158e-02 2.62553584e+02] [-1.43969722e-01 9.89578753e-01 -2.57117285e-03 -3.57394497e+01] [-1.69714187e-02 1.28774076e-04 9.99855967e-01 -5.29967433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744012739 meters 0.027812494545287655 Centerline is valid? [True, True] Translation: X:262.61, Y:-35.76, Z:-5.30 [[ 9.90088656e-01 1.39516948e-01 1.61082116e-02 2.62611375e+02] [-1.39495259e-01 9.90219664e-01 -2.46780425e-03 -3.57550816e+01] [-1.62949684e-02 1.96325842e-04 9.99867209e-01 -5.30301806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80401273900003 meters 0.03342093752303806 Centerline is valid? [True, True] Translation: X:262.67, Y:-35.78, Z:-5.30 [[ 9.90952457e-01 1.33225560e-01 1.62535413e-02 2.62667570e+02] [-1.33202637e-01 9.91085697e-01 -2.48970331e-03 -3.57779538e+01] [-1.64403444e-02 3.02163049e-04 9.99864803e-01 -5.30380838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86401273900003 meters 0.034240534017426626 Centerline is valid? [True, True] Translation: X:262.73, Y:-35.79, Z:-5.31 [[ 9.91518955e-01 1.29157800e-01 1.44369430e-02 2.62726911e+02] [-1.29139291e-01 9.91623999e-01 -2.21097524e-03 -3.57931739e+01] [-1.46015838e-02 3.27847285e-04 9.99893337e-01 -5.30729994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92401273900003 meters 0.04058078949300927 Centerline is valid? [True, True] Translation: X:262.79, Y:-35.81, Z:-5.29 [[ 9.91854774e-01 1.26441311e-01 1.53851297e-02 2.62785727e+02] [-1.26419960e-01 9.91974012e-01 -2.35638391e-03 -3.58134100e+01] [-1.55595931e-02 3.92203153e-04 9.99878865e-01 -5.29239951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98401273900004 meters 0.035105823655225174 Centerline is valid? [True, True] Translation: X:262.84, Y:-35.83, Z:-5.30 [[ 9.91523722e-01 1.28644788e-01 1.81996198e-02 2.62843565e+02] [-1.28615277e-01 9.91690647e-01 -2.78771738e-03 -3.58314087e+01] [-1.84070181e-02 4.23338768e-04 9.99830487e-01 -5.30461835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044012739 meters 0.04132626290812865 Centerline is valid? [True, True] Translation: X:262.90, Y:-35.84, Z:-5.29 [[ 9.90903135e-01 1.33652816e-01 1.57448787e-02 2.62903892e+02] [-1.33631359e-01 9.91028175e-01 -2.41182051e-03 -3.58399782e+01] [-1.59259650e-02 2.85870959e-04 9.99873133e-01 -5.29163304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104012739 meters 0.026159289748515918 Centerline is valid? [True, True] Translation: X:262.96, Y:-35.84, Z:-5.31 [[ 9.90048078e-01 1.39742881e-01 1.66352374e-02 2.62964693e+02] [-1.39719779e-01 9.90187804e-01 -2.54869916e-03 -3.58403504e+01] [-1.68281718e-02 1.99063017e-04 9.99858376e-01 -5.30824919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164012739 meters 0.02252750529389892 Centerline is valid? [True, True] Translation: X:263.03, Y:-35.83, Z:-5.30 [[ 9.88223069e-01 1.51796056e-01 1.93164148e-02 2.63026569e+02] [-1.51767204e-01 9.88411836e-01 -2.95950698e-03 -3.58307775e+01] [-1.95418145e-02 -6.94518592e-06 9.99809040e-01 -5.30415638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224012739 meters 0.025371016660536736 Centerline is valid? [True, True] Translation: X:263.09, Y:-35.82, Z:-5.30 [[ 9.86493709e-01 1.62631749e-01 1.95211525e-02 2.63087908e+02] [-1.62604408e-01 9.86686811e-01 -2.99039896e-03 -3.58213054e+01] [-1.97475975e-02 -2.24215686e-04 9.99804972e-01 -5.30451069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284012739 meters 0.02651150964148325 Centerline is valid? [True, True] Translation: X:263.15, Y:-35.82, Z:-5.31 [[ 9.86226545e-01 1.64264829e-01 1.93460283e-02 2.63147492e+02] [-1.64238305e-01 9.86416241e-01 -2.96285808e-03 -3.58225915e+01] [-1.95699299e-02 -2.55309605e-04 9.99808458e-01 -5.30677815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344012739 meters 0.02684907289721674 Centerline is valid? [True, True] Translation: X:263.21, Y:-35.83, Z:-5.31 [[ 9.86220148e-01 1.64392766e-01 1.85698420e-02 2.63205790e+02] [-1.64368367e-01 9.86394929e-01 -2.84309263e-03 -3.58297368e+01] [-1.87845819e-02 -2.48379377e-04 9.99823523e-01 -5.30986111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404012739 meters 0.03062793884927402 Centerline is valid? [True, True] Translation: X:263.27, Y:-35.82, Z:-5.32 [[ 9.85617465e-01 1.68307430e-01 1.51927889e-02 2.63265983e+02] [-1.68291573e-01 9.85734517e-01 -2.32541656e-03 -3.58233079e+01] [-1.53674413e-02 -2.64847165e-04 9.99881879e-01 -5.31714336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464012739 meters 0.032801990726148984 Centerline is valid? [True, True] Translation: X:263.33, Y:-35.82, Z:-5.32 [[ 9.85039714e-01 1.71577133e-01 1.60638883e-02 2.63326450e+02] [-1.71559851e-01 9.85170633e-01 -2.45805327e-03 -3.58219435e+01] [-1.62474168e-02 -3.34638196e-04 9.99867946e-01 -5.31654819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524012739 meters 0.03105338983253082 Centerline is valid? [True, True] Translation: X:263.39, Y:-35.83, Z:-5.32 [[ 9.85365161e-01 1.69594334e-01 1.71248964e-02 2.63385593e+02] [-1.69574402e-01 9.85513906e-01 -2.61999382e-03 -3.58281349e+01] [-1.73211596e-02 -3.22293422e-04 9.99849926e-01 -5.31746388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584012739 meters 0.027434215346762856 Centerline is valid? [True, True] Translation: X:263.44, Y:-35.84, Z:-5.32 [[ 9.86256136e-01 1.64323390e-01 1.72237391e-02 2.63443693e+02] [-1.64302434e-01 9.86406493e-01 -2.63444051e-03 -3.58397511e+01] [-1.74225083e-02 -2.31669143e-04 9.99848190e-01 -5.31780146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644012739 meters 0.025366581858051192 Centerline is valid? [True, True] Translation: X:263.50, Y:-35.85, Z:-5.32 [[ 9.86777675e-01 1.61030000e-01 1.84162838e-02 2.63502353e+02] [-1.61005476e-01 9.86949494e-01 -2.81638525e-03 -3.58483363e+01] [-1.86294645e-02 -1.85976457e-04 9.99826439e-01 -5.31670090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704012739 meters 0.023998066224258617 Centerline is valid? [True, True] Translation: X:263.56, Y:-35.86, Z:-5.32 [[ 9.87136949e-01 1.58674580e-01 1.95709121e-02 2.63560609e+02] [-1.58646437e-01 9.87330925e-01 -2.99221385e-03 -3.58603511e+01] [-1.97977551e-02 -1.51130628e-04 9.99803994e-01 -5.31514342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764012739 meters 0.0229882381133268 Centerline is valid? [True, True] Translation: X:263.62, Y:-35.87, Z:-5.32 [[ 9.87554729e-01 1.56050301e-01 1.95949168e-02 2.63617896e+02] [-1.56021585e-01 9.87749105e-01 -2.99519948e-03 -3.58707432e+01] [-1.98222633e-02 -9.93065663e-05 9.99803515e-01 -5.31606465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824012739 meters 0.02243592930496943 Centerline is valid? [True, True] Translation: X:263.68, Y:-35.88, Z:-5.32 [[ 9.87827174e-01 1.54297754e-01 1.97402451e-02 2.63675223e+02] [-1.54268285e-01 9.88024392e-01 -3.01623928e-03 -3.58826727e+01] [-1.99692426e-02 -6.57706166e-05 9.99800593e-01 -5.31719942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884012739 meters 0.022080846152026015 Centerline is valid? [True, True] Translation: X:263.73, Y:-35.90, Z:-5.32 [[ 9.88524334e-01 1.49738023e-01 1.99540961e-02 2.63732119e+02] [-1.49707001e-01 9.88725707e-01 -3.04798484e-03 -3.59015974e+01] [-2.01855270e-02 2.57393112e-05 9.99796251e-01 -5.31783597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944012739 meters 0.022937040061968172 Centerline is valid? [True, True] Translation: X:263.79, Y:-35.92, Z:-5.32 [[ 9.89299148e-01 1.44292509e-01 2.16071162e-02 2.63788915e+02] [-1.44254857e-01 9.89535068e-01 -3.29941050e-03 -3.59209102e+01] [-2.18570794e-02 1.47172542e-04 9.99761095e-01 -5.31652190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004012739 meters 0.03816032232450471 Centerline is valid? [True, True] Translation: X:263.84, Y:-35.96, Z:-5.30 [[ 9.90828200e-01 1.33554097e-01 2.05616489e-02 2.63844813e+02] [-1.33517705e-01 9.91041457e-01 -3.13881405e-03 -3.59554157e+01] [-2.07966480e-02 3.64681295e-04 9.99783660e-01 -5.30492852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064012739 meters 0.03484637156622591 Centerline is valid? [True, True] Translation: X:263.90, Y:-35.99, Z:-5.32 [[ 9.91767999e-01 1.26483905e-01 1.99514085e-02 2.63901798e+02] [-1.26448211e-01 9.91968535e-01 -3.04565213e-03 -3.59864573e+01] [-2.01763954e-02 4.97760402e-04 9.99796312e-01 -5.32138649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124012739 meters 0.038762033684499125 Centerline is valid? [True, True] Translation: X:263.96, Y:-36.02, Z:-5.32 [[ 9.91732938e-01 1.26767585e-01 1.98936675e-02 2.63960509e+02] [-1.26732146e-01 9.91932325e-01 -3.03725112e-03 -3.60151713e+01] [-2.01181969e-02 4.90974793e-04 9.99797488e-01 -5.32192304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184012739 meters 0.03653930954486888 Centerline is valid? [True, True] Translation: X:264.02, Y:-36.03, Z:-5.33 [[ 9.91412724e-01 1.29767109e-01 1.61649991e-02 2.64020351e+02] [-1.29744063e-01 9.91544438e-01 -2.47077271e-03 -3.60306992e+01] [-1.63489400e-02 3.52242838e-04 9.99866285e-01 -5.33154468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244012739 meters 0.030298660340639987 Centerline is valid? [True, True] Translation: X:264.08, Y:-36.04, Z:-5.33 [[ 9.90904977e-01 1.33313002e-01 1.83021775e-02 2.64082176e+02] [-1.33284051e-01 9.91073929e-01 -2.79807617e-03 -3.60364588e+01] [-1.85118309e-02 3.33239247e-04 9.99828586e-01 -5.32785439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30401273900003 meters 0.026661410559428774 Centerline is valid? [True, True] Translation: X:264.14, Y:-36.05, Z:-5.33 [[ 9.90205168e-01 1.38540308e-01 1.73294250e-02 2.64142602e+02] [-1.38515136e-01 9.90356770e-01 -2.65031057e-03 -3.60455805e+01] [-1.75294882e-02 2.23963552e-04 9.99846322e-01 -5.33066571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36401273900003 meters 0.026318308242288174 Centerline is valid? [True, True] Translation: X:264.20, Y:-36.06, Z:-5.33 [[ 9.89903356e-01 1.40597045e-01 1.79949202e-02 2.64202146e+02] [-1.40570239e-01 9.90066883e-01 -2.75224871e-03 -3.60627492e+01] [-1.82031326e-02 1.94909997e-04 9.99834290e-01 -5.33092902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42401273900003 meters 0.025132845588947465 Centerline is valid? [True, True] Translation: X:264.26, Y:-36.08, Z:-5.33 [[ 9.89713694e-01 1.41400394e-01 2.17424376e-02 2.64263260e+02] [-1.41361366e-01 9.89952463e-01 -3.32937305e-03 -3.60783715e+01] [-2.19947543e-02 2.21585430e-04 9.99758062e-01 -5.32520015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48401273900004 meters 0.03224617616060691 Centerline is valid? [True, True] Translation: X:264.32, Y:-36.10, Z:-5.32 [[ 9.89721992e-01 1.41898206e-01 1.77560617e-02 2.64323889e+02] [-1.41872218e-01 9.89881240e-01 -2.72115672e-03 -3.60966969e+01] [-1.79625196e-02 1.74096788e-04 9.99838646e-01 -5.32231065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544012739 meters 0.022817403411913274 Centerline is valid? [True, True] Translation: X:264.39, Y:-36.10, Z:-5.33 [[ 9.89000660e-01 1.46857912e-01 1.76195563e-02 2.64385626e+02] [-1.46833052e-01 9.89157594e-01 -2.70343588e-03 -3.61033448e+01] [-1.78255389e-02 8.65666378e-05 9.99841109e-01 -5.33379574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604012739 meters 0.022546391117601188 Centerline is valid? [True, True] Translation: X:264.45, Y:-36.10, Z:-5.34 [[ 9.87705135e-01 1.55431087e-01 1.67255230e-02 2.64447764e+02] [-1.55409859e-01 9.87846736e-01 -2.56947587e-03 -3.61005753e+01] [-1.69216297e-02 -6.14266667e-05 9.99856817e-01 -5.33649560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664012739 meters 0.02440816524169692 Centerline is valid? [True, True] Translation: X:264.51, Y:-36.10, Z:-5.34 [[ 9.86937540e-01 1.60265961e-01 1.64046776e-02 2.64507392e+02] [-1.60246202e-01 9.87073858e-01 -2.52053835e-03 -3.61004339e+01] [-1.65965849e-02 -1.41173352e-04 9.99862257e-01 -5.33925858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724012739 meters 0.026651437594047565 Centerline is valid? [True, True] Translation: X:264.57, Y:-36.10, Z:-5.34 [[ 9.85996944e-01 1.65720004e-01 1.86254429e-02 2.64568420e+02] [-1.65695487e-01 9.86172810e-01 -2.86264631e-03 -3.60987326e+01] [-1.88423031e-02 -2.63591320e-04 9.99822433e-01 -5.33577841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784012739 meters 0.02741101911248922 Centerline is valid? [True, True] Translation: X:264.63, Y:-36.10, Z:-5.34 [[ 9.85913798e-01 1.66202950e-01 1.87233337e-02 2.64627304e+02] [-1.66178271e-01 9.86091529e-01 -2.87722206e-03 -3.60989521e+01] [-1.89411236e-02 -2.74718286e-04 9.99820563e-01 -5.33641658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844012739 meters 0.02834761372794341 Centerline is valid? [True, True] Translation: X:264.69, Y:-36.10, Z:-5.34 [[ 9.85766607e-01 1.67050956e-01 1.89255053e-02 2.64686503e+02] [-1.67025906e-01 9.85948219e-01 -2.90780523e-03 -3.60986153e+01] [-1.91453199e-02 -2.94632374e-04 9.99816668e-01 -5.33765261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904012739 meters 0.029404565822453564 Centerline is valid? [True, True] Translation: X:264.74, Y:-36.10, Z:-5.34 [[ 9.85600491e-01 1.67906516e-01 1.99768291e-02 2.64744985e+02] [-1.67878802e-01 9.85802867e-01 -3.06831448e-03 -3.60975310e+01] [-2.02084054e-02 -3.29553875e-04 9.99795735e-01 -5.33597804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964012739 meters 0.02701987120935165 Centerline is valid? [True, True] Translation: X:264.80, Y:-36.10, Z:-5.34 [[ 9.85996781e-01 1.65608805e-01 1.95977214e-02 2.64803585e+02] [-1.65581703e-01 9.86191486e-01 -3.00892017e-03 -3.61043923e+01] [-1.98254096e-02 -2.78238466e-04 9.99803419e-01 -5.33910369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024012739 meters 0.02585888675855772 Centerline is valid? [True, True] Translation: X:264.86, Y:-36.11, Z:-5.34 [[ 9.86440578e-01 1.63207484e-01 1.72714882e-02 2.64861979e+02] [-1.63186078e-01 9.86591747e-01 -2.65102541e-03 -3.61118267e+01] [-1.74725749e-02 -2.03387389e-04 9.99847322e-01 -5.34312464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084012739 meters 0.02644495972201374 Centerline is valid? [True, True] Translation: X:264.92, Y:-36.12, Z:-5.35 [[ 9.86619934e-01 1.62241686e-01 1.60854599e-02 2.64919761e+02] [-1.62223002e-01 9.86751035e-01 -2.46831952e-03 -3.61169029e+01] [-1.62728086e-02 -1.74138360e-04 9.99867574e-01 -5.34685772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144012739 meters 0.025295322181973806 Centerline is valid? [True, True] Translation: X:264.98, Y:-36.12, Z:-5.34 [[ 9.86639534e-01 1.61877760e-01 1.83853256e-02 2.64978183e+02] [-1.61853314e-01 9.86810799e-01 -2.81981826e-03 -3.61223115e+01] [-1.85993037e-02 -1.93581704e-04 9.99826999e-01 -5.34330639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204012739 meters 0.02631216613507194 Centerline is valid? [True, True] Translation: X:265.04, Y:-36.12, Z:-5.34 [[ 9.86278228e-01 1.63776757e-01 2.07949644e-02 2.65038001e+02] [-1.63745929e-01 9.86497393e-01 -3.18824314e-03 -3.61200182e+01] [-2.10363383e-02 -2.60595962e-04 9.99778678e-01 -5.33982725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264012739 meters 0.02604468673597526 Centerline is valid? [True, True] Translation: X:265.09, Y:-36.13, Z:-5.34 [[ 9.86442449e-01 1.62848362e-01 2.02905548e-02 2.65094826e+02] [-1.62818835e-01 9.86651081e-01 -3.10994467e-03 -3.61281519e+01] [-2.05261473e-02 -2.35903059e-04 9.99789289e-01 -5.34221785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324012739 meters 0.022959552664472884 Centerline is valid? [True, True] Translation: X:265.15, Y:-36.15, Z:-5.35 [[ 9.87661004e-01 1.55691389e-01 1.69095532e-02 2.65152210e+02] [-1.55669848e-01 9.87805743e-01 -2.59080996e-03 -3.61451630e+01] [-1.71067205e-02 -7.34656101e-05 9.99853667e-01 -5.35094282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384012739 meters 0.022570378519806707 Centerline is valid? [True, True] Translation: X:265.21, Y:-36.16, Z:-5.35 [[ 9.88319112e-01 1.51585311e-01 1.57234576e-02 2.65210188e+02] [-1.51566170e-01 9.88444178e-01 -2.40883964e-03 -3.61574672e+01] [-1.59069049e-02 -2.44200325e-06 9.99873477e-01 -5.35175496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444012739 meters 0.022491904552258496 Centerline is valid? [True, True] Translation: X:265.27, Y:-36.17, Z:-5.35 [[ 9.88408506e-01 1.50954245e-01 1.61691668e-02 2.65267457e+02] [-1.50933933e-01 9.88540751e-01 -2.47632087e-03 -3.61669167e+01] [-1.63576914e-02 7.14067864e-06 9.99866204e-01 -5.35299525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504012739 meters 0.022639235779177265 Centerline is valid? [True, True] Translation: X:265.33, Y:-36.18, Z:-5.36 [[ 9.88605897e-01 1.49649718e-01 1.62278022e-02 2.65325077e+02] [-1.49629099e-01 9.88739076e-01 -2.48421840e-03 -3.61800524e+01] [-1.64168247e-02 2.77615369e-05 9.99865234e-01 -5.35531373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564012739 meters 0.02269380169126551 Centerline is valid? [True, True] Translation: X:265.38, Y:-36.19, Z:-5.36 [[ 9.88373314e-01 1.51283935e-01 1.52106012e-02 2.65383600e+02] [-1.51266025e-01 9.88490349e-01 -2.32782547e-03 -3.61889799e+01] [-1.53876951e-02 -8.66034570e-08 9.99881602e-01 -5.35807873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624012739 meters 0.023408101368531248 Centerline is valid? [True, True] Translation: X:265.44, Y:-36.19, Z:-5.36 [[ 9.87698633e-01 1.55653555e-01 1.49459174e-02 2.65442765e+02] [-1.55636773e-01 9.87811706e-01 -2.28661798e-03 -3.61938507e+01] [-1.51196723e-02 -6.76448919e-05 9.99885689e-01 -5.35841267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684012739 meters 0.025464989305143314 Centerline is valid? [True, True] Translation: X:265.50, Y:-36.19, Z:-5.36 [[ 9.86732789e-01 1.61424173e-01 1.73389347e-02 2.65502715e+02] [-1.61402493e-01 9.86885101e-01 -2.65175402e-03 -3.61924338e+01] [-1.75395935e-02 -1.81974649e-04 9.99846153e-01 -5.35553072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744012739 meters 0.025367432530086668 Centerline is valid? [True, True] Translation: X:265.56, Y:-36.20, Z:-5.36 [[ 9.86648006e-01 1.61937296e-01 1.73788770e-02 2.65560966e+02] [-1.61915610e-01 9.86801031e-01 -2.65703174e-03 -3.62022353e+01] [-1.75797663e-02 -1.92356411e-04 9.99845445e-01 -5.35639196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80401273900003 meters 0.02363002770147601 Centerline is valid? [True, True] Translation: X:265.62, Y:-36.22, Z:-5.36 [[ 9.87456796e-01 1.57097045e-01 1.57985841e-02 2.65616765e+02] [-1.57078515e-01 9.87583166e-01 -2.41477735e-03 -3.62173672e+01] [-1.59817701e-02 -9.71298298e-05 9.99872279e-01 -5.36058979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86401273900003 meters 0.02292265310022806 Centerline is valid? [True, True] Translation: X:265.67, Y:-36.23, Z:-5.36 [[ 9.87698804e-01 1.55377843e-01 1.75726853e-02 2.65674396e+02] [-1.55354668e-01 9.87855111e-01 -2.68468634e-03 -3.62296226e+01] [-1.77764078e-02 -7.83371956e-05 9.99841984e-01 -5.35897690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92401273900003 meters 0.02244749542152632 Centerline is valid? [True, True] Translation: X:265.73, Y:-36.24, Z:-5.36 [[ 9.88316196e-01 1.51494032e-01 1.67527396e-02 2.65730976e+02] [-1.51472423e-01 9.88458172e-01 -2.55868581e-03 -3.62443734e+01] [-1.69470080e-02 -8.78744380e-06 9.99856389e-01 -5.36092958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98401273900004 meters 0.02312348481032278 Centerline is valid? [True, True] Translation: X:265.79, Y:-36.26, Z:-5.37 [[ 9.89086151e-01 1.46567794e-01 1.50488579e-02 2.65788466e+02] [-1.46549803e-01 9.89200625e-01 -2.29741160e-03 -3.62646255e+01] [-1.52230662e-02 6.69308407e-05 9.99884120e-01 -5.36541284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044012739 meters 0.025605964030154846 Centerline is valid? [True, True] Translation: X:265.85, Y:-36.29, Z:-5.37 [[ 9.89932398e-01 1.40837295e-01 1.40962152e-02 2.65845645e+02] [-1.40820932e-01 9.90032745e-01 -2.15166909e-03 -3.62887720e+01] [-1.42587499e-02 1.44964769e-04 9.99898328e-01 -5.36833696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104012739 meters 0.025921916815929737 Centerline is valid? [True, True] Translation: X:265.91, Y:-36.30, Z:-5.37 [[ 9.90207810e-01 1.38807590e-01 1.48642783e-02 2.65905453e+02] [-1.38789165e-01 9.90319352e-01 -2.26903345e-03 -3.63036091e+01] [-1.50353415e-02 1.83813863e-04 9.99886946e-01 -5.36688490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164012739 meters 0.027612917607704277 Centerline is valid? [True, True] Translation: X:265.96, Y:-36.32, Z:-5.37 [[ 9.90280775e-01 1.38186326e-01 1.57647262e-02 2.65964618e+02] [-1.38165526e-01 9.90406228e-01 -2.40630264e-03 -3.63233714e+01] [-1.59460011e-02 2.04773567e-04 9.99872833e-01 -5.36784253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224012739 meters 0.028296527298785148 Centerline is valid? [True, True] Translation: X:266.02, Y:-36.34, Z:-5.37 [[ 9.90599945e-01 1.35892712e-01 1.56499243e-02 2.66024730e+02] [-1.35871888e-01 9.90723530e-01 -2.39125124e-03 -3.63420789e+01] [-1.58297019e-02 2.42388590e-04 9.99874673e-01 -5.36788008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284012739 meters 0.02880462304087269 Centerline is valid? [True, True] Translation: X:266.08, Y:-36.36, Z:-5.37 [[ 9.90857626e-01 1.33996992e-01 1.56834714e-02 2.66084252e+02] [-1.33975799e-01 9.90981700e-01 -2.39899375e-03 -3.63625332e+01] [-1.58634911e-02 2.75855640e-04 9.99874129e-01 -5.36874143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344012739 meters 0.030709071456645854 Centerline is valid? [True, True] Translation: X:266.14, Y:-36.38, Z:-5.37 [[ 9.91094449e-01 1.32154528e-01 1.63393095e-02 2.66143160e+02] [-1.32131225e-01 9.91229074e-01 -2.50239713e-03 -3.63818210e+01] [-1.65267017e-02 3.21178936e-04 9.99863373e-01 -5.36894298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404012739 meters 0.03393544625297041 Centerline is valid? [True, True] Translation: X:266.20, Y:-36.41, Z:-5.37 [[ 9.91167184e-01 1.31691739e-01 1.56492680e-02 2.66201062e+02] [-1.31670266e-01 9.91290666e-01 -2.39914617e-03 -3.64097407e+01] [-1.58289210e-02 3.17411681e-04 9.99874664e-01 -5.37181047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464012739 meters 0.031017868044386488 Centerline is valid? [True, True] Translation: X:266.26, Y:-36.43, Z:-5.37 [[ 9.91174436e-01 1.31689309e-01 1.52040314e-02 2.66261962e+02] [-1.31669008e-01 9.91290991e-01 -2.33297344e-03 -3.64259381e+01] [-1.53788470e-02 3.10483905e-04 9.99881690e-01 -5.37244116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524012739 meters 0.03130853145610022 Centerline is valid? [True, True] Translation: X:266.32, Y:-36.44, Z:-5.37 [[ 9.90845958e-01 1.33951737e-01 1.67696337e-02 2.66321226e+02] [-1.33927297e-01 9.90987809e-01 -2.57711554e-03 -3.64445858e+01] [-1.69637116e-02 3.07612808e-04 9.99856059e-01 -5.36936719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584012739 meters 0.02712140253771152 Centerline is valid? [True, True] Translation: X:266.38, Y:-36.45, Z:-5.37 [[ 9.90288261e-01 1.37975948e-01 1.70820772e-02 2.66382294e+02] [-1.37951131e-01 9.90435549e-01 -2.62838060e-03 -3.64514018e+01] [-1.72813498e-02 2.46362595e-04 9.99850636e-01 -5.36959449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644012739 meters 0.024530731910421384 Centerline is valid? [True, True] Translation: X:266.44, Y:-36.46, Z:-5.38 [[ 9.89512845e-01 1.43786929e-01 1.37712856e-02 2.66443476e+02] [-1.43771372e-01 9.89608663e-01 -2.11821846e-03 -3.64593891e+01] [-1.39327556e-02 1.16087750e-04 9.99902928e-01 -5.37772758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704012739 meters 0.02477469170354365 Centerline is valid? [True, True] Translation: X:266.50, Y:-36.47, Z:-5.37 [[ 9.89541678e-01 1.43479183e-01 1.48657611e-02 2.66503921e+02] [-1.43460973e-01 9.89653326e-01 -2.28975605e-03 -3.64734409e+01] [-1.50404822e-02 1.33152501e-04 9.99886877e-01 -5.37486063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764012739 meters 0.024160315076435852 Centerline is valid? [True, True] Translation: X:266.56, Y:-36.49, Z:-5.37 [[ 9.89372361e-01 1.44537770e-01 1.58481364e-02 2.66564749e+02] [-1.44517178e-01 9.89499276e-01 -2.44301207e-03 -3.64858271e+01] [-1.60348270e-02 1.26720661e-04 9.99871426e-01 -5.37432173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824012739 meters 0.023007474206419024 Centerline is valid? [True, True] Translation: X:266.63, Y:-36.49, Z:-5.38 [[ 9.88776433e-01 1.48526655e-01 1.61554487e-02 2.66625591e+02] [-1.48505740e-01 9.88908402e-01 -2.49333383e-03 -3.64910909e+01] [-1.63465855e-02 6.61728650e-05 9.99866383e-01 -5.37569975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884012739 meters 0.02333183341053457 Centerline is valid? [True, True] Translation: X:266.69, Y:-36.49, Z:-5.38 [[ 9.87661037e-01 1.56080841e-01 1.28236563e-02 2.66686997e+02] [-1.56068282e-01 9.87744283e-01 -1.98054028e-03 -3.64941162e+01] [-1.29756176e-02 -4.52635308e-05 9.99915812e-01 -5.38240220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944012739 meters 0.023850319155862533 Centerline is valid? [True, True] Translation: X:266.75, Y:-36.50, Z:-5.38 [[ 9.87253496e-01 1.58592912e-01 1.33724344e-02 2.66749909e+02] [-1.58579458e-01 9.87344055e-01 -2.06728902e-03 -3.65016448e+01] [-1.35310509e-02 -7.96550741e-05 9.99908448e-01 -5.38284421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004012739 meters 0.02514787446245131 Centerline is valid? [True, True] Translation: X:266.81, Y:-36.50, Z:-5.38 [[ 9.86633335e-01 1.62247392e-01 1.51804834e-02 2.66811677e+02] [-1.62230424e-01 9.86750102e-01 -2.35078889e-03 -3.65031261e+01] [-1.53607529e-02 -1.43369581e-04 9.99882006e-01 -5.37935719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064012739 meters 0.02798837544012785 Centerline is valid? [True, True] Translation: X:266.87, Y:-36.50, Z:-5.38 [[ 9.85787888e-01 1.67267227e-01 1.56177867e-02 2.66874604e+02] [-1.67249868e-01 9.85911570e-01 -2.42034879e-03 -3.64996968e+01] [-1.58026016e-02 -2.26122236e-04 9.99875106e-01 -5.37856752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124012739 meters 0.029658482919934784 Centerline is valid? [True, True] Translation: X:266.94, Y:-36.50, Z:-5.38 [[ 9.85424458e-01 1.69345013e-01 1.61525081e-02 2.66935839e+02] [-1.69326716e-01 9.85556794e-01 -2.50371337e-03 -3.64992748e+01] [-1.63432055e-02 -2.67830760e-04 9.99866405e-01 -5.37910342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184012739 meters 0.02981107985253939 Centerline is valid? [True, True] Translation: X:266.99, Y:-36.51, Z:-5.38 [[ 9.85500995e-01 1.68958957e-01 1.55131854e-02 2.66994512e+02] [-1.68942031e-01 9.85623056e-01 -2.40467046e-03 -3.65068203e+01] [-1.56964438e-02 -2.51023912e-04 9.99876772e-01 -5.38151746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244012739 meters 0.02940743179487404 Centerline is valid? [True, True] Translation: X:267.05, Y:-36.51, Z:-5.38 [[ 9.85675851e-01 1.67990612e-01 1.49087534e-02 2.67054175e+02] [-1.67974871e-01 9.85788569e-01 -2.31081230e-03 -3.65100318e+01] [-1.50850735e-02 -2.26584042e-04 9.99886188e-01 -5.38339597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30401273900003 meters 0.02810924086629458 Centerline is valid? [True, True] Translation: X:267.11, Y:-36.51, Z:-5.38 [[ 9.85631467e-01 1.68030533e-01 1.72148572e-02 2.67114127e+02] [-1.68009555e-01 9.85781756e-01 -2.66805564e-03 -3.65131125e+01] [-1.74184070e-02 -2.62540898e-04 9.99848254e-01 -5.37900397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36401273900003 meters 0.026709357181954232 Centerline is valid? [True, True] Translation: X:267.18, Y:-36.51, Z:-5.38 [[ 9.85749020e-01 1.67072876e-01 1.96347793e-02 2.67175702e+02] [-1.67045406e-01 9.85944509e-01 -3.04254596e-03 -3.65141763e+01] [-1.98671298e-02 -2.80712986e-04 9.99802590e-01 -5.37583303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42401273900003 meters 0.023478395384154565 Centerline is valid? [True, True] Translation: X:267.23, Y:-36.53, Z:-5.38 [[ 9.87143627e-01 1.59026048e-01 1.60678744e-02 2.67234373e+02] [-1.59006586e-01 9.87274383e-01 -2.48977729e-03 -3.65269442e+01] [-1.62593403e-02 -9.71300643e-05 9.99867803e-01 -5.38336714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48401273900004 meters 0.024000755294977853 Centerline is valid? [True, True] Translation: X:267.29, Y:-36.55, Z:-5.38 [[ 9.89183623e-01 1.45697248e-01 1.69726950e-02 2.67292624e+02] [-1.45673571e-01 9.89329215e-01 -2.62973911e-03 -3.65502677e+01] [-1.71747288e-02 1.28821770e-04 9.99852495e-01 -5.38213960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544012739 meters 0.028749581082432724 Centerline is valid? [True, True] Translation: X:267.35, Y:-36.57, Z:-5.38 [[ 9.90483994e-01 1.36358718e-01 1.86482757e-02 2.67351573e+02] [-1.36328412e-01 9.90659475e-01 -2.89280891e-03 -3.65719889e+01] [-1.88685507e-02 3.22991110e-04 9.99821921e-01 -5.37946929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604012739 meters 0.0317196579477051 Centerline is valid? [True, True] Translation: X:267.41, Y:-36.58, Z:-5.38 [[ 9.90992690e-01 1.32469309e-01 1.96308421e-02 2.67412816e+02] [-1.32434952e-01 9.91187019e-01 -3.04572548e-03 -3.65849769e+01] [-1.98613010e-02 4.18482049e-04 9.99802657e-01 -5.37863950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664012739 meters 0.028802766184689174 Centerline is valid? [True, True] Translation: X:267.47, Y:-36.59, Z:-5.38 [[ 9.90405139e-01 1.36910554e-01 1.87926001e-02 2.67472442e+02] [-1.36879850e-01 9.90583364e-01 -2.91659827e-03 -3.65934362e+01] [-1.90149501e-02 3.16285633e-04 9.99819149e-01 -5.38078216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724012739 meters 0.025098890278300354 Centerline is valid? [True, True] Translation: X:267.53, Y:-36.59, Z:-5.38 [[ 9.89716168e-01 1.41737826e-01 1.92949604e-02 2.67534726e+02] [-1.41706370e-01 9.89904205e-01 -2.99479268e-03 -3.65931043e+01] [-1.95246378e-02 2.29775946e-04 9.99809350e-01 -5.38196136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784012739 meters 0.02261411376815925 Centerline is valid? [True, True] Translation: X:267.60, Y:-36.59, Z:-5.39 [[ 9.88750172e-01 1.48476156e-01 1.81087844e-02 2.67596428e+02] [-1.48449576e-01 9.88915984e-01 -2.81081997e-03 -3.65945080e+01] [-1.83254061e-02 9.09573714e-05 9.99832072e-01 -5.38560147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844012739 meters 0.022138202637147376 Centerline is valid? [True, True] Translation: X:267.66, Y:-36.60, Z:-5.39 [[ 9.88206851e-01 1.52301843e-01 1.58545752e-02 2.67658145e+02] [-1.52281926e-01 9.88334027e-01 -2.46309162e-03 -3.65974079e+01] [-1.60447495e-02 1.96787680e-05 9.99871275e-01 -5.39115030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904012739 meters 0.022783055965632418 Centerline is valid? [True, True] Translation: X:267.72, Y:-36.59, Z:-5.39 [[ 9.87334630e-01 1.57928757e-01 1.51273109e-02 2.67717771e+02] [-1.57911236e-01 9.87450507e-01 -2.35326313e-03 -3.65946250e+01] [-1.53091187e-02 -6.53141892e-05 9.99882806e-01 -5.39295136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964012739 meters 0.02532739195566256 Centerline is valid? [True, True] Translation: X:267.78, Y:-36.59, Z:-5.39 [[ 9.86204670e-01 1.64718468e-01 1.63760393e-02 2.67778926e+02] [-1.64698879e-01 9.86340606e-01 -2.54702558e-03 -3.65884972e+01] [-1.65718947e-02 -1.85226793e-04 9.99862660e-01 -5.39111663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024012739 meters 0.026809908368246784 Centerline is valid? [True, True] Translation: X:267.84, Y:-36.59, Z:-5.39 [[ 9.85816094e-01 1.66738039e-01 1.91063981e-02 2.67837403e+02] [-1.66711761e-01 9.86001197e-01 -2.97118408e-03 -3.65879083e+01] [-1.93343408e-02 -2.56220195e-04 9.99813041e-01 -5.38747271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084012739 meters 0.025805992229264055 Centerline is valid? [True, True] Translation: X:267.90, Y:-36.59, Z:-5.39 [[ 9.86016868e-01 1.65662694e-01 1.80722812e-02 2.67896556e+02] [-1.65639025e-01 9.86182449e-01 -2.80917480e-03 -3.65907754e+01] [-1.82879420e-02 -2.23581302e-04 9.99832737e-01 -5.38962722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144012739 meters 0.025968823992311728 Centerline is valid? [True, True] Translation: X:267.96, Y:-36.59, Z:-5.39 [[ 9.85956015e-01 1.66011730e-01 1.81890614e-02 2.67955237e+02] [-1.65987831e-01 9.86123751e-01 -2.82643852e-03 -3.65938428e+01] [-1.84058874e-02 -2.32418776e-04 9.99830570e-01 -5.39014952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204012739 meters 0.030389094394201722 Centerline is valid? [True, True] Translation: X:268.02, Y:-36.58, Z:-5.39 [[ 9.85325254e-01 1.69456921e-01 2.04571472e-02 2.68015199e+02] [-1.69427454e-01 9.85537538e-01 -3.17776284e-03 -3.65848255e+01] [-2.06997804e-02 -3.34872391e-04 9.99785681e-01 -5.38569565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264012739 meters 0.029316721634049005 Centerline is valid? [True, True] Translation: X:268.07, Y:-36.59, Z:-5.39 [[ 9.85120591e-01 1.70525939e-01 2.14085177e-02 2.68074173e+02] [-1.70493948e-01 9.85353116e-01 -3.32421869e-03 -3.65871485e+01] [-2.16618152e-02 -3.75266429e-04 9.99765285e-01 -5.38600818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324012739 meters 0.026374717691357488 Centerline is valid? [True, True] Translation: X:268.13, Y:-36.60, Z:-5.39 [[ 9.85889437e-01 1.66006456e-01 2.15377295e-02 2.68131710e+02] [-1.65973021e-01 9.86124626e-01 -3.34324843e-03 -3.65955148e+01] [-2.17938863e-02 -2.78608721e-04 9.99762446e-01 -5.38681618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384012739 meters 0.02424504502497698 Centerline is valid? [True, True] Translation: X:268.19, Y:-36.60, Z:-5.39 [[ 9.86416855e-01 1.62880565e-01 2.12534604e-02 2.68190809e+02] [-1.62847302e-01 9.86645771e-01 -3.29814153e-03 -3.66008286e+01] [-2.15068400e-02 -2.07726304e-04 9.99768680e-01 -5.38886895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444012739 meters 0.0239783395624629 Centerline is valid? [True, True] Translation: X:268.25, Y:-36.60, Z:-5.40 [[ 9.86587027e-01 1.62183386e-01 1.85090997e-02 2.68249665e+02] [-1.62158048e-01 9.86760620e-01 -2.87171576e-03 -3.66036262e+01] [-1.87297953e-02 -1.68201955e-04 9.99824568e-01 -5.39509192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504012739 meters 0.022367224733194156 Centerline is valid? [True, True] Translation: X:268.31, Y:-36.61, Z:-5.40 [[ 9.87280999e-01 1.57828869e-01 1.91383437e-02 2.68308234e+02] [-1.57800979e-01 9.87466475e-01 -2.96836082e-03 -3.66134470e+01] [-1.93669658e-02 -8.94431302e-05 9.99812439e-01 -5.39505680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564012739 meters 0.02249700811300748 Centerline is valid? [True, True] Translation: X:268.37, Y:-36.62, Z:-5.40 [[ 9.87428804e-01 1.57125029e-01 1.72070366e-02 2.68365511e+02] [-1.57102385e-01 9.87578716e-01 -2.66833225e-03 -3.66199562e+01] [-1.74125649e-02 -6.84783738e-05 9.99848387e-01 -5.39918061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624012739 meters 0.023215964762791034 Centerline is valid? [True, True] Translation: X:268.42, Y:-36.62, Z:-5.40 [[ 9.87102952e-01 1.59227491e-01 1.65640553e-02 2.68424917e+02] [-1.59206821e-01 9.87241913e-01 -2.56763754e-03 -3.66218497e+01] [-1.67615681e-02 -1.02587983e-04 9.99859510e-01 -5.40160373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684012739 meters 0.022729529303184955 Centerline is valid? [True, True] Translation: X:268.48, Y:-36.63, Z:-5.40 [[ 9.87390914e-01 1.57443693e-01 1.64519482e-02 2.68483221e+02] [-1.57423064e-01 9.87527963e-01 -2.54961590e-03 -3.66326330e+01] [-1.66481798e-02 -7.24485210e-05 9.99861407e-01 -5.40349322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744012739 meters 0.021940099306881265 Centerline is valid? [True, True] Translation: X:268.54, Y:-36.65, Z:-5.40 [[ 9.88091149e-01 1.52800747e-01 1.81055975e-02 2.68539158e+02] [-1.52775016e-01 9.88257017e-01 -2.80408934e-03 -3.66495894e+01] [-1.83214507e-02 4.61291639e-06 9.99832148e-01 -5.40069404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80401273900003 meters 0.022504427549911134 Centerline is valid? [True, True] Translation: X:268.60, Y:-36.66, Z:-5.41 [[ 9.88482349e-01 1.50579196e-01 1.51178979e-02 2.68596811e+02] [-1.50561008e-01 9.88597949e-01 -2.34059351e-03 -3.66632363e+01] [-1.52979676e-02 3.74694108e-05 9.99882979e-01 -5.40687510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86401273900003 meters 0.022338357120834002 Centerline is valid? [True, True] Translation: X:268.65, Y:-36.68, Z:-5.40 [[ 9.88650544e-01 1.49122742e-01 1.82348436e-02 2.68653442e+02] [-1.49096053e-01 9.88818691e-01 -2.82208679e-03 -3.66757787e+01] [-1.84517915e-02 7.13144269e-05 9.99829749e-01 -5.40195980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92401273900003 meters 0.022690284433210344 Centerline is valid? [True, True] Translation: X:268.71, Y:-36.69, Z:-5.40 [[ 9.88842325e-01 1.47848781e-01 1.82097167e-02 2.68711016e+02] [-1.47821971e-01 9.89009974e-01 -2.81706455e-03 -3.66875478e+01] [-1.84260910e-02 9.38364431e-05 9.99830221e-01 -5.40372670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98401273900004 meters 0.024020386706581597 Centerline is valid? [True, True] Translation: X:268.77, Y:-36.71, Z:-5.40 [[ 9.89341345e-01 1.44422169e-01 1.85994514e-02 2.68767169e+02] [-1.44393610e-01 9.89516150e-01 -2.87640905e-03 -3.67059710e+01] [-1.88198747e-02 1.60108465e-04 9.99822878e-01 -5.40461385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044012739 meters 0.026420866974423363 Centerline is valid? [True, True] Translation: X:268.82, Y:-36.72, Z:-5.40 [[ 9.89905804e-01 1.40251240e-01 2.03982502e-02 2.68824497e+02] [-1.40216017e-01 9.90115913e-01 -3.15396045e-03 -3.67225920e+01] [-2.06389790e-02 2.61962363e-04 9.99786959e-01 -5.40211661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104012739 meters 0.028421849703515738 Centerline is valid? [True, True] Translation: X:268.88, Y:-36.74, Z:-5.40 [[ 9.90431110e-01 1.36449973e-01 2.06790160e-02 2.68883392e+02] [-1.36412931e-01 9.90646902e-01 -3.19803955e-03 -3.67385266e+01] [-2.09219755e-02 3.46552690e-04 9.99781051e-01 -5.40288071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164012739 meters 0.03061510894344122 Centerline is valid? [True, True] Translation: X:268.94, Y:-36.76, Z:-5.40 [[ 9.90767885e-01 1.34034172e-01 2.03430228e-02 2.68943011e+02] [-1.33997814e-01 9.90976633e-01 -3.14609941e-03 -3.67599476e+01] [-2.05811451e-02 3.91133668e-04 9.99788109e-01 -5.40167256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224012739 meters 0.0330602861361635 Centerline is valid? [True, True] Translation: X:269.00, Y:-36.78, Z:-5.41 [[ 9.90944976e-01 1.32872533e-01 1.93117971e-02 2.69001134e+02] [-1.32839485e-01 9.91133055e-01 -2.98981733e-03 -3.67820745e+01] [-1.95378251e-02 3.97375266e-04 9.99809040e-01 -5.40701102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284012739 meters 0.0316832373062482 Centerline is valid? [True, True] Translation: X:269.06, Y:-36.80, Z:-5.41 [[ 9.90839373e-01 1.33611197e-01 1.96312010e-02 2.69061039e+02] [-1.33577129e-01 9.91033750e-01 -3.04245290e-03 -3.67991454e+01] [-1.98616885e-02 3.92302656e-04 9.99802660e-01 -5.40857735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344012739 meters 0.02638263713724987 Centerline is valid? [True, True] Translation: X:269.12, Y:-36.80, Z:-5.41 [[ 9.90003043e-01 1.39802776e-01 1.86857983e-02 2.69122370e+02] [-1.39772953e-01 9.90179336e-01 -2.89905646e-03 -3.68047060e+01] [-1.89075875e-02 2.58305513e-04 9.99821202e-01 -5.41020384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404012739 meters 0.02243359685808022 Centerline is valid? [True, True] Translation: X:269.18, Y:-36.81, Z:-5.41 [[ 9.88714769e-01 1.48549194e-01 1.93969509e-02 2.69182766e+02] [-1.48518728e-01 9.88905015e-01 -3.00990658e-03 -3.68067668e+01] [-1.96288612e-02 9.51286147e-05 9.99807331e-01 -5.41031212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464012739 meters 0.02212619423228429 Centerline is valid? [True, True] Translation: X:269.24, Y:-36.82, Z:-5.41 [[ 9.88149504e-01 1.52281430e-01 1.92593907e-02 2.69241612e+02] [-1.52252103e-01 9.88337172e-01 -2.98857234e-03 -3.68161953e+01] [-1.94898758e-02 2.08735260e-05 9.99810054e-01 -5.41251497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524012739 meters 0.022212377782946234 Centerline is valid? [True, True] Translation: X:269.30, Y:-36.83, Z:-5.41 [[ 9.88381493e-01 1.50795750e-01 1.90438007e-02 2.69300482e+02] [-1.50766804e-01 9.88564939e-01 -2.95487717e-03 -3.68305803e+01] [-1.92716166e-02 4.93729459e-05 9.99814284e-01 -5.41364225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584012739 meters 0.023116080602508103 Centerline is valid? [True, True] Translation: X:269.36, Y:-36.85, Z:-5.41 [[ 9.88913053e-01 1.47089810e-01 2.03853205e-02 2.69360123e+02] [-1.47055854e-01 9.89123132e-01 -3.16305897e-03 -3.68519719e+01] [-2.06288458e-02 1.30209602e-04 9.99787194e-01 -5.41369512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644012739 meters 0.023997894445049694 Centerline is valid? [True, True] Translation: X:269.42, Y:-36.87, Z:-5.41 [[ 9.89034131e-01 1.46127006e-01 2.14099273e-02 2.69419240e+02] [-1.46089243e-01 9.89265825e-01 -3.32584632e-03 -3.68682086e+01] [-2.16661054e-02 1.61615455e-04 9.99765249e-01 -5.41197843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704012739 meters 0.022773592175679064 Centerline is valid? [True, True] Translation: X:269.48, Y:-36.87, Z:-5.42 [[ 9.88681324e-01 1.48708720e-01 1.98734896e-02 2.69481548e+02] [-1.48676646e-01 9.88881038e-01 -3.09008015e-03 -3.68749298e+01] [-2.01120389e-02 1.00380766e-04 9.99797727e-01 -5.41608710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764012739 meters 0.022896384719403737 Centerline is valid? [True, True] Translation: X:269.54, Y:-36.89, Z:-5.42 [[ 9.88621191e-01 1.49292523e-01 1.84359247e-02 2.69542301e+02] [-1.49265008e-01 9.88793070e-01 -2.86737415e-03 -3.68894788e+01] [-1.86573921e-02 8.29084009e-05 9.99825932e-01 -5.41982348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824012739 meters 0.023612677265634086 Centerline is valid? [True, True] Translation: X:269.60, Y:-36.90, Z:-5.42 [[ 9.88870557e-01 1.47674434e-01 1.80909768e-02 2.69602906e+02] [-1.47647609e-01 9.89036020e-01 -2.81694575e-03 -3.69018320e+01] [-1.83086186e-02 1.14505248e-04 9.99832377e-01 -5.42213942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884012739 meters 0.023780999733949627 Centerline is valid? [True, True] Translation: X:269.66, Y:-36.92, Z:-5.42 [[ 9.88972137e-01 1.46827848e-01 1.93828547e-02 2.69664517e+02] [-1.46796826e-01 9.89162051e-01 -3.02150231e-03 -3.69155697e+01] [-1.96164249e-02 1.42840067e-04 9.99807569e-01 -5.42100147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944012739 meters 0.022933186662101663 Centerline is valid? [True, True] Translation: X:269.73, Y:-36.92, Z:-5.42 [[ 9.88504912e-01 1.50096669e-01 1.81391599e-02 2.69725432e+02] [-1.50069989e-01 9.88671323e-01 -2.83095318e-03 -3.69190903e+01] [-1.83585838e-02 7.62676057e-05 9.99831464e-01 -5.42373482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004012739 meters 0.022211671050990797 Centerline is valid? [True, True] Translation: X:269.79, Y:-36.92, Z:-5.42 [[ 9.87667606e-01 1.55168996e-01 2.08634381e-02 2.69786341e+02] [-1.55134754e-01 9.87887940e-01 -3.25972979e-03 -3.69217413e+01] [-2.11165479e-02 -1.71148173e-05 9.99777021e-01 -5.41995412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064012739 meters 0.022260738222343104 Centerline is valid? [True, True] Translation: X:269.85, Y:-36.93, Z:-5.42 [[ 9.87376664e-01 1.56640333e-01 2.34761524e-02 2.69847455e+02] [-1.56597378e-01 9.87655711e-01 -3.66850784e-03 -3.69307437e+01] [-2.37609923e-02 -5.41048782e-05 9.99717666e-01 -5.41777823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124012739 meters 0.02300894009876612 Centerline is valid? [True, True] Translation: X:269.91, Y:-36.94, Z:-5.43 [[ 9.86977940e-01 1.59612568e-01 1.99593243e-02 2.69908741e+02] [-1.59582068e-01 9.87179729e-01 -3.12187556e-03 -3.69373462e+01] [-2.02017309e-02 -1.03927941e-04 9.99795919e-01 -5.42522687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184012739 meters 0.028024617389144264 Centerline is valid? [True, True] Translation: X:269.97, Y:-36.93, Z:-5.43 [[ 9.85144621e-01 1.70631157e-01 1.93670866e-02 2.69971205e+02] [-1.70604495e-01 9.85334922e-01 -3.03284383e-03 -3.69284900e+01] [-1.96005644e-02 -3.16322250e-04 9.99807840e-01 -5.42681063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244012739 meters 0.03308513393984257 Centerline is valid? [True, True] Translation: X:270.03, Y:-36.92, Z:-5.43 [[ 9.84268396e-01 1.75685122e-01 1.87206473e-02 2.70030811e+02] [-1.75661126e-01 9.84446329e-01 -2.93141657e-03 -3.69236587e+01] [-1.89444788e-02 -4.03189306e-04 9.99820456e-01 -5.43011265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30401273900003 meters 0.03328888255844606 Centerline is valid? [True, True] Translation: X:270.09, Y:-36.93, Z:-5.43 [[ 9.84478740e-01 1.74364553e-01 1.99653164e-02 2.70089051e+02] [-1.74337004e-01 9.84681085e-01 -3.12559220e-03 -3.69266588e+01] [-2.02044620e-02 -4.03614378e-04 9.99795788e-01 -5.42958014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36401273900003 meters 0.028733882934217775 Centerline is valid? [True, True] Translation: X:270.15, Y:-36.94, Z:-5.43 [[ 9.84983825e-01 1.71493562e-01 1.99204170e-02 2.70147349e+02] [-1.71465573e-01 9.85185180e-01 -3.11737106e-03 -3.69431092e+01] [-2.01599087e-02 -3.45105646e-04 9.99796709e-01 -5.43094939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42401273900003 meters 0.0250583594269015 Centerline is valid? [True, True] Translation: X:270.20, Y:-36.96, Z:-5.43 [[ 9.86127963e-01 1.64811209e-01 1.97207121e-02 2.70204839e+02] [-1.64782447e-01 9.86325110e-01 -3.08588099e-03 -3.69586253e+01] [-1.99596213e-02 -2.06553654e-04 9.99800766e-01 -5.43313433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48401273900004 meters 0.022064599784665257 Centerline is valid? [True, True] Translation: X:270.26, Y:-36.99, Z:-5.43 [[ 9.87594564e-01 1.55495675e-01 2.18648650e-02 2.70262463e+02] [-1.55458043e-01 9.87836573e-01 -3.42085527e-03 -3.69854365e+01] [-2.21308415e-02 -2.06510593e-05 9.99755083e-01 -5.43068891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544012739 meters 0.022950412262037482 Centerline is valid? [True, True] Translation: X:270.32, Y:-37.01, Z:-5.43 [[ 9.88539200e-01 1.49524543e-01 2.08004897e-02 2.70322381e+02] [-1.49489158e-01 9.88758008e-01 -3.25460189e-03 -3.70074471e+01] [-2.10532936e-02 1.07853872e-04 9.99778349e-01 -5.43368877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604012739 meters 0.023427101228928368 Centerline is valid? [True, True] Translation: X:270.38, Y:-37.03, Z:-5.44 [[ 9.88853994e-01 1.47653212e-01 1.91391642e-02 2.70381907e+02] [-1.47622844e-01 9.89039185e-01 -2.99772204e-03 -3.70254576e+01] [-1.93720066e-02 1.38931570e-04 9.99812335e-01 -5.43818362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664012739 meters 0.023651451951877234 Centerline is valid? [True, True] Translation: X:270.44, Y:-37.04, Z:-5.44 [[ 9.88667836e-01 1.49111258e-01 1.73707187e-02 2.70442635e+02] [-1.49086446e-01 9.88820420e-01 -2.72197183e-03 -3.70390498e+01] [-1.75823980e-02 1.01387288e-04 9.99845413e-01 -5.44256962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724012739 meters 0.02222332701292141 Centerline is valid? [True, True] Translation: X:270.50, Y:-37.04, Z:-5.44 [[ 9.87726457e-01 1.54985027e-01 1.93929773e-02 2.70504651e+02] [-1.54955150e-01 9.87916819e-01 -3.04304143e-03 -3.70373644e+01] [-1.96302743e-02 6.50825416e-07 9.99807308e-01 -5.43912412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784012739 meters 0.022704348986800616 Centerline is valid? [True, True] Translation: X:270.57, Y:-37.04, Z:-5.44 [[ 9.87111918e-01 1.58861780e-01 1.93130978e-02 2.70566734e+02] [-1.58832890e-01 9.87300830e-01 -3.03048538e-03 -3.70391591e+01] [-1.95492658e-02 -7.61269037e-05 9.99808892e-01 -5.44041114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844012739 meters 0.02272158207039552 Centerline is valid? [True, True] Translation: X:270.63, Y:-37.05, Z:-5.44 [[ 9.87097960e-01 1.59029087e-01 1.86377948e-02 2.70626903e+02] [-1.59002203e-01 9.87273895e-01 -2.92499420e-03 -3.70473476e+01] [-1.88657675e-02 -7.61946395e-05 9.99822023e-01 -5.44418825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904012739 meters 0.022849481915765843 Centerline is valid? [True, True] Translation: X:270.69, Y:-37.05, Z:-5.44 [[ 9.86999461e-01 1.59564558e-01 1.92669350e-02 2.70686256e+02] [-1.59535931e-01 9.87187492e-01 -3.02374199e-03 -3.70541586e+01] [-1.95025593e-02 -8.93366897e-05 9.99809803e-01 -5.44391535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964012739 meters 0.02338669200566428 Centerline is valid? [True, True] Translation: X:270.75, Y:-37.06, Z:-5.44 [[ 9.86730311e-01 1.61189216e-01 1.95276543e-02 2.70745834e+02] [-1.61160131e-01 9.86923513e-01 -3.06443117e-03 -3.70565665e+01] [-1.97662544e-02 -1.23312195e-04 9.99804621e-01 -5.44341002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024012739 meters 0.025331865580706093 Centerline is valid? [True, True] Translation: X:270.80, Y:-37.06, Z:-5.45 [[ 9.86211618e-01 1.64591744e-01 1.72105030e-02 2.70804807e+02] [-1.64569675e-01 9.86361764e-01 -2.70052298e-03 -3.70555647e+01] [-1.74202659e-02 -1.69039756e-04 9.99848241e-01 -5.44994206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084012739 meters 0.03008949369173127 Centerline is valid? [True, True] Translation: X:270.87, Y:-37.05, Z:-5.45 [[ 9.85060782e-01 1.71184309e-01 1.87400280e-02 2.70865482e+02] [-1.71159353e-01 9.85238974e-01 -2.93953636e-03 -3.70489296e+01] [-1.89666084e-02 -3.11909081e-04 9.99820069e-01 -5.44755820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144012739 meters 0.03516891345116552 Centerline is valid? [True, True] Translation: X:270.93, Y:-37.04, Z:-5.45 [[ 9.84124156e-01 1.76410422e-01 1.94681165e-02 2.70925922e+02] [-1.76384524e-01 9.84316605e-01 -3.05303359e-03 -3.70443886e+01] [-1.97013773e-02 -4.29310367e-04 9.99805817e-01 -5.44707997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204012739 meters 0.03554794731583059 Centerline is valid? [True, True] Translation: X:270.99, Y:-37.05, Z:-5.45 [[ 9.84090181e-01 1.76576474e-01 1.96790592e-02 2.70985021e+02] [-1.76550058e-01 9.84286827e-01 -3.08544277e-03 -3.70474928e+01] [-1.99146553e-02 -4.37985107e-04 9.99801588e-01 -5.44914880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264012739 meters 0.03214311691471754 Centerline is valid? [True, True] Translation: X:271.04, Y:-37.05, Z:-5.45 [[ 9.84781149e-01 1.72512708e-01 2.11057930e-02 2.71043223e+02] [-1.72481411e-01 9.85007218e-01 -3.30811733e-03 -3.70546292e+01] [-2.13600507e-02 -3.82585387e-04 9.99771775e-01 -5.44759861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324012739 meters 0.028753500483614174 Centerline is valid? [True, True] Translation: X:271.10, Y:-37.07, Z:-5.45 [[ 9.85433380e-01 1.68538218e-01 2.27139520e-02 2.71100722e+02] [-1.68500933e-01 9.85695068e-01 -3.55933116e-03 -3.70667685e+01] [-2.29889138e-02 -3.19838375e-04 9.99735669e-01 -5.44532189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384012739 meters 0.025061650228270473 Centerline is valid? [True, True] Translation: X:271.16, Y:-37.08, Z:-5.45 [[ 9.86365504e-01 1.63411791e-01 1.94853360e-02 2.71158008e+02] [-1.63383366e-01 9.86557934e-01 -3.05266017e-03 -3.70809765e+01] [-1.97222534e-02 -1.72541096e-04 9.99805483e-01 -5.45495669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444012739 meters 0.022409931459717303 Centerline is valid? [True, True] Translation: X:271.21, Y:-37.10, Z:-5.46 [[ 9.87382903e-01 1.57255683e-01 1.85917623e-02 2.71213165e+02] [-1.57228728e-01 9.87557921e-01 -2.91190733e-03 -3.71034990e+01] [-1.88183561e-02 -4.79916202e-05 9.99822918e-01 -5.45720595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504012739 meters 0.0228829883960188 Centerline is valid? [True, True] Translation: X:271.27, Y:-37.13, Z:-5.46 [[ 9.88529520e-01 1.49751050e-01 1.95961758e-02 2.71269270e+02] [-1.49719651e-01 9.88723729e-01 -3.06806810e-03 -3.71306682e+01] [-1.98346505e-02 9.89432902e-05 9.99803269e-01 -5.45730514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564012739 meters 0.02554228006470319 Centerline is valid? [True, True] Translation: X:271.33, Y:-37.15, Z:-5.46 [[ 9.89144948e-01 1.45824295e-01 1.80982614e-02 2.71326363e+02] [-1.45796863e-01 9.89310491e-01 -2.83314559e-03 -3.71523280e+01] [-1.83179413e-02 1.63721914e-04 9.99832199e-01 -5.46193718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624012739 meters 0.025562517194948793 Centerline is valid? [True, True] Translation: X:271.38, Y:-37.17, Z:-5.46 [[ 9.89133751e-01 1.45757877e-01 1.92110504e-02 2.71384650e+02] [-1.45726954e-01 9.89320277e-01 -3.00734426e-03 -3.71704437e+01] [-1.94442258e-02 1.75097854e-04 9.99810928e-01 -5.46011538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684012739 meters 0.024228782200962657 Centerline is valid? [True, True] Translation: X:271.44, Y:-37.18, Z:-5.46 [[ 9.88851633e-01 1.47586620e-01 1.97645262e-02 2.71443577e+02] [-1.47554255e-01 9.89049124e-01 -3.09398670e-03 -3.71830694e+01] [-2.00047183e-02 1.43153861e-04 9.99799875e-01 -5.46017810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744012739 meters 0.023106622698312814 Centerline is valid? [True, True] Translation: X:271.50, Y:-37.19, Z:-5.46 [[ 9.88523369e-01 1.49624696e-01 2.08326519e-02 2.71503532e+02] [-1.49589190e-01 9.88742858e-01 -3.26119522e-03 -3.71944465e+01] [-2.10860911e-02 1.07428166e-04 9.99777658e-01 -5.45907638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80401273900003 meters 0.022750432293522232 Centerline is valid? [True, True] Translation: X:271.56, Y:-37.21, Z:-5.46 [[ 9.88368834e-01 1.50762148e-01 1.99455041e-02 2.71563855e+02] [-1.50729832e-01 9.88570063e-01 -3.12236145e-03 -3.72061414e+01] [-2.01882622e-02 7.96622569e-05 9.99796193e-01 -5.46206572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86401273900003 meters 0.02194869398655296 Centerline is valid? [True, True] Translation: X:271.63, Y:-37.21, Z:-5.46 [[ 9.87356575e-01 1.57298903e-01 1.95971741e-02 2.71625407e+02] [-1.57268985e-01 9.87551038e-01 -3.06824131e-03 -3.72097839e+01] [-1.98358406e-02 -5.25794403e-05 9.99803249e-01 -5.46288063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92401273900003 meters 0.024079426775184896 Centerline is valid? [True, True] Translation: X:271.69, Y:-37.21, Z:-5.46 [[ 9.86709505e-01 1.61165078e-01 2.07405266e-02 2.71685241e+02] [-1.61132410e-01 9.86927454e-01 -3.24775036e-03 -3.72127996e+01] [-2.09928191e-02 -1.37384883e-04 9.99779617e-01 -5.46198152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984012739 meters 0.02557980403690248 Centerline is valid? [True, True] Translation: X:271.74, Y:-37.22, Z:-5.47 [[ 9.86095257e-01 1.65074346e-01 1.91469177e-02 2.71744596e+02] [-1.65047245e-01 9.86281105e-01 -2.99800012e-03 -3.72212964e+01] [-1.93791360e-02 -2.03832312e-04 9.99812186e-01 -5.46602881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044012739 meters 0.03085027305786435 Centerline is valid? [True, True] Translation: X:271.80, Y:-37.22, Z:-5.47 [[ 9.84914458e-01 1.72062145e-01 1.83882879e-02 2.71804812e+02] [-1.72038369e-01 9.85086042e-01 -2.87905511e-03 -3.72202040e+01] [-1.86094222e-02 -3.27868060e-04 9.99826776e-01 -5.46849788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104012739 meters 0.03779306945609712 Centerline is valid? [True, True] Translation: X:271.87, Y:-37.22, Z:-5.47 [[ 9.83702767e-01 1.78790701e-01 1.90460596e-02 2.71865529e+02] [-1.78766465e-01 9.83887017e-01 -2.98134631e-03 -3.72150419e+01] [-1.92722078e-02 -4.72038131e-04 9.99814162e-01 -5.46839502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164012739 meters 0.04111210933745959 Centerline is valid? [True, True] Translation: X:271.93, Y:-37.21, Z:-5.47 [[ 9.83135062e-01 1.81957299e-01 1.83573440e-02 2.71925313e+02] [-1.81935342e-01 9.83306298e-01 -2.87318350e-03 -3.72142211e+01] [-1.85736887e-02 -5.15122219e-04 9.99827361e-01 -5.47055747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224012739 meters 0.037245936040715605 Centerline is valid? [True, True] Translation: X:271.98, Y:-37.23, Z:-5.47 [[ 9.83597053e-01 1.79271455e-01 1.99645441e-02 2.71983204e+02] [-1.79244953e-01 9.83799517e-01 -3.12369311e-03 -3.72283372e+01] [-2.02010979e-02 -5.06088433e-04 9.99795809e-01 -5.46976553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284012739 meters 0.03369259746795841 Centerline is valid? [True, True] Translation: X:272.04, Y:-37.24, Z:-5.47 [[ 9.84374857e-01 1.75041481e-01 1.91473411e-02 2.72040721e+02] [-1.75016317e-01 9.84560977e-01 -2.99519523e-03 -3.72427972e+01] [-1.93760083e-02 -4.02702247e-04 9.99812186e-01 -5.47183242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344012739 meters 0.03135198128898121 Centerline is valid? [True, True] Translation: X:272.10, Y:-37.26, Z:-5.47 [[ 9.84788952e-01 1.72779650e-01 1.83824084e-02 2.72097909e+02] [-1.72756069e-01 9.84960443e-01 -2.87517977e-03 -3.72579107e+01] [-1.86027176e-02 -3.44227337e-04 9.99826895e-01 -5.47440946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404012739 meters 0.03293986787703426 Centerline is valid? [True, True] Translation: X:272.16, Y:-37.26, Z:-5.47 [[ 9.84443383e-01 1.74558240e-01 2.00161656e-02 2.72157131e+02] [-1.74530668e-01 9.84646764e-01 -3.12970607e-03 -3.72620698e+01] [-2.02551687e-02 -4.12416326e-04 9.99794758e-01 -5.47044976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464012739 meters 0.03913888438301651 Centerline is valid? [True, True] Translation: X:272.22, Y:-37.26, Z:-5.47 [[ 9.83782866e-01 1.77923287e-01 2.26842673e-02 2.72216824e+02] [-1.77888795e-01 9.84044209e-01 -3.54573329e-03 -3.72589682e+01] [-2.29531903e-02 -5.47045297e-04 9.99736391e-01 -5.46718369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524012739 meters 0.036821648308511874 Centerline is valid? [True, True] Translation: X:272.28, Y:-37.26, Z:-5.47 [[ 9.83714613e-01 1.78308003e-01 2.26233681e-02 2.72275225e+02] [-1.78273819e-01 9.83974566e-01 -3.53526569e-03 -3.72637978e+01] [-2.28911850e-02 -5.55461697e-04 9.99737808e-01 -5.46881213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584012739 meters 0.03272323246035244 Centerline is valid? [True, True] Translation: X:272.33, Y:-37.27, Z:-5.48 [[ 9.84146063e-01 1.76384988e-01 1.85704736e-02 2.72333086e+02] [-1.76361625e-01 9.84321167e-01 -2.90125807e-03 -3.72718992e+01] [-1.87910487e-02 -4.19857205e-04 9.99823345e-01 -5.47782011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644012739 meters 0.030838483642768907 Centerline is valid? [True, True] Translation: X:272.39, Y:-37.27, Z:-5.48 [[ 9.84979392e-01 1.71458315e-01 2.04363431e-02 2.72392037e+02] [-1.71428984e-01 9.85191310e-01 -3.19167847e-03 -3.72746580e+01] [-2.06809474e-02 -3.59644006e-04 9.99786062e-01 -5.47649652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704012739 meters 0.02432702062009353 Centerline is valid? [True, True] Translation: X:272.45, Y:-37.30, Z:-5.48 [[ 9.86363651e-01 1.63406625e-01 1.96220264e-02 2.72449657e+02] [-1.63377997e-01 9.86558788e-01 -3.06411633e-03 -3.72955318e+01] [-1.98589795e-02 -1.83474406e-04 9.99802774e-01 -5.47966714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764012739 meters 0.02116450685646578 Centerline is valid? [True, True] Translation: X:272.51, Y:-37.32, Z:-5.48 [[ 9.87644793e-01 1.55595551e-01 1.86490384e-02 2.72505680e+02] [-1.55568302e-01 9.87820846e-01 -2.91201341e-03 -3.73153289e+01] [-1.88750052e-02 -2.51643493e-05 9.99821851e-01 -5.48293045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824012739 meters 0.02163366483922696 Centerline is valid? [True, True] Translation: X:272.56, Y:-37.33, Z:-5.49 [[ 9.88242402e-01 1.52094909e-01 1.56234937e-02 2.72563432e+02] [-1.52075355e-01 9.88365893e-01 -2.43901158e-03 -3.73346810e+01] [-1.58126895e-02 3.43863149e-05 9.99874971e-01 -5.48966661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884012739 meters 0.021651645943007794 Centerline is valid? [True, True] Translation: X:272.62, Y:-37.35, Z:-5.49 [[ 9.88319744e-01 1.51544799e-01 1.60703885e-02 2.72621248e+02] [-1.51524036e-01 9.88450389e-01 -2.50892129e-03 -3.73455149e+01] [-1.62649957e-02 4.45663178e-05 9.99867715e-01 -5.49097489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944012739 meters 0.021071086701515074 Centerline is valid? [True, True] Translation: X:272.68, Y:-37.35, Z:-5.49 [[ 9.87957575e-01 1.53556632e-01 1.89786790e-02 2.72680300e+02] [-1.53528060e-01 9.88139849e-01 -2.96216458e-03 -3.73547350e+01] [-1.92084490e-02 1.27331715e-05 9.99815501e-01 -5.48640762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004012739 meters 0.022080736492597616 Centerline is valid? [True, True] Translation: X:272.74, Y:-37.35, Z:-5.49 [[ 9.86875737e-01 1.60403716e-01 1.86259784e-02 2.72739690e+02] [-1.60377421e-01 9.87051485e-01 -2.90672071e-03 -3.73535863e+01] [-1.88510484e-02 -1.18614228e-04 9.99822296e-01 -5.48527987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064012739 meters 0.02704755140068756 Centerline is valid? [True, True] Translation: X:272.80, Y:-37.35, Z:-5.49 [[ 9.85519536e-01 1.68765479e-01 1.64151390e-02 2.72800765e+02] [-1.68746226e-01 9.85656204e-01 -2.56099518e-03 -3.73469555e+01] [-1.66118911e-02 -2.46081961e-04 9.99861983e-01 -5.49206008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124012739 meters 0.03119712730907536 Centerline is valid? [True, True] Translation: X:272.86, Y:-37.34, Z:-5.49 [[ 9.84499642e-01 1.74198407e-01 2.03806484e-02 2.72861917e+02] [-1.74169908e-01 9.84710485e-01 -3.17875107e-03 -3.73412588e+01] [-2.06227716e-02 -4.20216382e-04 9.99787240e-01 -5.48550228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184012739 meters 0.030592713275980586 Centerline is valid? [True, True] Translation: X:272.92, Y:-37.35, Z:-5.49 [[ 9.84739556e-01 1.72844655e-01 2.03158137e-02 2.72919797e+02] [-1.72816065e-01 9.84949020e-01 -3.16790366e-03 -3.73452724e+01] [-2.05575961e-02 -3.91338940e-04 9.99788594e-01 -5.48771677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244012739 meters 0.027478448880325957 Centerline is valid? [True, True] Translation: X:272.98, Y:-37.35, Z:-5.49 [[ 9.85309145e-01 1.69555698e-01 2.04145407e-02 2.72978854e+02] [-1.69526149e-01 9.85520552e-01 -3.18208318e-03 -3.73493293e+01] [-2.06584898e-02 -3.25462810e-04 9.99786538e-01 -5.48816854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30401273900003 meters 0.02579648193322557 Centerline is valid? [True, True] Translation: X:273.04, Y:-37.36, Z:-5.49 [[ 9.85846072e-01 1.66479437e-01 1.98019924e-02 2.73036683e+02] [-1.66451032e-01 9.86044894e-01 -3.08567550e-03 -3.73557816e+01] [-2.00393550e-02 -2.54060996e-04 9.99799160e-01 -5.49132899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36401273900003 meters 0.021756829294854185 Centerline is valid? [True, True] Translation: X:273.10, Y:-37.36, Z:-5.49 [[ 9.87076177e-01 1.59213875e-01 1.82088510e-02 2.73095537e+02] [-1.59188635e-01 9.87244110e-01 -2.83660124e-03 -3.73628072e+01] [-1.84282072e-02 -9.87006226e-05 9.99830181e-01 -5.49471314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42401273900003 meters 0.02124187287052159 Centerline is valid? [True, True] Translation: X:273.15, Y:-37.37, Z:-5.50 [[ 9.87348019e-01 1.57586701e-01 1.76159529e-02 2.73153808e+02] [-1.57562829e-01 9.87505153e-01 -2.74367773e-03 -3.73686893e+01] [-1.78282114e-02 -6.66546125e-05 9.99841063e-01 -5.49747021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484012739 meters 0.020949623944253655 Centerline is valid? [True, True] Translation: X:273.21, Y:-37.37, Z:-5.50 [[ 9.87598721e-01 1.56139641e-01 1.64066512e-02 2.73211871e+02] [-1.56118744e-01 9.87734990e-01 -2.55473380e-03 -3.73709280e+01] [-1.66043186e-02 -3.83339419e-05 9.99862138e-01 -5.49973102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544012739 meters 0.020899040982573894 Centerline is valid? [True, True] Translation: X:273.27, Y:-37.38, Z:-5.50 [[ 9.88292097e-01 1.51757791e-01 1.57576602e-02 2.73269403e+02] [-1.51737976e-01 9.88417711e-01 -2.45250751e-03 -3.73840200e+01] [-1.59473376e-02 3.27583124e-05 9.99872833e-01 -5.50157252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604012739 meters 0.02140692474751532 Centerline is valid? [True, True] Translation: X:273.33, Y:-37.40, Z:-5.50 [[ 9.88722863e-01 1.48718370e-01 1.76052782e-02 2.73326241e+02] [-1.48693171e-01 9.88879587e-01 -2.73912327e-03 -3.73970684e+01] [-1.78168582e-02 9.04491566e-05 9.99841263e-01 -5.49984391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664012739 meters 0.020685604951625233 Centerline is valid? [True, True] Translation: X:273.39, Y:-37.40, Z:-5.50 [[ 9.88491425e-01 1.49983664e-01 1.97383919e-02 2.73385386e+02] [-1.49952270e-01 9.88688472e-01 -3.06950442e-03 -3.74032140e+01] [-1.99754960e-02 7.43621324e-05 9.99800467e-01 -5.49622063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724012739 meters 0.020891667076815466 Centerline is valid? [True, True] Translation: X:273.44, Y:-37.41, Z:-5.50 [[ 9.88504461e-01 1.50052105e-01 1.85282360e-02 2.73443206e+02] [-1.50024465e-01 9.88678088e-01 -2.88072034e-03 -3.74100396e+01] [-1.87507191e-02 6.79162126e-05 9.99824188e-01 -5.50105119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784012739 meters 0.022377153479508183 Centerline is valid? [True, True] Translation: X:273.50, Y:-37.43, Z:-5.50 [[ 9.89237737e-01 1.44980507e-01 1.97319922e-02 2.73499477e+02] [-1.44948175e-01 9.89434496e-01 -3.06660574e-03 -3.74278065e+01] [-1.99681118e-02 1.73485882e-04 9.99800602e-01 -5.49890601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844012739 meters 0.02749758283141574 Centerline is valid? [True, True] Translation: X:273.56, Y:-37.45, Z:-5.50 [[ 9.90242129e-01 1.38248488e-01 1.75465663e-02 2.73556357e+02] [-1.38221883e-01 9.90397537e-01 -2.72590638e-03 -3.74495266e+01] [-1.77549285e-02 2.73987902e-04 9.99842331e-01 -5.50460695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904012739 meters 0.028344920081083715 Centerline is valid? [True, True] Translation: X:273.61, Y:-37.46, Z:-5.50 [[ 9.90619281e-01 1.35283876e-01 1.92798527e-02 2.73614676e+02] [-1.35251198e-01 9.90806815e-01 -2.99493617e-03 -3.74629982e+01] [-1.95077760e-02 3.59218353e-04 9.99809641e-01 -5.50147552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964012739 meters 0.029409761158408185 Centerline is valid? [True, True] Translation: X:273.67, Y:-37.48, Z:-5.51 [[ 9.90591724e-01 1.35490955e-01 1.92415763e-02 2.73672417e+02] [-1.35458455e-01 9.90778520e-01 -2.98849146e-03 -3.74777241e+01] [-1.94690540e-02 3.53940714e-04 9.99810397e-01 -5.50506195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024012739 meters 0.02981280098407743 Centerline is valid? [True, True] Translation: X:273.73, Y:-37.49, Z:-5.51 [[ 9.90849105e-01 1.33916979e-01 1.68610250e-02 2.73731202e+02] [-1.33891792e-01 9.90992497e-01 -2.61896624e-03 -3.74928067e+01] [-1.70598733e-02 3.37447492e-04 9.99854413e-01 -5.51027791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084012739 meters 0.03061754561188304 Centerline is valid? [True, True] Translation: X:273.79, Y:-37.51, Z:-5.51 [[ 9.90955076e-01 1.33086262e-01 1.72071203e-02 2.73789866e+02] [-1.33059906e-01 9.91104393e-01 -2.67272405e-03 -3.75107508e+01] [-1.74097553e-02 3.58971656e-04 9.99848374e-01 -5.50989659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144012739 meters 0.029571180092079975 Centerline is valid? [True, True] Translation: X:273.85, Y:-37.52, Z:-5.52 [[ 9.90823610e-01 1.34389690e-01 1.44216979e-02 2.73849725e+02] [-1.34371317e-01 9.90928520e-01 -2.23993359e-03 -3.75241948e+01] [-1.45918958e-02 2.81516551e-04 9.99893493e-01 -5.51744246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204012739 meters 0.02749205641787468 Centerline is valid? [True, True] Translation: X:273.91, Y:-37.54, Z:-5.51 [[ 9.90372569e-01 1.37309748e-01 1.75558290e-02 2.73908026e+02] [-1.37282967e-01 9.90528116e-01 -2.72734453e-03 -3.75387267e+01] [-1.77640332e-02 2.90970914e-04 9.99842165e-01 -5.51212254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264012739 meters 0.024411651494425788 Centerline is valid? [True, True] Translation: X:273.97, Y:-37.54, Z:-5.51 [[ 9.89793160e-01 1.41376577e-01 1.79489540e-02 2.73968739e+02] [-1.41349256e-01 9.89955865e-01 -2.78816879e-03 -3.75436034e+01] [-1.81628540e-02 2.22639116e-04 9.99835017e-01 -5.51161513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324012739 meters 0.020993384726669694 Centerline is valid? [True, True] Translation: X:274.03, Y:-37.54, Z:-5.52 [[ 9.88449494e-01 1.50711741e-01 1.59238319e-02 2.74027969e+02] [-1.50691446e-01 9.88577751e-01 -2.47364345e-03 -3.75426801e+01] [-1.61147530e-02 4.54863588e-05 9.99870148e-01 -5.51644726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384012739 meters 0.02065383100272876 Centerline is valid? [True, True] Translation: X:274.09, Y:-37.54, Z:-5.51 [[ 9.87713211e-01 1.55292521e-01 1.75169935e-02 2.74088149e+02] [-1.55268685e-01 9.87868530e-01 -2.72094677e-03 -3.75421175e+01] [-1.77270293e-02 -3.23254727e-05 9.99842863e-01 -5.51425592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444012739 meters 0.020697086593411903 Centerline is valid? [True, True] Translation: X:274.15, Y:-37.55, Z:-5.51 [[ 9.87550314e-01 1.56028909e-01 1.99839068e-02 2.74145757e+02] [-1.55998054e-01 9.87752488e-01 -3.10328606e-03 -3.75497111e+01] [-2.02233560e-02 -5.27994480e-05 9.99795486e-01 -5.51102334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504012739 meters 0.02062809967170937 Centerline is valid? [True, True] Translation: X:274.20, Y:-37.57, Z:-5.51 [[ 9.88222253e-01 1.51728422e-01 1.98812478e-02 2.74203963e+02] [-1.51697037e-01 9.88422220e-01 -3.08611150e-03 -3.75655080e+01] [-2.01193179e-02 3.38376791e-05 9.99797585e-01 -5.51408105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564012739 meters 0.021701146854073008 Centerline is valid? [True, True] Translation: X:274.26, Y:-37.58, Z:-5.52 [[ 9.88773357e-01 1.48729961e-01 1.43751938e-02 2.74261699e+02] [-1.48713241e-01 9.88877846e-01 -2.23112940e-03 -3.75793232e+01] [-1.45471465e-02 6.82996369e-05 9.99894182e-01 -5.52440496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624012739 meters 0.023762053365371925 Centerline is valid? [True, True] Translation: X:274.32, Y:-37.60, Z:-5.53 [[ 9.89467701e-01 1.44045206e-01 1.43055080e-02 2.74318139e+02] [-1.44028158e-01 9.89571099e-01 -2.22028149e-03 -3.75972236e+01] [-1.44761382e-02 1.36500849e-04 9.99895206e-01 -5.52631675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684012739 meters 0.026408762097580217 Centerline is valid? [True, True] Translation: X:274.38, Y:-37.62, Z:-5.52 [[ 9.90124388e-01 1.39322720e-01 1.55844866e-02 2.74376008e+02] [-1.39301913e-01 9.90247005e-01 -2.41803596e-03 -3.76168238e+01] [-1.57693786e-02 2.23207560e-04 9.99875631e-01 -5.52426009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744012739 meters 0.02968012327675332 Centerline is valid? [True, True] Translation: X:274.43, Y:-37.64, Z:-5.52 [[ 9.90493532e-01 1.36570024e-01 1.64678847e-02 2.74433698e+02] [-1.36546417e-01 9.90630380e-01 -2.55480178e-03 -3.76371670e+01] [-1.66624962e-02 2.81883988e-04 9.99861131e-01 -5.52428715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80401273900003 meters 0.028021469623629943 Centerline is valid? [True, True] Translation: X:274.50, Y:-37.65, Z:-5.52 [[ 9.90485249e-01 1.36614951e-01 1.65929667e-02 2.74495490e+02] [-1.36590996e-01 9.90624185e-01 -2.57383531e-03 -3.76458336e+01] [-1.67890185e-02 2.82896058e-04 9.99859014e-01 -5.52427861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86401273900003 meters 0.025323243928227674 Centerline is valid? [True, True] Translation: X:274.56, Y:-37.65, Z:-5.53 [[ 9.89965626e-01 1.40586795e-01 1.42622484e-02 2.74557291e+02] [-1.40569470e-01 9.90068340e-01 -2.21501783e-03 -3.76503117e+01] [-1.44320029e-02 1.87954810e-04 9.99895836e-01 -5.52933049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92401273900003 meters 0.025239593902866248 Centerline is valid? [True, True] Translation: X:274.62, Y:-37.66, Z:-5.52 [[ 9.89906254e-01 1.40292128e-01 2.00929369e-02 2.74615611e+02] [-1.40257659e-01 9.90110118e-01 -3.12160805e-03 -3.76627655e+01] [-2.03321571e-02 2.71911047e-04 9.99793243e-01 -5.52026377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984012739 meters 0.031150084938295523 Centerline is valid? [True, True] Translation: X:274.67, Y:-37.69, Z:-5.52 [[ 9.90475701e-01 1.36300637e-01 1.94941319e-02 2.74673175e+02] [-1.36267423e-01 9.90667461e-01 -3.02832354e-03 -3.76883978e+01] [-1.97249646e-02 3.43065766e-04 9.99805385e-01 -5.52349238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044012739 meters 0.030673146868029907 Centerline is valid? [True, True] Translation: X:274.73, Y:-37.71, Z:-5.53 [[ 9.90777796e-01 1.34310783e-01 1.78877567e-02 2.74733204e+02] [-1.34282493e-01 9.90939196e-01 -2.77884041e-03 -3.77059723e+01] [-1.80989074e-02 3.51200828e-04 9.99836140e-01 -5.52720663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104012739 meters 0.032811688720847665 Centerline is valid? [True, True] Translation: X:274.79, Y:-37.73, Z:-5.53 [[ 9.91168376e-01 1.31531944e-01 1.68700067e-02 2.74791984e+02] [-1.31506328e-01 9.91311859e-01 -2.62372634e-03 -3.77310133e+01] [-1.70685415e-02 3.82041933e-04 9.99854249e-01 -5.53043562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164012739 meters 0.03380313696590419 Centerline is valid? [True, True] Translation: X:274.85, Y:-37.75, Z:-5.53 [[ 9.91269018e-01 1.30801624e-01 1.66333802e-02 2.74851840e+02] [-1.30776613e-01 9.91408485e-01 -2.58728189e-03 -3.77526068e+01] [-1.68288949e-02 3.89435251e-04 9.99858308e-01 -5.53069191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224012739 meters 0.03014876246292166 Centerline is valid? [True, True] Translation: X:274.91, Y:-37.77, Z:-5.53 [[ 9.90704819e-01 1.34855083e-01 1.78344488e-02 2.74912190e+02] [-1.34826922e-01 9.90865271e-01 -2.77758268e-03 -3.77662535e+01] [-1.80461071e-02 3.47200705e-04 9.99837095e-01 -5.53009079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284012739 meters 0.02830223970713743 Centerline is valid? [True, True] Translation: X:274.97, Y:-37.77, Z:-5.54 [[ 9.90402129e-01 1.37308289e-01 1.58131614e-02 2.74973541e+02] [-1.37286459e-01 9.90528325e-01 -2.46299537e-03 -3.77745397e+01] [-1.60015740e-02 2.68422920e-04 9.99871931e-01 -5.53596263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344012739 meters 0.029455030038136553 Centerline is valid? [True, True] Translation: X:275.03, Y:-37.79, Z:-5.54 [[ 9.90312659e-01 1.38027571e-01 1.51402528e-02 2.75033418e+02] [-1.38007606e-01 9.90428356e-01 -2.36067106e-03 -3.77901195e+01] [-1.53211734e-02 2.48332390e-04 9.99882593e-01 -5.53869998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404012739 meters 0.027883828944941378 Centerline is valid? [True, True] Translation: X:275.09, Y:-37.80, Z:-5.54 [[ 9.90212269e-01 1.38812700e-01 1.45154135e-02 2.75094829e+02] [-1.38794403e-01 9.90318627e-01 -2.26532082e-03 -3.78017580e+01] [-1.46893397e-02 2.28490306e-04 9.99892080e-01 -5.54007931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464012739 meters 0.023976354347972004 Centerline is valid? [True, True] Translation: X:275.16, Y:-37.81, Z:-5.53 [[ 9.89452541e-01 1.43673702e-01 1.84806950e-02 2.75156828e+02] [-1.43644809e-01 9.89625094e-01 -2.88839839e-03 -3.78060165e+01] [-1.87039464e-02 2.03277228e-04 9.99825045e-01 -5.53336699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524012739 meters 0.02202990803675553 Centerline is valid? [True, True] Translation: X:275.22, Y:-37.81, Z:-5.54 [[ 9.88780073e-01 1.48240640e-01 1.84032610e-02 2.75218858e+02] [-1.48212771e-01 9.88951313e-01 -2.87672174e-03 -3.78101889e+01] [-1.86263762e-02 1.16846819e-04 9.99826507e-01 -5.53600845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584012739 meters 0.021589744520236744 Centerline is valid? [True, True] Translation: X:275.28, Y:-37.82, Z:-5.54 [[ 9.88592546e-01 1.49691374e-01 1.66514442e-02 2.75281331e+02] [-1.49668724e-01 9.88732767e-01 -2.60527580e-03 -3.78208870e+01] [-1.68538158e-02 8.33558249e-05 9.99857961e-01 -5.53934261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644012739 meters 0.021916232392899207 Centerline is valid? [True, True] Translation: X:275.34, Y:-37.83, Z:-5.54 [[ 9.88714325e-01 1.48857092e-01 1.68982474e-02 2.75343371e+02] [-1.48833587e-01 9.88858714e-01 -2.64719498e-03 -3.78322848e+01] [-1.71040330e-02 1.02292820e-04 9.99853710e-01 -5.54040475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704012739 meters 0.021280281043563578 Centerline is valid? [True, True] Translation: X:275.40, Y:-37.84, Z:-5.54 [[ 9.88362964e-01 1.51131360e-01 1.72616480e-02 2.75404362e+02] [-1.51107116e-01 9.88513686e-01 -2.70774762e-03 -3.78391308e+01] [-1.74726009e-02 6.78796162e-05 9.99847340e-01 -5.54116256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764012739 meters 0.02071982589209607 Centerline is valid? [True, True] Translation: X:275.47, Y:-37.84, Z:-5.54 [[ 9.87440883e-01 1.56883095e-01 1.86600436e-02 2.75467177e+02] [-1.56855729e-01 9.87617180e-01 -2.93035319e-03 -3.78387018e+01] [-1.88887025e-02 -3.33842104e-05 9.99821592e-01 -5.53888407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824012739 meters 0.023676816220874447 Centerline is valid? [True, True] Translation: X:275.53, Y:-37.83, Z:-5.54 [[ 9.86166074e-01 1.64855908e-01 1.72917547e-02 2.75529357e+02] [-1.64833577e-01 9.86317647e-01 -2.71863839e-03 -3.78316578e+01] [-1.75033464e-02 -1.69232827e-04 9.99846790e-01 -5.54445433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884012739 meters 0.027246015197212994 Centerline is valid? [True, True] Translation: X:275.59, Y:-37.83, Z:-5.55 [[ 9.85489651e-01 1.69041854e-01 1.53296969e-02 2.75589301e+02] [-1.69024803e-01 9.85608850e-01 -2.41055044e-03 -3.78264499e+01] [-1.55165689e-02 -2.15526493e-04 9.99879588e-01 -5.54878672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944012739 meters 0.02383442516534802 Centerline is valid? [True, True] Translation: X:275.65, Y:-37.84, Z:-5.55 [[ 9.85951378e-01 1.66103524e-01 1.75926247e-02 2.75648006e+02] [-1.66080613e-01 9.86108301e-01 -2.76562757e-03 -3.78367944e+01] [-1.78076138e-02 -1.95019584e-04 9.99841413e-01 -5.54546401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004012739 meters 0.021324642170304945 Centerline is valid? [True, True] Translation: X:275.71, Y:-37.85, Z:-5.55 [[ 9.86928294e-01 1.60105486e-01 1.84058536e-02 2.75707332e+02] [-1.60079379e-01 9.87099906e-01 -2.89265574e-03 -3.78538393e+01] [-1.86315464e-02 -9.15538179e-05 9.99826413e-01 -5.54615107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064012739 meters 0.02072405143196288 Centerline is valid? [True, True] Translation: X:275.77, Y:-37.87, Z:-5.55 [[ 9.87568951e-01 1.56272716e-01 1.69235319e-02 2.75767783e+02] [-1.56250041e-01 9.87713945e-01 -2.66210693e-03 -3.78665698e+01] [-1.71316231e-02 -1.52884022e-05 9.99853243e-01 -5.54966667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124012739 meters 0.020692257159619927 Centerline is valid? [True, True] Translation: X:275.83, Y:-37.87, Z:-5.55 [[ 9.87343818e-01 1.57675734e-01 1.70454576e-02 2.75828538e+02] [-1.57652880e-01 9.87490943e-01 -2.68473339e-03 -3.78708752e+01] [-1.72555523e-02 -3.65105629e-05 9.99851111e-01 -5.54803252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184012739 meters 0.02224262740697053 Centerline is valid? [True, True] Translation: X:275.89, Y:-37.87, Z:-5.55 [[ 9.86646002e-01 1.62000202e-01 1.68997514e-02 2.75887844e+02] [-1.61978365e-01 9.86790719e-01 -2.66214451e-03 -3.78685422e+01] [-1.71077858e-02 -1.10799870e-04 9.99853645e-01 -5.55158402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244012739 meters 0.022618562014815394 Centerline is valid? [True, True] Translation: X:275.95, Y:-37.87, Z:-5.55 [[ 9.86353435e-01 1.63497169e-01 1.93797968e-02 2.75948062e+02] [-1.63468757e-01 9.86543791e-01 -3.05200452e-03 -3.78723350e+01] [-1.96180123e-02 -1.57636163e-04 9.99807536e-01 -5.54777687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30401273900003 meters 0.02458982330144692 Centerline is valid? [True, True] Translation: X:276.01, Y:-37.87, Z:-5.55 [[ 9.85890217e-01 1.66322827e-01 1.88996817e-02 2.76007855e+02] [-1.66296332e-01 9.86071333e-01 -2.97596978e-03 -3.78709770e+01] [-1.91314060e-02 -2.08968250e-04 9.99816956e-01 -5.54926767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36401273900003 meters 0.025210640324733365 Centerline is valid? [True, True] Translation: X:276.07, Y:-37.87, Z:-5.55 [[ 9.85724261e-01 1.67278725e-01 1.91183080e-02 2.76067086e+02] [-1.67251806e-01 9.85909618e-01 -3.00972312e-03 -3.78745928e+01] [-1.93523864e-02 -2.30814458e-04 9.99812698e-01 -5.55025148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42401273900003 meters 0.023658454641890963 Centerline is valid? [True, True] Translation: X:276.12, Y:-37.88, Z:-5.55 [[ 9.86134344e-01 1.64624660e-01 2.09231050e-02 2.76124437e+02] [-1.64591844e-01 9.86356266e-01 -3.29275919e-03 -3.78840893e+01] [-2.11797051e-02 -1.96669514e-04 9.99775666e-01 -5.54870769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484012739 meters 0.021956341290978565 Centerline is valid? [True, True] Translation: X:276.18, Y:-37.90, Z:-5.55 [[ 9.86681319e-01 1.61464125e-01 1.97309724e-02 2.76182539e+02] [-1.61434332e-01 9.86878575e-01 -3.10404774e-03 -3.78973321e+01] [-1.99732662e-02 -1.22550435e-04 9.99800507e-01 -5.55111091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544012739 meters 0.021460416990963745 Centerline is valid? [True, True] Translation: X:276.24, Y:-37.90, Z:-5.56 [[ 9.87047594e-01 1.59585452e-01 1.64173590e-02 2.76241889e+02] [-1.59564572e-01 9.87184116e-01 -2.58245003e-03 -3.79042045e+01] [-1.66190775e-02 -7.06277656e-05 9.99861891e-01 -5.55853720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604012739 meters 0.021508606838058934 Centerline is valid? [True, True] Translation: X:276.30, Y:-37.91, Z:-5.56 [[ 9.87007414e-01 1.59951456e-01 1.52281398e-02 2.76300386e+02] [-1.59933538e-01 9.87124879e-01 -2.39519159e-03 -3.79123094e+01] [-1.54151900e-02 -7.14184150e-05 9.99881176e-01 -5.56001047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664012739 meters 0.021719715549276753 Centerline is valid? [True, True] Translation: X:276.36, Y:-37.92, Z:-5.56 [[ 9.86790288e-01 1.61006288e-01 1.79416514e-02 2.76358880e+02] [-1.60981607e-01 9.86953375e-01 -2.82097046e-03 -3.79151806e+01] [-1.81617674e-02 -1.04569631e-04 9.99835056e-01 -5.55583616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724012739 meters 0.021882766733179994 Centerline is valid? [True, True] Translation: X:276.42, Y:-37.92, Z:-5.56 [[ 9.86776477e-01 1.60943181e-01 1.92217776e-02 2.76416567e+02] [-1.60914866e-01 9.86963667e-01 -3.02089816e-03 -3.79193102e+01] [-1.94573891e-02 -1.12118533e-04 9.99810681e-01 -5.55559555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784012739 meters 0.02089237590090939 Centerline is valid? [True, True] Translation: X:276.47, Y:-37.93, Z:-5.56 [[ 9.87151416e-01 1.58643511e-01 1.90871107e-02 2.76474270e+02] [-1.58615184e-01 9.87335926e-01 -2.99862499e-03 -3.79290194e+01] [-1.93211025e-02 -6.74086644e-05 9.99813328e-01 -5.55747521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844012739 meters 0.020315733570183923 Centerline is valid? [True, True] Translation: X:276.53, Y:-37.95, Z:-5.56 [[ 9.87692534e-01 1.55165551e-01 1.96751015e-02 2.76531682e+02] [-1.55134778e-01 9.87888482e-01 -3.09009503e-03 -3.79457819e+01] [-1.99162825e-02 -2.28724095e-07 9.99801651e-01 -5.55695558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904012739 meters 0.02053112116432475 Centerline is valid? [True, True] Translation: X:276.59, Y:-37.96, Z:-5.56 [[ 9.87802014e-01 1.54613473e-01 1.84893446e-02 2.76591003e+02] [-1.54586211e-01 9.87975037e-01 -2.90339775e-03 -3.79561770e+01] [-1.87159153e-02 9.78442296e-06 9.99824842e-01 -5.56152285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964012739 meters 0.020203128996395436 Centerline is valid? [True, True] Translation: X:276.65, Y:-37.97, Z:-5.56 [[ 9.87603759e-01 1.55516849e-01 2.12914295e-02 2.76649523e+02] [-1.55480905e-01 9.87833240e-01 -3.34342464e-03 -3.79675915e+01] [-2.15523406e-02 -8.43198287e-06 9.99767721e-01 -5.55696235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024012739 meters 0.020214595378142856 Centerline is valid? [True, True] Translation: X:276.71, Y:-37.98, Z:-5.56 [[ 9.87602111e-01 1.55447364e-01 2.18674818e-02 2.76708472e+02] [-1.55409427e-01 9.87844176e-01 -3.43411419e-03 -3.79764075e+01] [-2.21354885e-02 -6.87438890e-06 9.99754980e-01 -5.55705403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084012739 meters 0.02083225507623603 Centerline is valid? [True, True] Translation: X:276.77, Y:-37.98, Z:-5.56 [[ 9.87025682e-01 1.59414614e-01 1.91646416e-02 2.76769101e+02] [-1.59386228e-01 9.87211717e-01 -3.00943664e-03 -3.79789665e+01] [-1.93993070e-02 -8.41886807e-05 9.99811812e-01 -5.56232562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144012739 meters 0.02105242069886611 Centerline is valid? [True, True] Translation: X:276.83, Y:-37.98, Z:-5.56 [[ 9.86901456e-01 1.60216832e-01 1.88701330e-02 2.76827289e+02] [-1.60189457e-01 9.87081839e-01 -2.96323960e-03 -3.79848173e+01] [-1.91011265e-02 -9.83708861e-05 9.99817552e-01 -5.56451796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204012739 meters 0.022771960993203978 Centerline is valid? [True, True] Translation: X:276.89, Y:-37.99, Z:-5.57 [[ 9.86433947e-01 1.63062752e-01 1.89369465e-02 2.76885261e+02] [-1.63035720e-01 9.86615688e-01 -2.97305494e-03 -3.79882694e+01] [-1.91682831e-02 -1.54676397e-04 9.99816260e-01 -5.56515485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264012739 meters 0.026154641696962386 Centerline is valid? [True, True] Translation: X:276.95, Y:-37.99, Z:-5.57 [[ 9.85634753e-01 1.68210315e-01 1.51467353e-02 2.76945479e+02] [-1.68193642e-01 9.85751109e-01 -2.37714128e-03 -3.79876477e+01] [-1.53307708e-02 -2.04591511e-04 9.99882456e-01 -5.57348434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324012739 meters 0.027977807576908077 Centerline is valid? [True, True] Translation: X:277.00, Y:-37.99, Z:-5.57 [[ 9.85051495e-01 1.71359298e-01 1.75938449e-02 2.77004249e+02] [-1.71337311e-01 9.85208559e-01 -2.76079184e-03 -3.79903973e+01] [-1.78066940e-02 -2.94959943e-04 9.99841405e-01 -5.56960270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384012739 meters 0.029466519621725015 Centerline is valid? [True, True] Translation: X:277.06, Y:-37.99, Z:-5.57 [[ 9.84647561e-01 1.73566835e-01 1.85400765e-02 2.77063565e+02] [-1.73542833e-01 9.84822029e-01 -2.90806246e-03 -3.79931720e+01] [-1.87634189e-02 -3.54080785e-04 9.99823889e-01 -5.56921314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444012739 meters 0.03146523793921458 Centerline is valid? [True, True] Translation: X:277.12, Y:-37.99, Z:-5.57 [[ 9.84622694e-01 1.73678810e-01 1.88101396e-02 2.77121520e+02] [-1.73654141e-01 9.84802285e-01 -2.94950385e-03 -3.79946909e+01] [-1.90365347e-02 -3.62310197e-04 9.99818723e-01 -5.57007994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504012739 meters 0.029998890984260913 Centerline is valid? [True, True] Translation: X:277.18, Y:-38.00, Z:-5.57 [[ 9.84752885e-01 1.72877061e-01 1.93720878e-02 2.77179741e+02] [-1.72850765e-01 9.84943345e-01 -3.03640945e-03 -3.80001048e+01] [-1.96053345e-02 -3.58367225e-04 9.99807733e-01 -5.57108258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564012739 meters 0.029355551884766067 Centerline is valid? [True, True] Translation: X:277.24, Y:-38.01, Z:-5.57 [[ 9.84881606e-01 1.72061386e-01 2.00773736e-02 2.77238070e+02] [-1.72032990e-01 9.85086165e-01 -3.14597236e-03 -3.80072376e+01] [-2.03192433e-02 -3.55560312e-04 9.99793480e-01 -5.57070719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624012739 meters 0.02761082155467433 Centerline is valid? [True, True] Translation: X:277.30, Y:-38.01, Z:-5.57 [[ 9.84989296e-01 1.71179358e-01 2.22196957e-02 2.77296601e+02] [-1.71144381e-01 9.85239812e-01 -3.48050283e-03 -3.80133119e+01] [-2.24875190e-02 -3.74518031e-04 9.99747054e-01 -5.56913884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684012739 meters 0.026592845792012175 Centerline is valid? [True, True] Translation: X:277.35, Y:-38.02, Z:-5.58 [[ 9.85346745e-01 1.69457744e-01 1.93872188e-02 2.77354235e+02] [-1.69430800e-01 9.85537410e-01 -3.03600051e-03 -3.80244866e+01] [-1.96213032e-02 -2.93278765e-04 9.99807441e-01 -5.57548456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744012739 meters 0.024369463072668403 Centerline is valid? [True, True] Translation: X:277.41, Y:-38.04, Z:-5.57 [[ 9.86065435e-01 1.65232545e-01 1.93174326e-02 2.77410453e+02] [-1.65205001e-01 9.86254613e-01 -3.02414906e-03 -3.80379537e+01] [-1.95515949e-02 -2.09327610e-04 9.99808827e-01 -5.57442324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80401273900003 meters 0.02178057152777421 Centerline is valid? [True, True] Translation: X:277.47, Y:-38.05, Z:-5.57 [[ 9.86527099e-01 1.62269727e-01 2.08042753e-02 2.77467391e+02] [-1.62237148e-01 9.86746426e-01 -3.25557788e-03 -3.80541473e+01] [-2.10568260e-02 -1.63510485e-04 9.99778267e-01 -5.57362816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86401273900003 meters 0.020914901889567693 Centerline is valid? [True, True] Translation: X:277.52, Y:-38.07, Z:-5.58 [[ 9.86964394e-01 1.59722241e-01 1.97507359e-02 2.77523350e+02] [-1.59692387e-01 9.87161990e-01 -3.08979665e-03 -3.80672608e+01] [-1.99906850e-02 -1.04522880e-04 9.99800161e-01 -5.57724795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92401273900003 meters 0.020209021238341056 Centerline is valid? [True, True] Translation: X:277.58, Y:-38.09, Z:-5.58 [[ 9.87996000e-01 1.53293045e-01 1.91088167e-02 2.77580921e+02] [-1.53263919e-01 9.88180774e-01 -2.98821058e-03 -3.80871229e+01] [-1.93410372e-02 2.36479733e-05 9.99812944e-01 -5.57890444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984012739 meters 0.020343413110491305 Centerline is valid? [True, True] Translation: X:277.64, Y:-38.10, Z:-5.58 [[ 9.88193392e-01 1.52133666e-01 1.81429890e-02 2.77638255e+02] [-1.52107222e-01 9.88359927e-01 -2.83679919e-03 -3.81005126e+01] [-1.83633759e-02 4.36265672e-05 9.99831378e-01 -5.58242384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044012739 meters 0.020098466592657474 Centerline is valid? [True, True] Translation: X:277.70, Y:-38.11, Z:-5.58 [[ 9.87648072e-01 1.55394733e-01 2.00938427e-02 2.77696216e+02] [-1.55362992e-01 9.87852457e-01 -3.14071660e-03 -3.81100668e+01] [-2.03378026e-02 -1.99168225e-05 9.99793165e-01 -5.58028919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104012739 meters 0.02170961612989769 Centerline is valid? [True, True] Translation: X:277.75, Y:-38.11, Z:-5.58 [[ 9.86822104e-01 1.60598655e-01 1.97536600e-02 2.77754586e+02] [-1.60569041e-01 9.87019785e-01 -3.08657548e-03 -3.81127382e+01] [-1.99929531e-02 -1.25925336e-04 9.99800113e-01 -5.58298833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164012739 meters 0.02845020370668564 Centerline is valid? [True, True] Translation: X:277.82, Y:-38.11, Z:-5.59 [[ 9.85430544e-01 1.69116225e-01 1.80650249e-02 2.77815062e+02] [-1.69092907e-01 9.85596077e-01 -2.82161776e-03 -3.81111223e+01] [-1.82819990e-02 -2.74159246e-04 9.99832833e-01 -5.58645037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224012739 meters 0.03266911630616356 Centerline is valid? [True, True] Translation: X:277.88, Y:-38.11, Z:-5.58 [[ 9.84250080e-01 1.75614104e-01 2.02846447e-02 2.77876212e+02] [-1.75586091e-01 9.84458983e-01 -3.16779689e-03 -3.81098909e+01] [-2.05257105e-02 -4.43797130e-04 9.99789227e-01 -5.58480601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284012739 meters 0.031849136200802125 Centerline is valid? [True, True] Translation: X:277.93, Y:-38.12, Z:-5.59 [[ 9.84548933e-01 1.74037784e-01 1.93454864e-02 2.77933684e+02] [-1.74012005e-01 9.84738897e-01 -3.02094384e-03 -3.81228001e+01] [-1.95760113e-02 -3.92079839e-04 9.99808295e-01 -5.58806180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344012739 meters 0.029986423334181618 Centerline is valid? [True, True] Translation: X:277.99, Y:-38.13, Z:-5.59 [[ 9.84672253e-01 1.73450896e-01 1.83123033e-02 2.77992172e+02] [-1.73427710e-01 9.84842453e-01 -2.85880507e-03 -3.81270077e+01] [-1.85305960e-02 -3.60874812e-04 9.99828229e-01 -5.59138575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404012739 meters 0.03123132252140236 Centerline is valid? [True, True] Translation: X:278.05, Y:-38.13, Z:-5.59 [[ 9.84576444e-01 1.74088312e-01 1.73921059e-02 2.78049885e+02] [-1.74067510e-01 9.84729980e-01 -2.71444959e-03 -3.81320676e+01] [-1.75990820e-02 -3.54817438e-04 9.99845061e-01 -5.59353306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464012739 meters 0.030396448854358302 Centerline is valid? [True, True] Translation: X:278.11, Y:-38.14, Z:-5.59 [[ 9.84851094e-01 1.72395589e-01 1.86569798e-02 2.78107578e+02] [-1.72371379e-01 9.85027735e-01 -2.91019015e-03 -3.81360323e+01] [-1.88793465e-02 -3.49825382e-04 9.99821708e-01 -5.59281017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524012739 meters 0.030157018854241168 Centerline is valid? [True, True] Translation: X:278.17, Y:-38.14, Z:-5.59 [[ 9.84907978e-01 1.71942754e-01 1.97980777e-02 2.78166754e+02] [-1.71915436e-01 9.85106876e-01 -3.08643748e-03 -3.81416003e+01] [-2.00339130e-02 -3.63738253e-04 9.99799235e-01 -5.59221511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584012739 meters 0.030559316387382723 Centerline is valid? [True, True] Translation: X:278.23, Y:-38.15, Z:-5.59 [[ 9.84731062e-01 1.72904525e-01 2.02178474e-02 2.78225470e+02] [-1.72876253e-01 9.84938512e-01 -3.15115398e-03 -3.81461389e+01] [-2.04581853e-02 -3.92146494e-04 9.99790633e-01 -5.59242538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644012739 meters 0.03708876368355581 Centerline is valid? [True, True] Translation: X:278.29, Y:-38.14, Z:-5.59 [[ 9.83707677e-01 1.78628703e-01 2.02729569e-02 2.78286610e+02] [-1.78601509e-01 9.83916421e-01 -3.15878064e-03 -3.81373041e+01] [-2.05111441e-02 -5.13463933e-04 9.99789493e-01 -5.59349527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704012739 meters 0.039724095284409316 Centerline is valid? [True, True] Translation: X:278.35, Y:-38.13, Z:-5.60 [[ 9.83191271e-01 1.81496345e-01 1.98494794e-02 2.78347731e+02] [-1.81470864e-01 9.83391459e-01 -3.09261489e-03 -3.81299596e+01] [-2.00811068e-02 -5.61470193e-04 9.99798197e-01 -5.59531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764012739 meters 0.03597211621177593 Centerline is valid? [True, True] Translation: X:278.41, Y:-38.13, Z:-5.60 [[ 9.83582237e-01 1.79239245e-01 2.09589016e-02 2.78406509e+02] [-1.79210340e-01 9.83805365e-01 -3.26468319e-03 -3.81347540e+01] [-2.12046392e-02 -5.44967479e-04 9.99775008e-01 -5.59519447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824012739 meters 0.03579586236418377 Centerline is valid? [True, True] Translation: X:278.47, Y:-38.13, Z:-5.60 [[ 9.84229360e-01 1.75852617e-01 1.91943763e-02 2.78466504e+02] [-1.75827747e-01 9.84416411e-01 -2.98896173e-03 -3.81341012e+01] [-1.94208758e-02 -4.33080057e-04 9.99811303e-01 -5.59932995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884012739 meters 0.031332952617307265 Centerline is valid? [True, True] Translation: X:278.52, Y:-38.14, Z:-5.60 [[ 9.84592014e-01 1.74030514e-01 1.70864365e-02 2.78524915e+02] [-1.74010537e-01 9.84740197e-01 -2.66043296e-03 -3.81430357e+01] [-1.72886974e-02 -3.53778950e-04 9.99850477e-01 -5.60383435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944012739 meters 0.028467072656958206 Centerline is valid? [True, True] Translation: X:278.58, Y:-38.15, Z:-5.60 [[ 9.85129710e-01 1.70924772e-01 1.74406775e-02 2.78583234e+02] [-1.70903487e-01 9.85284034e-01 -2.71472386e-03 -3.81489358e+01] [-1.76480347e-02 -3.06317475e-04 9.99844214e-01 -5.60355803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004012739 meters 0.026204712763569678 Centerline is valid? [True, True] Translation: X:278.64, Y:-38.16, Z:-5.60 [[ 9.85646448e-01 1.67664636e-01 1.97395355e-02 2.78640269e+02] [-1.67636737e-01 9.85844050e-01 -3.07146567e-03 -3.81601078e+01] [-1.99750798e-02 -2.81692087e-04 9.99800439e-01 -5.60064972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064012739 meters 0.025070995784120736 Centerline is valid? [True, True] Translation: X:278.70, Y:-38.17, Z:-5.60 [[ 9.85937918e-01 1.65866641e-01 2.03636748e-02 2.78698439e+02] [-1.65836592e-01 9.86148160e-01 -3.16732287e-03 -3.81684860e+01] [-2.06069536e-02 -2.54258703e-04 9.99787622e-01 -5.59967491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124012739 meters 0.025625625325249025 Centerline is valid? [True, True] Translation: X:278.76, Y:-38.18, Z:-5.60 [[ 9.85839659e-01 1.66425724e-01 2.05583293e-02 2.78757013e+02] [-1.66395240e-01 9.86053957e-01 -3.19661083e-03 -3.81755984e+01] [-2.08036202e-02 -2.69462404e-04 9.99783545e-01 -5.60120274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184012739 meters 0.02430101842559492 Centerline is valid? [True, True] Translation: X:278.82, Y:-38.18, Z:-5.60 [[ 9.85998628e-01 1.65482529e-01 2.05484287e-02 2.78815139e+02] [-1.65451890e-01 9.86212690e-01 -3.19409946e-03 -3.81847499e+01] [-2.07936888e-02 -2.50398681e-04 9.99783757e-01 -5.60396913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244012739 meters 0.023814474144294807 Centerline is valid? [True, True] Translation: X:278.87, Y:-38.20, Z:-5.61 [[ 9.86355433e-01 1.63427293e-01 1.98615279e-02 2.78872178e+02] [-1.63398270e-01 9.86555361e-01 -3.08636857e-03 -3.81969016e+01] [-2.00988937e-02 -2.01082899e-04 9.99797977e-01 -5.60585125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30401273900003 meters 0.02238731959017661 Centerline is valid? [True, True] Translation: X:278.93, Y:-38.21, Z:-5.61 [[ 9.86828264e-01 1.60614439e-01 1.93126520e-02 2.78928958e+02] [-1.60586478e-01 9.87017215e-01 -3.00014952e-03 -3.82114663e+01] [-1.95437873e-02 -1.40718412e-04 9.99808992e-01 -5.60920372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36401273900003 meters 0.021373895679791394 Centerline is valid? [True, True] Translation: X:278.99, Y:-38.23, Z:-5.61 [[ 9.87280357e-01 1.57509629e-01 2.16382473e-02 2.78985362e+02] [-1.57473808e-01 9.87517447e-01 -3.36022271e-03 -3.82258042e+01] [-2.18974141e-02 -8.99753184e-05 9.99760219e-01 -5.60627857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42401273900003 meters 0.020836953577135716 Centerline is valid? [True, True] Translation: X:279.04, Y:-38.25, Z:-5.61 [[ 9.88049700e-01 1.52836916e-01 1.99666476e-02 2.79041041e+02] [-1.52805484e-01 9.88251424e-01 -3.09952047e-03 -3.82485189e+01] [-2.02057890e-02 1.14670238e-05 9.99795842e-01 -5.61079261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484012739 meters 0.021098358469295204 Centerline is valid? [True, True] Translation: X:279.10, Y:-38.27, Z:-5.61 [[ 9.88335623e-01 1.51186360e-01 1.83134204e-02 2.79097516e+02] [-1.51159649e-01 9.88505277e-01 -2.84210938e-03 -3.82651815e+01] [-1.85326009e-02 4.07077375e-05 9.99828256e-01 -5.61419604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544012739 meters 0.021159644380970944 Centerline is valid? [True, True] Translation: X:279.15, Y:-38.28, Z:-5.61 [[ 9.87551871e-01 1.56128273e-01 1.91119181e-02 2.79154803e+02] [-1.56100124e-01 9.87736786e-01 -2.96510505e-03 -3.82772414e+01] [-1.93404813e-02 -5.51777543e-05 9.99812954e-01 -5.61337496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604012739 meters 0.02300418943362323 Centerline is valid? [True, True] Translation: X:279.21, Y:-38.28, Z:-5.61 [[ 9.86547053e-01 1.62269238e-01 1.98395190e-02 2.79213904e+02] [-1.62240175e-01 9.86746503e-01 -3.07650333e-03 -3.82814017e+01] [-2.00757978e-02 -1.83651734e-04 9.99798444e-01 -5.61331606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664012739 meters 0.028677788477264092 Centerline is valid? [True, True] Translation: X:279.27, Y:-38.28, Z:-5.61 [[ 9.85403021e-01 1.68985952e-01 2.06066391e-02 2.79273373e+02] [-1.68956087e-01 9.85618403e-01 -3.19439998e-03 -3.82796618e+01] [-2.08500914e-02 -3.33845710e-04 9.99782557e-01 -5.61375738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724012739 meters 0.031480329138242294 Centerline is valid? [True, True] Translation: X:279.33, Y:-38.28, Z:-5.62 [[ 9.84882175e-01 1.72318083e-01 1.77081845e-02 2.79333604e+02] [-1.72296577e-01 9.85041297e-01 -2.74450291e-03 -3.82816671e+01] [-1.79162205e-02 -3.48047576e-04 9.99839431e-01 -5.61985808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784012739 meters 0.02884588684054227 Centerline is valid? [True, True] Translation: X:279.39, Y:-38.29, Z:-5.62 [[ 9.85251967e-01 1.70357087e-01 1.60319699e-02 2.79391165e+02] [-1.70339204e-01 9.85382354e-01 -2.48448956e-03 -3.82934450e+01] [-1.62208707e-02 -2.83024770e-04 9.99868393e-01 -5.62490095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844012739 meters 0.023591084755790408 Centerline is valid? [True, True] Translation: X:279.45, Y:-38.31, Z:-5.62 [[ 9.86413850e-01 1.63245070e-01 1.84055345e-02 2.79449036e+02] [-1.63220282e-01 9.86585531e-01 -2.85121100e-03 -3.83123130e+01] [-1.86240802e-02 -1.91682511e-04 9.99826538e-01 -5.62057391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904012739 meters 0.0207336723224406 Centerline is valid? [True, True] Translation: X:279.50, Y:-38.34, Z:-5.62 [[ 9.88008249e-01 1.52979949e-01 2.09006176e-02 2.79503993e+02] [-1.52945690e-01 9.88229293e-01 -3.23740830e-03 -3.83394027e+01] [-2.11498611e-02 1.92673336e-06 9.99776317e-01 -5.61893152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964012739 meters 0.02134940662449767 Centerline is valid? [True, True] Translation: X:279.56, Y:-38.36, Z:-5.62 [[ 9.88709100e-01 1.48723271e-01 1.83222284e-02 2.79560605e+02] [-1.48696227e-01 9.88878851e-01 -2.83725499e-03 -3.83567474e+01] [-1.85404301e-02 8.07735933e-05 9.99828108e-01 -5.62387430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024012739 meters 0.02048480435373395 Centerline is valid? [True, True] Translation: X:279.62, Y:-38.36, Z:-5.62 [[ 9.88009394e-01 1.52684662e-01 2.29092068e-02 2.79619551e+02] [-1.52643475e-01 9.88274959e-01 -3.54622013e-03 -3.83643577e+01] [-2.31820488e-02 6.75786424e-06 9.99731260e-01 -5.61709785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084012739 meters 0.021105271587752824 Centerline is valid? [True, True] Translation: X:279.68, Y:-38.37, Z:-5.62 [[ 9.87432266e-01 1.56620130e-01 2.11578394e-02 2.79678532e+02] [-1.56585923e-01 9.87658913e-01 -3.27418471e-03 -3.83690698e+01] [-2.14095319e-02 -7.99841693e-05 9.99770787e-01 -5.62174917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144012739 meters 0.020904399939867403 Centerline is valid? [True, True] Translation: X:279.74, Y:-38.39, Z:-5.62 [[ 9.87567992e-01 1.55864199e-01 2.03914731e-02 2.79735303e+02] [-1.55832284e-01 9.87778491e-01 -3.15464751e-03 -3.83850734e+01] [-2.06339552e-02 -6.22209184e-05 9.99787095e-01 -5.62439862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204012739 meters 0.020729641011767108 Centerline is valid? [True, True] Translation: X:279.79, Y:-38.40, Z:-5.62 [[ 9.87704916e-01 1.54954166e-01 2.06931208e-02 2.79792953e+02] [-1.54921121e-01 9.87921659e-01 -3.20027303e-03 -3.83969777e+01] [-2.09390778e-02 -4.48760731e-05 9.99780752e-01 -5.62380482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264012739 meters 0.0207058830417553 Centerline is valid? [True, True] Translation: X:279.85, Y:-38.41, Z:-5.63 [[ 9.87883872e-01 1.53817651e-01 2.06297270e-02 2.79848975e+02] [-1.53784582e-01 9.88099251e-01 -3.18945340e-03 -3.84137281e+01] [-2.08748120e-02 -2.17243702e-05 9.99782097e-01 -5.62577697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324012739 meters 0.02056942899011128 Centerline is valid? [True, True] Translation: X:279.91, Y:-38.43, Z:-5.62 [[ 9.87797073e-01 1.53938757e-01 2.36601109e-02 2.79906710e+02] [-1.53895333e-01 9.88080391e-01 -3.65628940e-03 -3.84274648e+01] [-2.39409362e-02 -2.95086715e-05 9.99713374e-01 -5.62140732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384012739 meters 0.021709010443570553 Centerline is valid? [True, True] Translation: X:279.96, Y:-38.43, Z:-5.63 [[ 9.87200449e-01 1.57964163e-01 2.19680665e-02 2.79963989e+02] [-1.57927747e-01 9.87444838e-01 -3.39379222e-03 -3.84345149e+01] [-2.22283514e-02 -1.19014034e-04 9.99752913e-01 -5.62560942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444012739 meters 0.02520531759606261 Centerline is valid? [True, True] Translation: X:280.02, Y:-38.44, Z:-5.63 [[ 9.86358998e-01 1.63396994e-01 1.99336154e-02 2.80021714e+02] [-1.63368143e-01 9.86560375e-01 -3.07830633e-03 -3.84361645e+01] [-2.01687011e-02 -2.20202585e-04 9.99796567e-01 -5.63126697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504012739 meters 0.025893019351318675 Centerline is valid? [True, True] Translation: X:280.08, Y:-38.45, Z:-5.63 [[ 9.86102518e-01 1.64956251e-01 1.97802803e-02 2.80079293e+02] [-1.64928179e-01 9.86300853e-01 -3.05345515e-03 -3.84452286e+01] [-2.00129939e-02 -2.51305803e-04 9.99799688e-01 -5.63339092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564012739 meters 0.027092025417146958 Centerline is valid? [True, True] Translation: X:280.14, Y:-38.45, Z:-5.64 [[ 9.85800161e-01 1.66926451e-01 1.82648029e-02 2.80137293e+02] [-1.66902873e-01 9.85969314e-01 -2.81850182e-03 -3.84528099e+01] [-1.84790177e-02 -2.69968517e-04 9.99829212e-01 -5.63666180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624012739 meters 0.025406709746648257 Centerline is valid? [True, True] Translation: X:280.19, Y:-38.47, Z:-5.64 [[ 9.86221894e-01 1.64479476e-01 1.76883564e-02 2.80194714e+02] [-1.64456984e-01 9.86380482e-01 -2.72872698e-03 -3.84670699e+01] [-1.78962691e-02 -2.17843445e-04 9.99839825e-01 -5.63931999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684012739 meters 0.022257166799618592 Centerline is valid? [True, True] Translation: X:280.25, Y:-38.48, Z:-5.64 [[ 9.87028624e-01 1.59284707e-01 2.00717940e-02 2.80251269e+02] [-1.59254691e-01 9.87232679e-01 -3.09531640e-03 -3.84846938e+01] [-2.03085675e-02 -1.41361467e-04 9.99793750e-01 -5.63659104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744012739 meters 0.02185551369014295 Centerline is valid? [True, True] Translation: X:280.31, Y:-38.50, Z:-5.64 [[ 9.87321212e-01 1.57592549e-01 1.90108818e-02 2.80307114e+02] [-1.57565326e-01 9.87504217e-01 -2.93085244e-03 -3.85002050e+01] [-1.92352065e-02 -1.01763006e-04 9.99814981e-01 -5.63827848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80401273900003 meters 0.022077811046993443 Centerline is valid? [True, True] Translation: X:280.37, Y:-38.51, Z:-5.63 [[ 9.87090039e-01 1.58617497e-01 2.22203454e-02 2.80365733e+02] [-1.58580599e-01 9.87340098e-01 -3.42414290e-03 -3.85088309e+01] [-2.24821669e-02 -1.43778320e-04 9.99747234e-01 -5.63300513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86401273900003 meters 0.021763905719896372 Centerline is valid? [True, True] Translation: X:280.42, Y:-38.52, Z:-5.63 [[ 9.87165648e-01 1.58006959e-01 2.31901855e-02 2.80423180e+02] [-1.57966626e-01 9.87437989e-01 -3.57247573e-03 -3.85203647e+01] [-2.34633461e-02 -1.36650042e-04 9.99724688e-01 -5.63311989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92401273900003 meters 0.021398258226621572 Centerline is valid? [True, True] Translation: X:280.48, Y:-38.53, Z:-5.64 [[ 9.87456044e-01 1.56797822e-01 1.85742949e-02 2.80481511e+02] [-1.56771749e-01 9.87630718e-01 -2.86065379e-03 -3.85305156e+01] [-1.87930885e-02 -8.71548120e-05 9.99823391e-01 -5.64199167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984012739 meters 0.0206289538854097 Centerline is valid? [True, True] Translation: X:280.54, Y:-38.54, Z:-5.64 [[ 9.87850726e-01 1.53812217e-01 2.21978772e-02 2.80538536e+02] [-1.53774240e-01 9.88100096e-01 -3.41800586e-03 -3.85404276e+01] [-2.24594557e-02 -3.69821298e-05 9.99747754e-01 -5.63730316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044012739 meters 0.020733654264006533 Centerline is valid? [True, True] Translation: X:280.60, Y:-38.55, Z:-5.64 [[ 9.88310881e-01 1.50997489e-01 2.10085900e-02 2.80596293e+02] [-1.50962862e-01 9.88534146e-01 -3.23367828e-03 -3.85520834e+01] [-2.12559859e-02 2.43625594e-05 9.99774066e-01 -5.64109811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104012739 meters 0.02098585573946192 Centerline is valid? [True, True] Translation: X:280.65, Y:-38.56, Z:-5.64 [[ 9.88665868e-01 1.48704667e-01 2.06572877e-02 2.80654964e+02] [-1.48670703e-01 9.88881650e-01 -3.17888775e-03 -3.85642364e+01] [-2.09003281e-02 7.17243374e-05 9.99781562e-01 -5.64248846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164012739 meters 0.021174437022046872 Centerline is valid? [True, True] Translation: X:280.71, Y:-38.57, Z:-5.64 [[ 9.88768196e-01 1.47725760e-01 2.26837932e-02 2.80713703e+02] [-1.47684560e-01 9.89028356e-01 -3.49016802e-03 -3.85730202e+01] [-2.29505024e-02 1.00921127e-04 9.99736597e-01 -5.63980205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224012739 meters 0.021092282454506058 Centerline is valid? [True, True] Translation: X:280.77, Y:-38.58, Z:-5.65 [[ 9.88729131e-01 1.48209410e-01 2.11819902e-02 2.80772574e+02] [-1.48173606e-01 9.88955997e-01 -3.25862548e-03 -3.85819839e+01] [-2.14310152e-02 8.32860760e-05 9.99770326e-01 -5.64518100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284012739 meters 0.021248986663072802 Centerline is valid? [True, True] Translation: X:280.83, Y:-38.60, Z:-5.64 [[ 9.88845488e-01 1.47284443e-01 2.21786598e-02 2.80830509e+02] [-1.47244969e-01 9.89094172e-01 -3.41142371e-03 -3.85966300e+01] [-2.24392328e-02 1.07674862e-04 9.99748203e-01 -5.64349285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344012739 meters 0.021905765162199015 Centerline is valid? [True, True] Translation: X:280.89, Y:-38.61, Z:-5.65 [[ 9.89175931e-01 1.45161952e-01 2.14239424e-02 2.80889451e+02] [-1.45124626e-01 9.89407896e-01 -3.29510538e-03 -3.86125181e+01] [-2.16753417e-02 1.50297296e-04 9.99765051e-01 -5.64683481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404012739 meters 0.02210788930662652 Centerline is valid? [True, True] Translation: X:280.95, Y:-38.63, Z:-5.64 [[ 9.89286951e-01 1.43856745e-01 2.48307205e-02 2.80948598e+02] [-1.43806189e-01 9.89598501e-01 -3.81919724e-03 -3.86302508e+01] [-2.51218611e-02 2.07470707e-04 9.99684375e-01 -5.64167359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464012739 meters 0.021452146919832812 Centerline is valid? [True, True] Translation: X:281.01, Y:-38.64, Z:-5.65 [[ 9.88966868e-01 1.46366470e-01 2.28339624e-02 2.81009207e+02] [-1.46324368e-01 9.89230428e-01 -3.51294284e-03 -3.86379659e+01] [-2.31022275e-02 1.33018969e-04 9.99733099e-01 -5.64665115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524012739 meters 0.02064518399277952 Centerline is valid? [True, True] Translation: X:281.07, Y:-38.64, Z:-5.66 [[ 9.88388022e-01 1.50706726e-01 1.94062242e-02 2.81069301e+02] [-1.50677099e-01 9.88578516e-01 -2.98829038e-03 -3.86449406e+01] [-1.96349318e-02 2.95168407e-05 9.99807216e-01 -5.65536232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584012739 meters 0.020516476960390013 Centerline is valid? [True, True] Translation: X:281.13, Y:-38.66, Z:-5.65 [[ 9.88264587e-01 1.51373516e-01 2.04735042e-02 2.81129113e+02] [-1.51340684e-01 9.88476635e-01 -3.15263674e-03 -3.86560522e+01] [-2.07148062e-02 1.71651289e-05 9.99785425e-01 -5.65386881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644012739 meters 0.020670718211482666 Centerline is valid? [True, True] Translation: X:281.19, Y:-38.67, Z:-5.65 [[ 9.88339820e-01 1.50679214e-01 2.19128788e-02 2.81188439e+02] [-1.50641432e-01 9.88582709e-01 -3.37428055e-03 -3.86700601e+01] [-2.21711271e-02 3.39483845e-05 9.99754190e-01 -5.65431509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704012739 meters 0.020697572019634423 Centerline is valid? [True, True] Translation: X:281.25, Y:-38.68, Z:-5.66 [[ 9.88131309e-01 1.52382007e-01 1.93969150e-02 2.81247564e+02] [-1.52352731e-01 9.88321670e-01 -2.98684665e-03 -3.86814967e+01] [-1.96255331e-02 -3.77629166e-06 9.99807401e-01 -5.65960508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764012739 meters 0.020924026374455982 Centerline is valid? [True, True] Translation: X:281.31, Y:-38.69, Z:-5.66 [[ 9.87868231e-01 1.54238016e-01 1.80829122e-02 2.81306883e+02] [-1.54212879e-01 9.88033721e-01 -2.78477004e-03 -3.86902256e+01] [-1.82960445e-02 -3.76321139e-05 9.99832613e-01 -5.66278541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824012739 meters 0.02157953007094066 Centerline is valid? [True, True] Translation: X:281.37, Y:-38.70, Z:-5.66 [[ 9.87370028e-01 1.57254826e-01 1.92703578e-02 2.81366511e+02] [-1.57226858e-01 9.87558054e-01 -2.96739116e-03 -3.86955320e+01] [-1.94972337e-02 -9.99047217e-05 9.99809906e-01 -5.66268697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884012739 meters 0.021356494088560305 Centerline is valid? [True, True] Translation: X:281.43, Y:-38.70, Z:-5.66 [[ 9.87352811e-01 1.56889936e-01 2.28029719e-02 2.81425328e+02] [-1.56850691e-01 9.87616087e-01 -3.51067667e-03 -3.87013389e+01] [-2.30713717e-02 -1.10385418e-04 9.99733814e-01 -5.65864117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944012739 meters 0.020954766857959772 Centerline is valid? [True, True] Translation: X:281.48, Y:-38.72, Z:-5.66 [[ 9.87958102e-01 1.53357511e-01 2.05002892e-02 2.81483995e+02] [-1.53325046e-01 9.88170771e-01 -3.15549301e-03 -3.87163693e+01] [-2.07417051e-02 -2.57128934e-05 9.99784867e-01 -5.66445493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004012739 meters 0.022087632226378016 Centerline is valid? [True, True] Translation: X:281.54, Y:-38.74, Z:-5.67 [[ 9.89074459e-01 1.46168768e-01 1.91417405e-02 2.81543766e+02] [-1.46139115e-01 9.89259661e-01 -2.94642465e-03 -3.87388198e+01] [-1.93668270e-02 1.16876353e-04 9.99812439e-01 -5.66874659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064012739 meters 0.025515177818912455 Centerline is valid? [True, True] Translation: X:281.60, Y:-38.76, Z:-5.66 [[ 9.90047876e-01 1.38977030e-01 2.21492145e-02 2.81603228e+02] [-1.38935434e-01 9.90295559e-01 -3.41339578e-03 -3.87623443e+01] [-2.24086524e-02 3.02114520e-04 9.99748849e-01 -5.66401573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124012739 meters 0.027591659233141348 Centerline is valid? [True, True] Translation: X:281.66, Y:-38.78, Z:-5.67 [[ 9.90252567e-01 1.37504768e-01 2.21876721e-02 2.81661910e+02] [-1.37462629e-01 9.90501047e-01 -3.42061869e-03 -3.87823221e+01] [-2.24472639e-02 3.37300686e-04 9.99747972e-01 -5.66590013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184012739 meters 0.025744911661479276 Centerline is valid? [True, True] Translation: X:281.72, Y:-38.79, Z:-5.67 [[ 9.90110764e-01 1.38851836e-01 2.00210430e-02 2.81723231e+02] [-1.38817745e-01 9.90313127e-01 -3.08940833e-03 -3.87949280e+01] [-2.02560717e-02 2.79580408e-04 9.99794786e-01 -5.66981838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244012739 meters 0.026639773557919116 Centerline is valid? [True, True] Translation: X:281.78, Y:-38.81, Z:-5.67 [[ 9.89993138e-01 1.39860054e-01 1.87817049e-02 2.81783035e+02] [-1.39830175e-01 9.90171250e-01 -2.90124031e-03 -3.88107844e+01] [-1.90028718e-02 2.45958909e-04 9.99819399e-01 -5.67429680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30401273900003 meters 0.025744882630114332 Centerline is valid? [True, True] Translation: X:281.84, Y:-38.82, Z:-5.67 [[ 9.89843008e-01 1.40799107e-01 1.96578660e-02 2.81844333e+02] [-1.40766496e-01 9.90038157e-01 -3.03987129e-03 -3.88236135e+01] [-1.98900486e-02 2.41826431e-04 9.99802144e-01 -5.67344629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36401273900003 meters 0.02380511982972078 Centerline is valid? [True, True] Translation: X:281.91, Y:-38.84, Z:-5.67 [[ 9.89265329e-01 1.44409763e-01 2.23590762e-02 2.81905153e+02] [-1.44368399e-01 9.89517954e-01 -3.46175294e-03 -3.88352045e+01] [-2.26246182e-02 1.96648146e-04 9.99744011e-01 -5.66973877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42401273900003 meters 0.023049718438415676 Centerline is valid? [True, True] Translation: X:281.97, Y:-38.84, Z:-5.67 [[ 9.89002714e-01 1.46211594e-01 2.22666201e-02 2.81966811e+02] [-1.46170945e-01 9.89253327e-01 -3.45110331e-03 -3.88446076e+01] [-2.25319193e-02 1.58417644e-04 9.99746112e-01 -5.67127522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484012739 meters 0.021776102951733385 Centerline is valid? [True, True] Translation: X:282.03, Y:-38.85, Z:-5.68 [[ 9.88184927e-01 1.52126715e-01 1.86550687e-02 2.82028919e+02] [-1.52099189e-01 9.88360998e-01 -2.89392538e-03 -3.88509081e+01] [-1.88781856e-02 2.23126376e-05 9.99821791e-01 -5.67895237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544012739 meters 0.022014698459322368 Centerline is valid? [True, True] Translation: X:282.09, Y:-38.86, Z:-5.68 [[ 9.87257417e-01 1.57693452e-01 2.13440536e-02 2.82091805e+02] [-1.57658629e-01 9.87488110e-01 -3.31514081e-03 -3.88567437e+01] [-2.15997751e-02 -9.21768622e-05 9.99766693e-01 -5.67552660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604012739 meters 0.02502066455929037 Centerline is valid? [True, True] Translation: X:282.15, Y:-38.86, Z:-5.68 [[ 9.86090486e-01 1.64974658e-01 2.02216454e-02 2.82154411e+02] [-1.64944852e-01 9.86297778e-01 -3.14463250e-03 -3.88575095e+01] [-2.04633486e-02 -2.34564108e-04 9.99790576e-01 -5.67845840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664012739 meters 0.031403579581426165 Centerline is valid? [True, True] Translation: X:282.22, Y:-38.85, Z:-5.68 [[ 9.84718977e-01 1.73012552e-01 1.98794395e-02 2.82216358e+02] [-1.72985362e-01 9.84919541e-01 -3.09238980e-03 -3.88507225e+01] [-2.01146707e-02 -3.93717115e-04 9.99797602e-01 -5.68086593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724012739 meters 0.03559723723173512 Centerline is valid? [True, True] Translation: X:282.28, Y:-38.85, Z:-5.69 [[ 9.83832514e-01 1.78159976e-01 1.82375352e-02 2.82277811e+02] [-1.78137959e-01 9.84001430e-01 -2.83780626e-03 -3.88472912e+01] [-1.84513442e-02 -4.56871225e-04 9.99829655e-01 -5.68524672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784012739 meters 0.037205011014269436 Centerline is valid? [True, True] Translation: X:282.34, Y:-38.85, Z:-5.68 [[ 9.83700470e-01 1.78636356e-01 2.05533043e-02 2.82336369e+02] [-1.78608503e-01 9.83915025e-01 -3.19785272e-03 -3.88466682e+01] [-2.07939576e-02 -5.25265672e-04 9.99783644e-01 -5.68158928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844012739 meters 0.03490330533500796 Centerline is valid? [True, True] Translation: X:282.40, Y:-38.85, Z:-5.69 [[ 9.84094581e-01 1.76699813e-01 1.83038858e-02 2.82395666e+02] [-1.76677407e-01 9.84264695e-01 -2.84689563e-03 -3.88497757e+01] [-1.85189145e-02 -4.32268520e-04 9.99828417e-01 -5.68750769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904012739 meters 0.031233164412226677 Centerline is valid? [True, True] Translation: X:282.46, Y:-38.86, Z:-5.69 [[ 9.84798359e-01 1.72597534e-01 1.95520547e-02 2.82455212e+02] [-1.72571179e-01 9.84992359e-01 -3.04002559e-03 -3.88552666e+01] [-1.97833254e-02 -3.80308911e-04 9.99804219e-01 -5.68651925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964012739 meters 0.026089966258985284 Centerline is valid? [True, True] Translation: X:282.51, Y:-38.87, Z:-5.68 [[ 9.85868478e-01 1.65998012e-01 2.25389578e-02 2.82514065e+02] [-1.65961276e-01 9.86126046e-01 -3.50383343e-03 -3.88661805e+01] [-2.28078827e-02 -2.86275263e-04 9.99739825e-01 -5.68115484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024012739 meters 0.02203310982218042 Centerline is valid? [True, True] Translation: X:282.57, Y:-38.89, Z:-5.69 [[ 9.87420351e-01 1.56990349e-01 1.88436092e-02 2.82572118e+02] [-1.56963037e-01 9.87600135e-01 -2.92894866e-03 -3.88858469e+01] [-1.90697676e-02 -6.56466152e-05 9.99818153e-01 -5.68987717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084012739 meters 0.022891413239297952 Centerline is valid? [True, True] Translation: X:282.63, Y:-38.91, Z:-5.69 [[ 9.88918625e-01 1.47048771e-01 2.04110665e-02 2.82631492e+02] [-1.47014600e-01 9.89129233e-01 -3.17287889e-03 -3.89106437e+01] [-2.06557505e-02 1.36994247e-04 9.99786638e-01 -5.68845651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144012739 meters 0.02476239454377374 Centerline is valid? [True, True] Translation: X:282.69, Y:-38.93, Z:-5.69 [[ 9.89575500e-01 1.42619519e-01 2.00000799e-02 2.82691315e+02] [-1.42585739e-01 9.89777561e-01 -3.11231179e-03 -3.89294383e+01] [-2.02395067e-02 2.28141329e-04 9.99795134e-01 -5.69031000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204012739 meters 0.025310935422995968 Centerline is valid? [True, True] Translation: X:282.75, Y:-38.95, Z:-5.69 [[ 9.89523359e-01 1.43068346e-01 1.93641648e-02 2.82750856e+02] [-1.43036701e-01 9.89712788e-01 -3.01659681e-03 -3.89481977e+01] [-1.95965410e-02 2.15206749e-04 9.99807946e-01 -5.69311510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264012739 meters 0.022202054494984403 Centerline is valid? [True, True] Translation: X:282.81, Y:-38.95, Z:-5.70 [[ 9.88484442e-01 1.50332317e-01 1.72829797e-02 2.82813323e+02] [-1.50308170e-01 9.88635519e-01 -2.69521199e-03 -3.89484052e+01] [-1.74917451e-02 6.64020727e-05 9.99847006e-01 -5.69776883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324012739 meters 0.02197788063657389 Centerline is valid? [True, True] Translation: X:282.87, Y:-38.95, Z:-5.70 [[ 9.87765900e-01 1.55135809e-01 1.58558364e-02 2.82873773e+02] [-1.55116054e-01 9.87893152e-01 -2.47573654e-03 -3.89518010e+01] [-1.60479476e-02 -1.40466408e-05 9.99871223e-01 -5.70169168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384012739 meters 0.02209914142897311 Centerline is valid? [True, True] Translation: X:282.93, Y:-38.96, Z:-5.71 [[ 9.87723724e-01 1.55520016e-01 1.46754692e-02 2.82933068e+02] [-1.55503136e-01 9.87832741e-01 -2.29143355e-03 -3.89615264e+01] [-1.48532728e-02 -1.87781979e-05 9.99889684e-01 -5.70516600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444012739 meters 0.02201061234650193 Centerline is valid? [True, True] Translation: X:282.99, Y:-38.97, Z:-5.71 [[ 9.87901727e-01 1.54359747e-01 1.49414023e-02 2.82991854e+02] [-1.54342116e-01 9.88014711e-01 -2.33302067e-03 -3.89701478e+01] [-1.51224498e-02 -1.29249400e-06 9.99885649e-01 -5.70580088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504012739 meters 0.021765646338822917 Centerline is valid? [True, True] Translation: X:283.05, Y:-38.98, Z:-5.70 [[ 9.87855978e-01 1.54431943e-01 1.70687322e-02 2.83049813e+02] [-1.54408946e-01 9.88003429e-01 -2.66502334e-03 -3.89778822e+01] [-1.72755306e-02 -2.90570665e-06 9.99850767e-01 -5.70330245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564012739 meters 0.021404605641092755 Centerline is valid? [True, True] Translation: X:283.11, Y:-38.98, Z:-5.70 [[ 9.87631027e-01 1.55272382e-01 2.18046503e-02 2.83110445e+02] [-1.55235077e-01 9.87871696e-01 -3.40353995e-03 -3.89836299e+01] [-2.20686726e-02 -2.34049096e-05 9.99756457e-01 -5.69581900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624012739 meters 0.021796162192876136 Centerline is valid? [True, True] Translation: X:283.17, Y:-39.00, Z:-5.70 [[ 9.88242529e-01 1.51371979e-01 2.15227276e-02 2.83171888e+02] [-1.51334701e-01 9.88476869e-01 -3.35978918e-03 -3.90005874e+01] [-2.17832963e-02 6.31509972e-05 9.99762714e-01 -5.69751319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684012739 meters 0.025115851317986625 Centerline is valid? [True, True] Translation: X:283.23, Y:-39.02, Z:-5.70 [[ 9.89556044e-01 1.43120672e-01 1.71845498e-02 2.83231257e+02] [-1.43095611e-01 9.89705226e-01 -2.68558114e-03 -3.90238739e+01] [-1.73920009e-02 1.98499405e-04 9.99848728e-01 -5.70486875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744012739 meters 0.027606938701267503 Centerline is valid? [True, True] Translation: X:283.29, Y:-39.04, Z:-5.71 [[ 9.90018756e-01 1.39827796e-01 1.76365934e-02 2.83290048e+02] [-1.39800865e-01 9.90175802e-01 -2.75683445e-03 -3.90443017e+01] [-1.78488101e-02 2.63706792e-04 9.99840663e-01 -5.70544791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80401273900003 meters 0.02512670865205963 Centerline is valid? [True, True] Translation: X:283.35, Y:-39.05, Z:-5.70 [[ 9.89461768e-01 1.43689952e-01 1.78495943e-02 2.83351258e+02] [-1.43662944e-01 9.89622735e-01 -2.79293868e-03 -3.90536275e+01] [-1.80656816e-02 1.99180774e-04 9.99836782e-01 -5.70478935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86401273900003 meters 0.021485098415760868 Centerline is valid? [True, True] Translation: X:283.41, Y:-39.05, Z:-5.71 [[ 9.88098018e-01 1.52885787e-01 1.69777262e-02 2.83413538e+02] [-1.52862655e-01 9.88243864e-01 -2.65961957e-03 -3.90505930e+01] [-1.71847518e-02 3.27045121e-05 9.99852331e-01 -5.70681530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92401273900003 meters 0.0213420447549751 Centerline is valid? [True, True] Translation: X:283.47, Y:-39.05, Z:-5.71 [[ 9.87459360e-01 1.56869265e-01 1.77777061e-02 2.83473214e+02] [-1.56844539e-01 9.87619376e-01 -2.78541814e-03 -3.90542776e+01] [-1.79945535e-02 -3.78489030e-05 9.99838084e-01 -5.70683036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984012739 meters 0.02167115408860129 Centerline is valid? [True, True] Translation: X:283.53, Y:-39.07, Z:-5.71 [[ 9.87872554e-01 1.54578281e-01 1.46072379e-02 2.83532999e+02] [-1.54561336e-01 9.87980544e-01 -2.28873863e-03 -3.90654964e+01] [-1.47854562e-02 3.26785999e-06 9.99890689e-01 -5.71399386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044012739 meters 0.021965417098541086 Centerline is valid? [True, True] Translation: X:283.59, Y:-39.07, Z:-5.72 [[ 9.88184965e-01 1.52649789e-01 1.37301794e-02 2.83592153e+02] [-1.52634624e-01 9.88280345e-01 -2.15183954e-03 -3.90740312e+01] [-1.38977443e-02 3.07146984e-05 9.99903421e-01 -5.71697425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104012739 meters 0.02310006297640471 Centerline is valid? [True, True] Translation: X:283.65, Y:-39.09, Z:-5.71 [[ 9.88913055e-01 1.47549648e-01 1.67353436e-02 2.83651097e+02] [-1.47526392e-01 9.89054643e-01 -2.62253206e-03 -3.90876296e+01] [-1.69391230e-02 1.24551325e-04 9.99856515e-01 -5.71229267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164012739 meters 0.02729048689339193 Centerline is valid? [True, True] Translation: X:283.71, Y:-39.11, Z:-5.71 [[ 9.89984192e-01 1.40107083e-01 1.73581488e-02 2.83709466e+02] [-1.40080920e-01 9.90136322e-01 -2.72006158e-03 -3.91128347e+01] [-1.75680335e-02 2.61272502e-04 9.99845636e-01 -5.71220306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224012739 meters 0.03540401324307573 Centerline is valid? [True, True] Translation: X:283.76, Y:-39.14, Z:-5.71 [[ 9.91171617e-01 1.30989627e-01 2.05071619e-02 2.83764916e+02] [-1.30951144e-01 9.91383613e-01 -3.21409071e-03 -3.91439293e+01] [-2.07514768e-02 5.00279170e-04 9.99784540e-01 -5.70808856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284012739 meters 0.03825818099281947 Centerline is valid? [True, True] Translation: X:283.82, Y:-39.16, Z:-5.71 [[ 9.91565118e-01 1.27854037e-01 2.12594031e-02 2.83824090e+02] [-1.27811954e-01 9.91792821e-01 -3.33225260e-03 -3.91629289e+01] [-2.15109654e-02 5.86939598e-04 9.99768440e-01 -5.70775642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344012739 meters 0.036705667465501725 Centerline is valid? [True, True] Translation: X:283.88, Y:-39.18, Z:-5.72 [[ 9.91343001e-01 1.30114086e-01 1.75891797e-02 2.83883389e+02] [-1.30085636e-01 9.91498929e-01 -2.75693681e-03 -3.91835307e+01] [-1.77983691e-02 4.44970378e-04 9.99841497e-01 -5.71512132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404012739 meters 0.029690393441333014 Centerline is valid? [True, True] Translation: X:283.94, Y:-39.19, Z:-5.72 [[ 9.90029763e-01 1.39798777e-01 1.72444139e-02 2.83942503e+02] [-1.39772841e-01 9.90179898e-01 -2.70615242e-03 -3.91880398e+01] [-1.74533888e-02 2.68870732e-04 9.99847642e-01 -5.71638997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464012739 meters 0.022011871024680392 Centerline is valid? [True, True] Translation: X:284.01, Y:-39.17, Z:-5.72 [[ 9.87029125e-01 1.59757416e-01 1.58453475e-02 2.84008210e+02] [-1.59738089e-01 9.87156301e-01 -2.48616040e-03 -3.91679912e+01] [-1.60390172e-02 -7.71928005e-05 9.99871364e-01 -5.72091255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524012739 meters 0.030065702196571134 Centerline is valid? [True, True] Translation: X:284.07, Y:-39.17, Z:-5.71 [[ 9.85826281e-01 1.66868842e-01 1.73589338e-02 2.84069598e+02] [-1.66846727e-01 9.85979080e-01 -2.72471029e-03 -3.91722248e+01] [-1.75702148e-02 -2.10190283e-04 9.99845610e-01 -5.71033472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584012739 meters 0.026728057899326745 Centerline is valid? [True, True] Translation: X:284.13, Y:-39.18, Z:-5.72 [[ 9.85520175e-01 1.68710522e-01 1.69335172e-02 2.84129828e+02] [-1.68689747e-01 9.85665615e-01 -2.65811767e-03 -3.91816675e+01] [-1.71392381e-02 -2.36882149e-04 9.99853084e-01 -5.72121333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644012739 meters 0.025196576558859027 Centerline is valid? [True, True] Translation: X:284.19, Y:-39.20, Z:-5.72 [[ 9.85678176e-01 1.67850932e-01 1.62664849e-02 2.84190297e+02] [-1.67831627e-01 9.85812365e-01 -2.55445931e-03 -3.91956214e+01] [-1.64644703e-02 -2.12155836e-04 9.99864429e-01 -5.72294154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704012739 meters 0.02717867076002439 Centerline is valid? [True, True] Translation: X:284.25, Y:-39.20, Z:-5.72 [[ 9.85417873e-01 1.69121891e-01 1.86923087e-02 2.84251412e+02] [-1.69096554e-01 9.85595108e-01 -2.93927305e-03 -3.92020526e+01] [-1.89201434e-02 -2.64392797e-04 9.99820963e-01 -5.71888065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764012739 meters 0.025612047689969185 Centerline is valid? [True, True] Translation: X:284.31, Y:-39.22, Z:-5.72 [[ 9.85556797e-01 1.68297257e-01 1.88104370e-02 2.84312083e+02] [-1.68271417e-01 9.85736259e-01 -2.95952470e-03 -3.92159132e+01] [-1.90402097e-02 -2.48479205e-04 9.99818688e-01 -5.72102113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824012739 meters 0.02322965917278468 Centerline is valid? [True, True] Translation: X:284.37, Y:-39.23, Z:-5.72 [[ 9.86111468e-01 1.64996611e-01 1.89813100e-02 2.84372840e+02] [-1.64969626e-01 9.86294117e-01 -2.98960169e-03 -3.92312447e+01] [-1.92144285e-02 -1.83259102e-04 9.99815369e-01 -5.71998622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884012739 meters 0.023656953765224746 Centerline is valid? [True, True] Translation: X:284.44, Y:-39.24, Z:-5.72 [[ 9.85967527e-01 1.65746128e-01 1.99062099e-02 2.84435014e+02] [-1.65716530e-01 9.86168434e-01 -3.13883080e-03 -3.92365778e+01] [-2.01511249e-02 -2.04002786e-04 9.99796925e-01 -5.71957184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944012739 meters 0.027100555815996515 Centerline is valid? [True, True] Translation: X:284.50, Y:-39.23, Z:-5.72 [[ 9.85304885e-01 1.69846051e-01 1.80721424e-02 2.84497421e+02] [-1.69822288e-01 9.85470574e-01 -2.85277693e-03 -3.92348714e+01] [-1.82940975e-02 -2.58197524e-04 9.99832616e-01 -5.72497489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004012739 meters 0.028283541550880465 Centerline is valid? [True, True] Translation: X:284.56, Y:-39.24, Z:-5.73 [[ 9.84755454e-01 1.72993852e-01 1.81610115e-02 2.84558436e+02] [-1.72970358e-01 9.84922853e-01 -2.86853079e-03 -3.92356649e+01] [-1.83834334e-02 -3.16515304e-04 9.99830960e-01 -5.72548843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064012739 meters 0.030846723036969628 Centerline is valid? [True, True] Translation: X:284.62, Y:-39.24, Z:-5.73 [[ 9.84508522e-01 1.74451669e-01 1.75950529e-02 2.84618923e+02] [-1.74429848e-01 9.84665682e-01 -2.77916924e-03 -3.92350284e+01] [-1.78100755e-02 -3.32986597e-04 9.99841333e-01 -5.72709667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124012739 meters 0.03145520376518163 Centerline is valid? [True, True] Translation: X:284.68, Y:-39.24, Z:-5.73 [[ 9.84424466e-01 1.74945809e-01 1.73906383e-02 2.84678560e+02] [-1.74924572e-01 9.84578006e-01 -2.74677072e-03 -3.92369365e+01] [-1.76029760e-02 -3.38061655e-04 9.99844998e-01 -5.72981376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184012739 meters 0.028934540429005506 Centerline is valid? [True, True] Translation: X:284.74, Y:-39.25, Z:-5.73 [[ 9.84686178e-01 1.73480087e-01 1.72565846e-02 2.84737239e+02] [-1.73458966e-01 9.84837328e-01 -2.72470449e-03 -3.92512587e+01] [-1.74676106e-02 -3.10330478e-04 9.99847381e-01 -5.73048308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244012739 meters 0.028444306110064977 Centerline is valid? [True, True] Translation: X:284.80, Y:-39.26, Z:-5.73 [[ 9.84747806e-01 1.73234814e-01 1.61696458e-02 2.84796607e+02] [-1.73216239e-01 9.84880509e-01 -2.55295476e-03 -3.92578458e+01] [-1.63674296e-02 -2.86828633e-04 9.99866004e-01 -5.73410141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30401273900003 meters 0.028435732148095322 Centerline is valid? [True, True] Translation: X:284.86, Y:-39.27, Z:-5.73 [[ 9.84703330e-01 1.73513749e-01 1.58849463e-02 2.84855586e+02] [-1.73495865e-01 9.84831405e-01 -2.50762594e-03 -3.92668401e+01] [-1.60791015e-02 -2.86704871e-04 9.99870682e-01 -5.73492331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36401273900003 meters 0.03194855966514515 Centerline is valid? [True, True] Translation: X:284.92, Y:-39.27, Z:-5.73 [[ 9.83811001e-01 1.78354411e-01 1.74819394e-02 2.84916524e+02] [-1.78333521e-01 9.83966230e-01 -2.75924880e-03 -3.92655359e+01] [-1.76937622e-02 -4.03036501e-04 9.99843372e-01 -5.73281091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42401273900003 meters 0.03714879559158674 Centerline is valid? [True, True] Translation: X:284.98, Y:-39.26, Z:-5.73 [[ 9.82842050e-01 1.83596861e-01 1.77115287e-02 2.84976378e+02] [-1.83576277e-01 9.83001495e-01 -2.79500110e-03 -3.92632460e+01] [-1.79236126e-02 -5.04371888e-04 9.99839232e-01 -5.73452321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484012739 meters 0.041983891528450924 Centerline is valid? [True, True] Translation: X:285.04, Y:-39.26, Z:-5.74 [[ 9.81995506e-01 1.88307874e-01 1.49990377e-02 2.85037400e+02] [-1.88293662e-01 9.82109920e-01 -2.36685206e-03 -3.92604016e+01] [-1.51764006e-02 -4.99985653e-04 9.99884707e-01 -5.73981309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544012739 meters 0.04405497078861933 Centerline is valid? [True, True] Translation: X:285.10, Y:-39.26, Z:-5.74 [[ 9.81885105e-01 1.88880175e-01 1.50306706e-02 2.85096343e+02] [-1.88865969e-01 9.82000010e-01 -2.37191305e-03 -3.92578713e+01] [-1.52081260e-02 -5.09836077e-04 9.99884220e-01 -5.74118659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604012739 meters 0.04192194700651114 Centerline is valid? [True, True] Translation: X:285.16, Y:-39.26, Z:-5.74 [[ 9.82076026e-01 1.87682798e-01 1.73737149e-02 2.85155654e+02] [-1.87663651e-01 9.82229527e-01 -2.74050317e-03 -3.92621958e+01] [-1.75793211e-02 -5.69032308e-04 9.99845310e-01 -5.73744767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664012739 meters 0.04163463810245273 Centerline is valid? [True, True] Translation: X:285.22, Y:-39.26, Z:-5.74 [[ 9.82214938e-01 1.86887003e-01 1.80849250e-02 2.85215584e+02] [-1.86866153e-01 9.82381246e-01 -2.85100534e-03 -3.92593521e+01] [-1.82991070e-02 -5.79160326e-04 9.99832390e-01 -5.73686954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724012739 meters 0.03831805948042643 Centerline is valid? [True, True] Translation: X:285.28, Y:-39.26, Z:-5.74 [[ 9.82929570e-01 1.83133707e-01 1.76494997e-02 2.85275476e+02] [-1.83113260e-01 9.83087889e-01 -2.78148070e-03 -3.92615845e+01] [-1.78603923e-02 -4.97857799e-04 9.99840367e-01 -5.73902404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784012739 meters 0.032452345855014324 Centerline is valid? [True, True] Translation: X:285.33, Y:-39.27, Z:-5.74 [[ 9.84190394e-01 1.76353506e-01 1.63923576e-02 2.85334622e+02] [-1.76334934e-01 9.84326836e-01 -2.58297172e-03 -3.92694775e+01] [-1.65909536e-02 -3.48409339e-04 9.99862300e-01 -5.74211382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844012739 meters 0.022340685583766874 Centerline is valid? [True, True] Translation: X:285.39, Y:-39.29, Z:-5.74 [[ 9.86348061e-01 1.63634907e-01 1.84694106e-02 2.85391213e+02] [-1.63609101e-01 9.86520955e-01 -2.90994840e-03 -3.92942382e+01] [-1.86966297e-02 -1.51541690e-04 9.99825191e-01 -5.74045993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904012739 meters 0.02048953706849147 Centerline is valid? [True, True] Translation: X:285.45, Y:-39.32, Z:-5.74 [[ 9.88160387e-01 1.52481458e-01 1.69839574e-02 2.85446479e+02] [-1.52457988e-01 9.88306330e-01 -2.67580219e-03 -3.93200147e+01] [-1.71933628e-02 5.47817482e-05 9.99852182e-01 -5.74448003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964012739 meters 0.022259519997968224 Centerline is valid? [True, True] Translation: X:285.50, Y:-39.34, Z:-5.75 [[ 9.88884675e-01 1.47710672e-01 1.69898949e-02 2.85501960e+02] [-1.47686495e-01 9.89030606e-01 -2.67594374e-03 -3.93415788e+01] [-1.71987915e-02 1.37021739e-04 9.99852080e-01 -5.74674889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024012739 meters 0.02265532550584547 Centerline is valid? [True, True] Translation: X:285.56, Y:-39.36, Z:-5.75 [[ 9.88946063e-01 1.47120048e-01 1.84763458e-02 2.85558805e+02] [-1.47091369e-01 9.89118631e-01 -2.90911572e-03 -3.93562586e+01] [-1.87032871e-02 1.59247547e-04 9.99825066e-01 -5.74502351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084012739 meters 0.021239922474266353 Centerline is valid? [True, True] Translation: X:285.62, Y:-39.37, Z:-5.75 [[ 9.88726969e-01 1.48866414e-01 1.60552665e-02 2.85618394e+02] [-1.48844999e-01 9.88857310e-01 -2.52732401e-03 -3.93689244e+01] [-1.62526013e-02 1.09087282e-04 9.99867912e-01 -5.75070426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144012739 meters 0.020474858164169572 Centerline is valid? [True, True] Translation: X:285.68, Y:-39.38, Z:-5.75 [[ 9.88306467e-01 1.51537705e-01 1.69307641e-02 2.85676145e+02] [-1.51514282e-01 9.88451475e-01 -2.66518012e-03 -3.93825419e+01] [-1.71391141e-02 6.87621822e-05 9.99853112e-01 -5.75057980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204012739 meters 0.020082880425974142 Centerline is valid? [True, True] Translation: X:285.74, Y:-39.40, Z:-5.75 [[ 9.87964728e-01 1.53651649e-01 1.78007418e-02 2.85735389e+02] [-1.53626105e-01 9.88125078e-01 -2.80186640e-03 -3.93958506e+01] [-1.80198708e-02 3.34865493e-05 9.99837628e-01 -5.75064013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264012739 meters 0.020306920987534907 Centerline is valid? [True, True] Translation: X:285.79, Y:-39.41, Z:-5.75 [[ 9.88118667e-01 1.52848899e-01 1.60846062e-02 2.85793621e+02] [-1.52827937e-01 9.88249570e-01 -2.53169340e-03 -3.94126535e+01] [-1.62825717e-02 4.34363272e-05 9.99867429e-01 -5.75393891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324012739 meters 0.020412919271152415 Centerline is valid? [True, True] Translation: X:285.85, Y:-39.43, Z:-5.76 [[ 9.88090117e-01 1.53094017e-01 1.54965274e-02 2.85853126e+02] [-1.53074588e-01 9.88211627e-01 -2.43925404e-03 -3.94259400e+01] [-1.56872838e-02 3.80782678e-05 9.99876946e-01 -5.75598538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384012739 meters 0.020406852146378895 Centerline is valid? [True, True] Translation: X:285.91, Y:-39.43, Z:-5.76 [[ 9.87249744e-01 1.58364189e-01 1.60849517e-02 2.85914082e+02] [-1.58343947e-01 9.87380768e-01 -2.53238535e-03 -3.94304157e+01] [-1.62830111e-02 -4.68579539e-05 9.99867422e-01 -5.75603074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444012739 meters 0.027334977366407914 Centerline is valid? [True, True] Translation: X:285.98, Y:-39.42, Z:-5.76 [[ 9.85250666e-01 1.70503366e-01 1.44819641e-02 2.85975103e+02] [-1.70488264e-01 9.85357069e-01 -2.28015574e-03 -3.94210855e+01] [-1.46586799e-02 -2.22479960e-04 9.99892531e-01 -5.75922900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504012739 meters 0.030330467417539135 Centerline is valid? [True, True] Translation: X:286.04, Y:-39.42, Z:-5.76 [[ 9.84408534e-01 1.75199897e-01 1.56471712e-02 2.86035321e+02] [-1.75182866e-01 9.84532831e-01 -2.46318586e-03 -3.94222231e+01] [-1.58367037e-02 -3.16335110e-04 9.99874542e-01 -5.75902236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564012739 meters 0.03310989967168643 Centerline is valid? [True, True] Translation: X:286.10, Y:-39.42, Z:-5.76 [[ 9.83803037e-01 1.78480193e-01 1.66254586e-02 2.86095434e+02] [-1.78461441e-01 9.83943427e-01 -2.61675150e-03 -3.94246886e+01] [-1.68255490e-02 -3.92635235e-04 9.99858363e-01 -5.75835781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624012739 meters 0.032783028697332774 Centerline is valid? [True, True] Translation: X:286.15, Y:-39.43, Z:-5.76 [[ 9.83834785e-01 1.78200230e-01 1.77142062e-02 2.86153709e+02] [-1.78178904e-01 9.83994160e-01 -2.78771289e-03 -3.94308275e+01] [-1.79274465e-02 -4.13648928e-04 9.99839205e-01 -5.75825443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684012739 meters 0.031044324623184395 Centerline is valid? [True, True] Translation: X:286.21, Y:-39.44, Z:-5.76 [[ 9.84187300e-01 1.76068671e-01 1.93695886e-02 2.86211781e+02] [-1.76042780e-01 9.84377801e-01 -3.04719497e-03 -3.94380837e+01] [-1.96035086e-02 -4.10865630e-04 9.99807748e-01 -5.75676438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744012739 meters 0.02960835783898596 Centerline is valid? [True, True] Translation: X:286.27, Y:-39.45, Z:-5.76 [[ 9.84632709e-01 1.73650532e-01 1.85451166e-02 2.86268872e+02] [-1.73626385e-01 9.84807276e-01 -2.91665657e-03 -3.94488573e+01] [-1.87698447e-02 -3.48086094e-04 9.99823770e-01 -5.75962046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80401273900003 meters 0.027453687760528138 Centerline is valid? [True, True] Translation: X:286.33, Y:-39.46, Z:-5.76 [[ 9.85169117e-01 1.70780166e-01 1.66116254e-02 2.86326196e+02] [-1.70760399e-01 9.85309122e-01 -2.61166337e-03 -3.94605182e+01] [-1.68136063e-02 -2.63677669e-04 9.99858607e-01 -5.76409876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86401273900003 meters 0.02959504953181261 Centerline is valid? [True, True] Translation: X:286.39, Y:-39.46, Z:-5.77 [[ 9.84576955e-01 1.74323370e-01 1.48182878e-02 2.86385706e+02] [-1.74308053e-01 9.84688417e-01 -2.32899002e-03 -3.94641153e+01] [-1.49973938e-02 -2.89876997e-04 9.99887491e-01 -5.76719443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92401273900003 meters 0.03321431259509424 Centerline is valid? [True, True] Translation: X:286.45, Y:-39.46, Z:-5.77 [[ 9.83831573e-01 1.78443008e-01 1.52816629e-02 2.86446611e+02] [-1.78427220e-01 9.83950182e-01 -2.40142437e-03 -3.94617524e+01] [-1.54649124e-02 -3.64067527e-04 9.99880345e-01 -5.76826281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984012739 meters 0.03546005052573532 Centerline is valid? [True, True] Translation: X:286.50, Y:-39.47, Z:-5.76 [[ 9.84041358e-01 1.76986675e-01 1.83935484e-02 2.86503632e+02] [-1.76963557e-01 9.84213162e-01 -2.88995300e-03 -3.94718311e+01] [-1.86146556e-02 -4.11154474e-04 9.99826648e-01 -5.75700662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044012739 meters 0.02893707201969719 Centerline is valid? [True, True] Translation: X:286.56, Y:-39.48, Z:-5.77 [[ 9.84820692e-01 1.72666723e-01 1.77315118e-02 2.86561943e+02] [-1.72644559e-01 9.84980254e-01 -2.78481774e-03 -3.94829118e+01] [-1.79460343e-02 -3.18702888e-04 9.99838906e-01 -5.76620588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104012739 meters 0.027372237113377444 Centerline is valid? [True, True] Translation: X:286.62, Y:-39.49, Z:-5.77 [[ 9.85290661e-01 1.70107995e-01 1.62967556e-02 2.86619170e+02] [-1.70088926e-01 9.85425394e-01 -2.55922384e-03 -3.94948775e+01] [-1.64945812e-02 -2.50318314e-04 9.99863924e-01 -5.77102646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164012739 meters 0.02561108235317427 Centerline is valid? [True, True] Translation: X:286.68, Y:-39.51, Z:-5.77 [[ 9.85362950e-01 1.69394402e-01 1.91152835e-02 2.86677267e+02] [-1.69368054e-01 9.85548303e-01 -3.00076974e-03 -3.95074867e+01] [-1.93473488e-02 -2.80671037e-04 9.99812783e-01 -5.76551043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224012739 meters 0.030538813927512773 Centerline is valid? [True, True] Translation: X:286.74, Y:-39.51, Z:-5.77 [[ 9.84748929e-01 1.72865845e-01 1.96709403e-02 2.86736374e+02] [-1.72838655e-01 9.84945313e-01 -3.08697949e-03 -3.95055982e+01] [-1.99084338e-02 -3.59999117e-04 9.99801743e-01 -5.76613511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284012739 meters 0.030145574644259897 Centerline is valid? [True, True] Translation: X:286.80, Y:-39.51, Z:-5.77 [[ 9.84610416e-01 1.73822349e-01 1.81140663e-02 2.86795133e+02] [-1.73799465e-01 9.84776964e-01 -2.84205001e-03 -3.95105200e+01] [-1.83323270e-02 -3.49902989e-04 9.99831888e-01 -5.77028278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344012739 meters 0.028528734233270542 Centerline is valid? [True, True] Translation: X:286.85, Y:-39.52, Z:-5.77 [[ 9.84875283e-01 1.72307367e-01 1.81892591e-02 2.86852810e+02] [-1.72284051e-01 9.85043180e-01 -2.85297360e-03 -3.95211679e+01] [-1.84087940e-02 -3.23896051e-04 9.99830491e-01 -5.77029970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404012739 meters 0.0295474616508821 Centerline is valid? [True, True] Translation: X:286.91, Y:-39.52, Z:-5.77 [[ 9.84768001e-01 1.72795125e-01 1.93346772e-02 2.86910848e+02] [-1.72768893e-01 9.84957724e-01 -3.03165245e-03 -3.95227585e+01] [-1.95676944e-02 -3.54956453e-04 9.99808471e-01 -5.76960286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464012739 meters 0.028444218115736292 Centerline is valid? [True, True] Translation: X:286.97, Y:-39.53, Z:-5.77 [[ 9.85065097e-01 1.71247221e-01 1.79204850e-02 2.86969718e+02] [-1.71224453e-01 9.85228044e-01 -2.80863290e-03 -3.95287822e+01] [-1.81367350e-02 -3.01738994e-04 9.99835470e-01 -5.77461925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524012739 meters 0.02809400496705576 Centerline is valid? [True, True] Translation: X:287.03, Y:-39.54, Z:-5.78 [[ 9.85394922e-01 1.69494037e-01 1.63896292e-02 2.87026659e+02] [-1.69474761e-01 9.85531182e-01 -2.56808267e-03 -3.95374728e+01] [-1.65877654e-02 -2.47052866e-04 9.99862383e-01 -5.77904153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584012739 meters 0.02386251958679336 Centerline is valid? [True, True] Translation: X:287.08, Y:-39.56, Z:-5.78 [[ 9.86258141e-01 1.64478797e-01 1.55436477e-02 2.87083683e+02] [-1.64460853e-01 9.86380607e-01 -2.43441074e-03 -3.95568065e+01] [-1.57323616e-02 -1.55364147e-04 9.99876227e-01 -5.78087008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644012739 meters 0.021454386066487495 Centerline is valid? [True, True] Translation: X:287.14, Y:-39.57, Z:-5.78 [[ 9.87001626e-01 1.59725144e-01 1.77670566e-02 2.87139913e+02] [-1.59700941e-01 9.87161522e-01 -2.78195948e-03 -3.95725239e+01] [-1.79833035e-02 -9.16171286e-05 9.99838283e-01 -5.77865423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704012739 meters 0.023084264947774435 Centerline is valid? [True, True] Translation: X:287.20, Y:-39.58, Z:-5.78 [[ 9.86581499e-01 1.62501661e-01 1.58163288e-02 2.87198260e+02] [-1.62482852e-01 9.86708262e-01 -2.47567553e-03 -3.95803890e+01] [-1.60084037e-02 -1.27426530e-04 9.99871849e-01 -5.78231066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764012739 meters 0.028619447279417704 Centerline is valid? [True, True] Translation: X:287.26, Y:-39.58, Z:-5.78 [[ 9.85388516e-01 1.69616331e-01 1.54845947e-02 2.87259252e+02] [-1.69599192e-01 9.85510144e-01 -2.42295274e-03 -3.95765936e+01] [-1.56711975e-02 -2.38624941e-04 9.99877171e-01 -5.78490015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824012739 meters 0.028967825186124087 Centerline is valid? [True, True] Translation: X:287.32, Y:-39.59, Z:-5.78 [[ 9.85238742e-01 1.70243769e-01 1.79354268e-02 2.87317476e+02] [-1.70220887e-01 9.85401936e-01 -2.80601724e-03 -3.95874972e+01] [-1.81513112e-02 -2.88387355e-04 9.99835210e-01 -5.78242681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884012739 meters 0.024877369056364396 Centerline is valid? [True, True] Translation: X:287.37, Y:-39.61, Z:-5.79 [[ 9.86149971e-01 1.64944751e-01 1.73627000e-02 2.87373313e+02] [-1.64922499e-01 9.86302791e-01 -2.71565122e-03 -3.96084622e+01] [-1.75728119e-02 -1.85460497e-04 9.99845569e-01 -5.78580035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944012739 meters 0.02622845164629898 Centerline is valid? [True, True] Translation: X:287.43, Y:-39.62, Z:-5.78 [[ 9.85933162e-01 1.66076200e-01 1.88280830e-02 2.87430837e+02] [-1.66050256e-01 9.86112897e-01 -2.94393985e-03 -3.96173442e+01] [-1.90555338e-02 -2.23880070e-04 9.99818402e-01 -5.78211072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004012739 meters 0.03163964655501375 Centerline is valid? [True, True] Translation: X:287.49, Y:-39.62, Z:-5.78 [[ 9.84432816e-01 1.74739542e-01 1.89241438e-02 2.87491883e+02] [-1.74714951e-01 9.84614613e-01 -2.95784623e-03 -3.96156477e+01] [-1.91498412e-02 -3.94529977e-04 9.99816547e-01 -5.78248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064012739 meters 0.040290495515478544 Centerline is valid? [True, True] Translation: X:287.55, Y:-39.61, Z:-5.78 [[ 9.82844529e-01 1.83335484e-01 2.01179475e-02 2.87554132e+02] [-1.83309495e-01 9.83050224e-01 -3.14418064e-03 -3.96111292e+01] [-2.03533927e-02 -5.97570056e-04 9.99792670e-01 -5.78204805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124012739 meters 0.04009309562194733 Centerline is valid? [True, True] Translation: X:287.61, Y:-39.62, Z:-5.78 [[ 9.82596587e-01 1.84652174e-01 2.01871508e-02 2.87612509e+02] [-1.84626284e-01 9.82803735e-01 -3.15500475e-03 -3.96195771e+01] [-2.04225857e-02 -6.26981735e-04 9.99791241e-01 -5.78296513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184012739 meters 0.043069742206259164 Centerline is valid? [True, True] Translation: X:287.67, Y:-39.62, Z:-5.79 [[ 9.82510453e-01 1.85235595e-01 1.89995548e-02 2.87670958e+02] [-1.85212786e-01 9.82693956e-01 -2.96855275e-03 -3.96215679e+01] [-1.92206294e-02 -6.02326381e-04 9.99815085e-01 -5.78692081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244012739 meters 0.04359288806158595 Centerline is valid? [True, True] Translation: X:287.73, Y:-39.63, Z:-5.79 [[ 9.82534783e-01 1.85057108e-01 1.94747575e-02 2.87728106e+02] [-1.85033133e-01 9.82727576e-01 -3.04161004e-03 -3.96296437e+01] [-1.97012528e-02 -6.14987723e-04 9.99805722e-01 -5.78754615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30401273900003 meters 0.04347053662943352 Centerline is valid? [True, True] Translation: X:287.79, Y:-39.64, Z:-5.79 [[ 9.82549365e-01 1.85134971e-01 1.79384270e-02 2.87786490e+02] [-1.85114660e-01 9.82712938e-01 -2.80069877e-03 -3.96350976e+01] [-1.81468316e-02 -5.68841016e-04 9.99835171e-01 -5.79353586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36401273900003 meters 0.0401710558613643 Centerline is valid? [True, True] Translation: X:287.84, Y:-39.65, Z:-5.79 [[ 9.82790784e-01 1.83447844e-01 2.16601922e-02 2.87844229e+02] [-1.83417847e-01 9.83029229e-01 -3.38057312e-03 -3.96478088e+01] [-2.19127609e-02 -6.50469707e-04 9.99759675e-01 -5.78727742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42401273900003 meters 0.034755156433487935 Centerline is valid? [True, True] Translation: X:287.90, Y:-39.66, Z:-5.79 [[ 9.83522451e-01 1.79784973e-01 1.89987506e-02 2.87902709e+02] [-1.79761227e-01 9.83705807e-01 -2.96438066e-03 -3.96593197e+01] [-1.92221324e-02 -4.99703783e-04 9.99815113e-01 -5.79470889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484012739 meters 0.02954636539812228 Centerline is valid? [True, True] Translation: X:287.96, Y:-39.67, Z:-5.80 [[ 9.84832370e-01 1.72535793e-01 1.83467306e-02 2.87960661e+02] [-1.72512399e-01 9.85003188e-01 -2.86219283e-03 -3.96747115e+01] [-1.85654188e-02 -3.46258351e-04 9.99827588e-01 -5.79592750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544012739 meters 0.0243687412857288 Centerline is valid? [True, True] Translation: X:288.02, Y:-39.69, Z:-5.79 [[ 9.86008390e-01 1.65371080e-01 2.09728824e-02 2.88017877e+02] [-1.65338894e-01 9.86231386e-01 -3.27150552e-03 -3.96938110e+01] [-2.12251272e-02 -2.41901279e-04 9.99774692e-01 -5.79243434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604012739 meters 0.023049556637710678 Centerline is valid? [True, True] Translation: X:288.08, Y:-39.71, Z:-5.80 [[ 9.86418189e-01 1.63032049e-01 1.99926634e-02 2.88075159e+02] [-1.63002330e-01 9.86620757e-01 -3.11815097e-03 -3.97059219e+01] [-2.02335352e-02 -1.83049867e-04 9.99795264e-01 -5.79612370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664012739 meters 0.024403689589919935 Centerline is valid? [True, True] Translation: X:288.13, Y:-39.71, Z:-5.80 [[ 9.86181500e-01 1.64752678e-01 1.73955312e-02 2.88132383e+02] [-1.64730459e-01 9.86334892e-01 -2.71241442e-03 -3.97122048e+01] [-1.76046969e-02 -1.90640918e-04 9.99845007e-01 -5.80263269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724012739 meters 0.025237188820487807 Centerline is valid? [True, True] Translation: X:288.19, Y:-39.72, Z:-5.80 [[ 9.85783823e-01 1.67044834e-01 1.80631391e-02 2.88190749e+02] [-1.67021282e-01 9.85949271e-01 -2.81537459e-03 -3.97187980e+01] [-1.82796326e-02 -2.41577913e-04 9.99832884e-01 -5.80178943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784012739 meters 0.026039318931709084 Centerline is valid? [True, True] Translation: X:288.25, Y:-39.73, Z:-5.80 [[ 9.85711106e-01 1.67443914e-01 1.83344429e-02 2.88248516e+02] [-1.67419735e-01 9.85881571e-01 -2.85678457e-03 -3.97254908e+01] [-1.85539406e-02 -2.53583286e-04 9.99827829e-01 -5.80275181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844012739 meters 0.024559719545349832 Centerline is valid? [True, True] Translation: X:288.31, Y:-39.74, Z:-5.80 [[ 9.85975614e-01 1.65764850e-01 1.93417374e-02 2.88306470e+02] [-1.65737648e-01 9.86165280e-01 -3.01213562e-03 -3.97378387e+01] [-1.95734561e-02 -2.35761794e-04 9.99808394e-01 -5.80257697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904012739 meters 0.022958839314729203 Centerline is valid? [True, True] Translation: X:288.36, Y:-39.75, Z:-5.80 [[ 9.86433991e-01 1.62899086e-01 2.02945357e-02 2.88363608e+02] [-1.62868553e-01 9.86642718e-01 -3.15946810e-03 -3.97508967e+01] [-2.05381303e-02 -1.88734937e-04 9.99789053e-01 -5.80173626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964012739 meters 0.021492853252241158 Centerline is valid? [True, True] Translation: X:288.42, Y:-39.77, Z:-5.80 [[ 9.87047169e-01 1.59284908e-01 1.91364435e-02 2.88420087e+02] [-1.59257098e-01 9.87232651e-01 -2.97831116e-03 -3.97650400e+01] [-1.93665218e-02 -1.07880857e-04 9.99812446e-01 -5.80484222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024012739 meters 0.020814744322716534 Centerline is valid? [True, True] Translation: X:288.48, Y:-39.78, Z:-5.81 [[ 9.87442835e-01 1.56716683e-01 1.99130364e-02 2.88478099e+02] [-1.56686072e-01 9.87643599e-01 -3.09792343e-03 -3.97781746e+01] [-2.01524792e-02 -6.10731576e-05 9.99796916e-01 -5.80521391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084012739 meters 0.020536528244123196 Centerline is valid? [True, True] Translation: X:288.54, Y:-39.79, Z:-5.81 [[ 9.87973901e-01 1.53251044e-01 2.05350415e-02 2.88535356e+02] [-1.53217758e-01 9.88187289e-01 -3.19392571e-03 -3.97930727e+01] [-2.07819394e-02 9.18222512e-06 9.99784032e-01 -5.80538852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144012739 meters 0.021209612775453204 Centerline is valid? [True, True] Translation: X:288.59, Y:-39.81, Z:-5.81 [[ 9.88576675e-01 1.49227339e-01 2.11508475e-02 2.88592497e+02] [-1.49191127e-01 9.88802909e-01 -3.28869090e-03 -3.98105379e+01] [-2.14047821e-02 9.56043428e-05 9.99770887e-01 -5.80600836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204012739 meters 0.033120736221425605 Centerline is valid? [True, True] Translation: X:288.65, Y:-39.83, Z:-5.80 [[ 9.89394935e-01 1.44139192e-01 1.79319994e-02 2.88651908e+02] [-1.44112332e-01 9.89557408e-01 -2.78794266e-03 -3.98309324e+01] [-1.81465946e-02 1.74154099e-04 9.99835322e-01 -5.80128398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264012739 meters 0.025009526115548197 Centerline is valid? [True, True] Translation: X:288.71, Y:-39.85, Z:-5.82 [[ 9.89852290e-01 1.40977558e-01 1.78261481e-02 2.88711457e+02] [-1.40950494e-01 9.90012765e-01 -2.77190399e-03 -3.98479550e+01] [-1.80388904e-02 2.31171132e-04 9.99837259e-01 -5.81554653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324012739 meters 0.026766005095147403 Centerline is valid? [True, True] Translation: X:288.77, Y:-39.87, Z:-5.81 [[ 9.90146760e-01 1.38652471e-01 1.96184898e-02 2.88771248e+02] [-1.38619226e-01 9.90341053e-01 -3.05105204e-03 -3.98688721e+01] [-1.98520317e-02 3.01489428e-04 9.99802884e-01 -5.81366313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384012739 meters 0.028773756354158773 Centerline is valid? [True, True] Translation: X:288.83, Y:-39.88, Z:-5.82 [[ 9.90316342e-01 1.37484467e-01 1.92759922e-02 2.88830279e+02] [-1.37452089e-01 9.90503870e-01 -3.00101542e-03 -3.98846996e+01] [-1.95055379e-02 3.22429229e-04 9.99809697e-01 -5.81531117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444012739 meters 0.02761136244074222 Centerline is valid? [True, True] Translation: X:288.89, Y:-39.89, Z:-5.82 [[ 9.90206790e-01 1.38191377e-01 1.98407587e-02 2.88892078e+02] [-1.38157151e-01 9.90405493e-01 -3.09213079e-03 -3.98949886e+01] [-2.00777023e-02 3.20706201e-04 9.99798371e-01 -5.81563527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504012739 meters 0.02760589811822124 Centerline is valid? [True, True] Translation: X:288.95, Y:-39.91, Z:-5.82 [[ 9.90431273e-01 1.36690812e-01 1.90135382e-02 2.88953296e+02] [-1.36659046e-01 9.90613702e-01 -2.96622895e-03 -3.99084224e+01] [-1.92405277e-02 3.39473928e-04 9.99814826e-01 -5.81828729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564012739 meters 0.032177207281426416 Centerline is valid? [True, True] Translation: X:289.01, Y:-39.93, Z:-5.82 [[ 9.90769919e-01 1.34389700e-01 1.77306646e-02 2.89011671e+02] [-1.34361656e-01 9.90928493e-01 -2.76899621e-03 -3.99316192e+01] [-1.79419453e-02 3.61116691e-04 9.99838965e-01 -5.82205361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624012739 meters 0.032371526534579274 Centerline is valid? [True, True] Translation: X:289.07, Y:-39.95, Z:-5.82 [[ 9.90890960e-01 1.33182494e-01 1.99381359e-02 2.89072228e+02] [-1.33146714e-01 9.91091436e-01 -3.11734159e-03 -3.99452989e+01] [-2.01756910e-02 4.34248335e-04 9.99796356e-01 -5.81887110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684012739 meters 0.038030458642391095 Centerline is valid? [True, True] Translation: X:289.13, Y:-39.96, Z:-5.81 [[ 9.91211068e-01 1.31029450e-01 1.82181620e-02 2.89132330e+02] [-1.30999164e-01 9.91378379e-01 -2.85114476e-03 -3.99604601e+01] [-1.84346759e-02 4.39522250e-04 9.99829970e-01 -5.81166509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744012739 meters 0.03525750442415669 Centerline is valid? [True, True] Translation: X:289.19, Y:-39.98, Z:-5.82 [[ 9.91177108e-01 1.31336988e-01 1.78475524e-02 2.89191905e+02] [-1.31307922e-01 9.91337688e-01 -2.79592137e-03 -3.99792931e+01] [-1.80601593e-02 4.27728246e-04 9.99836811e-01 -5.82412057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80401273900003 meters 0.0313570858902173 Centerline is valid? [True, True] Translation: X:289.25, Y:-39.99, Z:-5.82 [[ 9.90883727e-01 1.33286219e-01 1.96016208e-02 2.89254155e+02] [-1.33251458e-01 9.91077492e-01 -3.07479554e-03 -3.99865358e+01] [-1.98365531e-02 4.34820314e-04 9.99803142e-01 -5.82192102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86401273900003 meters 0.031515971006500346 Centerline is valid? [True, True] Translation: X:289.32, Y:-40.00, Z:-5.82 [[ 9.90796198e-01 1.33500200e-01 2.23738605e-02 2.89316171e+02] [-1.33454922e-01 9.91048663e-01 -3.51149917e-03 -4.00004046e+01] [-2.26423704e-02 4.93278216e-04 9.99743507e-01 -5.81991184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92401273900003 meters 0.03136950924076657 Centerline is valid? [True, True] Translation: X:289.38, Y:-40.02, Z:-5.83 [[ 9.90948327e-01 1.33028407e-01 1.80237442e-02 2.89376152e+02] [-1.32998896e-01 9.91112141e-01 -2.83156716e-03 -4.00194631e+01] [-1.82402306e-02 4.08798654e-04 9.99833550e-01 -5.82830475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984012739 meters 0.030976204116761233 Centerline is valid? [True, True] Translation: X:289.44, Y:-40.03, Z:-5.83 [[ 9.90569780e-01 1.36001415e-01 1.65869465e-02 2.89435848e+02] [-1.35976790e-01 9.90708588e-01 -2.60873940e-03 -4.00330411e+01] [-1.67876226e-02 3.28698669e-04 9.99859024e-01 -5.83311931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044012739 meters 0.028414895411373015 Centerline is valid? [True, True] Translation: X:289.50, Y:-40.04, Z:-5.83 [[ 9.90068156e-01 1.39643796e-01 1.62682926e-02 2.89495506e+02] [-1.39620568e-01 9.90201768e-01 -2.56053283e-03 -4.00430240e+01] [-1.64664546e-02 2.63713766e-04 9.99864384e-01 -5.83437602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104012739 meters 0.024825194757679286 Centerline is valid? [True, True] Translation: X:289.56, Y:-40.05, Z:-5.84 [[ 9.89283955e-01 1.45155218e-01 1.57231945e-02 2.89555719e+02] [-1.45134214e-01 9.89408882e-01 -2.47486315e-03 -4.00509487e+01] [-1.59159076e-02 1.66368935e-04 9.99873320e-01 -5.83686469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164012739 meters 0.021941356283230375 Centerline is valid? [True, True] Translation: X:289.62, Y:-40.06, Z:-5.84 [[ 9.88451240e-01 1.50556132e-01 1.72336109e-02 2.89618104e+02] [-1.50531718e-01 9.88601458e-01 -2.71262701e-03 -4.00568204e+01] [-1.74455755e-02 8.70944680e-05 9.99847811e-01 -5.83572567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224012739 meters 0.021246711404622805 Centerline is valid? [True, True] Translation: X:289.68, Y:-40.06, Z:-5.83 [[ 9.87185526e-01 1.58577939e-01 1.78262434e-02 2.89680784e+02] [-1.58553067e-01 9.87346461e-01 -2.80901244e-03 -4.00564133e+01] [-1.80461258e-02 -5.33891364e-05 9.99837154e-01 -5.83420064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284012739 meters 0.024595969298134974 Centerline is valid? [True, True] Translation: X:289.74, Y:-40.05, Z:-5.83 [[ 9.85749322e-01 1.67128304e-01 1.91416882e-02 2.89742777e+02] [-1.67101164e-01 9.85935130e-01 -3.01993760e-03 -4.00500117e+01] [-1.93771799e-02 -2.21696950e-04 9.99812220e-01 -5.83341591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344012739 meters 0.027912187529307506 Centerline is valid? [True, True] Translation: X:289.80, Y:-40.05, Z:-5.83 [[ 9.85101330e-01 1.70749098e-01 2.04967313e-02 2.89803200e+02] [-1.70718763e-01 9.85314491e-01 -3.23372014e-03 -4.00488944e+01] [-2.07478812e-02 -3.13634598e-04 9.99784690e-01 -5.83351454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404012739 meters 0.025608316889013848 Centerline is valid? [True, True] Translation: X:289.86, Y:-40.06, Z:-5.84 [[ 9.85721485e-01 1.67407034e-01 1.81118762e-02 2.89862946e+02] [-1.67382783e-01 9.85887843e-01 -2.85746228e-03 -4.00606099e+01] [-1.83346379e-02 -2.14954286e-04 9.99831883e-01 -5.83951016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464012739 meters 0.020871288505264454 Centerline is valid? [True, True] Translation: X:289.92, Y:-40.09, Z:-5.84 [[ 9.87451543e-01 1.56737746e-01 1.93062150e-02 2.89920659e+02] [-1.56708140e-01 9.87640258e-01 -3.04636129e-03 -4.00892906e+01] [-1.95450749e-02 -1.73068760e-05 9.99808977e-01 -5.83864251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524012739 meters 0.021828505579477457 Centerline is valid? [True, True] Translation: X:289.98, Y:-40.11, Z:-5.84 [[ 9.88429688e-01 1.50486271e-01 1.89903635e-02 2.89979734e+02] [-1.50456465e-01 9.88612093e-01 -2.99682171e-03 -4.01077713e+01] [-1.92250836e-02 1.04924578e-04 9.99815175e-01 -5.84004432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584012739 meters 0.02253491719651055 Centerline is valid? [True, True] Translation: X:290.04, Y:-40.13, Z:-5.84 [[ 9.88672084e-01 1.48780192e-01 1.97981045e-02 2.90039997e+02] [-1.48747388e-01 9.88870281e-01 -3.12758624e-03 -4.01267888e+01] [-2.00430801e-02 1.47240870e-04 9.99799106e-01 -5.84033214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644012739 meters 0.021868338054221507 Centerline is valid? [True, True] Translation: X:290.10, Y:-40.13, Z:-5.85 [[ 9.88336018e-01 1.51283981e-01 1.74663450e-02 2.90100824e+02] [-1.51258795e-01 9.88490338e-01 -2.76181987e-03 -4.01342929e+01] [-1.76831324e-02 8.76677548e-05 9.99843637e-01 -5.84564062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704012739 meters 0.021112022129306053 Centerline is valid? [True, True] Translation: X:290.16, Y:-40.14, Z:-5.85 [[ 9.87769505e-01 1.54825993e-01 1.84476698e-02 2.90162473e+02] [-1.54798457e-01 9.87941755e-01 -2.92001404e-03 -4.01425555e+01] [-1.86773173e-02 2.86300024e-05 9.99825563e-01 -5.84515983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764012739 meters 0.020896728860350062 Centerline is valid? [True, True] Translation: X:290.23, Y:-40.15, Z:-5.85 [[ 9.87268478e-01 1.57960616e-01 1.86921142e-02 2.90225623e+02] [-1.57932848e-01 9.87445413e-01 -2.96185321e-03 -4.01479617e+01] [-1.89252986e-02 -2.79545273e-05 9.99820900e-01 -5.84519711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824012739 meters 0.021060900937478245 Centerline is valid? [True, True] Translation: X:290.29, Y:-40.16, Z:-5.85 [[ 9.87349862e-01 1.57650096e-01 1.69321312e-02 2.90285638e+02] [-1.57627214e-01 9.87495036e-01 -2.68595830e-03 -4.01617325e+01] [-1.71438371e-02 -1.69841175e-05 9.99853033e-01 -5.84988778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884012739 meters 0.02088817308119797 Centerline is valid? [True, True] Translation: X:290.35, Y:-40.17, Z:-5.85 [[ 9.86952623e-01 1.59819162e-01 1.95539017e-02 2.90347941e+02] [-1.59788996e-01 9.87146307e-01 -3.10562559e-03 -4.01701950e+01] [-1.97989003e-02 -5.93929915e-05 9.99803981e-01 -5.84606462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944012739 meters 0.022758012079290717 Centerline is valid? [True, True] Translation: X:290.41, Y:-40.17, Z:-5.85 [[ 9.86141743e-01 1.64827456e-01 1.88778470e-02 2.90409616e+02] [-1.64800188e-01 9.86322405e-01 -3.00184274e-03 -4.01741652e+01] [-1.91144296e-02 -1.50830310e-04 9.99817291e-01 -5.84762775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004012739 meters 0.025688191645553273 Centerline is valid? [True, True] Translation: X:290.47, Y:-40.18, Z:-5.85 [[ 9.85389931e-01 1.69216981e-01 1.92949981e-02 2.90470920e+02] [-1.69189300e-01 9.85578792e-01 -3.06996934e-03 -4.01777511e+01] [-1.95362319e-02 -2.39390343e-04 9.99809121e-01 -5.84793790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064012739 meters 0.027493034246674004 Centerline is valid? [True, True] Translation: X:290.53, Y:-40.18, Z:-5.85 [[ 9.84976787e-01 1.71508682e-01 2.01370525e-02 2.90531116e+02] [-1.71479000e-01 9.85182564e-01 -3.20443309e-03 -4.01843052e+01] [-2.03882611e-02 -2.96789424e-04 9.99792094e-01 -5.84627362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124012739 meters 0.026430704009701492 Centerline is valid? [True, True] Translation: X:290.59, Y:-40.19, Z:-5.85 [[ 9.85264503e-01 1.69893475e-01 1.97500765e-02 2.90591031e+02] [-1.69864600e-01 9.85462399e-01 -3.14278633e-03 -4.01949828e+01] [-1.99968966e-02 -2.58363029e-04 9.99800009e-01 -5.85075884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184012739 meters 0.02449287202471358 Centerline is valid? [True, True] Translation: X:290.65, Y:-40.21, Z:-5.86 [[ 9.85798886e-01 1.67032770e-01 1.73381137e-02 2.90650162e+02] [-1.67010037e-01 9.85951329e-01 -2.76116615e-03 -4.02099490e+01] [-1.75557415e-02 -1.73684489e-04 9.99845871e-01 -5.85635290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244012739 meters 0.02192446372751983 Centerline is valid? [True, True] Translation: X:290.71, Y:-40.23, Z:-5.86 [[ 9.86370394e-01 1.63681843e-01 1.67839465e-02 2.90709531e+02] [-1.63660016e-01 9.86513174e-01 -2.67515616e-03 -4.02303663e+01] [-1.69954588e-02 -1.08166132e-04 9.99855561e-01 -5.85783127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30401273900003 meters 0.02151548411592179 Centerline is valid? [True, True] Translation: X:290.77, Y:-40.25, Z:-5.86 [[ 9.86856107e-01 1.60830623e-01 1.57649852e-02 2.90769014e+02] [-1.60810956e-01 9.86982020e-01 -2.51562369e-03 -4.02475279e+01] [-1.59643462e-02 -5.26237398e-05 9.99872560e-01 -5.86233749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36401273900003 meters 0.020611753869400846 Centerline is valid? [True, True] Translation: X:290.83, Y:-40.26, Z:-5.86 [[ 9.87078281e-01 1.59160319e-01 1.85596626e-02 2.90828543e+02] [-1.59132726e-01 9.87252750e-01 -2.96367861e-03 -4.02635553e+01] [-1.87947779e-02 -2.80669063e-05 9.99823362e-01 -5.85805112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42401273900003 meters 0.021715453346541364 Centerline is valid? [True, True] Translation: X:290.89, Y:-40.27, Z:-5.86 [[ 9.86632026e-01 1.62154370e-01 1.62236408e-02 2.90890012e+02] [-1.62133660e-01 9.86765400e-01 -2.59254036e-03 -4.02716924e+01] [-1.64293191e-02 -7.25149123e-05 9.99865027e-01 -5.86430162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484012739 meters 0.0215189819715013 Centerline is valid? [True, True] Translation: X:290.95, Y:-40.28, Z:-5.86 [[ 9.86490039e-01 1.62815827e-01 1.81220630e-02 2.90952793e+02] [-1.62790039e-01 9.86656474e-01 -2.89910285e-03 -4.02801257e+01] [-1.83522706e-02 -9.01552520e-05 9.99831579e-01 -5.86147208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544012739 meters 0.020604661202500717 Centerline is valid? [True, True] Translation: X:291.01, Y:-40.29, Z:-5.86 [[ 9.86769065e-01 1.60751012e-01 2.11169386e-02 2.91013492e+02] [-1.60715427e-01 9.86994989e-01 -3.38269954e-03 -4.02936105e+01] [-2.13860850e-02 -5.58745448e-05 9.99771290e-01 -5.85692609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604012739 meters 0.020886615651798272 Centerline is valid? [True, True] Translation: X:291.07, Y:-40.31, Z:-5.86 [[ 9.87628752e-01 1.55694383e-01 1.86737028e-02 2.91074027e+02] [-1.55665601e-01 9.87805273e-01 -2.99399445e-03 -4.03115212e+01] [-1.89121302e-02 5.01018377e-05 9.99821148e-01 -5.86282642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664012739 meters 0.02143828793011988 Centerline is valid? [True, True] Translation: X:291.13, Y:-40.33, Z:-5.86 [[ 9.88102106e-01 1.52416753e-01 2.05757479e-02 2.91134671e+02] [-1.52381003e-01 9.88316304e-01 -3.30350942e-03 -4.03266753e+01] [-2.08388573e-02 1.28851517e-04 9.99782839e-01 -5.86001529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724012739 meters 0.020845869424462156 Centerline is valid? [True, True] Translation: X:291.20, Y:-40.33, Z:-5.86 [[ 9.87680286e-01 1.55353729e-01 1.87848836e-02 2.91196297e+02] [-1.55324405e-01 9.87858904e-01 -3.01900060e-03 -4.03341437e+01] [-1.90258275e-02 6.40564988e-05 9.99818991e-01 -5.86334830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784012739 meters 0.020570082977476516 Centerline is valid? [True, True] Translation: X:291.26, Y:-40.34, Z:-5.87 [[ 9.87352278e-01 1.57412369e-01 1.88898399e-02 2.91256825e+02] [-1.57383028e-01 9.87532959e-01 -3.03930711e-03 -4.03402840e+01] [-1.91327640e-02 2.79266091e-05 9.99816952e-01 -5.86535227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844012739 meters 0.020538520280201148 Centerline is valid? [True, True] Translation: X:291.32, Y:-40.35, Z:-5.87 [[ 9.87284851e-01 1.57816771e-01 1.90391675e-02 2.91319434e+02] [-1.57787004e-01 9.87468413e-01 -3.06510187e-03 -4.03502364e+01] [-1.92843010e-02 2.19954307e-05 9.99814040e-01 -5.86626658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904012739 meters 0.020875859217190918 Centerline is valid? [True, True] Translation: X:291.38, Y:-40.36, Z:-5.87 [[ 9.87558779e-01 1.56294081e-01 1.73152598e-02 2.91380768e+02] [-1.56269175e-01 9.87710564e-01 -2.79059432e-03 -4.03646936e+01] [-1.75386184e-02 5.00345601e-05 9.99846185e-01 -5.87017923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964012739 meters 0.021442565583917477 Centerline is valid? [True, True] Translation: X:291.44, Y:-40.38, Z:-5.87 [[ 9.87856290e-01 1.54270538e-01 1.84540104e-02 2.91439535e+02] [-1.54241819e-01 9.88028639e-01 -2.97816102e-03 -4.03816653e+01] [-1.86925333e-02 9.56149735e-05 9.99825275e-01 -5.86918765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024012739 meters 0.021000234231166058 Centerline is valid? [True, True] Translation: X:291.50, Y:-40.39, Z:-5.87 [[ 9.87605320e-01 1.55846719e-01 1.86422206e-02 2.91499765e+02] [-1.55817660e-01 9.87781249e-01 -3.01020750e-03 -4.03938024e+01] [-1.88835670e-02 6.81097374e-05 9.99821687e-01 -5.87120601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084012739 meters 0.021257081885329723 Centerline is valid? [True, True] Translation: X:291.56, Y:-40.40, Z:-5.88 [[ 9.86456471e-01 1.63236247e-01 1.60486175e-02 2.91563267e+02] [-1.63215658e-01 9.86587008e-01 -2.59331684e-03 -4.03975738e+01] [-1.62566809e-02 -6.11914897e-05 9.99867850e-01 -5.87596062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144012739 meters 0.026024353036268943 Centerline is valid? [True, True] Translation: X:291.63, Y:-40.39, Z:-5.88 [[ 9.84854273e-01 1.72539093e-01 1.70974639e-02 2.91625432e+02] [-1.72517052e-01 9.85002645e-01 -2.76686383e-03 -4.03938425e+01] [-1.73184394e-02 -2.24646412e-04 9.99849999e-01 -5.87561272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204012739 meters 0.030210708958555252 Centerline is valid? [True, True] Translation: X:291.69, Y:-40.39, Z:-5.87 [[ 9.83637622e-01 1.79208461e-01 1.84757953e-02 2.91688011e+02] [-1.79183890e-01 9.83811055e-01 -2.99038251e-03 -4.03919941e+01] [-1.87125935e-02 -3.69112139e-04 9.99824836e-01 -5.87221752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264012739 meters 0.0351335502715562 Centerline is valid? [True, True] Translation: X:291.75, Y:-40.38, Z:-5.87 [[ 9.82565746e-01 1.84814051e-01 2.02069420e-02 2.91750878e+02] [-1.84785832e-01 9.82773370e-01 -3.27110976e-03 -4.03845817e+01] [-2.04633915e-02 -5.19876182e-04 9.99790468e-01 -5.87118676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324012739 meters 0.041209593109439245 Centerline is valid? [True, True] Translation: X:291.81, Y:-40.38, Z:-5.87 [[ 9.82146557e-01 1.87162023e-01 1.89345696e-02 2.91812076e+02] [-1.87137677e-01 9.82328913e-01 -3.06536558e-03 -4.03768475e+01] [-1.91736952e-02 -5.32733136e-04 9.99816026e-01 -5.87429902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384012739 meters 0.03754139769467601 Centerline is valid? [True, True] Translation: X:291.87, Y:-40.38, Z:-5.88 [[ 9.82157511e-01 1.87312449e-01 1.67531987e-02 2.91870887e+02] [-1.87293410e-01 9.82300271e-01 -2.71232964e-03 -4.03834120e+01] [-1.69647247e-02 -4.73828781e-04 9.99855976e-01 -5.87880042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444012739 meters 0.0328490469614095 Centerline is valid? [True, True] Translation: X:291.93, Y:-40.39, Z:-5.88 [[ 9.82997689e-01 1.82666795e-01 1.86651048e-02 2.91931287e+02] [-1.82642339e-01 9.83174781e-01 -3.02107055e-03 -4.03877248e+01] [-1.89029095e-02 -4.39333018e-04 9.99821228e-01 -5.87670587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504012739 meters 0.033118423154738015 Centerline is valid? [True, True] Translation: X:291.99, Y:-40.39, Z:-5.88 [[ 9.83393091e-01 1.80380459e-01 2.00229612e-02 2.91990111e+02] [-1.80351847e-01 9.83596823e-01 -3.24058767e-03 -4.03905310e+01] [-2.02790597e-02 -4.24406510e-04 9.99794269e-01 -5.87611908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564012739 meters 0.031344469873225526 Centerline is valid? [True, True] Translation: X:292.05, Y:-40.40, Z:-5.88 [[ 9.83682628e-01 1.78996631e-01 1.81298882e-02 2.92049263e+02] [-1.78972942e-01 9.83849621e-01 -2.93402993e-03 -4.03954094e+01] [-1.83622651e-02 -3.58605148e-04 9.99831335e-01 -5.88131092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624012739 meters 0.0333410964319375 Centerline is valid? [True, True] Translation: X:292.11, Y:-40.39, Z:-5.89 [[ 9.83717472e-01 1.79011003e-01 1.59686085e-02 2.92107496e+02] [-1.78992633e-01 9.83847021e-01 -2.58393138e-03 -4.03936497e+01] [-1.61732201e-02 -3.16404831e-04 9.99869155e-01 -5.88777019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684012739 meters 0.03027164322168645 Centerline is valid? [True, True] Translation: X:292.17, Y:-40.40, Z:-5.89 [[ 9.83914799e-01 1.77832705e-01 1.69468775e-02 2.92166140e+02] [-1.77811863e-01 9.84060684e-01 -2.74088977e-03 -4.04022112e+01] [-1.71641757e-02 -3.16553844e-04 9.99852635e-01 -5.88596214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744012739 meters 0.02900256149022567 Centerline is valid? [True, True] Translation: X:292.22, Y:-40.41, Z:-5.89 [[ 9.84317439e-01 1.75663556e-01 1.61707949e-02 2.92223194e+02] [-1.75644298e-01 9.84450224e-01 -2.61469079e-03 -4.04089002e+01] [-1.63786486e-02 -2.66622171e-04 9.99865825e-01 -5.88992448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80401273900003 meters 0.02660506010438235 Centerline is valid? [True, True] Translation: X:292.28, Y:-40.42, Z:-5.89 [[ 9.84581481e-01 1.74037378e-01 1.76153130e-02 2.92280999e+02] [-1.74014286e-01 9.84739012e-01 -2.84708590e-03 -4.04205989e+01] [-1.78419853e-02 -2.62128070e-04 9.99840785e-01 -5.88755435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86401273900003 meters 0.026145886016783606 Centerline is valid? [True, True] Translation: X:292.34, Y:-40.43, Z:-5.89 [[ 9.84888818e-01 1.72171377e-01 1.87358639e-02 2.92339039e+02] [-1.72144934e-01 9.85066981e-01 -3.02722162e-03 -4.04259892e+01] [-1.89772818e-02 -2.43807339e-04 9.99819885e-01 -5.88674282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92401273900003 meters 0.026267643267841735 Centerline is valid? [True, True] Translation: X:292.40, Y:-40.43, Z:-5.89 [[ 9.85005135e-01 1.71613161e-01 1.77146073e-02 2.92396865e+02] [-1.71589451e-01 9.85164389e-01 -2.86117664e-03 -4.04315032e+01] [-1.79428159e-02 -2.21366073e-04 9.99838990e-01 -5.88954805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984012739 meters 0.025326487494057418 Centerline is valid? [True, True] Translation: X:292.45, Y:-40.44, Z:-5.89 [[ 9.85214668e-01 1.70383022e-01 1.79355525e-02 2.92454616e+02] [-1.70358532e-01 9.85377889e-01 -2.89577535e-03 -4.04409460e+01] [-1.81666878e-02 -2.02514054e-04 9.99834952e-01 -5.88956496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044012739 meters 0.023566253402678764 Centerline is valid? [True, True] Translation: X:292.51, Y:-40.45, Z:-5.89 [[ 9.85675980e-01 1.67733614e-01 1.75584029e-02 2.92511794e+02] [-1.67709737e-01 9.85832345e-01 -2.83409085e-03 -4.04531612e+01] [-1.77850138e-02 -1.51219852e-04 9.99841823e-01 -5.89173559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104012739 meters 0.02377120957318965 Centerline is valid? [True, True] Translation: X:292.57, Y:-40.46, Z:-5.89 [[ 9.85597138e-01 1.68263055e-01 1.69063819e-02 2.92570838e+02] [-1.68241010e-01 9.85742116e-01 -2.72808503e-03 -4.04585417e+01] [-1.71243686e-02 -1.55553974e-04 9.99853355e-01 -5.89462351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164012739 meters 0.027125644263553017 Centerline is valid? [True, True] Translation: X:292.63, Y:-40.45, Z:-5.90 [[ 9.84729385e-01 1.73441951e-01 1.50308926e-02 2.92631541e+02] [-1.73425138e-01 9.84844070e-01 -2.42483623e-03 -4.04531142e+01] [-1.52236538e-02 -2.18927146e-04 9.99884089e-01 -5.89759895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224012739 meters 0.030771338457721217 Centerline is valid? [True, True] Translation: X:292.69, Y:-40.45, Z:-5.90 [[ 9.83632030e-01 1.79396585e-01 1.68788452e-02 2.92692849e+02] [-1.79376276e-01 9.83776775e-01 -2.72192881e-03 -4.04476526e+01] [-1.70933207e-02 -3.50288039e-04 9.99853837e-01 -5.89575662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284012739 meters 0.030878388303036134 Centerline is valid? [True, True] Translation: X:292.75, Y:-40.45, Z:-5.90 [[ 9.84051860e-01 1.77308689e-01 1.42676273e-02 2.92750936e+02] [-1.77293960e-01 9.84155251e-01 -2.30077360e-03 -4.04487323e+01] [-1.44495075e-02 -2.65483603e-04 9.99895565e-01 -5.90171444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344012739 meters 0.02681957006762109 Centerline is valid? [True, True] Translation: X:292.81, Y:-40.46, Z:-5.90 [[ 9.84734115e-01 1.73192403e-01 1.74102027e-02 2.92810441e+02] [-1.73169852e-01 9.84887978e-01 -2.80606476e-03 -4.04593097e+01] [-1.76330884e-02 -2.51694532e-04 9.99844493e-01 -5.89635306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404012739 meters 0.0226473349744575 Centerline is valid? [True, True] Translation: X:292.87, Y:-40.47, Z:-5.89 [[ 9.85983194e-01 1.65650887e-01 1.99229640e-02 2.92868052e+02] [-1.65619821e-01 9.86184448e-01 -3.21078440e-03 -4.04720566e+01] [-2.01795865e-02 -1.33858263e-04 9.99796362e-01 -5.89363205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464012739 meters 0.021359745149858934 Centerline is valid? [True, True] Translation: X:292.93, Y:-40.49, Z:-5.90 [[ 9.86963061e-01 1.59975217e-01 1.76591877e-02 2.92925702e+02] [-1.59949908e-01 9.87121031e-01 -2.84557765e-03 -4.04861737e+01] [-1.78869775e-02 -1.61054252e-05 9.99840015e-01 -5.89876799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524012739 meters 0.021140321865975566 Centerline is valid? [True, True] Translation: X:292.98, Y:-40.50, Z:-5.90 [[ 9.87445243e-01 1.56811968e-01 1.90236204e-02 2.92984280e+02] [-1.56782028e-01 9.87628475e-01 -3.06445244e-03 -4.04952098e+01] [-1.92688120e-02 4.34172101e-05 9.99814338e-01 -5.89634173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584012739 meters 0.02243434512529378 Centerline is valid? [True, True] Translation: X:293.04, Y:-40.51, Z:-5.90 [[ 9.88102769e-01 1.52616399e-01 1.90040341e-02 2.93040494e+02] [-1.52585762e-01 9.88285495e-01 -3.06036628e-03 -4.05100261e+01] [-1.92484734e-02 1.24211363e-04 9.99814723e-01 -5.89773586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644012739 meters 0.023949435538427842 Centerline is valid? [True, True] Translation: X:293.10, Y:-40.52, Z:-5.90 [[ 9.88666413e-01 1.48980383e-01 1.85356303e-02 2.93099024e+02] [-1.48950620e-01 9.88840134e-01 -2.98376778e-03 -4.05229806e+01] [-1.87732980e-02 1.89057358e-04 9.99823748e-01 -5.89978248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704012739 meters 0.02398944987916006 Centerline is valid? [True, True] Translation: X:293.16, Y:-40.53, Z:-5.90 [[ 9.88628539e-01 1.49417284e-01 1.69731002e-02 2.93156275e+02] [-1.49392398e-01 9.88774215e-01 -2.73198445e-03 -4.05315703e+01] [-1.71907695e-02 1.65265666e-04 9.99852214e-01 -5.90355603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764012739 meters 0.024368385586288916 Centerline is valid? [True, True] Translation: X:293.21, Y:-40.54, Z:-5.91 [[ 9.88742534e-01 1.48712377e-01 1.65175963e-02 2.93214274e+02] [-1.48688726e-01 9.88880478e-01 -2.65765962e-03 -4.05416297e+01] [-1.67291554e-02 1.71760737e-04 9.99860043e-01 -5.90537563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824012739 meters 0.024975222845832225 Centerline is valid? [True, True] Translation: X:293.27, Y:-40.55, Z:-5.91 [[ 9.88861372e-01 1.47858375e-01 1.70613221e-02 2.93271090e+02] [-1.47833028e-01 9.89008526e-01 -2.74433310e-03 -4.05544972e+01] [-1.72795656e-02 1.91538091e-04 9.99850679e-01 -5.90610163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884012739 meters 0.02544686396862759 Centerline is valid? [True, True] Translation: X:293.33, Y:-40.56, Z:-5.90 [[ 9.89041140e-01 1.46401168e-01 1.90872032e-02 2.93329553e+02] [-1.46369198e-01 9.89225272e-01 -3.06890847e-03 -4.05638789e+01] [-1.93308356e-02 2.41498104e-04 9.99813113e-01 -5.90336205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944012739 meters 0.0259854738014743 Centerline is valid? [True, True] Translation: X:293.39, Y:-40.58, Z:-5.91 [[ 9.89120806e-01 1.46164756e-01 1.66101098e-02 2.93386383e+02] [-1.46140521e-01 9.89260238e-01 -2.67017120e-03 -4.05762124e+01] [-1.68220061e-02 2.13711791e-04 9.99858477e-01 -5.90918796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004012739 meters 0.026303070145801723 Centerline is valid? [True, True] Translation: X:293.44, Y:-40.59, Z:-5.91 [[ 9.89188135e-01 1.45869326e-01 1.51318448e-02 2.93444841e+02] [-1.45849188e-01 9.89303846e-01 -2.43189904e-03 -4.05853246e+01] [-1.53247317e-02 1.98638402e-04 9.99882550e-01 -5.91322323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064012739 meters 0.029936915724606793 Centerline is valid? [True, True] Translation: X:293.50, Y:-40.61, Z:-5.91 [[ 9.89857402e-01 1.41140520e-01 1.61764489e-02 2.93501968e+02] [-1.41116889e-01 9.89989530e-01 -2.59881360e-03 -4.06073189e+01] [-1.63813129e-02 2.89684732e-04 9.99865775e-01 -5.91272380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124012739 meters 0.03185264989064868 Centerline is valid? [True, True] Translation: X:293.56, Y:-40.63, Z:-5.91 [[ 9.90080558e-01 1.39110281e-01 1.97184573e-02 2.93558943e+02] [-1.39074771e-01 9.90276817e-01 -3.16754840e-03 -4.06254884e+01] [-1.99673697e-02 3.93788149e-04 9.99800555e-01 -5.90653228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184012739 meters 0.03003517824391013 Centerline is valid? [True, True] Translation: X:293.62, Y:-40.64, Z:-5.91 [[ 9.89704782e-01 1.41572253e-01 2.10176535e-02 2.93618477e+02] [-1.41532448e-01 9.89927857e-01 -3.37699777e-03 -4.06368737e+01] [-2.12840499e-02 3.67550899e-04 9.99773401e-01 -5.90538732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244012739 meters 0.02523501398767315 Centerline is valid? [True, True] Translation: X:293.68, Y:-40.64, Z:-5.91 [[ 9.89049433e-01 1.46408025e-01 1.85986436e-02 2.93679027e+02] [-1.46377707e-01 9.89224260e-01 -2.98848858e-03 -4.06445360e+01] [-1.88357682e-02 2.33336134e-04 9.99822564e-01 -5.91080196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30401273900003 meters 0.022629202829515877 Centerline is valid? [True, True] Translation: X:293.74, Y:-40.65, Z:-5.91 [[ 9.88269413e-01 1.51634699e-01 1.81792793e-02 2.93738370e+02] [-1.51606608e-01 9.88436594e-01 -2.92160334e-03 -4.06513156e+01] [-1.84120814e-02 1.31232350e-04 9.99830475e-01 -5.91321816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36401273900003 meters 0.022587269145610135 Centerline is valid? [True, True] Translation: X:293.80, Y:-40.66, Z:-5.91 [[ 9.88199346e-01 1.52048193e-01 1.85310377e-02 2.93796491e+02] [-1.52019081e-01 9.88373073e-01 -2.97792853e-03 -4.06639717e+01] [-1.87683673e-02 1.25715715e-04 9.99823851e-01 -5.91442195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42401273900003 meters 0.022949406551164224 Centerline is valid? [True, True] Translation: X:293.86, Y:-40.67, Z:-5.92 [[ 9.88300088e-01 1.51334455e-01 1.89952514e-02 2.93855999e+02] [-1.51303742e-01 9.88482606e-01 -3.05203531e-03 -4.06744824e+01] [-1.92383537e-02 1.42274144e-04 9.99814916e-01 -5.91562696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484012739 meters 0.022921925799836155 Centerline is valid? [True, True] Translation: X:293.91, Y:-40.69, Z:-5.93 [[ 9.88127532e-01 1.52972565e-01 1.42609448e-02 2.93913866e+02] [-1.52955424e-01 9.88230432e-01 -2.29142698e-03 -4.06866924e+01] [-1.44436251e-02 8.29332303e-05 9.99895682e-01 -5.92629056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544012739 meters 0.022586158838002003 Centerline is valid? [True, True] Translation: X:293.97, Y:-40.69, Z:-5.93 [[ 9.88017693e-01 1.53677777e-01 1.42891423e-02 2.93972667e+02] [-1.53660644e-01 9.88121013e-01 -2.29586162e-03 -4.06945191e+01] [-1.44722246e-02 7.26731058e-05 9.99895269e-01 -5.92645148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604012739 meters 0.021399132269010315 Centerline is valid? [True, True] Translation: X:294.03, Y:-40.70, Z:-5.92 [[ 9.87229245e-01 1.58341509e-01 1.75038120e-02 2.94031942e+02] [-1.58316540e-01 9.87384407e-01 -2.81190823e-03 -4.06957316e+01] [-1.77282329e-02 4.85508827e-06 9.99842843e-01 -5.92113003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664012739 meters 0.02199161886182871 Centerline is valid? [True, True] Translation: X:294.09, Y:-40.70, Z:-5.92 [[ 9.86528106e-01 1.62715659e-01 1.69088924e-02 2.94090418e+02] [-1.62693013e-01 9.86673000e-01 -2.71557799e-03 -4.06980128e+01] [-1.71254146e-02 -7.19646425e-05 9.99853347e-01 -5.92307294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724012739 meters 0.021224793467420462 Centerline is valid? [True, True] Translation: X:294.15, Y:-40.71, Z:-5.92 [[ 9.86838849e-01 1.60403796e-01 2.04867778e-02 2.94146649e+02] [-1.60370084e-01 9.87051478e-01 -3.28867826e-03 -4.07130457e+01] [-2.07490207e-02 -4.00708037e-05 9.99784715e-01 -5.91820665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784012739 meters 0.021296184135034226 Centerline is valid? [True, True] Translation: X:294.21, Y:-40.73, Z:-5.92 [[ 9.87462642e-01 1.56443881e-01 2.10438465e-02 2.94205450e+02] [-1.56407438e-01 9.87686848e-01 -3.37685770e-03 -4.07293989e+01] [-2.13130192e-02 4.31067029e-05 9.99772851e-01 -5.91873682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844012739 meters 0.021235539892015664 Centerline is valid? [True, True] Translation: X:294.26, Y:-40.73, Z:-5.92 [[ 9.86906846e-01 1.60186721e-01 1.88438646e-02 2.94264859e+02] [-1.60158181e-01 9.87086730e-01 -3.02388010e-03 -4.07304996e+01] [-1.90849141e-02 -3.37110974e-05 9.99817866e-01 -5.92272408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904012739 meters 0.02343392275202665 Centerline is valid? [True, True] Translation: X:294.32, Y:-40.73, Z:-5.93 [[ 9.85872863e-01 1.66667337e-01 1.66342145e-02 2.94324427e+02] [-1.66646028e-01 9.86013174e-01 -2.66883281e-03 -4.07304055e+01] [-1.68463619e-02 -1.40895929e-04 9.99858080e-01 -5.92935126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964012739 meters 0.025844808146235465 Centerline is valid? [True, True] Translation: X:294.38, Y:-40.73, Z:-5.93 [[ 9.85084037e-01 1.71221999e-01 1.71016958e-02 2.94383868e+02] [-1.71200175e-01 9.85232448e-01 -2.74298265e-03 -4.07319791e+01] [-1.73188046e-02 -2.25744888e-04 9.99849993e-01 -5.92967044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024012739 meters 0.02908385173567755 Centerline is valid? [True, True] Translation: X:294.44, Y:-40.73, Z:-5.93 [[ 9.84350233e-01 1.75336744e-01 1.76534510e-02 2.94442808e+02] [-1.75314166e-01 9.84508472e-01 -2.83056911e-03 -4.07317176e+01] [-1.78762749e-02 -3.08628685e-04 9.99840159e-01 -5.92919510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084012739 meters 0.03089203248826947 Centerline is valid? [True, True] Translation: X:294.50, Y:-40.73, Z:-5.93 [[ 9.83847508e-01 1.77979875e-01 1.91636410e-02 2.94502496e+02] [-1.77953787e-01 9.84034051e-01 -3.07181166e-03 -4.07327296e+01] [-1.94043959e-02 -3.88048242e-04 9.99811642e-01 -5.92736740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144012739 meters 0.0325667037918769 Centerline is valid? [True, True] Translation: X:294.56, Y:-40.73, Z:-5.93 [[ 9.83508866e-01 1.79876069e-01 1.88390631e-02 2.94562527e+02] [-1.79851222e-01 9.83689191e-01 -3.01888536e-03 -4.07307623e+01] [-1.90748080e-02 -4.19128015e-04 9.99817971e-01 -5.92979639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204012739 meters 0.030266540480914247 Centerline is valid? [True, True] Translation: X:294.62, Y:-40.74, Z:-5.93 [[ 9.84035796e-01 1.77023656e-01 1.83351325e-02 2.94621385e+02] [-1.76999641e-01 9.84206533e-01 -2.93733295e-03 -4.07372853e+01] [-1.85655346e-02 -3.54871111e-04 9.99827583e-01 -5.93197991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264012739 meters 0.029091584467708414 Centerline is valid? [True, True] Translation: X:294.68, Y:-40.74, Z:-5.93 [[ 9.84175317e-01 1.76166746e-01 1.90846278e-02 2.94679972e+02] [-1.76140598e-01 9.84360276e-01 -3.05576226e-03 -4.07424261e+01] [-1.93244732e-02 -3.54171953e-04 9.99813202e-01 -5.93116862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324012739 meters 0.03267519885637116 Centerline is valid? [True, True] Translation: X:294.74, Y:-40.73, Z:-5.93 [[ 9.83643249e-01 1.79183535e-01 1.84179234e-02 2.94740232e+02] [-1.79159727e-01 9.83815583e-01 -2.94813760e-03 -4.07349954e+01] [-1.86480978e-02 -3.99834480e-04 9.99826029e-01 -5.93276439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384012739 meters 0.03771454396761184 Centerline is valid? [True, True] Translation: X:294.80, Y:-40.72, Z:-5.94 [[ 9.82928684e-01 1.83289684e-01 1.60029519e-02 2.94802348e+02] [-1.83272266e-01 9.83058858e-01 -2.56075488e-03 -4.07239218e+01] [-1.62012036e-02 -4.15857838e-04 9.99868665e-01 -5.93872094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444012739 meters 0.03478361994866444 Centerline is valid? [True, True] Translation: X:294.86, Y:-40.73, Z:-5.93 [[ 9.83165762e-01 1.81551926e-01 2.05908356e-02 2.94861971e+02] [-1.81522717e-01 9.83381233e-01 -3.29449815e-03 -4.07255469e+01] [-2.08467638e-02 -4.98666646e-04 9.99782558e-01 -5.93167581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504012739 meters 0.02839534281873244 Centerline is valid? [True, True] Translation: X:294.92, Y:-40.74, Z:-5.94 [[ 9.84623790e-01 1.73892172e-01 1.66584564e-02 2.94920738e+02] [-1.73872002e-01 9.84764661e-01 -2.66265029e-03 -4.07362457e+01] [-1.68676732e-02 -2.74730344e-04 9.99857693e-01 -5.94119227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564012739 meters 0.02271871079469217 Centerline is valid? [True, True] Translation: X:294.98, Y:-40.75, Z:-5.94 [[ 9.86016048e-01 1.65935856e-01 1.54157069e-02 2.94978827e+02] [-1.65917611e-01 9.86136540e-01 -2.46392767e-03 -4.07542001e+01] [-1.56108458e-02 -1.28265039e-04 9.99878135e-01 -5.94381181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624012739 meters 0.02094220401414819 Centerline is valid? [True, True] Translation: X:295.04, Y:-40.77, Z:-5.94 [[ 9.87817226e-01 1.54549561e-01 1.82088112e-02 2.95035904e+02] [-1.54522171e-01 9.87985035e-01 -2.91015738e-03 -4.07722891e+01] [-1.84397965e-02 6.10385481e-05 9.99829971e-01 -5.93981328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684012739 meters 0.025895903077051304 Centerline is valid? [True, True] Translation: X:295.09, Y:-40.80, Z:-5.94 [[ 9.89348655e-01 1.44448146e-01 1.79992223e-02 2.95090480e+02] [-1.44419725e-01 9.89512341e-01 -2.87578813e-03 -4.07980475e+01] [-1.82258548e-02 2.45714391e-04 9.99833865e-01 -5.94287608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744012739 meters 0.029353114172396836 Centerline is valid? [True, True] Translation: X:295.15, Y:-40.82, Z:-5.95 [[ 9.90229060e-01 1.38376688e-01 1.72713940e-02 2.95147801e+02] [-1.38349610e-01 9.90379612e-01 -2.75867583e-03 -4.08159616e+01] [-1.74869729e-02 3.42230352e-04 9.99847033e-01 -5.94547134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80401273900003 meters 0.032921637901503854 Centerline is valid? [True, True] Translation: X:295.20, Y:-40.84, Z:-5.95 [[ 9.90677940e-01 1.35212490e-01 1.65771276e-02 2.95204163e+02] [-1.35187112e-01 9.90816551e-01 -2.64720277e-03 -4.08357155e+01] [-1.67828273e-02 3.81511378e-04 9.99859086e-01 -5.94781742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86401273900003 meters 0.03559757527735556 Centerline is valid? [True, True] Translation: X:295.26, Y:-40.86, Z:-5.95 [[ 9.90878102e-01 1.33635449e-01 1.73825411e-02 2.95260126e+02] [-1.33607315e-01 9.91030466e-01 -2.77515033e-03 -4.08567479e+01] [-1.75974863e-02 4.27401050e-04 9.99845061e-01 -5.94695867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92401273900003 meters 0.039546684441275244 Centerline is valid? [True, True] Translation: X:295.32, Y:-40.87, Z:-5.94 [[ 9.91180607e-01 1.31735210e-01 1.43818686e-02 2.95319230e+02] [-1.31715759e-01 9.91284868e-01 -2.29549904e-03 -4.08727281e+01] [-1.45589268e-02 3.80935390e-04 9.99893941e-01 -5.94236009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984012739 meters 0.037161538552302205 Centerline is valid? [True, True] Translation: X:295.38, Y:-40.90, Z:-5.95 [[ 9.91159202e-01 1.31654105e-01 1.64509166e-02 2.95375381e+02] [-1.31628642e-01 9.91295620e-01 -2.62583418e-03 -4.08953241e+01] [-1.66534234e-02 4.37207896e-04 9.99861227e-01 -5.95024448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044012739 meters 0.035792697872048716 Centerline is valid? [True, True] Translation: X:295.43, Y:-40.91, Z:-5.95 [[ 9.90929146e-01 1.33167172e-01 1.80535836e-02 2.95434109e+02] [-1.33136767e-01 9.91093487e-01 -2.88112062e-03 -4.09094116e+01] [-1.82764598e-02 4.51390647e-04 9.99832870e-01 -5.94861538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104012739 meters 0.030203267688037327 Centerline is valid? [True, True] Translation: X:295.49, Y:-40.91, Z:-5.95 [[ 9.90335857e-01 1.37474462e-01 1.83211199e-02 2.95494608e+02] [-1.37443888e-01 9.90505240e-01 -2.92360236e-03 -4.09136361e+01] [-1.85490859e-02 3.77222287e-04 9.99827880e-01 -5.94826360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164012739 meters 0.02838087234080939 Centerline is valid? [True, True] Translation: X:295.55, Y:-40.92, Z:-5.95 [[ 9.89978764e-01 1.39870538e-01 1.94493888e-02 2.95554344e+02] [-1.39836550e-01 9.90169737e-01 -3.10339461e-03 -4.09208259e+01] [-1.96922697e-02 3.52559338e-04 9.99806026e-01 -5.94981957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224012739 meters 0.031500430926896125 Centerline is valid? [True, True] Translation: X:295.61, Y:-40.94, Z:-5.95 [[ 9.90436507e-01 1.36572144e-01 1.95850869e-02 2.95612239e+02] [-1.36537040e-01 9.90630038e-01 -3.12479879e-03 -4.09372964e+01] [-1.98283359e-02 4.20825005e-04 9.99803311e-01 -5.95080509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284012739 meters 0.037051614990293795 Centerline is valid? [True, True] Translation: X:295.67, Y:-40.96, Z:-5.95 [[ 9.91250477e-01 1.30621875e-01 1.89846526e-02 2.95669971e+02] [-1.30587799e-01 9.91432122e-01 -3.02898558e-03 -4.09620480e+01] [-1.92176462e-02 5.23319399e-04 9.99815187e-01 -5.95341528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344012739 meters 0.04054735564230059 Centerline is valid? [True, True] Translation: X:295.73, Y:-40.98, Z:-5.95 [[ 9.91300483e-01 1.30242746e-01 1.89784061e-02 2.95728308e+02] [-1.30208622e-01 9.91481995e-01 -3.02803547e-03 -4.09821076e+01] [-1.92111276e-02 5.30540915e-04 9.99815308e-01 -5.95491297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404012739 meters 0.0354475473717855 Centerline is valid? [True, True] Translation: X:295.79, Y:-40.99, Z:-5.96 [[ 9.91289154e-01 1.30439531e-01 1.82027760e-02 2.95791197e+02] [-1.30408127e-01 9.91456137e-01 -2.90681572e-03 -4.09901398e+01] [-1.84264177e-02 5.07704975e-04 9.99830090e-01 -5.95577938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464012739 meters 0.03374698393404188 Centerline is valid? [True, True] Translation: X:295.85, Y:-41.01, Z:-5.96 [[ 9.90874944e-01 1.33780966e-01 1.64163799e-02 2.95850190e+02] [-1.33755824e-01 9.91010842e-01 -2.62504349e-03 -4.10070586e+01] [-1.66199914e-02 4.05303400e-04 9.99861796e-01 -5.96038292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524012739 meters 0.033110793024554865 Centerline is valid? [True, True] Translation: X:295.91, Y:-41.03, Z:-5.96 [[ 9.90648376e-01 1.35381973e-01 1.69563218e-02 2.95908862e+02] [-1.35355383e-01 9.90793404e-01 -2.71138839e-03 -4.10261106e+01] [-1.71672849e-02 3.90903066e-04 9.99852555e-01 -5.96069245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584012739 meters 0.030794036726796276 Centerline is valid? [True, True] Translation: X:295.97, Y:-41.04, Z:-5.96 [[ 9.90218033e-01 1.38109976e-01 1.98464680e-02 2.95968428e+02] [-1.38074022e-01 9.90416816e-01 -3.17720391e-03 -4.10413268e+01] [-2.00950792e-02 4.05842956e-04 9.99797991e-01 -5.95617161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644012739 meters 0.027846570249223292 Centerline is valid? [True, True] Translation: X:296.03, Y:-41.05, Z:-5.96 [[ 9.89572345e-01 1.42556048e-01 2.05997040e-02 2.96027956e+02] [-1.42518265e-01 9.89786677e-01 -3.29829293e-03 -4.10514290e+01] [-2.08595042e-02 3.28065397e-04 9.99782363e-01 -5.95668322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704012739 meters 0.026597837708987448 Centerline is valid? [True, True] Translation: X:296.09, Y:-41.07, Z:-5.96 [[ 9.89229155e-01 1.44861574e-01 2.09953237e-02 2.96087083e+02] [-1.44822836e-01 9.89451890e-01 -3.36199927e-03 -4.10694229e+01] [-2.12608873e-02 2.85185364e-04 9.99773921e-01 -5.95811822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764012739 meters 0.025096271345741876 Centerline is valid? [True, True] Translation: X:296.15, Y:-41.09, Z:-5.96 [[ 9.89216516e-01 1.45046428e-01 2.03031641e-02 2.96147573e+02] [-1.45010181e-01 9.89424812e-01 -3.25409745e-03 -4.10886022e+01] [-2.05604496e-02 2.74841431e-04 9.99788574e-01 -5.96012261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824012739 meters 0.023080515938178666 Centerline is valid? [True, True] Translation: X:296.21, Y:-41.10, Z:-5.96 [[ 9.88642308e-01 1.48975068e-01 1.98195817e-02 2.96206987e+02] [-1.48941239e-01 9.88840934e-01 -3.18044040e-03 -4.11041229e+01] [-2.00722200e-02 1.92364895e-04 9.99798514e-01 -5.96186845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884012739 meters 0.020849421612411784 Centerline is valid? [True, True] Translation: X:296.27, Y:-41.11, Z:-5.97 [[ 9.87515663e-01 1.56571303e-01 1.72696748e-02 2.96268275e+02] [-1.56546739e-01 9.87666657e-01 -2.77356788e-03 -4.11103591e+01] [-1.74909431e-02 3.54304548e-05 9.99847021e-01 -5.96866567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944012739 meters 0.021459202378299718 Centerline is valid? [True, True] Translation: X:296.33, Y:-41.12, Z:-5.97 [[ 9.86468237e-01 1.63172185e-01 1.59767388e-02 2.96329539e+02] [-1.63151977e-01 9.86597604e-01 -2.56895590e-03 -4.11153149e+01] [-1.61817944e-02 -7.24431328e-05 9.99869064e-01 -5.97226237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004012739 meters 0.026420916530842397 Centerline is valid? [True, True] Translation: X:296.39, Y:-41.11, Z:-5.97 [[ 9.84544938e-01 1.74278945e-01 1.72659679e-02 2.96391836e+02] [-1.74257039e-01 9.84696285e-01 -2.77678171e-03 -4.11105747e+01] [-1.74856690e-02 -2.74850068e-04 9.99847076e-01 -5.96976939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064012739 meters 0.03380459609172746 Centerline is valid? [True, True] Translation: X:296.45, Y:-41.10, Z:-5.97 [[ 9.83349700e-01 1.80920216e-01 1.70658567e-02 2.96453292e+02] [-1.80899813e-01 9.83497699e-01 -2.74463793e-03 -4.11028627e+01] [-1.72807913e-02 -3.88271407e-04 9.99850601e-01 -5.97177306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124012739 meters 0.04289988427383794 Centerline is valid? [True, True] Translation: X:296.52, Y:-41.08, Z:-5.97 [[ 9.81320115e-01 1.91530273e-01 1.80827869e-02 2.96516992e+02] [-1.91509166e-01 9.81486517e-01 -2.90794405e-03 -4.10847954e+01] [-1.83049709e-02 -6.09395457e-04 9.99832264e-01 -5.97086005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184012739 meters 0.04875995344632147 Centerline is valid? [True, True] Translation: X:296.58, Y:-41.07, Z:-5.97 [[ 9.80206117e-01 1.97095117e-01 1.86944839e-02 2.96580203e+02] [-1.97073571e-01 9.80384094e-01 -3.00608906e-03 -4.10720844e+01] [-1.89202601e-02 -7.37601814e-04 9.99820724e-01 -5.97223022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244012739 meters 0.04215384172395489 Centerline is valid? [True, True] Translation: X:296.64, Y:-41.08, Z:-5.98 [[ 9.81328431e-01 1.91548629e-01 1.74250793e-02 2.96639922e+02] [-1.91529036e-01 9.81482948e-01 -2.80197236e-03 -4.10788303e+01] [-1.76391322e-02 -5.87753510e-04 9.99844246e-01 -5.97554401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30401273900003 meters 0.033039438689922054 Centerline is valid? [True, True] Translation: X:296.70, Y:-41.09, Z:-5.98 [[ 9.83474208e-01 1.80304643e-01 1.63926275e-02 2.96697860e+02] [-1.80285739e-01 9.83610748e-01 -2.63596590e-03 -4.10919277e+01] [-1.65992415e-02 -3.62952493e-04 9.99862157e-01 -5.97947080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36401273900003 meters 0.028820021615336762 Centerline is valid? [True, True] Translation: X:296.76, Y:-41.10, Z:-5.98 [[ 9.84228875e-01 1.75996064e-01 1.78579808e-02 2.96756984e+02] [-1.75972924e-01 9.84390819e-01 -2.87133268e-03 -4.11025337e+01] [-1.80845756e-02 -3.16472578e-04 9.99836411e-01 -5.97645717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42401273900003 meters 0.029992278992600804 Centerline is valid? [True, True] Translation: X:296.82, Y:-41.10, Z:-5.98 [[ 9.84157115e-01 1.76296829e-01 1.88202055e-02 2.96815954e+02] [-1.76271187e-01 9.84336991e-01 -3.02587259e-03 -4.11018356e+01] [-1.90588762e-02 -3.39525938e-04 9.99818305e-01 -5.97529650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484012739 meters 0.025501488281694545 Centerline is valid? [True, True] Translation: X:296.87, Y:-41.11, Z:-5.98 [[ 9.84960673e-01 1.71772347e-01 1.86208023e-02 2.96873873e+02] [-1.71746458e-01 9.85136639e-01 -2.99267702e-03 -4.11144959e+01] [-1.88580937e-02 -2.50387671e-04 9.99822139e-01 -5.97778035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544012739 meters 0.02270992458371796 Centerline is valid? [True, True] Translation: X:296.93, Y:-41.13, Z:-5.98 [[ 9.85846560e-01 1.66639987e-01 1.83759505e-02 2.96930804e+02] [-1.66613894e-01 9.86017795e-01 -2.95267748e-03 -4.11271726e+01] [-1.86110484e-02 -1.50801738e-04 9.99826788e-01 -5.97927542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604012739 meters 0.021286109698237778 Centerline is valid? [True, True] Translation: X:296.99, Y:-41.14, Z:-5.99 [[ 9.86985449e-01 1.60030163e-01 1.58136078e-02 2.96986671e+02] [-1.60010001e-01 9.87112124e-01 -2.54036848e-03 -4.11424622e+01] [-1.60163396e-02 -2.30286666e-05 9.99871730e-01 -5.98535156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664012739 meters 0.021133834373282482 Centerline is valid? [True, True] Translation: X:297.04, Y:-41.15, Z:-5.98 [[ 9.87398571e-01 1.57376025e-01 1.66387642e-02 2.97044364e+02] [-1.57353345e-01 9.87538752e-01 -2.67182592e-03 -4.11539751e+01] [-1.68519057e-02 1.99919047e-05 9.99857996e-01 -5.98345144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724012739 meters 0.021363383190861448 Centerline is valid? [True, True] Translation: X:297.10, Y:-41.17, Z:-5.98 [[ 9.87693533e-01 1.55298701e-01 1.85418034e-02 2.97101653e+02] [-1.55270188e-01 9.87867557e-01 -2.97642117e-03 -4.11653811e+01] [-1.87790804e-02 6.08026496e-05 9.99823656e-01 -5.98155022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784012739 meters 0.022804244457048352 Centerline is valid? [True, True] Translation: X:297.16, Y:-41.18, Z:-5.98 [[ 9.88330952e-01 1.50867327e-01 2.09994850e-02 2.97159477e+02] [-1.50829781e-01 9.88554006e-01 -3.36955206e-03 -4.11838771e+01] [-2.12674804e-02 1.62884859e-04 9.99773808e-01 -5.97841116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844012739 meters 0.02577784361824367 Centerline is valid? [True, True] Translation: X:297.22, Y:-41.20, Z:-5.98 [[ 9.89074629e-01 1.45886979e-01 2.11747042e-02 2.97217676e+02] [-1.45847673e-01 9.89301226e-01 -3.39717782e-03 -4.12029973e+01] [-2.14437648e-02 2.71781060e-04 9.99770019e-01 -5.97939713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904012739 meters 0.027352147609253145 Centerline is valid? [True, True] Translation: X:297.28, Y:-41.22, Z:-5.98 [[ 9.89413192e-01 1.43960292e-01 1.83567584e-02 2.97277113e+02] [-1.43930422e-01 9.89583428e-01 -2.94503468e-03 -4.12168877e+01] [-1.85895119e-02 2.71760191e-04 9.99827163e-01 -5.98465193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964012739 meters 0.02576540402536559 Centerline is valid? [True, True] Translation: X:297.34, Y:-41.22, Z:-5.99 [[ 9.88942026e-01 1.47311709e-01 1.71152100e-02 2.97336620e+02] [-1.47286236e-01 9.89090098e-01 -2.74629971e-03 -4.12237287e+01] [-1.73330468e-02 1.95096346e-04 9.99849752e-01 -5.98763422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024012739 meters 0.02681905981585624 Centerline is valid? [True, True] Translation: X:297.39, Y:-41.24, Z:-5.99 [[ 9.89107342e-01 1.46159230e-01 1.74397561e-02 2.97394286e+02] [-1.46132603e-01 9.89261053e-01 -2.79840841e-03 -4.12377340e+01] [-1.76614847e-02 2.19409355e-04 9.99844000e-01 -5.98783195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084012739 meters 0.029447768713580885 Centerline is valid? [True, True] Translation: X:297.45, Y:-41.26, Z:-5.99 [[ 9.89535671e-01 1.43116494e-01 1.83528159e-02 2.97451912e+02] [-1.43086488e-01 9.89705808e-01 -2.94458854e-03 -4.12590023e+01] [-1.85853077e-02 2.87735433e-04 9.99827237e-01 -5.98885174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144012739 meters 0.02950284151058994 Centerline is valid? [True, True] Translation: X:297.51, Y:-41.27, Z:-5.99 [[ 9.89591717e-01 1.42811511e-01 1.76947973e-02 2.97512224e+02] [-1.42783555e-01 9.89749863e-01 -2.83983225e-03 -4.12724512e+01] [-1.79189839e-02 2.83748421e-04 9.99839402e-01 -5.99043934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204012739 meters 0.027270414826242963 Centerline is valid? [True, True] Translation: X:297.57, Y:-41.28, Z:-6.00 [[ 9.89119409e-01 1.46377720e-01 1.47091227e-02 2.97572923e+02] [-1.46358792e-01 9.89228755e-01 -2.36092213e-03 -4.12797212e+01] [-1.48962735e-02 1.82424466e-04 9.99889028e-01 -5.99630437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264012739 meters 0.024360685745652665 Centerline is valid? [True, True] Translation: X:297.63, Y:-41.28, Z:-6.00 [[ 9.88239885e-01 1.52049193e-01 1.62164045e-02 2.97632862e+02] [-1.52026940e-01 9.88372921e-01 -2.60348071e-03 -4.12841066e+01] [-1.64237122e-02 1.07533137e-04 9.99865116e-01 -5.99523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324012739 meters 0.024681947155532156 Centerline is valid? [True, True] Translation: X:297.69, Y:-41.30, Z:-6.00 [[ 9.88314504e-01 1.51472595e-01 1.70438777e-02 2.97690984e+02] [-1.51447937e-01 9.88461450e-01 -2.73576772e-03 -4.12966687e+01] [-1.72616099e-02 1.22538806e-04 9.99851000e-01 -5.99516277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384012739 meters 0.027459014984676955 Centerline is valid? [True, True] Translation: X:297.75, Y:-41.32, Z:-5.99 [[ 9.89087555e-01 1.46117164e-01 1.88569130e-02 2.97750559e+02] [-1.46086006e-01 9.89267263e-01 -3.02683083e-03 -4.13194908e+01] [-1.90967986e-02 2.39069602e-04 9.99817611e-01 -5.99341052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444012739 meters 0.030430296175041772 Centerline is valid? [True, True] Translation: X:297.81, Y:-41.35, Z:-5.99 [[ 9.89666599e-01 1.41727087e-01 2.17590482e-02 2.97808924e+02] [-1.41684450e-01 9.89905698e-01 -3.49663634e-03 -4.13467663e+01] [-2.20349738e-02 3.77585417e-04 9.99757129e-01 -5.98989549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504012739 meters 0.03240623830552256 Centerline is valid? [True, True] Translation: X:297.87, Y:-41.37, Z:-5.99 [[ 9.90040827e-01 1.39342543e-01 2.00702998e-02 2.97868144e+02] [-1.39305746e-01 9.90244160e-01 -3.22683518e-03 -4.13675604e+01] [-2.03241326e-02 3.98790502e-04 9.99793364e-01 -5.99449781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564012739 meters 0.03263887400152865 Centerline is valid? [True, True] Translation: X:297.93, Y:-41.39, Z:-6.00 [[ 9.89968096e-01 1.40257799e-01 1.70563221e-02 2.97926522e+02] [-1.40231319e-01 9.90114965e-01 -2.74465506e-03 -4.13871820e+01] [-1.72726790e-02 3.25290406e-04 9.99850763e-01 -5.99935738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624012739 meters 0.03637608588469327 Centerline is valid? [True, True] Translation: X:297.99, Y:-41.40, Z:-5.99 [[ 9.89460002e-01 1.43685902e-01 1.79795767e-02 2.97987036e+02] [-1.43656984e-01 9.89623303e-01 -2.89645385e-03 -4.13990916e+01] [-1.82091876e-02 2.83033472e-04 9.99834159e-01 -5.99175387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684012739 meters 0.02793171021305878 Centerline is valid? [True, True] Translation: X:298.05, Y:-41.41, Z:-6.00 [[ 9.88980417e-01 1.46941142e-01 1.80564675e-02 2.98047648e+02] [-1.46912515e-01 9.89145212e-01 -2.90899263e-03 -4.14084752e+01] [-1.82879191e-02 2.24215678e-04 9.99832737e-01 -6.00075910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744012739 meters 0.025784417059855874 Centerline is valid? [True, True] Translation: X:298.11, Y:-41.42, Z:-6.00 [[ 9.88306563e-01 1.51540079e-01 1.69039156e-02 2.98108512e+02] [-1.51515623e-01 9.88451105e-01 -2.72562602e-03 -4.14179162e+01] [-1.71217356e-02 1.32546784e-04 9.99853404e-01 -6.00408256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80401273900003 meters 0.024215451858823452 Centerline is valid? [True, True] Translation: X:298.17, Y:-41.43, Z:-6.01 [[ 9.88061630e-01 1.53146470e-01 1.67443797e-02 2.98169551e+02] [-1.53122660e-01 9.88203495e-01 -2.70249423e-03 -4.14275652e+01] [-1.69607320e-02 1.06286887e-04 9.99856151e-01 -6.00512396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86401273900003 meters 0.02377633713202538 Centerline is valid? [True, True] Translation: X:298.23, Y:-41.44, Z:-6.00 [[ 9.87830421e-01 1.54404014e-01 1.87205766e-02 2.98231162e+02] [-1.54374408e-01 9.88007789e-01 -3.02507713e-03 -4.14372032e+01] [-1.89631595e-02 9.82852753e-05 9.99820178e-01 -6.00269051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92401273900003 meters 0.02286703563330578 Centerline is valid? [True, True] Translation: X:298.29, Y:-41.44, Z:-6.01 [[ 9.87148124e-01 1.58787196e-01 1.80335332e-02 2.98292442e+02] [-1.58760400e-01 9.87312831e-01 -2.91705398e-03 -4.14430595e+01] [-1.82679296e-02 1.65534198e-05 9.99833127e-01 -6.00581788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984012739 meters 0.022969677960147702 Centerline is valid? [True, True] Translation: X:298.36, Y:-41.45, Z:-6.01 [[ 9.86643102e-01 1.62008860e-01 1.69858311e-02 2.98355534e+02] [-1.61985524e-01 9.86789303e-01 -2.74995309e-03 -4.14478007e+01] [-1.72069532e-02 -3.82364943e-05 9.99851949e-01 -6.00989757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044012739 meters 0.024021710625604403 Centerline is valid? [True, True] Translation: X:298.42, Y:-41.45, Z:-6.00 [[ 9.85773277e-01 1.66710805e-01 2.14138635e-02 2.98417288e+02] [-1.66674713e-01 9.86005825e-01 -3.47188947e-03 -4.14466223e+01] [-2.16929957e-02 -1.46653705e-04 9.99764669e-01 -6.00274021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104012739 meters 0.026214616639517994 Centerline is valid? [True, True] Translation: X:298.48, Y:-41.45, Z:-6.00 [[ 9.84967393e-01 1.71417347e-01 2.13384177e-02 2.98478767e+02] [-1.71382607e-01 9.85198473e-01 -3.45990298e-03 -4.14460082e+01] [-2.16156639e-02 -2.49142042e-04 9.99766323e-01 -6.00483729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164012739 meters 0.025787641425286303 Centerline is valid? [True, True] Translation: X:298.54, Y:-41.46, Z:-6.01 [[ 9.85199941e-01 1.70432801e-01 1.82684621e-02 2.98538988e+02] [-1.70407171e-01 9.85369282e-01 -2.96208055e-03 -4.14550853e+01] [-1.85060171e-02 -1.94835355e-04 9.99828730e-01 -6.01233657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224012739 meters 0.023200432109888293 Centerline is valid? [True, True] Translation: X:298.60, Y:-41.47, Z:-6.01 [[ 9.86367941e-01 1.63586889e-01 1.78217564e-02 2.98598840e+02] [-1.63561371e-01 9.86528928e-01 -2.89004136e-03 -4.14724612e+01] [-1.80544511e-02 -6.43067593e-05 9.99837003e-01 -6.01389201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284012739 meters 0.036733871320703965 Centerline is valid? [True, True] Translation: X:298.66, Y:-41.49, Z:-6.01 [[ 9.86956666e-01 1.60095246e-01 1.69130842e-02 2.98659264e+02] [-1.60071749e-01 9.87101571e-01 -2.74282849e-03 -4.14898221e+01] [-1.71340458e-02 -2.54104287e-07 9.99853201e-01 -6.00697596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344012739 meters 0.023305444571716134 Centerline is valid? [True, True] Translation: X:298.72, Y:-41.50, Z:-6.02 [[ 9.87355582e-01 1.57670132e-01 1.64037983e-02 2.98720972e+02] [-1.57647651e-01 9.87491837e-01 -2.66280047e-03 -4.15016582e+01] [-1.66184610e-02 4.31106385e-05 9.99861903e-01 -6.01947475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404012739 meters 0.024301237122094674 Centerline is valid? [True, True] Translation: X:298.78, Y:-41.52, Z:-6.02 [[ 9.87888552e-01 1.54014224e-01 1.88633863e-02 2.98779643e+02] [-1.53983746e-01 9.88068623e-01 -3.06640491e-03 -4.15212088e+01] [-1.91105901e-02 1.24611425e-04 9.99817368e-01 -6.01623348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464012739 meters 0.027680010209543894 Centerline is valid? [True, True] Translation: X:298.84, Y:-41.54, Z:-6.02 [[ 9.88829784e-01 1.48021827e-01 1.74699050e-02 2.98838230e+02] [-1.47994705e-01 9.88984069e-01 -2.84240894e-03 -4.15444504e+01] [-1.76981963e-02 2.25205183e-04 9.99843349e-01 -6.02056575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524012739 meters 0.028527672511815472 Centerline is valid? [True, True] Translation: X:298.90, Y:-41.56, Z:-6.02 [[ 9.89007249e-01 1.46872318e-01 1.71225950e-02 2.98898878e+02] [-1.46846047e-01 9.89155429e-01 -2.78846126e-03 -4.15591594e+01] [-1.73464556e-02 2.43423016e-04 9.99849509e-01 -6.02235330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584012739 meters 0.029027454756438763 Centerline is valid? [True, True] Translation: X:298.96, Y:-41.58, Z:-6.02 [[ 9.89059783e-01 1.46118815e-01 2.02493623e-02 2.98959416e+02] [-1.46081832e-01 9.89267000e-01 -3.30167452e-03 -4.15775267e+01] [-2.05144627e-02 3.07489545e-04 9.99789509e-01 -6.01738947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644012739 meters 0.02940735784672172 Centerline is valid? [True, True] Translation: X:299.02, Y:-41.60, Z:-6.03 [[ 9.89093705e-01 1.46377740e-01 1.63462503e-02 2.99018848e+02] [-1.46353643e-01 9.89228738e-01 -2.66730108e-03 -4.15986484e+01] [-1.65606140e-02 2.45877428e-04 9.99862833e-01 -6.02638144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704012739 meters 0.025995795133192945 Centerline is valid? [True, True] Translation: X:299.08, Y:-41.61, Z:-6.03 [[ 9.88354377e-01 1.51272340e-01 1.65016682e-02 2.99079236e+02] [-1.51248406e-01 9.88492109e-01 -2.69615714e-03 -4.16077500e+01] [-1.67196228e-02 1.68907702e-04 9.99860203e-01 -6.02522848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764012739 meters 0.022521523820268147 Centerline is valid? [True, True] Translation: X:299.14, Y:-41.61, Z:-6.02 [[ 9.86595502e-01 1.62171944e-01 1.81542100e-02 2.99142809e+02] [-1.62144813e-01 9.86762515e-01 -2.96635402e-03 -4.16051795e+01] [-1.83949533e-02 -1.70194639e-05 9.99830798e-01 -6.02332073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824012739 meters 0.02410307428873878 Centerline is valid? [True, True] Translation: X:299.21, Y:-41.60, Z:-6.02 [[ 9.85365045e-01 1.69378809e-01 1.91454055e-02 2.99205503e+02] [-1.69349929e-01 9.85551011e-01 -3.13162173e-03 -4.16043557e+01] [-1.93992041e-02 -1.56482472e-04 9.99811805e-01 -6.02395082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884012739 meters 0.023779782714669538 Centerline is valid? [True, True] Translation: X:299.27, Y:-41.62, Z:-6.03 [[ 9.85535261e-01 1.68480150e-01 1.82944776e-02 2.99265763e+02] [-1.68453574e-01 9.85705038e-01 -2.99518490e-03 -4.16155796e+01] [-1.85375880e-02 -1.29909813e-04 9.99828156e-01 -6.02719411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944012739 meters 0.0225756527269661 Centerline is valid? [True, True] Translation: X:299.33, Y:-41.63, Z:-6.03 [[ 9.86130204e-01 1.64753559e-01 2.00869448e-02 2.99325163e+02] [-1.64720676e-01 9.86334761e-01 -3.29208591e-03 -4.16300660e+01] [-2.03548347e-02 -6.23097771e-05 9.99792817e-01 -6.02507912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004012739 meters 0.022751395856042342 Centerline is valid? [True, True] Translation: X:299.39, Y:-41.63, Z:-6.02 [[ 9.85796282e-01 1.66668495e-01 2.06712911e-02 2.99387915e+02] [-1.66634026e-01 9.86012983e-01 -3.39100953e-03 -4.16343114e+01] [-2.09473358e-02 -1.01695874e-04 9.99780575e-01 -6.02398250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064012739 meters 0.023779394850969582 Centerline is valid? [True, True] Translation: X:299.45, Y:-41.64, Z:-6.03 [[ 9.85183634e-01 1.70414315e-01 1.92916486e-02 2.99450783e+02] [-1.70384943e-01 9.85372485e-01 -3.16816368e-03 -4.16361691e+01] [-1.95493601e-02 -1.65783438e-04 9.99808879e-01 -6.02724322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124012739 meters 0.025190342843593044 Centerline is valid? [True, True] Translation: X:299.51, Y:-41.64, Z:-6.03 [[ 9.84695524e-01 1.73336519e-01 1.81432361e-02 2.99512118e+02] [-1.73310981e-01 9.84862634e-01 -2.98254578e-03 -4.16393317e+01] [-1.83855794e-02 -2.07522575e-04 9.99830949e-01 -6.03029073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184012739 meters 0.027412233504054504 Centerline is valid? [True, True] Translation: X:299.57, Y:-41.64, Z:-6.03 [[ 9.84521161e-01 1.74309166e-01 1.82865457e-02 2.99573242e+02] [-1.74283331e-01 9.84690949e-01 -3.00933670e-03 -4.16407361e+01] [-1.85311510e-02 -2.24284434e-04 9.99828258e-01 -6.03277760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244012739 meters 0.03102721478567939 Centerline is valid? [True, True] Translation: X:299.63, Y:-41.66, Z:-6.02 [[ 9.85139161e-01 1.70701574e-01 1.90211889e-02 2.99632738e+02] [-1.70672948e-01 9.85322762e-01 -3.13028535e-03 -4.16641861e+01] [-1.92763550e-02 -1.62635707e-04 9.99814181e-01 -6.02393144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30401273900003 meters 0.022455497694567946 Centerline is valid? [True, True] Translation: X:299.69, Y:-41.68, Z:-6.04 [[ 9.85997081e-01 1.65808570e-01 1.78122204e-02 2.99691669e+02] [-1.65782616e-01 9.86157956e-01 -2.93422381e-03 -4.16816209e+01] [-1.80521823e-02 -5.98203798e-05 9.99837044e-01 -6.03665246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36401273900003 meters 0.021938922273810182 Centerline is valid? [True, True] Translation: X:299.75, Y:-41.70, Z:-6.03 [[ 9.86307056e-01 1.63636009e-01 2.05340719e-02 2.99751875e+02] [-1.63600967e-01 9.86520783e-01 -3.38636345e-03 -4.17005590e+01] [-2.08114197e-02 -1.93998541e-05 9.99783419e-01 -6.03284100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42401273900003 meters 0.02180649823725247 Centerline is valid? [True, True] Translation: X:299.81, Y:-41.71, Z:-6.03 [[ 9.86212212e-01 1.64241960e-01 2.02497222e-02 2.99814115e+02] [-1.64207939e-01 9.86420082e-01 -3.34287602e-03 -4.17115693e+01] [-2.05237732e-02 -2.83799999e-05 9.99789365e-01 -6.03415339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484012739 meters 0.022563889125822623 Centerline is valid? [True, True] Translation: X:299.88, Y:-41.72, Z:-6.04 [[ 9.85628812e-01 1.67949124e-01 1.81365981e-02 2.99875281e+02] [-1.67922403e-01 9.85795660e-01 -2.99719001e-03 -4.17199439e+01] [-1.83823551e-02 -9.14242957e-05 9.99831026e-01 -6.04004654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544012739 meters 0.02331120297513599 Centerline is valid? [True, True] Translation: X:299.94, Y:-41.73, Z:-6.04 [[ 9.85121954e-01 1.70914240e-01 1.79738315e-02 2.99937034e+02] [-1.70888434e-01 9.85285899e-01 -2.97334871e-03 -4.17258879e+01] [-1.82175504e-02 -1.42408837e-04 9.99834037e-01 -6.04113807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604012739 meters 0.0267398681862248 Centerline is valid? [True, True] Translation: X:300.00, Y:-41.73, Z:-6.04 [[ 9.84076546e-01 1.76644504e-01 1.97502151e-02 2.99998591e+02] [-1.76614421e-01 9.84274681e-01 -3.27099521e-03 -4.17271676e+01] [-2.00174400e-02 -2.69263134e-04 9.99799595e-01 -6.03861193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664012739 meters 0.031076671186599195 Centerline is valid? [True, True] Translation: X:300.06, Y:-41.73, Z:-6.04 [[ 9.83088903e-01 1.82106400e-01 1.93252966e-02 3.00060319e+02] [-1.82078618e-01 9.83278761e-01 -3.20232205e-03 -4.17266721e+01] [-1.95853170e-02 -3.70556027e-04 9.99808121e-01 -6.04097466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724012739 meters 0.03481500429038047 Centerline is valid? [True, True] Translation: X:300.12, Y:-41.73, Z:-6.04 [[ 9.82548186e-01 1.85080126e-01 1.85582890e-02 3.00120137e+02] [-1.85055031e-01 9.82723347e-01 -3.07547028e-03 -4.17296844e+01] [-1.88068723e-02 -4.12507006e-04 9.99823050e-01 -6.04331204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784012739 meters 0.036631778214716436 Centerline is valid? [True, True] Translation: X:300.18, Y:-41.74, Z:-6.04 [[ 9.81758733e-01 1.89161362e-01 1.91773338e-02 3.00179663e+02] [-1.89135347e-01 9.81945885e-01 -3.17783902e-03 -4.17350677e+01] [-1.94322284e-02 -5.07240484e-04 9.99811048e-01 -6.04390745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844012739 meters 0.037852728272533526 Centerline is valid? [True, True] Translation: X:300.24, Y:-41.74, Z:-6.04 [[ 9.81403961e-01 1.90664670e-01 2.22091897e-02 3.00239150e+02] [-1.90630176e-01 9.81655029e-01 -3.67966276e-03 -4.17388825e+01] [-2.25033444e-02 -6.22506131e-04 9.99746574e-01 -6.04154966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904012739 meters 0.03659707907398246 Centerline is valid? [True, True] Translation: X:300.30, Y:-41.75, Z:-6.05 [[ 9.81885772e-01 1.88473899e-01 1.94401534e-02 3.00297634e+02] [-1.88447054e-01 9.82078071e-01 -3.22026810e-03 -4.17464548e+01] [-1.96986849e-02 -5.01504208e-04 9.99805836e-01 -6.04727114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964012739 meters 0.031296550314425416 Centerline is valid? [True, True] Translation: X:300.36, Y:-41.76, Z:-6.04 [[ 9.82563830e-01 1.84726439e-01 2.10823049e-02 3.00356979e+02] [-1.84694014e-01 9.82789870e-01 -3.49177515e-03 -4.17592702e+01] [-2.13644989e-02 -4.62883564e-04 9.99771646e-01 -6.04497738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024012739 meters 0.03500320825064118 Centerline is valid? [True, True] Translation: X:300.42, Y:-41.76, Z:-6.05 [[ 9.82811638e-01 1.83449785e-01 2.06751332e-02 3.00417624e+02] [-1.83418319e-01 9.83028990e-01 -3.42433096e-03 -4.17587467e+01] [-2.09524480e-02 -4.26725848e-04 9.99780382e-01 -6.04588720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084012739 meters 0.029355447133115747 Centerline is valid? [True, True] Translation: X:300.48, Y:-41.77, Z:-6.05 [[ 9.83531999e-01 1.79651760e-01 1.97497573e-02 3.00475903e+02] [-1.79622286e-01 9.83730215e-01 -3.27083883e-03 -4.17725062e+01] [-2.00160449e-02 -3.30521896e-04 9.99799604e-01 -6.04989063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144012739 meters 0.02555593134870632 Centerline is valid? [True, True] Translation: X:300.53, Y:-41.79, Z:-6.05 [[ 9.84715898e-01 1.73211549e-01 1.82307540e-02 3.00533792e+02] [-1.73185339e-01 9.84884625e-01 -3.01876372e-03 -4.17877465e+01] [-1.84780741e-02 -1.84674702e-04 9.99829249e-01 -6.05393185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204012739 meters 0.02253006448990347 Centerline is valid? [True, True] Translation: X:300.59, Y:-41.80, Z:-6.06 [[ 9.85411160e-01 1.69331910e-01 1.70748498e-02 3.00592597e+02] [-1.69308324e-01 9.85559077e-01 -2.82812483e-03 -4.18041272e+01] [-1.73071650e-02 -1.04048426e-04 9.99850214e-01 -6.05632634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264012739 meters 0.02109292439717454 Centerline is valid? [True, True] Translation: X:300.65, Y:-41.82, Z:-6.05 [[ 9.85995408e-01 1.65600449e-01 1.97369143e-02 3.00653015e+02] [-1.65568187e-01 9.86192927e-01 -3.26896674e-03 -4.18216072e+01] [-2.00057477e-02 -4.46189286e-05 9.99799864e-01 -6.05398844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324012739 meters 0.021262917852789928 Centerline is valid? [True, True] Translation: X:300.71, Y:-41.85, Z:-6.06 [[ 9.86760160e-01 1.61147035e-01 1.83308307e-02 3.00711932e+02] [-1.61118382e-01 9.86930408e-01 -3.03902912e-03 -4.18458042e+01] [-1.85809847e-02 4.53590767e-05 9.99827358e-01 -6.05793186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384012739 meters 0.02153657278738211 Centerline is valid? [True, True] Translation: X:300.77, Y:-41.86, Z:-6.06 [[ 9.86965695e-01 1.59949235e-01 1.77471025e-02 3.00772417e+02] [-1.59922128e-01 9.87125239e-01 -2.94544105e-03 -4.18642459e+01] [-1.79897339e-02 6.88948712e-05 9.99838169e-01 -6.05929278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444012739 meters 0.021013697066771152 Centerline is valid? [True, True] Translation: X:300.84, Y:-41.87, Z:-6.06 [[ 9.85968487e-01 1.65901229e-01 1.85182188e-02 3.00835473e+02] [-1.65872692e-01 9.86142373e-01 -3.07722628e-03 -4.18665933e+01] [-1.87721159e-02 -3.76186707e-05 9.99823788e-01 -6.05814655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504012739 meters 0.021670138251590986 Centerline is valid? [True, True] Translation: X:300.90, Y:-41.87, Z:-6.06 [[ 9.85453057e-01 1.68990903e-01 1.80096191e-02 3.00897167e+02] [-1.68964373e-01 9.85617607e-01 -2.99569586e-03 -4.18725619e+01] [-1.82568430e-02 -9.08663476e-05 9.99833326e-01 -6.06009566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564012739 meters 0.023108923922102818 Centerline is valid? [True, True] Translation: X:300.96, Y:-41.88, Z:-6.06 [[ 9.84493754e-01 1.74233754e-01 2.03629042e-02 3.00958891e+02] [-1.74200876e-01 9.84704298e-01 -3.39106675e-03 -4.18797865e+01] [-2.06422776e-02 -2.08751716e-04 9.99786904e-01 -6.05735240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624012739 meters 0.02260331045070947 Centerline is valid? [True, True] Translation: X:301.02, Y:-41.89, Z:-6.06 [[ 9.84806685e-01 1.72467383e-01 2.02680788e-02 3.01018751e+02] [-1.72434363e-01 9.85015215e-01 -3.37884262e-03 -4.18927081e+01] [-2.05471061e-02 -1.67406454e-04 9.99788872e-01 -6.05982101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684012739 meters 0.023515460581984553 Centerline is valid? [True, True] Translation: X:301.08, Y:-41.90, Z:-6.06 [[ 9.84489468e-01 1.74524707e-01 1.79335983e-02 3.01080637e+02] [-1.74499152e-01 9.84652778e-01 -2.99216899e-03 -4.18974979e+01] [-1.81805748e-02 -1.83638842e-04 9.99834703e-01 -6.06448119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744012739 meters 0.026009597631675607 Centerline is valid? [True, True] Translation: X:301.14, Y:-41.90, Z:-6.06 [[ 9.83712644e-01 1.78828661e-01 1.81588651e-02 3.01141543e+02] [-1.78803127e-01 9.83880196e-01 -3.03329800e-03 -4.18975212e+01] [-1.84085884e-02 -2.62968267e-04 9.99830513e-01 -6.06490656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80401273900003 meters 0.03222174326572658 Centerline is valid? [True, True] Translation: X:301.20, Y:-41.90, Z:-6.05 [[ 9.83553269e-01 1.79343905e-01 2.14179867e-02 3.01201536e+02] [-1.79308510e-01 9.83786390e-01 -3.57741504e-03 -4.19047240e+01] [-2.17123114e-02 -3.21849020e-04 9.99764208e-01 -6.05108164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86401273900003 meters 0.022434202480054052 Centerline is valid? [True, True] Translation: X:301.26, Y:-41.92, Z:-6.06 [[ 9.84825523e-01 1.72199219e-01 2.15897565e-02 3.01259662e+02] [-1.72161536e-01 9.85062131e-01 -3.60612283e-03 -4.19228923e+01] [-2.18882231e-02 -1.65523834e-04 9.99760410e-01 -6.06358601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92401273900003 meters 0.0208632827143873 Centerline is valid? [True, True] Translation: X:301.32, Y:-41.95, Z:-6.07 [[ 9.86313148e-01 1.63910509e-01 1.78806880e-02 3.01318456e+02] [-1.63883301e-01 9.86475213e-01 -2.98642012e-03 -4.19486794e+01] [-1.81283612e-02 1.51992465e-05 9.99835668e-01 -6.07132925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984012739 meters 0.021456191208757486 Centerline is valid? [True, True] Translation: X:301.38, Y:-41.97, Z:-6.07 [[ 9.86715787e-01 1.61588960e-01 1.67619934e-02 3.01378727e+02] [-1.61564671e-01 9.86858148e-01 -2.80216374e-03 -4.19658296e+01] [-1.69945085e-02 5.67932462e-05 9.99855581e-01 -6.07326672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044012739 meters 0.021050313446082675 Centerline is valid? [True, True] Translation: X:301.44, Y:-41.97, Z:-6.07 [[ 9.85664213e-01 1.67720714e-01 1.83254279e-02 3.01441029e+02] [-1.67692673e-01 9.85834550e-01 -3.06721994e-03 -4.19654381e+01] [-1.85802763e-02 -4.97910644e-05 9.99827371e-01 -6.07116507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104012739 meters 0.023117382186345802 Centerline is valid? [True, True] Translation: X:301.50, Y:-41.96, Z:-6.07 [[ 9.84618961e-01 1.73350191e-01 2.17993915e-02 3.01501785e+02] [-1.73311875e-01 9.84860232e-01 -3.64926341e-03 -4.19640253e+01] [-2.21019543e-02 -1.84959463e-04 9.99755705e-01 -6.06509473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164012739 meters 0.02707524307896686 Centerline is valid? [True, True] Translation: X:301.56, Y:-41.96, Z:-6.07 [[ 9.83548296e-01 1.79545657e-01 1.99024433e-02 3.01563774e+02] [-1.79514984e-01 9.83749597e-01 -3.33181146e-03 -4.19602694e+01] [-2.01772329e-02 -2.95789308e-04 9.99796375e-01 -6.06982373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224012739 meters 0.027799261370101917 Centerline is valid? [True, True] Translation: X:301.62, Y:-41.96, Z:-6.08 [[ 9.83125061e-01 1.82007912e-01 1.83911665e-02 3.01623964e+02] [-1.81982150e-01 9.83297014e-01 -3.07885747e-03 -4.19602170e+01] [-1.86443555e-02 -3.19962071e-04 9.99826128e-01 -6.07525477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284012739 meters 0.025435598747323696 Centerline is valid? [True, True] Translation: X:301.68, Y:-41.97, Z:-6.08 [[ 9.83909511e-01 1.77783225e-01 1.77538342e-02 3.01682428e+02] [-1.77758537e-01 9.84069648e-01 -2.97173590e-03 -4.19694274e+01] [-1.79993342e-02 -2.31976386e-04 9.99837972e-01 -6.07705317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344012739 meters 0.02412989589210805 Centerline is valid? [True, True] Translation: X:301.74, Y:-41.98, Z:-6.08 [[ 9.84324552e-01 1.75393345e-01 1.85027165e-02 3.01742038e+02] [-1.75366118e-01 9.84498418e-01 -3.09661004e-03 -4.19768734e+01] [-1.87590199e-02 -1.96680268e-04 9.99824015e-01 -6.07693713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404012739 meters 0.024533983828810998 Centerline is valid? [True, True] Translation: X:301.80, Y:-41.98, Z:-6.08 [[ 9.84212332e-01 1.75919021e-01 1.94572260e-02 3.01800874e+02] [-1.75889024e-01 9.84404617e-01 -3.25585755e-03 -4.19784204e+01] [-1.97265503e-02 -2.17857344e-04 9.99805389e-01 -6.07702403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464012739 meters 0.026484508639890367 Centerline is valid? [True, True] Translation: X:301.86, Y:-41.98, Z:-6.08 [[ 9.83673525e-01 1.78799195e-01 2.04265689e-02 3.01860990e+02] [-1.78766766e-01 9.83885544e-01 -3.41751513e-03 -4.19765603e+01] [-2.07084548e-02 -2.89872518e-04 9.99785515e-01 -6.07524806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524012739 meters 0.027050381167285854 Centerline is valid? [True, True] Translation: X:301.92, Y:-41.98, Z:-6.07 [[ 9.83486309e-01 1.79758636e-01 2.10122061e-02 3.01920747e+02] [-1.79724562e-01 9.83710694e-01 -3.51446025e-03 -4.19777597e+01] [-2.13016864e-02 -3.19986000e-04 9.99773042e-01 -6.07463314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584012739 meters 0.02721815346313315 Centerline is valid? [True, True] Translation: X:301.98, Y:-41.98, Z:-6.08 [[ 9.83531614e-01 1.79492032e-01 2.11701572e-02 3.01979002e+02] [-1.79457404e-01 9.83759376e-01 -3.53984045e-03 -4.19809478e+01] [-2.14617138e-02 -3.17596465e-04 9.99769620e-01 -6.07564434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644012739 meters 0.031424077264304774 Centerline is valid? [True, True] Translation: X:302.04, Y:-41.97, Z:-6.08 [[ 9.82766897e-01 1.83762218e-01 2.00168185e-02 3.02040143e+02] [-1.83732168e-01 9.82970648e-01 -3.34586408e-03 -4.19690966e+01] [-2.02907885e-02 -3.89529006e-04 9.99794045e-01 -6.07853294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704012739 meters 0.036342684466995914 Centerline is valid? [True, True] Translation: X:302.10, Y:-41.95, Z:-6.08 [[ 9.81424634e-01 1.90934886e-01 1.86964425e-02 3.02103663e+02] [-1.90909986e-01 9.81602576e-01 -3.12427942e-03 -4.19541026e+01] [-1.89490100e-02 -5.03092773e-04 9.99820325e-01 -6.08269711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764012739 meters 0.03546021833245901 Centerline is valid? [True, True] Translation: X:302.16, Y:-41.95, Z:-6.08 [[ 9.81582140e-01 1.90114965e-01 1.87830256e-02 3.02164907e+02] [-1.90089682e-01 9.81761713e-01 -3.13884328e-03 -4.19471636e+01] [-1.90371965e-02 -4.89426862e-04 9.99818656e-01 -6.08427238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824012739 meters 0.02596427406902648 Centerline is valid? [True, True] Translation: X:302.22, Y:-41.96, Z:-6.08 [[ 9.83832990e-01 1.77924518e-01 2.03841708e-02 3.02222251e+02] [-1.77892192e-01 9.84044099e-01 -3.40289959e-03 -4.19599330e+01] [-2.06643822e-02 -2.78299947e-04 9.99786430e-01 -6.08240290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884012739 meters 0.020952259950084998 Centerline is valid? [True, True] Translation: X:302.28, Y:-41.98, Z:-6.09 [[ 9.86029483e-01 1.65529314e-01 1.85984959e-02 3.02279146e+02] [-1.65500204e-01 9.86204870e-01 -3.10427122e-03 -4.19808029e+01] [-1.88557751e-02 -1.71519172e-05 9.99822214e-01 -6.08741560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944012739 meters 0.02201252326715579 Centerline is valid? [True, True] Translation: X:302.34, Y:-41.99, Z:-6.09 [[ 9.87101454e-01 1.59146537e-01 1.74097288e-02 3.02336858e+02] [-1.59120042e-01 9.87254967e-01 -2.90553011e-03 -4.19939700e+01] [-1.76502463e-02 9.78162198e-05 9.99844217e-01 -6.08909515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004012739 meters 0.026065775480997633 Centerline is valid? [True, True] Translation: X:302.39, Y:-42.02, Z:-6.09 [[ 9.88372657e-01 1.50828803e-01 1.92396436e-02 3.02393505e+02] [-1.50794887e-01 9.88559861e-01 -3.20989257e-03 -4.20188152e+01] [-1.95036837e-02 2.71330150e-04 9.99809748e-01 -6.08748976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064012739 meters 0.04146124633062864 Centerline is valid? [True, True] Translation: X:302.45, Y:-42.05, Z:-6.08 [[ 9.89852581e-01 1.40455325e-01 2.15445733e-02 3.02449455e+02] [-1.40410347e-01 9.90086874e-01 -3.59390208e-03 -4.20508991e+01] [-2.18357819e-02 5.32352234e-04 9.99761429e-01 -6.07574926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124012739 meters 0.04103137013998173 Centerline is valid? [True, True] Translation: X:302.51, Y:-42.08, Z:-6.09 [[ 9.90575971e-01 1.35328177e-01 2.11075738e-02 3.02506200e+02] [-1.35283842e-01 9.90800628e-01 -3.52101032e-03 -4.20768853e+01] [-2.13898893e-02 6.32314543e-04 9.99771010e-01 -6.08758719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184012739 meters 0.04099674095104555 Centerline is valid? [True, True] Translation: X:302.56, Y:-42.10, Z:-6.10 [[ 9.90857715e-01 1.33893218e-01 1.65407193e-02 3.02564958e+02] [-1.33865800e-01 9.90995629e-01 -2.75883366e-03 -4.20979454e+01] [-1.67611697e-02 5.19374990e-04 9.99859387e-01 -6.09675600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244012739 meters 0.03874497562228956 Centerline is valid? [True, True] Translation: X:302.62, Y:-42.12, Z:-6.09 [[ 9.90412477e-01 1.36884941e-01 1.85913297e-02 3.02624235e+02] [-1.36850765e-01 9.90586812e-01 -3.10427072e-03 -4.21156238e+01] [-1.88412539e-02 5.30270766e-04 9.99822347e-01 -6.09432769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30401273900003 meters 0.03315126452161283 Centerline is valid? [True, True] Translation: X:302.68, Y:-42.13, Z:-6.10 [[ 9.89495469e-01 1.43491409e-01 1.75764984e-02 3.02682763e+02] [-1.43461894e-01 9.89651489e-01 -2.93528745e-03 -4.21284111e+01] [-1.78157964e-02 3.82895871e-04 9.99841213e-01 -6.09718340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36401273900003 meters 0.031699384866229356 Centerline is valid? [True, True] Translation: X:302.74, Y:-42.14, Z:-6.10 [[ 9.89232422e-01 1.45432175e-01 1.63920268e-02 3.02742191e+02] [-1.45406774e-01 9.89368171e-01 -2.73733080e-03 -4.21385569e+01] [-1.66158455e-02 3.24344642e-04 9.99861895e-01 -6.10096182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42401273900003 meters 0.02787730237185006 Centerline is valid? [True, True] Translation: X:302.80, Y:-42.15, Z:-6.10 [[ 9.88301604e-01 1.51668704e-01 1.60169773e-02 3.02800377e+02] [-1.51645269e-01 9.88431362e-01 -2.67474832e-03 -4.21513886e+01] [-1.62373583e-02 2.14559233e-04 9.99868142e-01 -6.10411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484012739 meters 0.02172110937007071 Centerline is valid? [True, True] Translation: X:302.86, Y:-42.15, Z:-6.10 [[ 9.86891738e-01 1.60385309e-01 1.79234465e-02 3.02861546e+02] [-1.60357402e-01 9.87054480e-01 -2.99288546e-03 -4.21507294e+01] [-1.81714330e-02 7.94966148e-05 9.99834883e-01 -6.09892537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544012739 meters 0.02126685413501584 Centerline is valid? [True, True] Translation: X:302.92, Y:-42.15, Z:-6.10 [[ 9.85632452e-01 1.67817463e-01 1.91303222e-02 3.02920117e+02] [-1.67787072e-01 9.85818084e-01 -3.19423010e-03 -4.21494103e+01] [-1.93950652e-02 -6.14839102e-05 9.99811896e-01 -6.09909391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604012739 meters 0.022054253239571334 Centerline is valid? [True, True] Translation: X:302.98, Y:-42.15, Z:-6.10 [[ 9.85255942e-01 1.69840193e-01 2.06164415e-02 3.02979308e+02] [-1.69805367e-01 9.85471611e-01 -3.44104923e-03 -4.21547201e+01] [-2.09013463e-02 -1.10468216e-04 9.99781537e-01 -6.09712303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664012739 meters 0.02216854957999425 Centerline is valid? [True, True] Translation: X:303.04, Y:-42.16, Z:-6.10 [[ 9.85359072e-01 1.69576968e-01 1.76394637e-02 3.03037664e+02] [-1.69551443e-01 9.85516942e-01 -2.94351096e-03 -4.21613050e+01] [-1.78831419e-02 -9.03812944e-05 9.99840080e-01 -6.10429069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724012739 meters 0.02108275232441605 Centerline is valid? [True, True] Translation: X:303.09, Y:-42.18, Z:-6.10 [[ 9.86272392e-01 1.64048840e-01 1.88347474e-02 3.03093942e+02] [-1.64018747e-01 9.86452218e-01 -3.14204555e-03 -4.21795009e+01] [-1.90950272e-02 9.66111031e-06 9.99817673e-01 -6.10321795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784012739 meters 0.02149730450096711 Centerline is valid? [True, True] Translation: X:303.15, Y:-42.20, Z:-6.10 [[ 9.86905583e-01 1.60239386e-01 1.84583215e-02 3.03152057e+02] [-1.60209834e-01 9.87078180e-01 -3.07837181e-03 -4.21959351e+01] [-1.87130828e-02 8.08577014e-05 9.99824892e-01 -6.10358716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844012739 meters 0.02113638718509913 Centerline is valid? [True, True] Translation: X:303.21, Y:-42.20, Z:-6.11 [[ 9.86513408e-01 1.62697564e-01 1.79108509e-02 3.03210371e+02] [-1.62670147e-01 9.86675986e-01 -2.98690926e-03 -4.22012361e+01] [-1.81581693e-02 3.30652804e-05 9.99835126e-01 -6.10539736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904012739 meters 0.022852881883660456 Centerline is valid? [True, True] Translation: X:303.27, Y:-42.19, Z:-6.11 [[ 9.85288834e-01 1.70152319e-01 1.59405748e-02 3.03270427e+02] [-1.70131583e-01 9.85417769e-01 -2.65796236e-03 -4.21914554e+01] [-1.61603841e-02 -9.31345989e-05 9.99869408e-01 -6.11052963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964012739 meters 0.02241093547657535 Centerline is valid? [True, True] Translation: X:303.33, Y:-42.20, Z:-6.11 [[ 9.85175211e-01 1.70772568e-01 1.63258744e-02 3.03328234e+02] [-1.70750923e-01 9.85310468e-01 -2.72099601e-03 -4.22016629e+01] [-1.65507264e-02 -1.07000300e-04 9.99863022e-01 -6.10891289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024012739 meters 0.021428455224394773 Centerline is valid? [True, True] Translation: X:303.38, Y:-42.22, Z:-6.11 [[ 9.85925967e-01 1.66364675e-01 1.65161069e-02 3.03384160e+02] [-1.66341916e-01 9.86064295e-01 -2.75193538e-03 -4.22178901e+01] [-1.67437681e-02 -3.41163164e-05 9.99859813e-01 -6.11105739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084012739 meters 0.02081766353439294 Centerline is valid? [True, True] Translation: X:303.44, Y:-42.23, Z:-6.10 [[ 9.85908586e-01 1.66056082e-01 2.02395110e-02 3.03442097e+02] [-1.66021869e-01 9.86116310e-01 -3.37085607e-03 -4.22263980e+01] [-2.05182630e-02 -3.68455115e-05 9.99789478e-01 -6.10295600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144012739 meters 0.02160435424532017 Centerline is valid? [True, True] Translation: X:303.50, Y:-42.23, Z:-6.10 [[ 9.85440145e-01 1.68666557e-01 2.14315801e-02 3.03499806e+02] [-1.68628836e-01 9.85673162e-01 -3.56830076e-03 -4.22290021e+01] [-2.17263863e-02 -9.76355726e-05 9.99763949e-01 -6.10170647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204012739 meters 0.0217383329894545 Centerline is valid? [True, True] Translation: X:303.56, Y:-42.23, Z:-6.11 [[ 9.85275406e-01 1.69824747e-01 1.97971989e-02 3.03558086e+02] [-1.69792809e-01 9.85474273e-01 -3.29542437e-03 -4.22341242e+01] [-2.00692748e-02 -1.14521434e-04 9.99798585e-01 -6.10647792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264012739 meters 0.02151909324059376 Centerline is valid? [True, True] Translation: X:303.62, Y:-42.24, Z:-6.11 [[ 9.85362513e-01 1.69423356e-01 1.88797290e-02 3.03615647e+02] [-1.69394253e-01 9.85543361e-01 -3.14183508e-03 -4.22436085e+01] [-1.91390919e-02 -1.02271079e-04 9.99816826e-01 -6.10882105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324012739 meters 0.021298426163886223 Centerline is valid? [True, True] Translation: X:303.67, Y:-42.25, Z:-6.11 [[ 9.85474234e-01 1.68563440e-01 2.06615816e-02 3.03673330e+02] [-1.68528419e-01 9.85690802e-01 -3.43719542e-03 -4.22492509e+01] [-2.09453164e-02 -9.47961652e-05 9.99780618e-01 -6.10658165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384012739 meters 0.021421849886788708 Centerline is valid? [True, True] Translation: X:303.73, Y:-42.26, Z:-6.11 [[ 9.85480590e-01 1.68705983e-01 1.91389202e-02 3.03731018e+02] [-1.68675984e-01 9.85666416e-01 -3.18267565e-03 -4.22577435e+01] [-1.94015273e-02 -9.18111216e-05 9.99811768e-01 -6.11100540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444012739 meters 0.02145682990584144 Centerline is valid? [True, True] Translation: X:303.79, Y:-42.27, Z:-6.12 [[ 9.85586617e-01 1.68239378e-01 1.77350439e-02 3.03789106e+02] [-1.68213558e-01 9.85746167e-01 -2.94843578e-03 -4.22679478e+01] [-1.79782945e-02 -7.73359893e-05 9.99838374e-01 -6.11532831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504012739 meters 0.020853146018915525 Centerline is valid? [True, True] Translation: X:303.85, Y:-42.29, Z:-6.12 [[ 9.86248766e-01 1.64313999e-01 1.77280031e-02 3.03846112e+02] [-1.64287581e-01 9.86408085e-01 -2.94639237e-03 -4.22856552e+01] [-1.79711791e-02 -6.61490637e-06 9.99838505e-01 -6.11699170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564012739 meters 0.02150004478853516 Centerline is valid? [True, True] Translation: X:303.90, Y:-42.31, Z:-6.12 [[ 9.87038520e-01 1.59491893e-01 1.78128136e-02 3.03902431e+02] [-1.59464451e-01 9.87199235e-01 -2.95958011e-03 -4.23073203e+01] [-1.80568250e-02 8.07090301e-05 9.99836959e-01 -6.11811530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624012739 meters 0.023292486858422185 Centerline is valid? [True, True] Translation: X:303.96, Y:-42.33, Z:-6.12 [[ 9.87746455e-01 1.54998250e-01 1.82341437e-02 3.03959099e+02] [-1.54968742e-01 9.87914731e-01 -3.02885723e-03 -4.23327556e+01] [-1.84832467e-02 1.66020684e-04 9.99829156e-01 -6.11821285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684012739 meters 0.025393513087844127 Centerline is valid? [True, True] Translation: X:304.02, Y:-42.36, Z:-6.12 [[ 9.88353900e-01 1.50864921e-01 1.99083969e-02 3.04016745e+02] [-1.50828912e-01 9.88554351e-01 -3.30669540e-03 -4.23596449e+01] [-2.01793967e-02 2.65423461e-04 9.99796340e-01 -6.11587483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744012739 meters 0.025181358614396316 Centerline is valid? [True, True] Translation: X:304.08, Y:-42.38, Z:-6.12 [[ 9.88419697e-01 1.50347004e-01 2.05494961e-02 3.04076338e+02] [-1.50308514e-01 9.88633247e-01 -3.41374862e-03 -4.23827446e+01] [-2.08291619e-02 2.85452137e-04 9.99783009e-01 -6.11562517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80401273900003 meters 0.024536684507377806 Centerline is valid? [True, True] Translation: X:304.14, Y:-42.40, Z:-6.12 [[ 9.88043492e-01 1.52785669e-01 2.06542364e-02 3.04135082e+02] [-1.52747243e-01 9.88259319e-01 -3.43476534e-03 -4.24001725e+01] [-2.09365245e-02 2.38819893e-04 9.99780778e-01 -6.11665759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86401273900003 meters 0.020631459576088414 Centerline is valid? [True, True] Translation: X:304.20, Y:-42.41, Z:-6.12 [[ 9.86357429e-01 1.63671498e-01 1.76256148e-02 3.04195199e+02] [-1.63645202e-01 9.86514896e-01 -2.93381337e-03 -4.24083817e+01] [-1.78681132e-02 9.44132706e-06 9.99840352e-01 -6.12133439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92401273900003 meters 0.02114563492215107 Centerline is valid? [True, True] Translation: X:304.26, Y:-42.41, Z:-6.12 [[ 9.85463607e-01 1.68698070e-01 2.00609065e-02 3.04255590e+02] [-1.68665034e-01 9.85667770e-01 -3.33971248e-03 -4.24139566e+01] [-2.03367920e-02 -9.24083806e-05 9.99793182e-01 -6.11785415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984012739 meters 0.021205223816656397 Centerline is valid? [True, True] Translation: X:304.32, Y:-42.43, Z:-6.12 [[ 9.85407458e-01 1.68945754e-01 2.07237713e-02 3.04315783e+02] [-1.68910552e-01 9.85625346e-01 -3.45015714e-03 -4.24290237e+01] [-2.10087637e-02 -1.00653074e-04 9.99779287e-01 -6.11946091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044012739 meters 0.021266425471688204 Centerline is valid? [True, True] Translation: X:304.38, Y:-42.44, Z:-6.13 [[ 9.85585153e-01 1.68255623e-01 1.76621751e-02 3.04376619e+02] [-1.68229899e-01 9.85743395e-01 -2.94293914e-03 -4.24406025e+01] [-1.79055385e-02 -7.07888023e-05 9.99839680e-01 -6.12610721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104012739 meters 0.020793581618484314 Centerline is valid? [True, True] Translation: X:304.44, Y:-42.45, Z:-6.12 [[ 9.85845119e-01 1.66509792e-01 1.95931021e-02 3.04435881e+02] [-1.66477717e-01 9.86039800e-01 -3.26839778e-03 -4.24545685e+01] [-1.98637987e-02 -3.96809018e-05 9.99802694e-01 -6.12415702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164012739 meters 0.020857162934806675 Centerline is valid? [True, True] Translation: X:304.50, Y:-42.47, Z:-6.12 [[ 9.85719505e-01 1.67218733e-01 1.98734390e-02 3.04496621e+02] [-1.67185839e-01 9.85919820e-01 -3.31704625e-03 -4.24674342e+01] [-2.01482897e-02 -5.28803953e-05 9.99797001e-01 -6.12405822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224012739 meters 0.021764572156210516 Centerline is valid? [True, True] Translation: X:304.56, Y:-42.48, Z:-6.13 [[ 9.85298298e-01 1.69826820e-01 1.86041581e-02 3.04556842e+02] [-1.69798403e-01 9.85473917e-01 -3.10809952e-03 -4.24764346e+01] [-1.88617512e-02 -9.65511728e-05 9.99822097e-01 -6.12806475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284012739 meters 0.022630853677754102 Centerline is valid? [True, True] Translation: X:304.62, Y:-42.48, Z:-6.12 [[ 9.84729677e-01 1.72860513e-01 2.06568741e-02 3.04616780e+02] [-1.72826075e-01 9.84946300e-01 -3.45447148e-03 -4.24825578e+01] [-2.09430534e-02 -1.68325869e-04 9.99780656e-01 -6.12371427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344012739 meters 0.026671669572385506 Centerline is valid? [True, True] Translation: X:304.68, Y:-42.48, Z:-6.12 [[ 9.83504730e-01 1.79676070e-01 2.08555741e-02 3.04678412e+02] [-1.79642492e-01 9.83725780e-01 -3.48786721e-03 -4.24841983e+01] [-2.11428522e-02 -3.16213399e-04 9.99776415e-01 -6.12400018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404012739 meters 0.02979366861962435 Centerline is valid? [True, True] Translation: X:304.74, Y:-42.49, Z:-6.13 [[ 9.82773199e-01 1.83658470e-01 2.06495827e-02 3.04739251e+02] [-1.83626425e-01 9.82990035e-01 -3.45366077e-03 -4.24860394e+01] [-2.09326281e-02 -3.97643802e-04 9.99780809e-01 -6.12552132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464012739 meters 0.030942474228222133 Centerline is valid? [True, True] Translation: X:304.80, Y:-42.49, Z:-6.13 [[ 9.82534515e-01 1.84940746e-01 2.05632400e-02 3.04799891e+02] [-1.84909250e-01 9.82749582e-01 -3.43921059e-03 -4.24874050e+01] [-2.08445657e-02 -4.23190165e-04 9.99782639e-01 -6.12743862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524012739 meters 0.028327959470700197 Centerline is valid? [True, True] Translation: X:304.86, Y:-42.49, Z:-6.13 [[ 9.83047032e-01 1.82124251e-01 2.11964581e-02 3.04858748e+02] [-1.82090141e-01 9.83275453e-01 -3.54458980e-03 -4.24949244e+01] [-2.14875127e-02 -3.75167562e-04 9.99769046e-01 -6.12829974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584012739 meters 0.023530686323406096 Centerline is valid? [True, True] Translation: X:304.92, Y:-42.51, Z:-6.13 [[ 9.84453078e-01 1.74318566e-01 2.15679004e-02 3.04917560e+02] [-1.74281385e-01 9.84689288e-01 -3.60620300e-03 -4.25088763e+01] [-2.18663086e-02 -2.08745913e-04 9.99760882e-01 -6.12867376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644012739 meters 0.021066366500116764 Centerline is valid? [True, True] Translation: X:304.98, Y:-42.53, Z:-6.13 [[ 9.85754141e-01 1.66747842e-01 2.19984348e-02 3.04976802e+02] [-1.66707268e-01 9.85999572e-01 -3.67849812e-03 -4.25291471e+01] [-2.23038289e-02 -4.12042074e-05 9.99751238e-01 -6.12774426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704012739 meters 0.021132096590073878 Centerline is valid? [True, True] Translation: X:305.04, Y:-42.54, Z:-6.13 [[ 9.85882045e-01 1.66024459e-01 2.17364111e-02 3.05037126e+02] [-1.65984594e-01 9.86121635e-01 -3.63810328e-03 -4.25392203e+01] [-2.20387594e-02 -2.11686808e-05 9.99757117e-01 -6.12971652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764012739 meters 0.021143828697547544 Centerline is valid? [True, True] Translation: X:305.10, Y:-42.55, Z:-6.13 [[ 9.85767286e-01 1.66638205e-01 2.22388608e-02 3.05097224e+02] [-1.66596621e-01 9.86018107e-01 -3.72273595e-03 -4.25509708e+01] [-2.25482695e-02 -3.51677400e-05 9.99745755e-01 -6.12909715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824012739 meters 0.022429533077371257 Centerline is valid? [True, True] Translation: X:305.16, Y:-42.55, Z:-6.13 [[ 9.85064340e-01 1.71014712e-01 2.00552840e-02 3.05157268e+02] [-1.70981790e-01 9.85268468e-01 -3.35764100e-03 -4.25537718e+01] [-2.03340450e-02 -1.21595951e-04 9.99793235e-01 -6.13455948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884012739 meters 0.024460923118320637 Centerline is valid? [True, True] Translation: X:305.22, Y:-42.56, Z:-6.14 [[ 9.84348948e-01 1.75076483e-01 2.01338980e-02 3.05217142e+02] [-1.75044157e-01 9.84554814e-01 -3.37056731e-03 -4.25558834e+01] [-2.04130333e-02 -2.06506811e-04 9.99791611e-01 -6.13643774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944012739 meters 0.02554894682024029 Centerline is valid? [True, True] Translation: X:305.28, Y:-42.56, Z:-6.14 [[ 9.83953355e-01 1.77356220e-01 1.95081299e-02 3.05276086e+02] [-1.77326328e-01 9.84146692e-01 -3.26536219e-03 -4.25626306e+01] [-1.97779938e-02 -2.46340970e-04 9.99804366e-01 -6.13839301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004012739 meters 0.027095810087228382 Centerline is valid? [True, True] Translation: X:305.33, Y:-42.57, Z:-6.14 [[ 9.83768554e-01 1.78212573e-01 2.09692976e-02 3.05333811e+02] [-1.78178243e-01 9.83991971e-01 -3.50936967e-03 -4.25705540e+01] [-2.12590343e-02 -2.83865073e-04 9.99773961e-01 -6.13728837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064012739 meters 0.024725317462276887 Centerline is valid? [True, True] Translation: X:305.39, Y:-42.59, Z:-6.14 [[ 9.84345170e-01 1.74916218e-01 2.16541481e-02 3.05391890e+02] [-1.74878838e-01 9.84583297e-01 -3.62271197e-03 -4.25864236e+01] [-2.19539836e-02 -2.20853238e-04 9.99758958e-01 -6.13715058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124012739 meters 0.024415288494320304 Centerline is valid? [True, True] Translation: X:305.45, Y:-42.60, Z:-6.14 [[ 9.84531058e-01 1.74215427e-01 1.86435409e-02 3.05450597e+02] [-1.74187601e-01 9.84707547e-01 -3.11867680e-03 -4.25979642e+01] [-1.89017570e-02 -1.77039495e-04 9.99821330e-01 -6.14417855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184012739 meters 0.025329913284071456 Centerline is valid? [True, True] Translation: X:305.51, Y:-42.61, Z:-6.14 [[ 9.84202918e-01 1.75775741e-01 2.11543069e-02 3.05508557e+02] [-1.75740286e-01 9.84430208e-01 -3.53810953e-03 -4.26061264e+01] [-2.14468525e-02 -2.35446227e-04 9.99769962e-01 -6.13989063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244012739 meters 0.023868198721152974 Centerline is valid? [True, True] Translation: X:305.57, Y:-42.62, Z:-6.14 [[ 9.84394320e-01 1.74464670e-01 2.30195976e-02 3.05567498e+02] [-1.74422351e-01 9.84663408e-01 -3.84908006e-03 -4.26222293e+01] [-2.33380839e-02 -2.26119788e-04 9.99727604e-01 -6.13691518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30401273900003 meters 0.0243527689458094 Centerline is valid? [True, True] Translation: X:305.63, Y:-42.63, Z:-6.14 [[ 9.84320934e-01 1.75174755e-01 2.06422714e-02 3.05627070e+02] [-1.75140883e-01 9.84537332e-01 -3.45157012e-03 -4.26349884e+01] [-2.09277147e-02 -2.17852906e-04 9.99780968e-01 -6.14302663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36401273900003 meters 0.0288037175006296 Centerline is valid? [True, True] Translation: X:305.69, Y:-42.63, Z:-6.14 [[ 9.83326388e-01 1.80311364e-01 2.36014006e-02 3.05686515e+02] [-1.80268564e-01 9.83609512e-01 -3.94624092e-03 -4.26348478e+01] [-2.39261142e-02 -3.74147760e-04 9.99713660e-01 -6.13753266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42401273900003 meters 0.03156947155692457 Centerline is valid? [True, True] Translation: X:305.75, Y:-42.64, Z:-6.14 [[ 9.82444663e-01 1.84977376e-01 2.42044150e-02 3.05746361e+02] [-1.84933796e-01 9.82742652e-01 -4.04623485e-03 -4.26392016e+01] [-2.45351729e-02 -5.01012506e-04 9.99698842e-01 -6.13913762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484012739 meters 0.03253900860000759 Centerline is valid? [True, True] Translation: X:305.80, Y:-42.64, Z:-6.15 [[ 9.82387956e-01 1.85796470e-01 1.98387501e-02 3.05804722e+02] [-1.85767368e-01 9.82588158e-01 -3.31605049e-03 -4.26439857e+01] [-2.01094314e-02 -4.27744325e-04 9.99797693e-01 -6.14913669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544012739 meters 0.030042106619291607 Centerline is valid? [True, True] Translation: X:305.86, Y:-42.66, Z:-6.15 [[ 9.82922177e-01 1.83041480e-01 1.89686950e-02 3.05862617e+02] [-1.83014378e-01 9.83105127e-01 -3.16973280e-03 -4.26577679e+01] [-1.92284139e-02 -3.55943271e-04 9.99815054e-01 -6.15254760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604012739 meters 0.027267677759802312 Centerline is valid? [True, True] Translation: X:305.92, Y:-42.67, Z:-6.15 [[ 9.83654635e-01 1.79066808e-01 1.89377085e-02 3.05919378e+02] [-1.79039067e-01 9.83836877e-01 -3.16408373e-03 -4.26725248e+01] [-1.91981984e-02 -2.78224035e-04 9.99815659e-01 -6.15307677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664012739 meters 0.026913506535676562 Centerline is valid? [True, True] Translation: X:305.98, Y:-42.68, Z:-6.16 [[ 9.83902261e-01 1.77818444e-01 1.78028736e-02 3.05976984e+02] [-1.77793725e-01 9.84063283e-01 -2.97443134e-03 -4.26796208e+01] [-1.80480629e-02 -2.38689488e-04 9.99837092e-01 -6.15627124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724012739 meters 0.02694598220448024 Centerline is valid? [True, True] Translation: X:306.04, Y:-42.68, Z:-6.15 [[ 9.83621227e-01 1.79274631e-01 1.87052937e-02 3.06035367e+02] [-1.79247628e-01 9.83799028e-01 -3.12405099e-03 -4.26847202e+01] [-1.89623129e-02 -2.79996650e-04 9.99820160e-01 -6.15418239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784012739 meters 0.033201565722148274 Centerline is valid? [True, True] Translation: X:306.10, Y:-42.68, Z:-6.15 [[ 9.82690098e-01 1.84110706e-01 2.05771654e-02 3.06095505e+02] [-1.84079115e-01 9.82905427e-01 -3.43531476e-03 -4.26774874e+01] [-2.08578857e-02 -4.11976582e-04 9.99782366e-01 -6.15183308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844012739 meters 0.033267578836774524 Centerline is valid? [True, True] Translation: X:306.15, Y:-42.68, Z:-6.15 [[ 9.82571505e-01 1.84722157e-01 2.07596425e-02 3.06154408e+02] [-1.84690157e-01 9.82790690e-01 -3.46494609e-03 -4.26790936e+01] [-2.10424357e-02 -4.29544341e-04 9.99778491e-01 -6.15279400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904012739 meters 0.025431388344456542 Centerline is valid? [True, True] Translation: X:306.21, Y:-42.70, Z:-6.15 [[ 9.83910846e-01 1.77265523e-01 2.22796377e-02 3.06211234e+02] [-1.77226786e-01 9.84163020e-01 -3.71713487e-03 -4.27002778e+01] [-2.25857153e-02 -2.91219259e-04 9.99744868e-01 -6.15184042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964012739 meters 0.02196471148994669 Centerline is valid? [True, True] Translation: X:306.27, Y:-42.72, Z:-6.16 [[ 9.85370218e-01 1.69065848e-01 2.15005242e-02 3.06268380e+02] [-1.69027829e-01 9.85604753e-01 -3.58665531e-03 -4.27198973e+01] [-2.17973997e-02 -1.00003592e-04 9.99762403e-01 -6.15535701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024012739 meters 0.021331252052508055 Centerline is valid? [True, True] Translation: X:306.33, Y:-42.74, Z:-6.16 [[ 9.85993706e-01 1.65410533e-01 2.13487122e-02 3.06325777e+02] [-1.65372197e-01 9.86224800e-01 -3.56106016e-03 -4.27358618e+01] [-2.16436663e-02 -1.93005448e-05 9.99765748e-01 -6.15660942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084012739 meters 0.021636269725863345 Centerline is valid? [True, True] Translation: X:306.39, Y:-42.74, Z:-6.17 [[ 9.85975453e-01 1.66010033e-01 1.71194368e-02 3.06385655e+02] [-1.65985480e-01 9.86124063e-01 -2.85521954e-03 -4.27435927e+01] [-1.73558836e-02 -2.64015534e-05 9.99849375e-01 -6.16590811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144012739 meters 0.021795840498055233 Centerline is valid? [True, True] Translation: X:306.44, Y:-42.75, Z:-6.17 [[ 9.85992452e-01 1.66101909e-01 1.51340548e-02 3.06443273e+02] [-1.66082729e-01 9.86108592e-01 -2.52427525e-03 -4.27530190e+01] [-1.53431084e-02 -2.45887771e-05 9.99882287e-01 -6.17136423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204012739 meters 0.021669109814903914 Centerline is valid? [True, True] Translation: X:306.50, Y:-42.76, Z:-6.17 [[ 9.85998020e-01 1.66010789e-01 1.57582797e-02 3.06500989e+02] [-1.65989991e-01 9.86123936e-01 -2.62788536e-03 -4.27614403e+01] [-1.59758742e-02 -2.46269466e-05 9.99872377e-01 -6.17151734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264012739 meters 0.02143451471393642 Centerline is valid? [True, True] Translation: X:306.56, Y:-42.78, Z:-6.17 [[ 9.86263450e-01 1.64170269e-01 1.82353893e-02 3.06558845e+02] [-1.64142126e-01 9.86432016e-01 -3.03968720e-03 -4.27762106e+01] [-1.84869981e-02 4.73682627e-06 9.99829101e-01 -6.16794537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324012739 meters 0.02187590029133166 Centerline is valid? [True, True] Translation: X:306.62, Y:-42.79, Z:-6.17 [[ 9.86653489e-01 1.61929324e-01 1.71401860e-02 3.06616267e+02] [-1.61904129e-01 9.86802357e-01 -2.85671518e-03 -4.27917239e+01] [-1.73765619e-02 4.35211152e-05 9.99849015e-01 -6.17272102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384012739 meters 0.021519039937860706 Centerline is valid? [True, True] Translation: X:306.68, Y:-42.80, Z:-6.17 [[ 9.86430493e-01 1.63098669e-01 1.88071064e-02 3.06675126e+02] [-1.63068552e-01 9.86609763e-01 -3.13431280e-03 -4.27994861e+01] [-1.90664770e-02 2.49341166e-05 9.99818218e-01 -6.16914884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444012739 meters 0.021502789926781864 Centerline is valid? [True, True] Translation: X:306.73, Y:-42.80, Z:-6.17 [[ 9.85686756e-01 1.67473635e-01 1.93442730e-02 3.06734120e+02] [-1.67442623e-01 9.85876553e-01 -3.22335656e-03 -4.28029517e+01] [-1.96108924e-02 -6.18359433e-05 9.99807686e-01 -6.16869162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504012739 meters 0.023511616716147776 Centerline is valid? [True, True] Translation: X:306.79, Y:-42.80, Z:-6.18 [[ 9.85007506e-01 1.71655997e-01 1.71590292e-02 3.06792220e+02] [-1.71632239e-01 9.85156943e-01 -2.85875738e-03 -4.28030993e+01] [-1.73950596e-02 -1.29145124e-04 9.99848686e-01 -6.17525529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564012739 meters 0.023933016440476355 Centerline is valid? [True, True] Translation: X:306.85, Y:-42.81, Z:-6.17 [[ 9.84672764e-01 1.73125128e-01 2.11479965e-02 3.06850502e+02] [-1.73089410e-01 9.84899819e-01 -3.52180043e-03 -4.28112773e+01] [-2.14383701e-02 -1.92673269e-04 9.99770153e-01 -6.16871551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624012739 meters 0.022478780692282638 Centerline is valid? [True, True] Translation: X:306.91, Y:-42.83, Z:-6.17 [[ 9.85158438e-01 1.70431096e-01 2.03983769e-02 3.06908666e+02] [-1.70397307e-01 9.85369588e-01 -3.39605469e-03 -4.28270816e+01] [-2.06787335e-02 -1.30176565e-04 9.99786164e-01 -6.17112719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684012739 meters 0.021636536464959538 Centerline is valid? [True, True] Translation: X:306.97, Y:-42.85, Z:-6.18 [[ 9.86250656e-01 1.64600723e-01 1.47052942e-02 3.06966166e+02] [-1.64582522e-01 9.86360280e-01 -2.44776661e-03 -4.28519792e+01] [-1.49076223e-02 -6.12298161e-06 9.99888875e-01 -6.18313306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744012739 meters 0.021373852211623648 Centerline is valid? [True, True] Translation: X:307.02, Y:-42.87, Z:-6.18 [[ 9.86175291e-01 1.64852090e-01 1.67953447e-02 3.07024219e+02] [-1.64828372e-01 9.86318300e-01 -2.79628439e-03 -4.28655047e+01] [-1.70265292e-02 -1.07227631e-05 9.99855038e-01 -6.17897028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80401273900003 meters 0.022898188224024417 Centerline is valid? [True, True] Translation: X:307.08, Y:-42.87, Z:-6.17 [[ 9.85014920e-01 1.71314203e-01 1.99261368e-02 3.07082673e+02] [-1.71282150e-01 9.85216434e-01 -3.31697959e-03 -4.28689384e+01] [-2.01998032e-02 -1.45717164e-04 9.99795953e-01 -6.17449826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86401273900003 meters 0.024619146137632508 Centerline is valid? [True, True] Translation: X:307.14, Y:-42.87, Z:-6.18 [[ 9.84474502e-01 1.74463935e-01 1.92948437e-02 3.07142003e+02] [-1.74434508e-01 9.84663543e-01 -3.21077542e-03 -4.28730546e+01] [-1.95590936e-02 -2.04760027e-04 9.99808682e-01 -6.17706461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92401273900003 meters 0.02335154294565834 Centerline is valid? [True, True] Translation: X:307.20, Y:-42.89, Z:-6.18 [[ 9.84945548e-01 1.72128982e-01 1.59336370e-02 3.07200800e+02] [-1.72108618e-01 9.85074412e-01 -2.65086205e-03 -4.28872169e+01] [-1.61521083e-02 -1.31361471e-04 9.99869538e-01 -6.18385983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984012739 meters 0.022173536361812803 Centerline is valid? [True, True] Translation: X:307.26, Y:-42.90, Z:-6.18 [[ 9.85465809e-01 1.68996916e-01 1.72389829e-02 3.07258678e+02] [-1.68972598e-01 9.85616576e-01 -2.86813835e-03 -4.28989566e+01] [-1.74757338e-02 -8.64634432e-05 9.99847284e-01 -6.18309606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044012739 meters 0.021528194045003324 Centerline is valid? [True, True] Translation: X:307.32, Y:-42.91, Z:-6.18 [[ 9.86067208e-01 1.65309900e-01 1.85498633e-02 3.07317058e+02] [-1.65281104e-01 9.86241672e-01 -3.08546391e-03 -4.29107609e+01] [-1.88047060e-02 -2.34671132e-05 9.99823176e-01 -6.18182127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104012739 meters 0.02135902494619129 Centerline is valid? [True, True] Translation: X:307.38, Y:-42.92, Z:-6.18 [[ 9.86001809e-01 1.65550932e-01 1.98323440e-02 3.07375374e+02] [-1.65518071e-01 9.86201241e-01 -3.29853552e-03 -4.29187223e+01] [-2.01047579e-02 -3.02493280e-05 9.99797878e-01 -6.18004037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164012739 meters 0.021966338693913363 Centerline is valid? [True, True] Translation: X:307.43, Y:-42.93, Z:-6.18 [[ 9.85568787e-01 1.68275096e-01 1.83754701e-02 3.07433840e+02] [-1.68247369e-01 9.85740070e-01 -3.05565734e-03 -4.29277638e+01] [-1.86276283e-02 -8.00640067e-05 9.99826487e-01 -6.18328492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224012739 meters 0.024873782719750923 Centerline is valid? [True, True] Translation: X:307.49, Y:-42.93, Z:-6.18 [[ 9.84728949e-01 1.73007964e-01 1.94201058e-02 3.07492663e+02] [-1.72977924e-01 9.84920409e-01 -3.22889684e-03 -4.29300555e+01] [-1.96858835e-02 -1.79661406e-04 9.99806198e-01 -6.18357146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284012739 meters 0.02515399535772815 Centerline is valid? [True, True] Translation: X:307.55, Y:-42.94, Z:-6.19 [[ 9.84230105e-01 1.75897579e-01 1.87388039e-02 3.07551542e+02] [-1.75870145e-01 9.84408446e-01 -3.11497530e-03 -4.29408308e+01] [-1.89945534e-02 -2.29743687e-04 9.99819561e-01 -6.18565241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344012739 meters 0.026351520814041227 Centerline is valid? [True, True] Translation: X:307.61, Y:-42.95, Z:-6.19 [[ 9.83969209e-01 1.77395833e-01 1.83115796e-02 3.07609945e+02] [-1.77369903e-01 9.84139550e-01 -3.04356611e-03 -4.29472211e+01] [-1.85610657e-02 -2.53147750e-04 9.99827697e-01 -6.18918687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404012739 meters 0.028551106421952847 Centerline is valid? [True, True] Translation: X:307.67, Y:-42.95, Z:-6.19 [[ 9.83526469e-01 1.79926958e-01 1.73774180e-02 3.07668747e+02] [-1.79904015e-01 9.83679932e-01 -2.88750449e-03 -4.29502553e+01] [-1.76133572e-02 -2.86330169e-04 9.99844832e-01 -6.19244195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464012739 meters 0.03366258091920611 Centerline is valid? [True, True] Translation: X:307.73, Y:-42.94, Z:-6.20 [[ 9.82599287e-01 1.85140436e-01 1.48882383e-02 3.07729940e+02] [-1.85124205e-01 9.82712019e-01 -2.47312353e-03 -4.29442870e+01] [-1.50887259e-02 -3.26083855e-04 9.99886106e-01 -6.19739714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524012739 meters 0.03725025706853262 Centerline is valid? [True, True] Translation: X:307.79, Y:-42.94, Z:-6.20 [[ 9.81915109e-01 1.88539956e-01 1.71872898e-02 3.07790339e+02] [-1.88518847e-01 9.82065422e-01 -2.85488806e-03 -4.29372594e+01] [-1.74173035e-02 -4.36870328e-04 9.99848212e-01 -6.19536755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584012739 meters 0.03481806944703046 Centerline is valid? [True, True] Translation: X:307.85, Y:-42.94, Z:-6.19 [[ 9.82428480e-01 1.85637242e-01 1.93156951e-02 3.07849743e+02] [-1.85610039e-01 9.82618250e-01 -3.20739065e-03 -4.29415228e+01] [-1.95753657e-02 -4.34155000e-04 9.99808290e-01 -6.19278736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644012739 meters 0.029820042497987274 Centerline is valid? [True, True] Translation: X:307.91, Y:-42.95, Z:-6.20 [[ 9.83514639e-01 1.79943749e-01 1.78662261e-02 3.07908895e+02] [-1.79919546e-01 9.83676857e-01 -2.96613195e-03 -4.29502362e+01] [-1.81083300e-02 -2.97249093e-04 9.99835987e-01 -6.19707757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704012739 meters 0.024124724681060947 Centerline is valid? [True, True] Translation: X:307.97, Y:-42.97, Z:-6.20 [[ 9.84906619e-01 1.72077918e-01 1.86585818e-02 3.07966292e+02] [-1.72050119e-01 9.85083329e-01 -3.09711972e-03 -4.29681978e+01] [-1.89132038e-02 -1.59837495e-04 9.99821117e-01 -6.19760588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764012739 meters 0.02135302129880097 Centerline is valid? [True, True] Translation: X:308.02, Y:-42.99, Z:-6.19 [[ 9.86067493e-01 1.64979689e-01 2.12744208e-02 3.08021960e+02] [-1.64941906e-01 9.86296964e-01 -3.53074175e-03 -4.29889169e+01] [-2.15653974e-02 -2.74938591e-05 9.99767439e-01 -6.19359347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824012739 meters 0.02190427769791077 Centerline is valid? [True, True] Translation: X:308.08, Y:-43.01, Z:-6.20 [[ 9.86870538e-01 1.60363441e-01 1.92381990e-02 3.08078467e+02] [-1.60331683e-01 9.87058034e-01 -3.19199680e-03 -4.30125696e+01] [-1.95010985e-02 6.55947698e-05 9.99809833e-01 -6.19901903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884012739 meters 0.022238379298484334 Centerline is valid? [True, True] Translation: X:308.14, Y:-43.03, Z:-6.20 [[ 9.87016480e-01 1.59578513e-01 1.82528634e-02 3.08135765e+02] [-1.59549798e-01 9.87185237e-01 -3.02812420e-03 -4.30294588e+01] [-1.85021808e-02 7.65678215e-05 9.99828817e-01 -6.20184182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944012739 meters 0.022194166002553403 Centerline is valid? [True, True] Translation: X:308.19, Y:-43.04, Z:-6.20 [[ 9.86962005e-01 1.59896935e-01 1.84111533e-02 3.08192844e+02] [-1.59867783e-01 9.87133712e-01 -3.05398754e-03 -4.30443128e+01] [-1.86625934e-02 7.08194013e-05 9.99825836e-01 -6.20323999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004012739 meters 0.021958722475563446 Centerline is valid? [True, True] Translation: X:308.25, Y:-43.06, Z:-6.20 [[ 9.86851571e-01 1.60449707e-01 1.94902231e-02 3.08251016e+02] [-1.60417159e-01 9.87044015e-01 -3.23228762e-03 -4.30589401e+01] [-1.97563276e-02 6.32219102e-05 9.99804823e-01 -6.20194811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064012739 meters 0.021546675444635927 Centerline is valid? [True, True] Translation: X:308.31, Y:-43.06, Z:-6.20 [[ 9.86387878e-01 1.63431207e-01 1.81437273e-02 3.08310916e+02] [-1.63403512e-01 9.86554733e-01 -3.00859525e-03 -4.30648950e+01] [-1.83914784e-02 2.89313024e-06 9.99830862e-01 -6.20453480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124012739 meters 0.022350191328345953 Centerline is valid? [True, True] Translation: X:308.37, Y:-43.07, Z:-6.20 [[ 9.85552302e-01 1.68329246e-01 1.87596408e-02 3.08370081e+02] [-1.68300533e-01 9.85730824e-01 -3.11030854e-03 -4.30658450e+01] [-1.90155121e-02 -9.18858078e-05 9.99819185e-01 -6.20482508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184012739 meters 0.027544177642780086 Centerline is valid? [True, True] Translation: X:308.43, Y:-43.06, Z:-6.21 [[ 9.84059861e-01 1.76807881e-01 1.91092470e-02 3.08431781e+02] [-1.76779702e-01 9.84245348e-01 -3.16736276e-03 -4.30551460e+01] [-1.93682021e-02 -2.61252416e-04 9.99812385e-01 -6.20599972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244012739 meters 0.03370202370531234 Centerline is valid? [True, True] Translation: X:308.49, Y:-43.05, Z:-6.21 [[ 9.82551321e-01 1.84933720e-01 1.98096277e-02 3.08494360e+02] [-1.84905099e-01 9.82750898e-01 -3.28273474e-03 -4.30483908e+01] [-2.00750178e-02 -4.37445823e-04 9.99798381e-01 -6.20537718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30401273900003 meters 0.04104368078635884 Centerline is valid? [True, True] Translation: X:308.56, Y:-43.04, Z:-6.21 [[ 9.81511025e-01 1.90465120e-01 1.89511593e-02 3.08555375e+02] [-1.90439955e-01 9.81693822e-01 -3.14050301e-03 -4.30395166e+01] [-1.92023923e-02 -5.26619592e-04 9.99815478e-01 -6.20791492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36401273900003 meters 0.05266457016534767 Centerline is valid? [True, True] Translation: X:308.62, Y:-43.01, Z:-6.21 [[ 9.79048773e-01 2.02817965e-01 1.81210496e-02 3.08620834e+02] [-2.02797072e-01 9.79216183e-01 -3.00250495e-03 -4.30116403e+01] [-1.83533869e-02 -7.35297002e-04 9.99831292e-01 -6.21062516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42401273900003 meters 0.05641003417479933 Centerline is valid? [True, True] Translation: X:308.68, Y:-43.01, Z:-6.21 [[ 9.78611854e-01 2.04806024e-01 1.93217741e-02 3.08681422e+02] [-2.04782660e-01 9.78802234e-01 -3.20135902e-03 -4.30058316e+01] [-1.95678533e-02 -8.23876409e-04 9.99808192e-01 -6.20944241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484012739 meters 0.05334279355121792 Centerline is valid? [True, True] Translation: X:308.74, Y:-43.00, Z:-6.21 [[ 9.79038939e-01 2.02662350e-01 2.02664030e-02 3.08742111e+02] [-2.02636201e-01 9.79248334e-01 -3.35714328e-03 -4.30043895e+01] [-2.05262079e-02 -8.19932914e-04 9.99788979e-01 -6.20798629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544012739 meters 0.045029956612855714 Centerline is valid? [True, True] Translation: X:308.80, Y:-43.01, Z:-6.21 [[ 9.80996123e-01 1.92944475e-01 2.04703738e-02 3.08800486e+02] [-1.92915689e-01 9.81209479e-01 -3.39045994e-03 -4.30121909e+01] [-2.07398953e-02 -6.23028226e-04 9.99784711e-01 -6.21015110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604012739 meters 0.032332574467213354 Centerline is valid? [True, True] Translation: X:308.86, Y:-43.04, Z:-6.22 [[ 9.83062430e-01 1.82382692e-01 1.80225394e-02 3.08856936e+02] [-1.82358607e-01 9.83227557e-01 -2.98479136e-03 -4.30359264e+01] [-1.82646317e-02 -3.52328947e-04 9.99833126e-01 -6.21575508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664012739 meters 0.02551268650149774 Centerline is valid? [True, True] Translation: X:308.92, Y:-43.05, Z:-6.21 [[ 9.84356964e-01 1.75045752e-01 2.00088119e-02 3.08915185e+02] [-1.75014556e-01 9.84560271e-01 -3.31330798e-03 -4.30534437e+01] [-2.02798618e-02 -2.40355562e-04 9.99794314e-01 -6.21265210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724012739 meters 0.023913227420296407 Centerline is valid? [True, True] Translation: X:308.97, Y:-43.07, Z:-6.21 [[ 9.85078669e-01 1.70824268e-01 2.09543518e-02 3.08972040e+02] [-1.70789106e-01 9.85301499e-01 -3.46956534e-03 -4.30661714e+01] [-2.12390402e-02 -1.60980197e-04 9.99774413e-01 -6.21324700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784012739 meters 0.021458475330822173 Centerline is valid? [True, True] Translation: X:309.03, Y:-43.09, Z:-6.21 [[ 9.86146109e-01 1.64543498e-01 2.10068580e-02 3.09027760e+02] [-1.64506771e-01 9.86369827e-01 -3.47650440e-03 -4.30874408e+01] [-2.12925671e-02 -2.74290884e-05 9.99773287e-01 -6.21384521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844012739 meters 0.021669840524657234 Centerline is valid? [True, True] Translation: X:309.08, Y:-43.11, Z:-6.21 [[ 9.86807303e-01 1.60555193e-01 2.08176932e-02 3.09083992e+02] [-1.60518255e-01 9.87026862e-01 -3.44428426e-03 -4.31087597e+01] [-2.11006201e-02 5.72250668e-05 9.99777355e-01 -6.21453948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904012739 meters 0.022421231483109476 Centerline is valid? [True, True] Translation: X:309.14, Y:-43.12, Z:-6.22 [[ 9.87084975e-01 1.59161452e-01 1.81902186e-02 3.09141217e+02] [-1.59133026e-01 9.87252565e-01 -3.00888526e-03 -4.31226755e+01] [-1.84372385e-02 7.53608971e-05 9.99830017e-01 -6.22186893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964012739 meters 0.02183456286853985 Centerline is valid? [True, True] Translation: X:309.20, Y:-43.13, Z:-6.23 [[ 9.86621980e-01 1.62208721e-01 1.62910859e-02 3.09198165e+02] [-1.62186345e-01 9.86756470e-01 -2.69421195e-03 -4.31342246e+01] [-1.65123591e-02 1.59770498e-05 9.99863662e-01 -6.22750131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024012739 meters 0.02189422801745628 Centerline is valid? [True, True] Translation: X:309.25, Y:-43.14, Z:-6.23 [[ 9.86381814e-01 1.63702047e-01 1.58920059e-02 3.09254172e+02] [-1.63680962e-01 9.86509827e-01 -2.62738895e-03 -4.31441713e+01] [-1.61077290e-02 -9.61013481e-06 9.99870262e-01 -6.22945062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084012739 meters 0.021927091270950886 Centerline is valid? [True, True] Translation: X:309.31, Y:-43.16, Z:-6.23 [[ 9.86236791e-01 1.64400237e-01 1.75941766e-02 3.09311311e+02] [-1.64374544e-01 9.86393715e-01 -2.90651671e-03 -4.31609138e+01] [-1.78326172e-02 -2.55210312e-05 9.99840986e-01 -6.22877645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144012739 meters 0.021922003473851173 Centerline is valid? [True, True] Translation: X:309.37, Y:-43.17, Z:-6.23 [[ 9.86014146e-01 1.65667574e-01 1.81757612e-02 3.09367859e+02] [-1.65640384e-01 9.86181653e-01 -3.00184821e-03 -4.31725336e+01] [-1.84219111e-02 -5.07752578e-05 9.99830301e-01 -6.22665639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204012739 meters 0.02349459755823547 Centerline is valid? [True, True] Translation: X:309.43, Y:-43.17, Z:-6.23 [[ 9.85190989e-01 1.70431906e-01 1.87531472e-02 3.09425691e+02] [-1.70403849e-01 9.85369446e-01 -3.09578922e-03 -4.31739868e+01] [-1.90063995e-02 -1.45664822e-04 9.99819351e-01 -6.22630318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264012739 meters 0.02554256963094029 Centerline is valid? [True, True] Translation: X:309.48, Y:-43.18, Z:-6.23 [[ 9.84487606e-01 1.74371708e-01 1.94592342e-02 3.09484808e+02] [-1.74342294e-01 9.84679874e-01 -3.21099206e-03 -4.31760914e+01] [-1.97210225e-02 -2.31385648e-04 9.99805495e-01 -6.22577048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324012739 meters 0.026050728306598585 Centerline is valid? [True, True] Translation: X:309.54, Y:-43.18, Z:-6.23 [[ 9.84413604e-01 1.74820702e-01 1.91723276e-02 3.09542405e+02] [-1.74792252e-01 9.84600257e-01 -3.16275591e-03 -4.31809174e+01] [-1.94299939e-02 -2.37714366e-04 9.99811192e-01 -6.22785460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384012739 meters 0.02485986366839853 Centerline is valid? [True, True] Translation: X:309.60, Y:-43.19, Z:-6.23 [[ 9.84807287e-01 1.72527662e-01 1.97183276e-02 3.09600095e+02] [-1.72497133e-01 9.85004653e-01 -3.25161171e-03 -4.31894857e+01] [-1.99836374e-02 -1.99144062e-04 9.99800287e-01 -6.22831435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444012739 meters 0.02444868247235206 Centerline is valid? [True, True] Translation: X:309.66, Y:-43.20, Z:-6.23 [[ 9.84987707e-01 1.71643862e-01 1.83739345e-02 3.09658733e+02] [-1.71617215e-01 9.85159051e-01 -3.02912123e-03 -4.31975359e+01] [-1.86211779e-02 -1.69636289e-04 9.99826596e-01 -6.23258139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504012739 meters 0.024346705750774203 Centerline is valid? [True, True] Translation: X:309.72, Y:-43.20, Z:-6.23 [[ 9.85029426e-01 1.71398600e-01 1.84268775e-02 3.09716564e+02] [-1.71371772e-01 9.85201752e-01 -3.03702700e-03 -4.32035304e+01] [-1.86747342e-02 -1.66285691e-04 9.99825598e-01 -6.23260896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564012739 meters 0.02398064453897797 Centerline is valid? [True, True] Translation: X:309.77, Y:-43.21, Z:-6.23 [[ 9.85115875e-01 1.70776584e-01 1.95466472e-02 3.09774777e+02] [-1.70746302e-01 9.85309764e-01 -3.22012651e-03 -4.32111286e+01] [-1.98094246e-02 -1.65319985e-04 9.99803760e-01 -6.23264030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624012739 meters 0.024609249217152997 Centerline is valid? [True, True] Translation: X:309.83, Y:-43.22, Z:-6.23 [[ 9.84991934e-01 1.71499634e-01 1.94618791e-02 3.09831919e+02] [-1.71469772e-01 9.85184167e-01 -3.20528468e-03 -4.32175772e+01] [-1.97232403e-02 -1.79944416e-04 9.99805462e-01 -6.23331113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684012739 meters 0.02581593637493154 Centerline is valid? [True, True] Translation: X:309.89, Y:-43.22, Z:-6.24 [[ 9.84787181e-01 1.72827316e-01 1.80257133e-02 3.09889809e+02] [-1.72801939e-01 9.84952122e-01 -2.96782198e-03 -4.32226439e+01] [-1.82673852e-02 -1.92205164e-04 9.99833119e-01 -6.23881964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744012739 meters 0.024150304762797996 Centerline is valid? [True, True] Translation: X:309.95, Y:-43.23, Z:-6.24 [[ 9.85123456e-01 1.71060879e-01 1.64302003e-02 3.09947624e+02] [-1.71039565e-01 9.85260450e-01 -2.70427830e-03 -4.32340030e+01] [-1.66506227e-02 -1.46166317e-04 9.99861358e-01 -6.24196253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80401273900003 meters 0.02418259691203656 Centerline is valid? [True, True] Translation: X:310.00, Y:-43.25, Z:-6.25 [[ 9.85177124e-01 1.70810969e-01 1.58002341e-02 3.10004043e+02] [-1.70791235e-01 9.85303808e-01 -2.59997971e-03 -4.32459063e+01] [-1.60121359e-02 -1.37100959e-04 9.99871788e-01 -6.24514830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86401273900003 meters 0.02451407580430605 Centerline is valid? [True, True] Translation: X:310.06, Y:-43.25, Z:-6.25 [[ 9.85258793e-01 1.70238544e-01 1.68508164e-02 3.10061130e+02] [-1.70216037e-01 9.85402872e-01 -2.77153128e-03 -4.32528821e+01] [-1.70766643e-02 -1.37603635e-04 9.99854174e-01 -6.24508669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92401273900003 meters 0.023643060687043544 Centerline is valid? [True, True] Translation: X:310.12, Y:-43.26, Z:-6.24 [[ 9.85307613e-01 1.69754634e-01 1.87688935e-02 3.10118732e+02] [-1.69726648e-01 9.85486349e-01 -3.08575928e-03 -4.32645375e+01] [-1.90203103e-02 -1.45159268e-04 9.99819087e-01 -6.24235843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984012739 meters 0.023733444359416454 Centerline is valid? [True, True] Translation: X:310.17, Y:-43.27, Z:-6.25 [[ 9.85333590e-01 1.69717981e-01 1.77065681e-02 3.10174873e+02] [-1.69693078e-01 9.85492663e-01 -2.91050869e-03 -4.32746928e+01] [-1.79436586e-02 -1.36860059e-04 9.99838990e-01 -6.24500397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044012739 meters 0.024103084985895723 Centerline is valid? [True, True] Translation: X:310.23, Y:-43.28, Z:-6.25 [[ 9.85289488e-01 1.70037958e-01 1.70797291e-02 3.10232478e+02] [-1.70014872e-01 9.85437504e-01 -2.80534125e-03 -4.32840093e+01] [-1.73080201e-02 -1.39734722e-04 9.99850195e-01 -6.24788063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104012739 meters 0.0247633580366592 Centerline is valid? [True, True] Translation: X:310.29, Y:-43.29, Z:-6.24 [[ 9.85027200e-01 1.71278772e-01 1.96213780e-02 3.10289949e+02] [-1.71248570e-01 9.85222588e-01 -3.22177939e-03 -4.32921386e+01] [-1.98832472e-02 -1.86592584e-04 9.99802291e-01 -6.24395948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164012739 meters 0.02504963073601078 Centerline is valid? [True, True] Translation: X:310.35, Y:-43.30, Z:-6.25 [[ 9.85051080e-01 1.71259847e-01 1.85589576e-02 3.10346258e+02] [-1.71232842e-01 9.85225879e-01 -3.04638279e-03 -4.33015760e+01] [-1.88064883e-02 -1.77060386e-04 9.99823127e-01 -6.24806077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224012739 meters 0.02405283535618994 Centerline is valid? [True, True] Translation: X:310.40, Y:-43.31, Z:-6.25 [[ 9.85380936e-01 1.69431625e-01 1.78139294e-02 3.10403496e+02] [-1.69406471e-01 9.85541935e-01 -2.92268083e-03 -4.33145298e+01] [-1.80515690e-02 -1.37840941e-04 9.99837048e-01 -6.25014708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284012739 meters 0.022100129580689982 Centerline is valid? [True, True] Translation: X:310.46, Y:-43.33, Z:-6.25 [[ 9.86027921e-01 1.65547233e-01 1.85216593e-02 3.10460250e+02] [-1.65519371e-01 9.86201860e-01 -3.03794954e-03 -4.33339020e+01] [-1.87690190e-02 -7.01903353e-05 9.99823844e-01 -6.25025955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344012739 meters 0.02344608667473803 Centerline is valid? [True, True] Translation: X:310.51, Y:-43.37, Z:-6.25 [[ 9.87830117e-01 1.54277299e-01 1.97528457e-02 3.10513830e+02] [-1.54243372e-01 9.88027576e-01 -3.23891020e-03 -4.33679200e+01] [-2.00160465e-02 1.52747512e-04 9.99799647e-01 -6.24946312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404012739 meters 0.02934961668786492 Centerline is valid? [True, True] Translation: X:310.57, Y:-43.40, Z:-6.25 [[ 9.89103851e-01 1.45890903e-01 1.97336298e-02 3.10568839e+02] [-1.45855394e-01 9.89300632e-01 -3.23458371e-03 -4.33985053e+01] [-1.99943888e-02 3.21082850e-04 9.99800041e-01 -6.25018599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464012739 meters 0.03261072441755069 Centerline is valid? [True, True] Translation: X:310.63, Y:-43.42, Z:-6.25 [[ 9.89913887e-01 1.40543913e-01 1.78298737e-02 3.10626756e+02] [-1.40514054e-01 9.90074370e-01 -2.92274420e-03 -4.34220787e+01] [-1.80636748e-02 3.87917237e-04 9.99836763e-01 -6.25429214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524012739 meters 0.03736495767059073 Centerline is valid? [True, True] Translation: X:310.68, Y:-43.45, Z:-6.25 [[ 9.90467264e-01 1.36358826e-01 1.95158917e-02 3.10683742e+02] [-1.36322235e-01 9.90659383e-01 -3.19937686e-03 -4.34484397e+01] [-1.97698645e-02 5.08428071e-04 9.99804428e-01 -6.25288092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584012739 meters 0.03733279344726462 Centerline is valid? [True, True] Translation: X:310.74, Y:-43.46, Z:-6.25 [[ 9.90462922e-01 1.36353510e-01 1.97717051e-02 3.10744301e+02] [-1.36315949e-01 9.90660111e-01 -3.24148520e-03 -4.34647400e+01] [-2.00290274e-02 5.15372156e-04 9.99799266e-01 -6.25279958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644012739 meters 0.037467110985662244 Centerline is valid? [True, True] Translation: X:310.80, Y:-43.48, Z:-6.26 [[ 9.90431862e-01 1.36696915e-01 1.89388370e-02 3.10803801e+02] [-1.36662460e-01 9.90612797e-01 -3.10787352e-03 -4.34845303e+01] [-1.91858911e-02 4.89908906e-04 9.99815814e-01 -6.25574413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704012739 meters 0.03704005345377303 Centerline is valid? [True, True] Translation: X:310.86, Y:-43.50, Z:-6.26 [[ 9.90219737e-01 1.38285725e-01 1.84913823e-02 3.10863470e+02] [-1.38253096e-01 9.90392273e-01 -3.03760755e-03 -4.34977601e+01] [-1.87337799e-02 4.51408101e-04 9.99824405e-01 -6.25907184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764012739 meters 0.03342898429356651 Centerline is valid? [True, True] Translation: X:310.92, Y:-43.51, Z:-6.26 [[ 9.90053498e-01 1.39579431e-01 1.76536982e-02 3.10924594e+02] [-1.39549854e-01 9.90210793e-01 -2.90241447e-03 -4.35109670e+01] [-1.78859999e-02 4.09974603e-04 9.99839949e-01 -6.26086477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824012739 meters 0.034162318919844996 Centerline is valid? [True, True] Translation: X:310.98, Y:-43.53, Z:-6.26 [[ 9.89662932e-01 1.42204979e-01 1.85748320e-02 3.10983802e+02] [-1.42172629e-01 9.89837156e-01 -3.05740379e-03 -4.35261305e+01] [-1.88208370e-02 3.84966485e-04 9.99822798e-01 -6.26062272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884012739 meters 0.028025251097703627 Centerline is valid? [True, True] Translation: X:311.05, Y:-43.53, Z:-6.26 [[ 9.89036923e-01 1.46546682e-01 1.81668538e-02 3.11045520e+02] [-1.46516462e-01 9.89203711e-01 -2.99067320e-03 -4.35277647e+01] [-1.84089925e-02 2.96143072e-04 9.99830496e-01 -6.26216121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944012739 meters 0.022811558177330313 Centerline is valid? [True, True] Translation: X:311.11, Y:-43.52, Z:-6.27 [[ 9.87496781e-01 1.56811229e-01 1.61352208e-02 3.11106498e+02] [-1.56788751e-01 9.87628589e-01 -2.65670785e-03 -4.35237224e+01] [-1.63522070e-02 9.36693400e-05 9.99866289e-01 -6.26760429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004012739 meters 0.02142131569871149 Centerline is valid? [True, True] Translation: X:311.17, Y:-43.52, Z:-6.26 [[ 9.86733793e-01 1.61321904e-01 1.82116998e-02 3.11166131e+02] [-1.61294037e-01 9.86901841e-01 -2.99842490e-03 -4.35239497e+01] [-1.84568716e-02 2.12085947e-05 9.99829657e-01 -6.26308611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064012739 meters 0.022033207690814394 Centerline is valid? [True, True] Translation: X:311.23, Y:-43.52, Z:-6.27 [[ 9.85829043e-01 1.66732821e-01 1.84733569e-02 3.11225601e+02] [-1.66705114e-01 9.86002109e-01 -3.04064207e-03 -4.35202978e+01] [-1.87217437e-02 -8.20498038e-05 9.99824729e-01 -6.26547547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124012739 meters 0.021695338390322144 Centerline is valid? [True, True] Translation: X:311.28, Y:-43.53, Z:-6.27 [[ 9.85968303e-01 1.65820011e-01 1.92413346e-02 3.11284197e+02] [-1.65789801e-01 9.86156032e-01 -3.16586938e-03 -4.35264898e+01] [-1.94999227e-02 -6.85701817e-05 9.99809856e-01 -6.26574230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184012739 meters 0.021341416000710548 Centerline is valid? [True, True] Translation: X:311.34, Y:-43.54, Z:-6.27 [[ 9.86450252e-01 1.62840123e-01 1.99748694e-02 3.11342514e+02] [-1.62806974e-01 9.86652469e-01 -3.28554535e-03 -4.35377875e+01] [-2.02432728e-02 -1.10209998e-05 9.99795084e-01 -6.26517973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244012739 meters 0.022314768828856895 Centerline is valid? [True, True] Translation: X:311.40, Y:-43.55, Z:-6.27 [[ 9.87410223e-01 1.57202003e-01 1.75665156e-02 3.11401245e+02] [-1.57175482e-01 9.87566464e-01 -2.88897677e-03 -4.35549709e+01] [-1.78022546e-02 9.15796414e-05 9.99841523e-01 -6.27185756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30401273900003 meters 0.024031551305128143 Centerline is valid? [True, True] Translation: X:311.46, Y:-43.58, Z:-6.27 [[ 9.88037352e-01 1.52684887e-01 2.16683299e-02 3.11459693e+02] [-1.52643445e-01 9.88274901e-01 -3.56355826e-03 -4.35750494e+01] [-2.19583681e-02 2.13400127e-04 9.99758863e-01 -6.26632101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36401273900003 meters 0.027572964943527158 Centerline is valid? [True, True] Translation: X:311.52, Y:-43.60, Z:-6.27 [[ 9.88817856e-01 1.47701755e-01 2.05776387e-02 3.11517921e+02] [-1.47663301e-01 9.89031899e-01 -3.38421647e-03 -4.35971034e+01] [-2.08517958e-02 3.07811615e-04 9.99782530e-01 -6.26907648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42401273900003 meters 0.030385685785692125 Centerline is valid? [True, True] Translation: X:311.58, Y:-43.62, Z:-6.27 [[ 9.89354241e-01 1.44373981e-01 1.82849619e-02 3.11577253e+02] [-1.44343025e-01 9.89523138e-01 -3.00856684e-03 -4.36174944e+01] [-1.85277516e-02 3.37231662e-04 9.99828290e-01 -6.27482645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484012739 meters 0.03386305317413995 Centerline is valid? [True, True] Translation: X:311.64, Y:-43.64, Z:-6.28 [[ 9.89507602e-01 1.43304462e-01 1.83993493e-02 3.11636248e+02] [-1.43272919e-01 9.89678585e-01 -3.02807424e-03 -4.36382877e+01] [-1.86433785e-02 3.60174010e-04 9.99826132e-01 -6.27536428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544012739 meters 0.03060580544169161 Centerline is valid? [True, True] Translation: X:311.70, Y:-43.65, Z:-6.28 [[ 9.89289346e-01 1.44934245e-01 1.73394166e-02 3.11697819e+02] [-1.44906440e-01 9.89441240e-01 -2.85604157e-03 -4.36475977e+01] [-1.75702721e-02 3.12858364e-04 9.99845582e-01 -6.27770749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604012739 meters 0.028570395816047867 Centerline is valid? [True, True] Translation: X:311.76, Y:-43.66, Z:-6.27 [[ 9.88830030e-01 1.47701393e-01 1.99867335e-02 3.11758823e+02] [-1.47664937e-01 9.89031953e-01 -3.29582239e-03 -4.36571286e+01] [-2.02543156e-02 3.07668410e-04 9.99794813e-01 -6.27340919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664012739 meters 0.028391877488520182 Centerline is valid? [True, True] Translation: X:311.82, Y:-43.67, Z:-6.27 [[ 9.88697552e-01 1.48462884e-01 2.08787829e-02 3.11818420e+02] [-1.48423197e-01 9.88917932e-01 -3.44640346e-03 -4.36727379e+01] [-2.11590658e-02 3.08554954e-04 9.99776074e-01 -6.27281778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724012739 meters 0.029257620105199698 Centerline is valid? [True, True] Translation: X:311.88, Y:-43.69, Z:-6.28 [[ 9.88821632e-01 1.47800471e-01 1.96672713e-02 3.11879278e+02] [-1.47765071e-01 9.89017152e-01 -3.24913024e-03 -4.36868838e+01] [-1.99314916e-02 3.06674523e-04 9.99801301e-01 -6.27614423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784012739 meters 0.031214205686801763 Centerline is valid? [True, True] Translation: X:311.94, Y:-43.71, Z:-6.28 [[ 9.89118338e-01 1.45881293e-01 1.90672983e-02 3.11938841e+02] [-1.45847608e-01 9.89302044e-01 -3.15293047e-03 -4.37065621e+01] [-1.93232708e-02 3.37701492e-04 9.99813231e-01 -6.27888479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844012739 meters 0.03085921644629908 Centerline is valid? [True, True] Translation: X:312.00, Y:-43.72, Z:-6.28 [[ 9.89391303e-01 1.44029481e-01 1.89831189e-02 3.11999624e+02] [-1.43995695e-01 9.89573326e-01 -3.14196873e-03 -4.37223087e+01] [-1.92377243e-02 3.75149128e-04 9.99814867e-01 -6.28053742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904012739 meters 0.03370305356056505 Centerline is valid? [True, True] Translation: X:312.06, Y:-43.74, Z:-6.28 [[ 9.89367227e-01 1.44138697e-01 1.94042973e-02 3.12059667e+02] [-1.44103350e-01 9.89557420e-01 -3.21501234e-03 -4.37382885e+01] [-1.96650740e-02 3.84603592e-04 9.99806550e-01 -6.28072404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964012739 meters 0.03222338571750983 Centerline is valid? [True, True] Translation: X:312.12, Y:-43.75, Z:-6.28 [[ 9.89397022e-01 1.43896726e-01 1.96790252e-02 3.12120098e+02] [-1.43860253e-01 9.89592630e-01 -3.26409895e-03 -4.37510944e+01] [-1.99439115e-02 3.98460241e-04 9.99801021e-01 -6.28176923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024012739 meters 0.03219257065111911 Centerline is valid? [True, True] Translation: X:312.18, Y:-43.77, Z:-6.29 [[ 9.89530947e-01 1.43240750e-01 1.76236500e-02 3.12180383e+02] [-1.43211349e-01 9.89687804e-01 -2.92569305e-03 -4.37682160e+01] [-1.78609900e-02 3.71157123e-04 9.99840411e-01 -6.28757809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084012739 meters 0.032726654963569045 Centerline is valid? [True, True] Translation: X:312.24, Y:-43.79, Z:-6.29 [[ 9.88968648e-01 1.46907883e-01 1.89495902e-02 3.12238478e+02] [-1.46874494e-01 9.89150122e-01 -3.14943610e-03 -4.37864135e+01] [-1.92066664e-02 3.31482085e-04 9.99815480e-01 -6.28563847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144012739 meters 0.025687520941249514 Centerline is valid? [True, True] Translation: X:312.30, Y:-43.79, Z:-6.29 [[ 9.88127460e-01 1.52628702e-01 1.75670764e-02 3.12301278e+02] [-1.52600908e-01 9.88283582e-01 -2.91979477e-03 -4.37864380e+01] [-1.78068977e-02 2.04377577e-04 9.99841424e-01 -6.28968989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204012739 meters 0.024738110578807506 Centerline is valid? [True, True] Translation: X:312.36, Y:-43.80, Z:-6.29 [[ 9.87844465e-01 1.54537884e-01 1.67736318e-02 3.12362704e+02] [-1.54512817e-01 9.87986850e-01 -2.78803484e-03 -4.37978109e+01] [-1.70029847e-02 1.62403679e-04 9.99855426e-01 -6.29324259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264012739 meters 0.02504775792079195 Centerline is valid? [True, True] Translation: X:312.42, Y:-43.81, Z:-6.29 [[ 9.88038239e-01 1.53247236e-01 1.71965913e-02 3.12422963e+02] [-1.53220645e-01 9.88187860e-01 -2.86119481e-03 -4.38144816e+01] [-1.74319330e-02 1.92097067e-04 9.99848034e-01 -6.29377349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324012739 meters 0.027013311373683898 Centerline is valid? [True, True] Translation: X:312.48, Y:-43.83, Z:-6.30 [[ 9.88441004e-01 1.50754057e-01 1.60497674e-02 3.12481516e+02] [-1.50730524e-01 9.88571274e-01 -2.67297184e-03 -4.38341859e+01] [-1.62693004e-02 2.22885123e-04 9.99867621e-01 -6.29599360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384012739 meters 0.028035111854809707 Centerline is valid? [True, True] Translation: X:312.54, Y:-43.85, Z:-6.30 [[ 9.88023026e-01 1.53357521e-01 1.70871470e-02 3.12541355e+02] [-1.53331185e-01 9.88170751e-01 -2.84863380e-03 -4.38504181e+01] [-1.73218783e-02 1.94523290e-04 9.99849946e-01 -6.29577068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444012739 meters 0.023443430565380285 Centerline is valid? [True, True] Translation: X:312.60, Y:-43.85, Z:-6.29 [[ 9.87338248e-01 1.57343180e-01 2.01570635e-02 3.12604907e+02] [-1.57307279e-01 9.87543974e-01 -3.36438954e-03 -4.38509772e+01] [-2.04353503e-02 1.50937680e-04 9.99791165e-01 -6.29061853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504012739 meters 0.023036365617129708 Centerline is valid? [True, True] Translation: X:312.67, Y:-43.86, Z:-6.29 [[ 9.87322790e-01 1.57334100e-01 2.09687919e-02 3.12666641e+02] [-1.57295218e-01 9.87545420e-01 -3.50119716e-03 -4.38639089e+01] [-2.12584921e-02 1.58521050e-04 9.99774000e-01 -6.29039949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564012739 meters 0.025341453505721912 Centerline is valid? [True, True] Translation: X:312.73, Y:-43.88, Z:-6.29 [[ 9.88009900e-01 1.52924475e-01 2.12260032e-02 3.12726796e+02] [-1.52883529e-01 9.88237844e-01 -3.54819295e-03 -4.38802061e+01] [-2.15189452e-02 2.60543491e-04 9.99768407e-01 -6.29169794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624012739 meters 0.02989357320067533 Centerline is valid? [True, True] Translation: X:312.78, Y:-43.90, Z:-6.29 [[ 9.88898506e-01 1.46940252e-01 2.20976793e-02 3.12783577e+02] [-1.46894298e-01 9.89145285e-01 -3.69747484e-03 -4.39030623e+01] [-2.24011231e-02 4.10404277e-04 9.99748979e-01 -6.29220588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684012739 meters 0.029511661423275982 Centerline is valid? [True, True] Translation: X:312.84, Y:-43.92, Z:-6.30 [[ 9.88776441e-01 1.48094479e-01 1.97275401e-02 3.12844129e+02] [-1.48058086e-01 9.88973158e-01 -3.30081846e-03 -4.39169714e+01] [-1.99988406e-02 3.42949699e-04 9.99799944e-01 -6.29730823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744012739 meters 0.026422533916636702 Centerline is valid? [True, True] Translation: X:312.91, Y:-43.92, Z:-6.30 [[ 9.88126462e-01 1.52734216e-01 1.66839334e-02 3.12905744e+02] [-1.52708802e-01 9.88267278e-01 -2.79427362e-03 -4.39225364e+01] [-1.69149666e-02 2.13312226e-04 9.99856909e-01 -6.30347896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80401273900003 meters 0.02241373384946569 Centerline is valid? [True, True] Translation: X:312.97, Y:-43.92, Z:-6.30 [[ 9.87006380e-01 1.59652842e-01 1.81487384e-02 3.12966737e+02] [-1.59623926e-01 9.87173216e-01 -3.04023761e-03 -4.39243485e+01] [-1.84013310e-02 1.03761045e-04 9.99830676e-01 -6.30194363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86401273900003 meters 0.021377566016058665 Centerline is valid? [True, True] Translation: X:313.03, Y:-43.93, Z:-6.30 [[ 9.86401484e-01 1.63257699e-01 1.89482614e-02 3.13028752e+02] [-1.63226816e-01 9.86583459e-01 -3.17557976e-03 -4.39336424e+01] [-1.92124791e-02 3.95322065e-05 9.99815423e-01 -6.30104682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92401273900003 meters 0.02162479923204396 Centerline is valid? [True, True] Translation: X:313.09, Y:-43.93, Z:-6.31 [[ 9.85705113e-01 1.67672679e-01 1.64712669e-02 3.13091671e+02] [-1.67649953e-01 9.85842721e-01 -2.76083536e-03 -4.39335866e+01] [-1.67009952e-02 -4.00375913e-05 9.99860528e-01 -6.30734859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984012739 meters 0.021945615985632105 Centerline is valid? [True, True] Translation: X:313.15, Y:-43.94, Z:-6.30 [[ 9.85292755e-01 1.69858018e-01 1.86129344e-02 3.13154060e+02] [-1.69829317e-01 9.85468542e-01 -3.12350129e-03 -4.39390012e+01] [-1.88730131e-02 -8.34587518e-05 9.99821885e-01 -6.30462437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044012739 meters 0.0230544562281641 Centerline is valid? [True, True] Translation: X:313.22, Y:-43.94, Z:-6.31 [[ 9.84828624e-01 1.72552225e-01 1.83932267e-02 3.13216312e+02] [-1.72524607e-01 9.85000362e-01 -3.08988184e-03 -4.39383287e+01] [-1.86505010e-02 -1.30280126e-04 9.99826056e-01 -6.30659758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104012739 meters 0.02216974227491822 Centerline is valid? [True, True] Translation: X:313.28, Y:-43.95, Z:-6.31 [[ 9.85160965e-01 1.70557001e-01 1.91880686e-02 3.13278143e+02] [-1.70526534e-01 9.85347807e-01 -3.22503941e-03 -4.39459567e+01] [-1.94569743e-02 -9.48918937e-05 9.99810691e-01 -6.30737725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164012739 meters 0.02117423482543677 Centerline is valid? [True, True] Translation: X:313.34, Y:-43.96, Z:-6.31 [[ 9.85676516e-01 1.67376083e-01 2.06652597e-02 3.13337623e+02] [-1.67339972e-01 9.85893121e-01 -3.47672448e-03 -4.39591641e+01] [-2.09556579e-02 -3.11983177e-05 9.99780406e-01 -6.30510499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224012739 meters 0.021313229733939315 Centerline is valid? [True, True] Translation: X:313.40, Y:-43.97, Z:-6.31 [[ 9.86358741e-01 1.63462988e-01 1.93980781e-02 3.13399112e+02] [-1.63430384e-01 9.86549466e-01 -3.26504386e-03 -4.39749204e+01] [-1.96708774e-02 5.02692043e-05 9.99806508e-01 -6.31026347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284012739 meters 0.021827293418978176 Centerline is valid? [True, True] Translation: X:313.46, Y:-43.99, Z:-6.31 [[ 9.86678135e-01 1.61412967e-01 2.03005320e-02 3.13458420e+02] [-1.61376741e-01 9.86886946e-01 -3.42101020e-03 -4.39895611e+01] [-2.05865254e-02 9.94022671e-05 9.99788070e-01 -6.30788612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344012739 meters 0.02266294092426266 Centerline is valid? [True, True] Translation: X:313.52, Y:-44.01, Z:-6.31 [[ 9.86850147e-01 1.60332291e-01 2.05022858e-02 3.13519024e+02] [-1.60295041e-01 9.87063088e-01 -3.45821739e-03 -4.40058013e+01] [-2.07915135e-02 1.26327602e-04 9.99783825e-01 -6.30862238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404012739 meters 0.02192034212359057 Centerline is valid? [True, True] Translation: X:313.58, Y:-44.02, Z:-6.31 [[ 9.86724346e-01 1.61373014e-01 1.82706050e-02 3.13580604e+02] [-1.61343561e-01 9.86893480e-01 -3.08453562e-03 -4.40177681e+01] [-1.85289018e-02 9.57419230e-05 9.99828321e-01 -6.31387235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464012739 meters 0.02185971759628825 Centerline is valid? [True, True] Translation: X:313.64, Y:-44.03, Z:-6.32 [[ 9.86540439e-01 1.62543184e-01 1.78234407e-02 3.13642156e+02] [-1.62515286e-01 9.86701428e-01 -3.01233355e-03 -4.40289070e+01] [-1.80760487e-02 7.52073101e-05 9.99836612e-01 -6.31599339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524012739 meters 0.021634904944874883 Centerline is valid? [True, True] Translation: X:313.70, Y:-44.04, Z:-6.32 [[ 9.86249985e-01 1.64300311e-01 1.77869511e-02 3.13702785e+02] [-1.64272748e-01 9.86410364e-01 -3.00971298e-03 -4.40390990e+01] [-1.80397296e-02 4.64180414e-05 9.99837270e-01 -6.31913397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584012739 meters 0.02117491121582757 Centerline is valid? [True, True] Translation: X:313.77, Y:-44.04, Z:-6.32 [[ 9.85699445e-01 1.67512079e-01 1.83386664e-02 3.13765979e+02] [-1.67483281e-01 9.85870024e-01 -3.10598327e-03 -4.40428743e+01] [-1.85998312e-02 -9.85404481e-06 9.99827008e-01 -6.31806912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644012739 meters 0.0213985264729333 Centerline is valid? [True, True] Translation: X:313.83, Y:-44.05, Z:-6.32 [[ 9.85628131e-01 1.68043438e-01 1.72797585e-02 3.13827903e+02] [-1.68017899e-01 9.85779591e-01 -2.92964382e-03 -4.40528515e+01] [-1.75263407e-02 -1.57693495e-05 9.99846402e-01 -6.32185013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704012739 meters 0.021434077731051306 Centerline is valid? [True, True] Translation: X:313.89, Y:-44.06, Z:-6.32 [[ 9.85248023e-01 1.69945646e-01 2.01199105e-02 3.13890899e+02] [-1.69911326e-01 9.85453436e-01 -3.41567858e-03 -4.40598569e+01] [-2.04077147e-02 -5.33101038e-05 9.99791739e-01 -6.31743387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764012739 meters 0.021628632257460985 Centerline is valid? [True, True] Translation: X:313.95, Y:-44.07, Z:-6.32 [[ 9.84965486e-01 1.71469605e-01 2.10039447e-02 3.13953069e+02] [-1.71432457e-01 9.85189407e-01 -3.57003748e-03 -4.40681733e+01] [-2.13050168e-02 -8.43941461e-05 9.99773019e-01 -6.31639053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824012739 meters 0.022162997793187932 Centerline is valid? [True, True] Translation: X:314.02, Y:-44.07, Z:-6.32 [[ 9.84621665e-01 1.73561354e-01 1.99156321e-02 3.14015643e+02] [-1.73528309e-01 9.84823051e-01 -3.38876420e-03 -4.40734476e+01] [-2.02015321e-02 -1.19275320e-04 9.99795921e-01 -6.32007484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884012739 meters 0.022040768332615767 Centerline is valid? [True, True] Translation: X:314.08, Y:-44.08, Z:-6.32 [[ 9.84745846e-01 1.72854464e-01 1.99237036e-02 3.14076698e+02] [-1.72821178e-01 9.84947371e-01 -3.39355633e-03 -4.40846389e+01] [-2.02103908e-02 -1.01447423e-04 9.99795744e-01 -6.32117532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944012739 meters 0.02233786337615492 Centerline is valid? [True, True] Translation: X:314.14, Y:-44.10, Z:-6.32 [[ 9.84485027e-01 1.74143844e-01 2.15209748e-02 3.14138774e+02] [-1.74105223e-01 9.84720216e-01 -3.66984063e-03 -4.40950833e+01] [-2.18312191e-02 -1.34010964e-04 9.99761662e-01 -6.31889648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004012739 meters 0.02322807998201182 Centerline is valid? [True, True] Translation: X:314.20, Y:-44.10, Z:-6.32 [[ 9.84099858e-01 1.76208686e-01 2.23151995e-02 3.14199508e+02] [-1.76167594e-01 9.84352816e-01 -3.80961322e-03 -4.41031928e+01] [-2.26373164e-02 -1.82175173e-04 9.99743727e-01 -6.31890392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064012739 meters 0.023614515913737297 Centerline is valid? [True, True] Translation: X:314.26, Y:-44.11, Z:-6.32 [[ 9.83971263e-01 1.77080710e-01 2.10469970e-02 3.14261351e+02] [-1.77044290e-01 9.84196315e-01 -3.59619467e-03 -4.41126857e+01] [-2.13511936e-02 -1.87698425e-04 9.99772020e-01 -6.32290469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124012739 meters 0.024172610087511825 Centerline is valid? [True, True] Translation: X:314.32, Y:-44.12, Z:-6.33 [[ 9.83843303e-01 1.77926959e-01 1.98583049e-02 3.14322913e+02] [-1.77894638e-01 9.84043678e-01 -3.39660528e-03 -4.41248318e+01] [-2.01457871e-02 -1.90958612e-04 9.99797035e-01 -6.32631014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184012739 meters 0.024632576603297957 Centerline is valid? [True, True] Translation: X:314.38, Y:-44.14, Z:-6.33 [[ 9.83720112e-01 1.78681789e-01 1.91718313e-02 3.14384948e+02] [-1.78651740e-01 9.83906896e-01 -3.28264053e-03 -4.41357100e+01] [-1.94498451e-02 -1.95881512e-04 9.99810815e-01 -6.32881987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244012739 meters 0.024580419517773545 Centerline is valid? [True, True] Translation: X:314.45, Y:-44.15, Z:-6.33 [[ 9.83648432e-01 1.79019116e-01 1.96956568e-02 3.14447010e+02] [-1.78987396e-01 9.83845574e-01 -3.37607393e-03 -4.41471677e+01] [-1.99818665e-02 -2.04404484e-04 9.99800322e-01 -6.33004070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30401273900003 meters 0.023852595115069843 Centerline is valid? [True, True] Translation: X:314.51, Y:-44.16, Z:-6.33 [[ 9.83622261e-01 1.78901780e-01 2.19408649e-02 3.14508344e+02] [-1.78862284e-01 9.83866914e-01 -3.76548594e-03 -4.41610664e+01] [-2.22605432e-02 -2.20577410e-04 9.99752179e-01 -6.32703962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36401273900003 meters 0.02429650026141256 Centerline is valid? [True, True] Translation: X:314.57, Y:-44.17, Z:-6.33 [[ 9.83706841e-01 1.78377380e-01 2.24134189e-02 3.14568794e+02] [-1.78335929e-01 9.83962127e-01 -3.85092582e-03 -4.41704391e+01] [-2.27408734e-02 -2.08935826e-04 9.99741371e-01 -6.32701228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42401273900003 meters 0.021986981392609566 Centerline is valid? [True, True] Translation: X:314.63, Y:-44.19, Z:-6.33 [[ 9.84309766e-01 1.75133234e-01 2.15089752e-02 3.14629051e+02] [-1.75094216e-01 9.84544735e-01 -3.69877069e-03 -4.41879164e+01] [-2.18243260e-02 -1.25361037e-04 9.99761813e-01 -6.33055196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484012739 meters 0.021866596783554765 Centerline is valid? [True, True] Translation: X:314.69, Y:-44.20, Z:-6.33 [[ 9.84380532e-01 1.74855877e-01 2.05034356e-02 3.14691735e+02] [-1.74820293e-01 9.84594033e-01 -3.52917802e-03 -4.41973747e+01] [-2.08046579e-02 -1.10362492e-04 9.99783554e-01 -6.33354505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544012739 meters 0.021711859701777757 Centerline is valid? [True, True] Translation: X:314.75, Y:-44.20, Z:-6.34 [[ 9.84564552e-01 1.73840073e-01 2.03044741e-02 3.14752954e+02] [-1.73804879e-01 9.84773894e-01 -3.49884602e-03 -4.42047224e+01] [-2.06035557e-02 -8.41768996e-05 9.99787721e-01 -6.33607296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604012739 meters 0.02124560790236534 Centerline is valid? [True, True] Translation: X:314.81, Y:-44.22, Z:-6.34 [[ 9.85363123e-01 1.69261686e-01 2.02484149e-02 3.14813983e+02] [-1.69225654e-01 9.85571145e-01 -3.49234841e-03 -4.42183383e+01] [-2.05473743e-02 1.46800742e-05 9.99788880e-01 -6.33883567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664012739 meters 0.02228098536068685 Centerline is valid? [True, True] Translation: X:314.87, Y:-44.23, Z:-6.34 [[ 9.86211216e-01 1.64390933e-01 1.90541040e-02 3.14874388e+02] [-1.64358059e-01 9.86395260e-01 -3.28935887e-03 -4.42324963e+01] [-1.93356187e-02 1.12307056e-04 9.99813043e-01 -6.34149126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724012739 meters 0.022132131370862514 Centerline is valid? [True, True] Translation: X:314.94, Y:-44.24, Z:-6.34 [[ 9.86097393e-01 1.65154921e-01 1.83244053e-02 3.14936788e+02] [-1.65124592e-01 9.86267632e-01 -3.16647795e-03 -4.42379812e+01] [-1.85957273e-02 9.66457070e-05 9.99827080e-01 -6.34421181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784012739 meters 0.020974519904865804 Centerline is valid? [True, True] Translation: X:315.00, Y:-44.23, Z:-6.34 [[ 9.84833337e-01 1.72180902e-01 2.13783591e-02 3.15000388e+02] [-1.72141211e-01 9.85065346e-01 -3.69706839e-03 -4.42313356e+01] [-2.16956453e-02 -3.91004124e-05 9.99764621e-01 -6.33870441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844012739 meters 0.022350689758044776 Centerline is valid? [True, True] Translation: X:315.06, Y:-44.23, Z:-6.34 [[ 9.83975122e-01 1.76969755e-01 2.17868033e-02 3.15063244e+02] [-1.76929693e-01 9.84216279e-01 -3.76823167e-03 -4.42298541e+01] [-2.21097895e-02 -1.46886194e-04 9.99755538e-01 -6.33961773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904012739 meters 0.023746108382656717 Centerline is valid? [True, True] Translation: X:315.12, Y:-44.23, Z:-6.34 [[ 9.83492273e-01 1.79791843e-01 2.04411639e-02 3.15124184e+02] [-1.79757177e-01 9.83704658e-01 -3.53594902e-03 -4.42289477e+01] [-2.07438029e-02 -1.96867376e-04 9.99784805e-01 -6.34441085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964012739 meters 0.022796176601678486 Centerline is valid? [True, True] Translation: X:315.18, Y:-44.24, Z:-6.34 [[ 9.83810384e-01 1.77887034e-01 2.17561753e-02 3.15184087e+02] [-1.77847294e-01 9.84050901e-01 -3.76357978e-03 -4.42380009e+01] [-2.20786759e-02 -1.66628031e-04 9.99756222e-01 -6.34278063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024012739 meters 0.021454841127994534 Centerline is valid? [True, True] Translation: X:315.24, Y:-44.25, Z:-6.34 [[ 9.84440718e-01 1.74369066e-01 2.17232797e-02 3.15243818e+02] [-1.74328589e-01 9.84680365e-01 -3.75792606e-03 -4.42500126e+01] [-2.20457530e-02 -8.75332574e-05 9.99756959e-01 -6.34358855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084012739 meters 0.021257499568363536 Centerline is valid? [True, True] Translation: X:315.30, Y:-44.26, Z:-6.35 [[ 9.84602169e-01 1.73618181e-01 2.03788085e-02 3.15303325e+02] [-1.73582389e-01 9.84813040e-01 -3.52579063e-03 -4.42576752e+01] [-2.06814577e-02 -6.59011493e-05 9.99786114e-01 -6.34773069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144012739 meters 0.02107659179735774 Centerline is valid? [True, True] Translation: X:315.36, Y:-44.27, Z:-6.35 [[ 9.84853477e-01 1.72259181e-01 1.97586368e-02 3.15361483e+02] [-1.72225261e-01 9.85051660e-01 -3.41849776e-03 -4.42680026e+01] [-2.00521456e-02 -3.62169701e-05 9.99798935e-01 -6.34962944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204012739 meters 0.020916658495364223 Centerline is valid? [True, True] Translation: X:315.42, Y:-44.29, Z:-6.35 [[ 9.85468236e-01 1.68706986e-01 1.97562126e-02 3.15420123e+02] [-1.68672365e-01 9.85666248e-01 -3.41783581e-03 -4.42860346e+01] [-2.00496448e-02 3.58415183e-05 9.99798985e-01 -6.35092399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264012739 meters 0.021632214932861972 Centerline is valid? [True, True] Translation: X:315.48, Y:-44.30, Z:-6.35 [[ 9.85837016e-01 1.66423056e-01 2.07061523e-02 3.15480617e+02] [-1.66384511e-01 9.86054440e-01 -3.58267380e-03 -4.42989049e+01] [-2.10136329e-02 8.67494222e-05 9.99779185e-01 -6.35173559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324012739 meters 0.022255804819432932 Centerline is valid? [True, True] Translation: X:315.54, Y:-44.31, Z:-6.35 [[ 9.86117830e-01 1.64808852e-01 2.02402680e-02 3.15540448e+02] [-1.64771673e-01 9.86325518e-01 -3.50252468e-03 -4.43137308e+01] [-2.05407399e-02 1.18879214e-04 9.99789010e-01 -6.35336738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384012739 meters 0.021989156839064182 Centerline is valid? [True, True] Translation: X:315.60, Y:-44.32, Z:-6.36 [[ 9.85941546e-01 1.65937041e-01 1.96001668e-02 3.15601252e+02] [-1.65902365e-01 9.86136344e-01 -3.39346859e-03 -4.43221065e+01] [-1.98915390e-02 9.40476331e-05 9.99802139e-01 -6.35547593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444012739 meters 0.021511843523514748 Centerline is valid? [True, True] Translation: X:315.66, Y:-44.33, Z:-6.36 [[ 9.85699800e-01 1.67322182e-01 1.99797873e-02 3.15661872e+02] [-1.67286425e-01 9.85902268e-01 -3.45964976e-03 -4.43292325e+01] [-2.02769937e-02 6.78288976e-05 9.99794398e-01 -6.35833320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504012739 meters 0.022642637993576614 Centerline is valid? [True, True] Translation: X:315.72, Y:-44.35, Z:-6.36 [[ 9.86246904e-01 1.64059807e-01 2.00355895e-02 3.15721717e+02] [-1.64023172e-01 9.86450385e-01 -3.46952059e-03 -4.43460081e+01] [-2.03333239e-02 1.35502991e-04 9.99793247e-01 -6.35944886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564012739 meters 0.02516695203288159 Centerline is valid? [True, True] Translation: X:315.78, Y:-44.37, Z:-6.36 [[ 9.86904554e-01 1.60243920e-01 1.84739585e-02 3.15780922e+02] [-1.60212054e-01 9.87077427e-01 -3.20180883e-03 -4.43677753e+01] [-1.87482978e-02 2.00128872e-04 9.99824215e-01 -6.36270611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624012739 meters 0.0240274592655463 Centerline is valid? [True, True] Translation: X:315.84, Y:-44.38, Z:-6.36 [[ 9.86770549e-01 1.61000448e-01 1.90457138e-02 3.15842344e+02] [-1.60966659e-01 9.86954314e-01 -3.30403820e-03 -4.43750460e+01] [-1.93292010e-02 1.94602671e-04 9.99813155e-01 -6.36277879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684012739 meters 0.02210515562496895 Centerline is valid? [True, True] Translation: X:315.90, Y:-44.38, Z:-6.36 [[ 9.86058902e-01 1.65101562e-01 2.07199240e-02 3.15903799e+02] [-1.65062397e-01 9.86276563e-01 -3.59824160e-03 -4.43798197e+01] [-2.10296508e-02 1.27997841e-04 9.99778844e-01 -6.36115321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744012739 meters 0.021001518459370674 Centerline is valid? [True, True] Translation: X:315.97, Y:-44.38, Z:-6.36 [[ 9.85440471e-01 1.68811443e-01 2.02428891e-02 3.15966027e+02] [-1.68774804e-01 9.85648362e-01 -3.51729808e-03 -4.43833598e+01] [-2.05461306e-02 4.95982435e-05 9.99788905e-01 -6.36206231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80401273900003 meters 0.02105273775424062 Centerline is valid? [True, True] Translation: X:316.03, Y:-44.39, Z:-6.36 [[ 9.85415161e-01 1.68723451e-01 2.21214103e-02 3.16026194e+02] [-1.68679581e-01 9.85663428e-01 -3.84781410e-03 -4.43944079e+01] [-2.24534815e-02 6.02641392e-05 9.99747887e-01 -6.36151409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86401273900003 meters 0.021844369147343147 Centerline is valid? [True, True] Translation: X:316.09, Y:-44.41, Z:-6.36 [[ 9.85844017e-01 1.66158720e-01 2.24244235e-02 3.16086139e+02] [-1.66112893e-01 9.86099013e-01 -3.90413985e-03 -4.44114612e+01] [-2.27614088e-02 1.23887047e-04 9.99740918e-01 -6.36246482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92401273900003 meters 0.02405266119097379 Centerline is valid? [True, True] Translation: X:316.14, Y:-44.43, Z:-6.37 [[ 9.86554757e-01 1.62262090e-01 1.95121867e-02 3.16144817e+02] [-1.62226577e-01 9.86747677e-01 -3.39987985e-03 -4.44322434e+01] [-1.98052765e-02 1.88772383e-04 9.99803838e-01 -6.36820983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984012739 meters 0.022437550964824814 Centerline is valid? [True, True] Translation: X:316.21, Y:-44.44, Z:-6.37 [[ 9.86138728e-01 1.64759812e-01 1.96115590e-02 3.16206786e+02] [-1.64724370e-01 9.86333708e-01 -3.42020282e-03 -4.44412854e+01] [-1.99070537e-02 1.42292753e-04 9.99801825e-01 -6.36900046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044012739 meters 0.02078244393977057 Centerline is valid? [True, True] Translation: X:316.27, Y:-44.44, Z:-6.37 [[ 9.84503513e-01 1.74127570e-01 2.07947702e-02 3.16268346e+02] [-1.74089782e-01 9.84723102e-01 -3.62780971e-03 -4.44369007e+01] [-2.11087923e-02 -4.85656054e-05 9.99777183e-01 -6.36698861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104012739 meters 0.024401466275655537 Centerline is valid? [True, True] Translation: X:316.33, Y:-44.43, Z:-6.37 [[ 9.83126929e-01 1.81770754e-01 2.05142398e-02 3.16330258e+02] [-1.81735644e-01 9.83340912e-01 -3.57862760e-03 -4.44306295e+01] [-2.08229811e-02 -2.09923418e-04 9.99783156e-01 -6.37017869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164012739 meters 0.02872802948326642 Centerline is valid? [True, True] Translation: X:316.39, Y:-44.43, Z:-6.37 [[ 9.82174498e-01 1.86999802e-01 1.90874013e-02 3.16390359e+02] [-1.86970401e-01 9.82359906e-01 -3.32932239e-03 -4.44256144e+01] [-1.93732803e-02 -2.98803516e-04 9.99812276e-01 -6.37370010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224012739 meters 0.027920036624731692 Centerline is valid? [True, True] Translation: X:316.45, Y:-44.43, Z:-6.38 [[ 9.82498657e-01 1.85294240e-01 1.90377147e-02 3.16448067e+02] [-1.85264683e-01 9.82683049e-01 -3.32002835e-03 -4.44309499e+01] [-1.93232216e-02 -2.65092794e-04 9.99813254e-01 -6.37564400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284012739 meters 0.023973634096740574 Centerline is valid? [True, True] Translation: X:316.51, Y:-44.44, Z:-6.38 [[ 9.83397679e-01 1.80418151e-01 1.94498191e-02 3.16506192e+02] [-1.80386370e-01 9.83589986e-01 -3.39074626e-03 -4.44417447e+01] [-1.97423994e-02 -1.74030259e-04 9.99805085e-01 -6.37680040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344012739 meters 0.02291514230321709 Centerline is valid? [True, True] Translation: X:316.56, Y:-44.45, Z:-6.38 [[ 9.83708642e-01 1.78713521e-01 1.94623898e-02 3.16564971e+02] [-1.78681382e-01 9.83901142e-01 -3.39205989e-03 -4.44498157e+01] [-1.97552745e-02 -1.40768081e-04 9.99804836e-01 -6.37726752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404012739 meters 0.021761596389114894 Centerline is valid? [True, True] Translation: X:316.62, Y:-44.46, Z:-6.38 [[ 9.84074535e-01 1.76463648e-01 2.13983789e-02 3.16623532e+02] [-1.76424282e-01 9.84307152e-01 -3.72868314e-03 -4.44582945e+01] [-2.17205544e-02 -1.05891504e-04 9.99764075e-01 -6.37527182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464012739 meters 0.021029309611787932 Centerline is valid? [True, True] Translation: X:316.68, Y:-44.47, Z:-6.38 [[ 9.84476553e-01 1.74310626e-01 2.05358796e-02 3.16681440e+02] [-1.74273919e-01 9.84690714e-01 -3.57752132e-03 -4.44657857e+01] [-2.08450899e-02 -5.68823568e-05 9.99782716e-01 -6.37794620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524012739 meters 0.021241219525495302 Centerline is valid? [True, True] Translation: X:316.74, Y:-44.48, Z:-6.38 [[ 9.85594723e-01 1.68149632e-01 1.81312544e-02 3.16738008e+02] [-1.68119988e-01 9.85761481e-01 -3.15794664e-03 -4.44790847e+01] [-1.84040998e-02 6.42292733e-05 9.99830628e-01 -6.38407358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584012739 meters 0.023957937416024318 Centerline is valid? [True, True] Translation: X:316.80, Y:-44.49, Z:-6.38 [[ 9.86711409e-01 1.61170530e-01 2.06071869e-02 3.16795612e+02] [-1.61130738e-01 9.86926548e-01 -3.58793033e-03 -4.44937539e+01] [-2.09160485e-02 2.19800542e-04 9.99781211e-01 -6.38019879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644012739 meters 0.02979176959473351 Centerline is valid? [True, True] Translation: X:316.85, Y:-44.51, Z:-6.38 [[ 9.87935008e-01 1.53453643e-01 2.08901885e-02 3.16852907e+02] [-1.53411038e-01 9.88155772e-01 -3.63651197e-03 -4.45130589e+01] [-2.12007964e-02 3.87851972e-04 9.99775163e-01 -6.38170896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704012739 meters 0.03494883230381403 Centerline is valid? [True, True] Translation: X:316.91, Y:-44.53, Z:-6.38 [[ 9.88710262e-01 1.48370188e-01 2.09357567e-02 3.16910335e+02] [-1.48326234e-01 9.88931766e-01 -3.64551622e-03 -4.45329594e+01] [-2.12449208e-02 4.99037337e-04 9.99774177e-01 -6.38235148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764012739 meters 0.04011184910424478 Centerline is valid? [True, True] Translation: X:316.97, Y:-44.56, Z:-6.38 [[ 9.89381784e-01 1.43610517e-01 2.23540617e-02 3.16968258e+02] [-1.43559166e-01 9.89634077e-01 -3.89358979e-03 -4.45551354e+01] [-2.26815017e-02 6.43116354e-04 9.99742535e-01 -6.38129115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824012739 meters 0.040423996864597134 Centerline is valid? [True, True] Translation: X:317.03, Y:-44.57, Z:-6.38 [[ 9.89330188e-01 1.44162666e-01 2.10453125e-02 3.17028134e+02] [-1.44117270e-01 9.89553825e-01 -3.66599227e-03 -4.45722816e+01] [-2.13539687e-02 5.93883843e-04 9.99771802e-01 -6.38461039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884012739 meters 0.03708626043852631 Centerline is valid? [True, True] Translation: X:317.09, Y:-44.59, Z:-6.38 [[ 9.88818093e-01 1.47487083e-01 2.20531201e-02 3.17088486e+02] [-1.47437983e-01 9.89063829e-01 -3.84495769e-03 -4.45853763e+01] [-2.23790250e-02 5.50496167e-04 9.99749407e-01 -6.38388451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944012739 meters 0.03544907626712013 Centerline is valid? [True, True] Translation: X:317.15, Y:-44.60, Z:-6.39 [[ 9.88513997e-01 1.49628133e-01 2.12485141e-02 3.17148976e+02] [-1.49583030e-01 9.88742225e-01 -3.70538260e-03 -4.45982410e+01] [-2.15637326e-02 4.84405428e-04 9.99767358e-01 -6.38742970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004012739 meters 0.03467568131211848 Centerline is valid? [True, True] Translation: X:317.21, Y:-44.62, Z:-6.39 [[ 9.88332989e-01 1.51075502e-01 1.93415429e-02 3.17208056e+02] [-1.51038396e-01 9.88522140e-01 -3.37355261e-03 -4.46182254e+01] [-1.96292046e-02 4.12877722e-04 9.99807243e-01 -6.39307758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064012739 meters 0.03365708606725042 Centerline is valid? [True, True] Translation: X:317.27, Y:-44.64, Z:-6.39 [[ 9.88439683e-01 1.50120651e-01 2.12316321e-02 3.17267414e+02] [-1.50075641e-01 9.88667569e-01 -3.70674679e-03 -4.46374112e+01] [-2.15474853e-02 4.77544823e-04 9.99767712e-01 -6.39023087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124012739 meters 0.03356988601984263 Centerline is valid? [True, True] Translation: X:317.33, Y:-44.66, Z:-6.39 [[ 9.88341433e-01 1.50690450e-01 2.17623485e-02 3.17327294e+02] [-1.50643251e-01 9.88580881e-01 -3.80158002e-03 -4.46555765e+01] [-2.20867035e-02 4.78908119e-04 9.99755944e-01 -6.39069281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184012739 meters 0.03245880307804054 Centerline is valid? [True, True] Translation: X:317.39, Y:-44.68, Z:-6.40 [[ 9.88105677e-01 1.52581954e-01 1.91289728e-02 3.17386794e+02] [-1.52545789e-01 9.88290746e-01 -3.34425972e-03 -4.46763622e+01] [-1.94152604e-02 3.86437765e-04 9.99811431e-01 -6.39815638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244012739 meters 0.029369989163249604 Centerline is valid? [True, True] Translation: X:317.45, Y:-44.69, Z:-6.40 [[ 9.87282056e-01 1.57920912e-01 1.83064656e-02 3.17445426e+02] [-1.57888651e-01 9.87451726e-01 -3.20352488e-03 -4.46905926e+01] [-1.85826546e-02 2.72399482e-04 9.99827290e-01 -6.39991239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30401273900003 meters 0.027165053230941164 Centerline is valid? [True, True] Translation: X:317.51, Y:-44.71, Z:-6.40 [[ 9.86835070e-01 1.60424719e-01 2.05049834e-02 3.17505324e+02] [-1.60384776e-01 9.87048046e-01 -3.58856448e-03 -4.47095388e+01] [-2.08150983e-02 2.52634101e-04 9.99783310e-01 -6.39691935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36401273900003 meters 0.026953376342175647 Centerline is valid? [True, True] Translation: X:317.56, Y:-44.73, Z:-6.40 [[ 9.86946650e-01 1.59560782e-01 2.18326970e-02 3.17564975e+02] [-1.59515209e-01 9.87188063e-01 -3.82442086e-03 -4.47278408e+01] [-2.21632055e-02 2.91852121e-04 9.99754323e-01 -6.39627900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42401273900003 meters 0.02787456867637894 Centerline is valid? [True, True] Translation: X:317.62, Y:-44.75, Z:-6.40 [[ 9.87103468e-01 1.58746620e-01 2.06459263e-02 3.17623033e+02] [-1.58705626e-01 9.87319311e-01 -3.61959698e-03 -4.47545300e+01] [-2.09587205e-02 2.96292084e-04 9.99780298e-01 -6.40032676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484012739 meters 0.023054325094383092 Centerline is valid? [True, True] Translation: X:317.68, Y:-44.77, Z:-6.40 [[ 9.86358744e-01 1.63363543e-01 2.02183231e-02 3.17683725e+02] [-1.63325136e-01 9.86565920e-01 -3.54771523e-03 -4.47661872e+01] [-2.05262759e-02 1.97159574e-04 9.99789294e-01 -6.40009296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544012739 meters 0.021241150709908015 Centerline is valid? [True, True] Translation: X:317.75, Y:-44.76, Z:-6.40 [[ 9.83995466e-01 1.77210354e-01 1.86926017e-02 3.17746639e+02] [-1.77180006e-01 9.84172995e-01 -3.28053910e-03 -4.47605981e+01] [-1.89780993e-02 -8.39196879e-05 9.99819896e-01 -6.40442243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604012739 meters 0.023649797080584775 Centerline is valid? [True, True] Translation: X:317.81, Y:-44.76, Z:-6.41 [[ 9.83021710e-01 1.82535008e-01 1.86892625e-02 3.17809384e+02] [-1.82505600e-01 9.83199337e-01 -3.28166882e-03 -4.47630282e+01] [-1.89742899e-02 -1.84943368e-04 9.99819955e-01 -6.40531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664012739 meters 0.03313325894339323 Centerline is valid? [True, True] Translation: X:317.87, Y:-44.75, Z:-6.41 [[ 9.80588098e-01 1.95141930e-01 1.91470421e-02 3.17872600e+02] [-1.95113394e-01 9.80774917e-01 -3.36542353e-03 -4.47529802e+01] [-1.94356739e-02 -4.35750120e-04 9.99811014e-01 -6.40511842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724012739 meters 0.03708895265822854 Centerline is valid? [True, True] Translation: X:317.93, Y:-44.75, Z:-6.41 [[ 9.79837248e-01 1.98880985e-01 1.91133997e-02 3.17933652e+02] [-1.98853260e-01 9.80023517e-01 -3.35949461e-03 -4.47527550e+01] [-1.93997208e-02 -5.09003890e-04 9.99811678e-01 -6.40711355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784012739 meters 0.038209569223884514 Centerline is valid? [True, True] Translation: X:317.99, Y:-44.76, Z:-6.41 [[ 9.79766652e-01 1.99183286e-01 1.95787232e-02 3.17993193e+02] [-1.99154231e-01 9.79962112e-01 -3.44247572e-03 -4.47557321e+01] [-1.98720905e-02 -5.26362656e-04 9.99802392e-01 -6.40819962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844012739 meters 0.03704817455781033 Centerline is valid? [True, True] Translation: X:318.05, Y:-44.76, Z:-6.41 [[ 9.80039608e-01 1.97862285e-01 1.93101674e-02 3.18053436e+02] [-1.97833779e-01 9.80229704e-01 -3.39458775e-03 -4.47596033e+01] [-1.96000605e-02 -4.93372931e-04 9.99807779e-01 -6.40911885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904012739 meters 0.033937659653078996 Centerline is valid? [True, True] Translation: X:318.11, Y:-44.77, Z:-6.41 [[ 9.80361503e-01 1.96180453e-01 2.01134986e-02 3.18112687e+02] [-1.96149181e-01 9.80567693e-01 -3.53532331e-03 -4.47656009e+01] [-2.04162082e-02 -4.79351405e-04 9.99791453e-01 -6.40844385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964012739 meters 0.029676629172223523 Centerline is valid? [True, True] Translation: X:318.17, Y:-44.78, Z:-6.41 [[ 9.81206418e-01 1.91774137e-01 2.13692487e-02 3.18172312e+02] [-1.91737803e-01 9.81439000e-01 -3.75556330e-03 -4.47792358e+01] [-2.16928340e-02 -4.12309999e-04 9.99764598e-01 -6.40799285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024012739 meters 0.025172198724925175 Centerline is valid? [True, True] Translation: X:318.23, Y:-44.80, Z:-6.41 [[ 9.82433610e-01 1.85503773e-01 2.03113582e-02 3.18231565e+02] [-1.85469597e-01 9.82643518e-01 -3.57011181e-03 -4.47956976e+01] [-2.06210936e-02 -2.59741580e-04 9.99787329e-01 -6.41191020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084012739 meters 0.020581250718869692 Centerline is valid? [True, True] Translation: X:318.29, Y:-44.83, Z:-6.41 [[ 9.84552566e-01 1.73921955e-01 2.01840979e-02 3.18287333e+02] [-1.73885758e-01 9.84759439e-01 -3.54822556e-03 -4.48278362e+01] [-2.04935952e-02 -1.63125723e-05 9.99789984e-01 -6.41393912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144012739 meters 0.021964308986783174 Centerline is valid? [True, True] Translation: X:318.35, Y:-44.85, Z:-6.42 [[ 9.85620810e-01 1.68034179e-01 1.77801350e-02 3.18345379e+02] [-1.68005135e-01 9.85781165e-01 -3.12547620e-03 -4.48506911e+01] [-1.80525090e-02 9.33804143e-05 9.99837036e-01 -6.42041647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204012739 meters 0.021452908175717232 Centerline is valid? [True, True] Translation: X:318.41, Y:-44.86, Z:-6.42 [[ 9.85514083e-01 1.68580167e-01 1.85126818e-02 3.18407151e+02] [-1.68548723e-01 9.85687942e-01 -3.25713765e-03 -4.48609941e+01] [-1.87968161e-02 8.96661494e-05 9.99823320e-01 -6.41873618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264012739 meters 0.021125247969276464 Centerline is valid? [True, True] Translation: X:318.47, Y:-44.87, Z:-6.42 [[ 9.85300108e-01 1.69708182e-01 1.95660246e-02 3.18468995e+02] [-1.69673199e-01 9.85494357e-01 -3.44649472e-03 -4.48710150e+01] [-1.98671052e-02 7.60016422e-05 9.99802627e-01 -6.41832551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324012739 meters 0.02211149340981444 Centerline is valid? [True, True] Translation: X:318.53, Y:-44.89, Z:-6.42 [[ 9.85788748e-01 1.66971620e-01 1.84668081e-02 3.18528189e+02] [-1.66939923e-01 9.85961694e-01 -3.25578292e-03 -4.48915713e+01] [-1.87511887e-02 1.26666646e-04 9.99824173e-01 -6.42088221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384012739 meters 0.0214222936659146 Centerline is valid? [True, True] Translation: X:318.59, Y:-44.90, Z:-6.43 [[ 9.85298768e-01 1.70026672e-01 1.66513910e-02 3.18588940e+02] [-1.70001293e-01 9.85439459e-01 -2.93829554e-03 -4.49006693e+01] [-1.69085263e-02 6.43409656e-05 9.99857039e-01 -6.42655993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444012739 meters 0.02098105614171094 Centerline is valid? [True, True] Translation: X:318.65, Y:-44.91, Z:-6.43 [[ 9.84331877e-01 1.75563497e-01 1.63772635e-02 3.18651176e+02] [-1.75539671e-01 9.84468109e-01 -2.89241490e-03 -4.49058448e+01] [-1.66306961e-02 -2.77632603e-05 9.99861700e-01 -6.42761195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504012739 meters 0.024109432401221265 Centerline is valid? [True, True] Translation: X:318.71, Y:-44.90, Z:-6.43 [[ 9.82674696e-01 1.84566688e-01 1.68990833e-02 3.18714364e+02] [-1.84542590e-01 9.82819976e-01 -2.98798870e-03 -4.49044143e+01] [-1.71602398e-02 -1.82379721e-04 9.99852736e-01 -6.42715573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564012739 meters 0.027868161048714608 Centerline is valid? [True, True] Translation: X:318.78, Y:-44.91, Z:-6.43 [[ 9.81712543e-01 1.89438110e-01 1.88065138e-02 3.18775587e+02] [-1.89409139e-01 9.81892619e-01 -3.32622466e-03 -4.49104526e+01] [-1.90960908e-02 -2.96729099e-04 9.99817609e-01 -6.42650234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624012739 meters 0.03332584043637268 Centerline is valid? [True, True] Translation: X:318.84, Y:-44.91, Z:-6.43 [[ 9.80367776e-01 1.96351981e-01 1.80256000e-02 3.18837304e+02] [-1.96326503e-01 9.80533390e-01 -3.18972626e-03 -4.49117213e+01] [-1.83010118e-02 -4.11798178e-04 9.99832438e-01 -6.42927654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684012739 meters 0.04018421486982342 Centerline is valid? [True, True] Translation: X:318.90, Y:-44.91, Z:-6.43 [[ 9.78878769e-01 2.03493802e-01 1.96628536e-02 3.18899165e+02] [-2.03464917e-01 9.79076054e-01 -3.47970935e-03 -4.49096983e+01] [-1.99595283e-02 -5.94487259e-04 9.99800612e-01 -6.42579950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744012739 meters 0.05123863833538063 Centerline is valid? [True, True] Translation: X:318.96, Y:-44.90, Z:-6.43 [[ 9.77093240e-01 2.11928858e-01 1.93638914e-02 3.18961220e+02] [-2.11902496e-01 9.77284804e-01 -3.42679089e-03 -4.49010472e+01] [-1.96502727e-02 -7.54962712e-04 9.99806630e-01 -6.42877255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80401273900003 meters 0.05489216643271779 Centerline is valid? [True, True] Translation: X:319.02, Y:-44.90, Z:-6.43 [[ 9.76079829e-01 2.16665121e-01 1.80109083e-02 3.19021851e+02] [-2.16643122e-01 9.76245666e-01 -3.18716081e-03 -4.49042667e+01] [-1.82736177e-02 -7.91016024e-04 9.99832711e-01 -6.43202047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86401273900003 meters 0.0617425989487232 Centerline is valid? [True, True] Translation: X:319.08, Y:-44.90, Z:-6.43 [[ 9.74893681e-01 2.21868404e-01 1.88870752e-02 3.19082927e+02] [-2.21845185e-01 9.75076173e-01 -3.34222952e-03 -4.48985812e+01] [-1.91578721e-02 -9.31688253e-04 9.99816037e-01 -6.43028963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92401273900003 meters 0.06389843239621308 Centerline is valid? [True, True] Translation: X:319.14, Y:-44.90, Z:-6.43 [[ 9.74638520e-01 2.23070167e-01 1.78733164e-02 3.19143149e+02] [-2.23049583e-01 9.74801971e-01 -3.16246850e-03 -4.48993665e+01] [-1.81283965e-02 -9.04372146e-04 9.99835258e-01 -6.43416854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984012739 meters 0.06511047239080309 Centerline is valid? [True, True] Translation: X:319.20, Y:-44.90, Z:-6.44 [[ 9.74837880e-01 2.22145623e-01 1.85048778e-02 3.19201671e+02] [-2.22123399e-01 9.75013065e-01 -3.27381731e-03 -4.49038518e+01] [-1.87697619e-02 -9.18925246e-04 9.99823410e-01 -6.43560457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044012739 meters 0.05259964546401008 Centerline is valid? [True, True] Translation: X:319.26, Y:-44.93, Z:-6.43 [[ 9.76398503e-01 2.15128866e-01 1.91189428e-02 3.19259222e+02] [-2.15103817e-01 9.76585333e-01 -3.38152284e-03 -4.49274503e+01] [-1.93987423e-02 -8.10843730e-04 9.99811498e-01 -6.43467813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104012739 meters 0.05112267613837669 Centerline is valid? [True, True] Translation: X:319.32, Y:-44.94, Z:-6.43 [[ 9.76804330e-01 2.13216200e-01 1.98028751e-02 3.19317741e+02] [-2.13188934e-01 9.77004714e-01 -3.50246650e-03 -4.49376861e+01] [-2.00942849e-02 -8.00529377e-04 9.99797769e-01 -6.43391477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164012739 meters 0.05592912136778359 Centerline is valid? [True, True] Translation: X:319.38, Y:-44.94, Z:-6.43 [[ 9.76059828e-01 2.16500519e-01 2.08503587e-02 3.19377638e+02] [-2.16471050e-01 9.76282074e-01 -3.68722284e-03 -4.49386966e+01] [-2.11541171e-02 -9.14548947e-04 9.99775808e-01 -6.43322766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224012739 meters 0.057557938098776136 Centerline is valid? [True, True] Translation: X:319.44, Y:-44.95, Z:-6.44 [[ 9.75753360e-01 2.17869145e-01 2.09383857e-02 3.19437150e+02] [-2.17839751e-01 9.75977528e-01 -3.70230711e-03 -4.49458198e+01] [-2.12420124e-02 -9.48674116e-04 9.99773913e-01 -6.43517407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284012739 meters 0.0523095034980024 Centerline is valid? [True, True] Translation: X:319.50, Y:-44.96, Z:-6.44 [[ 9.76380141e-01 2.15103126e-01 2.03092656e-02 3.19495645e+02] [-2.15074884e-01 9.76590959e-01 -3.59061775e-03 -4.49618725e+01] [-2.06061983e-02 -8.62205081e-04 9.99787298e-01 -6.43797969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344012739 meters 0.05346799429395928 Centerline is valid? [True, True] Translation: X:319.55, Y:-44.97, Z:-6.44 [[ 9.77071461e-01 2.12066762e-01 1.89485731e-02 3.19554434e+02] [-2.12041611e-01 9.77254897e-01 -3.34985836e-03 -4.49687775e+01] [-1.92279795e-02 -7.44834971e-04 9.99814848e-01 -6.44176796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404012739 meters 0.048528483436411265 Centerline is valid? [True, True] Translation: X:319.61, Y:-44.99, Z:-6.45 [[ 9.78137512e-01 2.07280340e-01 1.67889433e-02 3.19613289e+02] [-2.07259899e-01 9.78281415e-01 -2.96761731e-03 -4.49852831e+01] [-1.70394399e-02 -5.76936865e-04 9.99854652e-01 -6.44747357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464012739 meters 0.04100234277635055 Centerline is valid? [True, True] Translation: X:319.67, Y:-45.00, Z:-6.44 [[ 9.79057797e-01 2.02670358e-01 1.92498475e-02 3.19671482e+02] [-2.02642589e-01 9.79246854e-01 -3.40282071e-03 -4.50043634e+01] [-1.95400035e-02 -5.69280789e-04 9.99808914e-01 -6.44243715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524012739 meters 0.0388136027447976 Centerline is valid? [True, True] Translation: X:319.73, Y:-45.02, Z:-6.44 [[ 9.79447965e-01 2.00781015e-01 1.92007032e-02 3.19729329e+02] [-2.00753025e-01 9.79636005e-01 -3.39412828e-03 -4.50174487e+01] [-1.94911767e-02 -5.30227195e-04 9.99809888e-01 -6.44393603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584012739 meters 0.03321987550519521 Centerline is valid? [True, True] Translation: X:319.79, Y:-45.04, Z:-6.45 [[ 9.80644394e-01 1.94848806e-01 1.92487782e-02 3.19786863e+02] [-1.94819557e-01 9.80833202e-01 -3.40136831e-03 -4.50373793e+01] [-1.95425933e-02 -4.14505677e-04 9.99808939e-01 -6.44509504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644012739 meters 0.028971481132235383 Centerline is valid? [True, True] Translation: X:319.84, Y:-45.05, Z:-6.44 [[ 9.81584753e-01 1.89881876e-01 2.08864898e-02 3.19844233e+02] [-1.89846316e-01 9.81806883e-01 -3.69060557e-03 -4.50546643e+01] [-2.12072785e-02 -3.42580985e-04 9.99775042e-01 -6.44270868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704012739 meters 0.027457280163640848 Centerline is valid? [True, True] Translation: X:319.90, Y:-45.07, Z:-6.45 [[ 9.82157738e-01 1.87021474e-01 1.97267621e-02 3.19901578e+02] [-1.86989185e-01 9.82355790e-01 -3.48525766e-03 -4.50681921e+01] [-2.00305170e-02 -2.65618389e-04 9.99799334e-01 -6.44648721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764012739 meters 0.02714557805470847 Centerline is valid? [True, True] Translation: X:319.96, Y:-45.08, Z:-6.45 [[ 9.82141805e-01 1.87042336e-01 2.03135418e-02 3.19960605e+02] [-1.87008117e-01 9.82351815e-01 -3.58820377e-03 -4.50752927e+01] [-2.06261907e-02 -2.74672270e-04 9.99787220e-01 -6.44520280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824012739 meters 0.030464204588623704 Centerline is valid? [True, True] Translation: X:320.02, Y:-45.08, Z:-6.44 [[ 9.81429158e-01 1.90616800e-01 2.14952162e-02 3.20019291e+02] [-1.90579362e-01 9.81664453e-01 -3.79591066e-03 -4.50773282e+01] [-2.18246540e-02 -3.71127183e-04 9.99761745e-01 -6.44398075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884012739 meters 0.031156840682438118 Centerline is valid? [True, True] Translation: X:320.08, Y:-45.08, Z:-6.45 [[ 9.81522394e-01 1.90470084e-01 1.83012768e-02 3.20076494e+02] [-1.90442929e-01 9.81692950e-01 -3.23140388e-03 -4.50842619e+01] [-1.85817202e-02 -3.13653489e-04 9.99827296e-01 -6.45313374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944012739 meters 0.0253698697705138 Centerline is valid? [True, True] Translation: X:320.13, Y:-45.11, Z:-6.46 [[ 9.82465165e-01 1.85636950e-01 1.73528577e-02 3.20133470e+02] [-1.85611801e-01 9.82618379e-01 -3.06290653e-03 -4.51073677e+01] [-1.76198256e-02 -2.11696208e-04 9.99844736e-01 -6.45555459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004012739 meters 0.02205126942183846 Centerline is valid? [True, True] Translation: X:320.19, Y:-45.13, Z:-6.46 [[ 9.83775928e-01 1.78539742e-01 1.75637306e-02 3.20191851e+02] [-1.78512851e-01 9.83932697e-01 -3.09981510e-03 -4.51300492e+01] [-1.78349690e-02 -8.58281523e-05 9.99840941e-01 -6.45659011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064012739 meters 0.022518126172587225 Centerline is valid? [True, True] Translation: X:320.25, Y:-45.14, Z:-6.46 [[ 9.83664351e-01 1.79239166e-01 1.66662972e-02 3.20250625e+02] [-1.79215046e-01 9.83805526e-01 -2.94185541e-03 -4.51388005e+01] [-1.69236910e-02 -9.30529223e-05 9.99856780e-01 -6.45818576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124012739 meters 0.022526957914175316 Centerline is valid? [True, True] Translation: X:320.31, Y:-45.15, Z:-6.45 [[ 9.83484464e-01 1.79937068e-01 1.95182113e-02 3.20309657e+02] [-1.79904118e-01 9.83678116e-01 -3.44553152e-03 -4.51477777e+01] [-1.98196162e-02 -1.22779873e-04 9.99803565e-01 -6.45395170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184012739 meters 0.021309817191819708 Centerline is valid? [True, True] Translation: X:320.37, Y:-45.18, Z:-6.45 [[ 9.84700809e-01 1.73047391e-01 2.04674638e-02 3.20368354e+02] [-1.73009679e-01 9.84913499e-01 -3.61261884e-03 -4.51755030e+01] [-2.07838356e-02 1.62793693e-05 9.99783993e-01 -6.45454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244012739 meters 0.02299128353221045 Centerline is valid? [True, True] Translation: X:320.43, Y:-45.20, Z:-6.46 [[ 9.85861966e-01 1.66377398e-01 1.98681921e-02 3.20426580e+02] [-1.66340470e-01 9.86062137e-01 -3.50860708e-03 -4.52008516e+01] [-2.01750249e-02 1.54117863e-04 9.99796452e-01 -6.45586475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30401273900003 meters 0.026973325247951555 Centerline is valid? [True, True] Translation: X:320.48, Y:-45.23, Z:-6.45 [[ 9.86910966e-01 1.59761625e-01 2.19765247e-02 3.20484029e+02] [-1.59714716e-01 9.87155570e-01 -3.88472475e-03 -4.52297202e+01] [-2.23148787e-02 3.23903049e-04 9.99750940e-01 -6.45374517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36401273900003 meters 0.02732298786120981 Centerline is valid? [True, True] Translation: X:320.54, Y:-45.25, Z:-6.46 [[ 9.86864609e-01 1.60355464e-01 1.96053403e-02 3.20542596e+02] [-1.60318195e-01 9.87059293e-01 -3.46832478e-03 -4.52478327e+01] [-1.99077981e-02 2.79674213e-04 9.99801781e-01 -6.45868856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42401273900003 meters 0.024680004416422215 Centerline is valid? [True, True] Translation: X:320.60, Y:-45.26, Z:-6.46 [[ 9.86145777e-01 1.64691283e-01 1.98315140e-02 3.20602977e+02] [-1.64653962e-01 9.86345144e-01 -3.51144677e-03 -4.52590210e+01] [-2.01390222e-02 1.97461047e-04 9.99797170e-01 -6.45857619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484012739 meters 0.023510349806518196 Centerline is valid? [True, True] Translation: X:320.66, Y:-45.27, Z:-6.46 [[ 9.85792379e-01 1.66799154e-01 1.97845247e-02 3.20664224e+02] [-1.66762375e-01 9.85990881e-01 -3.50611563e-03 -4.52700462e+01] [-2.00921780e-02 1.56987751e-04 9.99798119e-01 -6.46087314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544012739 meters 0.02407884571263705 Centerline is valid? [True, True] Translation: X:320.72, Y:-45.29, Z:-6.46 [[ 9.85996529e-01 1.65699844e-01 1.88256851e-02 3.20724068e+02] [-1.65666288e-01 9.86176217e-01 -3.33909858e-03 -4.52879700e+01] [-1.91187310e-02 1.73558249e-04 9.99817205e-01 -6.46214132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604012739 meters 0.023318098507942336 Centerline is valid? [True, True] Translation: X:320.78, Y:-45.30, Z:-6.46 [[ 9.85712578e-01 1.67088317e-01 2.12651658e-02 3.20784832e+02] [-1.67045737e-01 9.85941918e-01 -3.77573021e-03 -4.52999767e+01] [-2.15970988e-02 1.69529463e-04 9.99766741e-01 -6.45906752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664012739 meters 0.021671365498474534 Centerline is valid? [True, True] Translation: X:320.85, Y:-45.30, Z:-6.46 [[ 9.84859581e-01 1.72157898e-01 2.03289106e-02 3.20846921e+02] [-1.72119997e-01 9.85069365e-01 -3.61273482e-03 -4.53036177e+01] [-2.06473479e-02 5.90244769e-05 9.99786819e-01 -6.46275008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724012739 meters 0.02176582240751857 Centerline is valid? [True, True] Translation: X:320.91, Y:-45.30, Z:-6.47 [[ 9.83865799e-01 1.77887754e-01 1.90797641e-02 3.20909801e+02] [-1.77855387e-01 9.84050783e-01 -3.39369235e-03 -4.53029736e+01] [-1.93791531e-02 -5.45010010e-05 9.99812205e-01 -6.46714831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784012739 meters 0.021678828075533712 Centerline is valid? [True, True] Translation: X:320.97, Y:-45.31, Z:-6.47 [[ 9.83991695e-01 1.77261146e-01 1.84073190e-02 3.20971806e+02] [-1.77230854e-01 9.84163850e-01 -3.27716832e-03 -4.53130467e+01] [-1.86967326e-02 -3.76384623e-05 9.99825200e-01 -6.46976490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844012739 meters 0.021668031516012373 Centerline is valid? [True, True] Translation: X:321.03, Y:-45.33, Z:-6.47 [[ 9.84749098e-01 1.72984050e-01 1.85938994e-02 3.21031801e+02] [-1.72952308e-01 9.84924625e-01 -3.31401839e-03 -4.53292159e+01] [-1.88868617e-02 4.76187887e-05 9.99821626e-01 -6.47023996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904012739 meters 0.023732706730332797 Centerline is valid? [True, True] Translation: X:321.09, Y:-45.35, Z:-6.47 [[ 9.85725991e-01 1.66998686e-01 2.13473419e-02 3.21091590e+02] [-1.66955348e-01 9.85957100e-01 -3.80908845e-03 -4.53475481e+01] [-2.16836761e-02 1.90664589e-04 9.99764863e-01 -6.46617228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964012739 meters 0.02517191965916939 Centerline is valid? [True, True] Translation: X:321.15, Y:-45.36, Z:-6.47 [[ 9.86120444e-01 1.64843011e-01 1.98305932e-02 3.21152177e+02] [-1.64805116e-01 9.86319792e-01 -3.54151233e-03 -4.53625922e+01] [-2.01431001e-02 2.24174489e-04 9.99797082e-01 -6.46975856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024012739 meters 0.025832246806119584 Centerline is valid? [True, True] Translation: X:321.21, Y:-45.38, Z:-6.47 [[ 9.86202188e-01 1.64524149e-01 1.83588845e-02 3.21211207e+02] [-1.64491560e-01 9.86373032e-01 -3.28161568e-03 -4.53785210e+01] [-1.86486136e-02 2.16455013e-04 9.99826076e-01 -6.47413950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084012739 meters 0.025966933465531084 Centerline is valid? [True, True] Translation: X:321.27, Y:-45.40, Z:-6.47 [[ 9.86448772e-01 1.62899565e-01 1.95589408e-02 3.21271471e+02] [-1.62862220e-01 9.86642621e-01 -3.49796553e-03 -4.53970254e+01] [-1.98675016e-02 2.65151284e-04 9.99802587e-01 -6.47257559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144012739 meters 0.026000723228907747 Centerline is valid? [True, True] Translation: X:321.33, Y:-45.41, Z:-6.48 [[ 9.86154048e-01 1.64761293e-01 1.88125092e-02 3.21330190e+02] [-1.64727023e-01 9.86333446e-01 -3.36760179e-03 -4.54147178e+01] [-1.91102575e-02 2.22045499e-04 9.99817358e-01 -6.47528325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204012739 meters 0.022681964763299194 Centerline is valid? [True, True] Translation: X:321.39, Y:-45.42, Z:-6.48 [[ 9.85285249e-01 1.70044594e-01 1.72572940e-02 3.21392876e+02] [-1.70016518e-01 9.85436362e-01 -3.09195791e-03 -4.54199877e+01] [-1.75317357e-02 1.12435496e-04 9.99846301e-01 -6.47989687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264012739 meters 0.021285083120907485 Centerline is valid? [True, True] Translation: X:321.45, Y:-45.43, Z:-6.48 [[ 9.84356404e-01 1.75308566e-01 1.75891100e-02 3.21452587e+02] [-1.75280224e-01 9.84513538e-01 -3.15223975e-03 -4.54317190e+01] [-1.78693315e-02 1.99042481e-05 9.99840331e-01 -6.47949919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324012739 meters 0.021192767514508812 Centerline is valid? [True, True] Translation: X:321.51, Y:-45.44, Z:-6.48 [[ 9.83870301e-01 1.77993226e-01 1.78225013e-02 3.21514784e+02] [-1.77964518e-01 9.84031712e-01 -3.19678169e-03 -4.54404635e+01] [-1.81069120e-02 -2.65543012e-05 9.99836056e-01 -6.48099929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384012739 meters 0.022775558292989447 Centerline is valid? [True, True] Translation: X:321.58, Y:-45.45, Z:-6.48 [[ 9.82717114e-01 1.84127213e-01 1.90851294e-02 3.21576990e+02] [-1.84095377e-01 9.82902410e-01 -3.42694577e-03 -4.54473327e+01] [-1.93898136e-02 -1.45765841e-04 9.99811989e-01 -6.47779299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444012739 meters 0.026265538292754714 Centerline is valid? [True, True] Translation: X:321.64, Y:-45.44, Z:-6.48 [[ 9.81568007e-01 1.90064192e-01 1.99962507e-02 3.21639521e+02] [-1.90030402e-01 9.81771628e-01 -3.59405266e-03 -4.54443117e+01] [-2.03148523e-02 -2.72088467e-04 9.99793595e-01 -6.47699381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504012739 meters 0.03662673991792734 Centerline is valid? [True, True] Translation: X:321.70, Y:-45.43, Z:-6.47 [[ 9.79198326e-01 2.01736964e-01 2.17447783e-02 3.21703123e+02] [-2.01699836e-01 9.79439578e-01 -3.91013530e-03 -4.54311753e+01] [-2.20865153e-02 -5.57120294e-04 9.99755908e-01 -6.47439883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564012739 meters 0.04220324929448925 Centerline is valid? [True, True] Translation: X:321.76, Y:-45.43, Z:-6.47 [[ 9.78147804e-01 2.06727533e-01 2.21494908e-02 3.21764963e+02] [-2.06690292e-01 9.78398314e-01 -3.98268562e-03 -4.54277035e+01] [-2.24943552e-02 -6.82429533e-04 9.99746737e-01 -6.47378687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624012739 meters 0.044157405485838276 Centerline is valid? [True, True] Translation: X:321.82, Y:-45.43, Z:-6.48 [[ 9.78011588e-01 2.07679213e-01 1.90441245e-02 3.21824191e+02] [-2.07651866e-01 9.78196799e-01 -3.42415794e-03 -4.54276790e+01] [-1.93400281e-02 -6.05681851e-04 9.99812781e-01 -6.48228749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684012739 meters 0.037210073793824405 Centerline is valid? [True, True] Translation: X:321.88, Y:-45.44, Z:-6.49 [[ 9.78881923e-01 2.03748900e-01 1.66302762e-02 3.21882648e+02] [-2.03727488e-01 9.79023071e-01 -2.98958742e-03 -4.54420054e+01] [-1.68905492e-02 -4.61591308e-04 9.99857238e-01 -6.48696366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744012739 meters 0.036803787981742844 Centerline is valid? [True, True] Translation: X:321.94, Y:-45.45, Z:-6.48 [[ 9.79044286e-01 2.02773959e-01 1.88416476e-02 3.21940959e+02] [-2.02746298e-01 9.79225443e-01 -3.38692476e-03 -4.54468715e+01] [-1.91370009e-02 -5.04124961e-04 9.99816744e-01 -6.48391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80401273900003 meters 0.03783459037787424 Centerline is valid? [True, True] Translation: X:322.00, Y:-45.45, Z:-6.49 [[ 9.79000944e-01 2.03126270e-01 1.72299175e-02 3.21998416e+02] [-2.03103209e-01 9.79152439e-01 -3.09628329e-03 -4.54512959e+01] [-1.74996522e-02 -4.68187288e-04 9.99846760e-01 -6.48825441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86401273900003 meters 0.036052919630412635 Centerline is valid? [True, True] Translation: X:322.06, Y:-45.46, Z:-6.49 [[ 9.79514064e-01 2.00499413e-01 1.87665498e-02 3.22057090e+02] [-2.00471598e-01 9.79693714e-01 -3.37116625e-03 -4.54592192e+01] [-1.90613877e-02 -4.60055470e-04 9.99818209e-01 -6.48807097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92401273900003 meters 0.03391125511156967 Centerline is valid? [True, True] Translation: X:322.11, Y:-45.47, Z:-6.49 [[ 9.80085412e-01 1.97851293e-01 1.69543891e-02 3.22114431e+02] [-1.97828199e-01 9.80231977e-01 -3.04536048e-03 -4.54701344e+01] [-1.72217629e-02 -3.69342887e-04 9.99851626e-01 -6.49229025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984012739 meters 0.03130258910251377 Centerline is valid? [True, True] Translation: X:322.17, Y:-45.48, Z:-6.49 [[ 9.80640221e-01 1.95055213e-01 1.72690835e-02 3.22173235e+02] [-1.95030835e-01 9.80792209e-01 -3.10107240e-03 -4.54765484e+01] [-1.75422629e-02 -3.26967451e-04 9.99846069e-01 -6.49223533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044012739 meters 0.03117731120850219 Centerline is valid? [True, True] Translation: X:322.23, Y:-45.48, Z:-6.49 [[ 9.80648576e-01 1.94670840e-01 2.07757936e-02 3.22231625e+02] [-1.94635493e-01 9.80868551e-01 -3.72963824e-03 -4.54772431e+01] [-2.11043744e-02 -3.86242397e-04 9.99777203e-01 -6.48759600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104012739 meters 0.029430038125108436 Centerline is valid? [True, True] Translation: X:322.29, Y:-45.48, Z:-6.49 [[ 9.81055398e-01 1.92604751e-01 2.08258263e-02 3.22290084e+02] [-1.92568795e-01 9.81276358e-01 -3.73736399e-03 -4.54828883e+01] [-2.11557250e-02 -3.43843138e-04 9.99776133e-01 -6.48897460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164012739 meters 0.024898549500688143 Centerline is valid? [True, True] Translation: X:322.35, Y:-45.50, Z:-6.49 [[ 9.81794593e-01 1.88933562e-01 1.95828101e-02 3.22347460e+02] [-1.88901056e-01 9.81989840e-01 -3.51346219e-03 -4.55017422e+01] [-1.98939315e-02 -2.49715323e-04 9.99802065e-01 -6.49274928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224012739 meters 0.023190452018372273 Centerline is valid? [True, True] Translation: X:322.40, Y:-45.52, Z:-6.50 [[ 9.82695049e-01 1.84470911e-01 1.67607579e-02 3.22404314e+02] [-1.84446454e-01 9.82837964e-01 -3.00684798e-03 -4.55165260e+01] [-1.70277852e-02 -1.36647753e-04 9.99855007e-01 -6.50016164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284012739 meters 0.025393074474214194 Centerline is valid? [True, True] Translation: X:322.46, Y:-45.52, Z:-6.50 [[ 9.82126881e-01 1.87394921e-01 1.76048955e-02 3.22462613e+02] [-1.87368420e-01 9.82284635e-01 -3.15766697e-03 -4.55227739e+01] [-1.78847492e-02 -1.97371845e-04 9.99840036e-01 -6.49751803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344012739 meters 0.03136752378591203 Centerline is valid? [True, True] Translation: X:322.52, Y:-45.52, Z:-6.49 [[ 9.80955032e-01 1.93181137e-01 2.02057779e-02 3.22522808e+02] [-1.93147477e-01 9.81163048e-01 -3.62289734e-03 -4.55189604e+01] [-2.05250381e-02 -3.48795649e-04 9.99789278e-01 -6.49423785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404012739 meters 0.030707164933067247 Centerline is valid? [True, True] Translation: X:322.58, Y:-45.53, Z:-6.50 [[ 9.80435214e-01 1.96107263e-01 1.69921084e-02 3.22580844e+02] [-1.96083906e-01 9.80582389e-01 -3.04627567e-03 -4.55299270e+01] [-1.72595590e-02 -3.45203038e-04 9.99850983e-01 -6.50174748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464012739 meters 0.0329597385767672 Centerline is valid? [True, True] Translation: X:322.64, Y:-45.53, Z:-6.50 [[ 9.80194276e-01 1.97384298e-01 1.60816948e-02 3.22639145e+02] [-1.97363558e-01 9.80326128e-01 -2.88244862e-03 -4.55340254e+01] [-1.63342557e-02 -3.48580869e-04 9.99866526e-01 -6.50403287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524012739 meters 0.03582509541223379 Centerline is valid? [True, True] Translation: X:322.70, Y:-45.54, Z:-6.51 [[ 9.79510165e-01 2.00799014e-01 1.54787922e-02 3.22699238e+02] [-2.00780243e-01 9.79632381e-01 -2.77334559e-03 -4.55368423e+01] [-1.57204111e-02 -3.91315454e-04 9.99876350e-01 -6.50627022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584012739 meters 0.04102873219802942 Centerline is valid? [True, True] Translation: X:322.76, Y:-45.53, Z:-6.50 [[ 9.78789448e-01 2.04154985e-01 1.70867980e-02 3.22759126e+02] [-2.04132627e-01 9.78938456e-01 -3.06108547e-03 -4.55333067e+01] [-1.73518595e-02 -4.91814804e-04 9.99849324e-01 -6.50437716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644012739 meters 0.040229438214805235 Centerline is valid? [True, True] Translation: X:322.82, Y:-45.54, Z:-6.50 [[ 9.78309779e-01 2.06343606e-01 1.82289008e-02 3.22818354e+02] [-2.06318559e-01 9.78479430e-01 -3.26461097e-03 -4.55427205e+01] [-1.85102361e-02 -5.67159721e-04 9.99828510e-01 -6.50283576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704012739 meters 0.040452358320599985 Centerline is valid? [True, True] Translation: X:322.88, Y:-45.55, Z:-6.51 [[ 9.78842382e-01 2.03785472e-01 1.84139479e-02 3.22877615e+02] [-2.03759470e-01 9.79015427e-01 -3.29730395e-03 -4.55475031e+01] [-1.86994818e-02 -5.24475418e-04 9.99825012e-01 -6.50513745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764012739 meters 0.03650541232367595 Centerline is valid? [True, True] Translation: X:322.94, Y:-45.56, Z:-6.51 [[ 9.79419851e-01 2.01003158e-01 1.82889463e-02 3.22936242e+02] [-2.00977031e-01 9.79590481e-01 -3.27446875e-03 -4.55609886e+01] [-1.85738563e-02 -4.68578441e-04 9.99827381e-01 -6.50634840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824012739 meters 0.03422999211289196 Centerline is valid? [True, True] Translation: X:323.00, Y:-45.57, Z:-6.51 [[ 9.79796888e-01 1.99407096e-01 1.53254121e-02 3.22995192e+02] [-1.99388556e-01 9.79916667e-01 -2.74385156e-03 -4.55672777e+01] [-1.55647703e-02 -3.67294576e-04 9.99878794e-01 -6.51266627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884012739 meters 0.0311829387207449 Centerline is valid? [True, True] Translation: X:323.05, Y:-45.58, Z:-6.51 [[ 9.80281754e-01 1.96825478e-01 1.75332424e-02 3.23053055e+02] [-1.96800810e-01 9.80438469e-01 -3.13843979e-03 -4.55771356e+01] [-1.78079902e-02 -3.74001049e-04 9.99841355e-01 -6.50936676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944012739 meters 0.029575781605795975 Centerline is valid? [True, True] Translation: X:323.11, Y:-45.59, Z:-6.51 [[ 9.80769417e-01 1.94232008e-01 1.91122406e-02 3.23110053e+02] [-1.94202224e-01 9.80955554e-01 -3.42007075e-03 -4.55856452e+01] [-1.94125458e-02 -3.57338825e-04 9.99811495e-01 -6.50782135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004012739 meters 0.029521523963059165 Centerline is valid? [True, True] Translation: X:323.17, Y:-45.59, Z:-6.51 [[ 9.80844544e-01 1.93956070e-01 1.80284087e-02 3.23168867e+02] [-1.93929541e-01 9.81010159e-01 -3.22507895e-03 -4.55929261e+01] [-1.83115757e-02 -3.32939920e-04 9.99832274e-01 -6.51190203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064012739 meters 0.030637429532389137 Centerline is valid? [True, True] Translation: X:323.23, Y:-45.60, Z:-6.52 [[ 9.80753282e-01 1.94545650e-01 1.65827958e-02 3.23226886e+02] [-1.94523301e-01 9.80893414e-01 -2.96579912e-03 -4.55951820e+01] [-1.68429385e-02 -3.17022958e-04 9.99858097e-01 -6.51626796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124012739 meters 0.0279152568269148 Centerline is valid? [True, True] Translation: X:323.28, Y:-45.61, Z:-6.52 [[ 9.81455059e-01 1.90941067e-01 1.69551076e-02 3.23283389e+02] [-1.90917182e-01 9.81601467e-01 -3.03135157e-03 -4.56078231e+01] [-1.72219680e-02 -2.61886037e-04 9.99851657e-01 -6.51641837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184012739 meters 0.022654537338339067 Centerline is valid? [True, True] Translation: X:323.34, Y:-45.63, Z:-6.51 [[ 9.82613668e-01 1.84648422e-01 1.93737072e-02 3.23340269e+02] [-1.84616039e-01 9.82804624e-01 -3.46242769e-03 -4.56309493e+01] [-1.96799008e-02 -1.74468318e-04 9.99806317e-01 -6.51394223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244012739 meters 0.0206855599908554 Centerline is valid? [True, True] Translation: X:323.40, Y:-45.65, Z:-6.51 [[ 9.83488766e-01 1.79801843e-01 2.05217872e-02 3.23395771e+02] [-1.79764458e-01 9.83702847e-01 -3.66733606e-03 -4.56527031e+01] [-2.08467343e-02 -8.23041328e-05 9.99782680e-01 -6.51438165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30401273900003 meters 0.02039735911622983 Centerline is valid? [True, True] Translation: X:323.45, Y:-45.67, Z:-6.52 [[ 9.83931346e-01 1.77595431e-01 1.84111222e-02 3.23451627e+02] [-1.77564969e-01 9.84103583e-01 -3.28938120e-03 -4.56684576e+01] [-1.87026304e-02 -3.26450665e-05 9.99825090e-01 -6.51946897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36401273900003 meters 0.020313585878174438 Centerline is valid? [True, True] Translation: X:323.51, Y:-45.69, Z:-6.52 [[ 9.84243571e-01 1.75968112e-01 1.73152332e-02 3.23507718e+02] [-1.75940935e-01 9.84395867e-01 -3.09258381e-03 -4.56858924e+01] [-1.75892402e-02 -2.60258441e-06 9.99845297e-01 -6.52273534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42401273900003 meters 0.02050429411163253 Centerline is valid? [True, True] Translation: X:323.56, Y:-45.71, Z:-6.52 [[ 9.84650793e-01 1.73515638e-01 1.88451323e-02 3.23563272e+02] [-1.73483013e-01 9.84831113e-01 -3.36491350e-03 -4.57088572e+01] [-1.91431377e-02 4.39544166e-05 9.99816752e-01 -6.52006960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484012739 meters 0.02023213884795053 Centerline is valid? [True, True] Translation: X:323.62, Y:-45.72, Z:-6.52 [[ 9.84527068e-01 1.74114369e-01 1.97645679e-02 3.23621524e+02] [-1.74078623e-01 9.84725437e-01 -3.52811677e-03 -4.57231512e+01] [-2.00769686e-02 3.29376975e-05 9.99798437e-01 -6.51940078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544012739 meters 0.020714444378201063 Centerline is valid? [True, True] Translation: X:323.68, Y:-45.73, Z:-6.52 [[ 9.83619305e-01 1.79260843e-01 1.89370580e-02 3.23678989e+02] [-1.79228988e-01 9.83801578e-01 -3.38002007e-03 -4.57320866e+01] [-1.92362128e-02 -6.94167515e-05 9.99814965e-01 -6.52187310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604012739 meters 0.02417229925154706 Centerline is valid? [True, True] Translation: X:323.74, Y:-45.74, Z:-6.52 [[ 9.82285289e-01 1.86488909e-01 1.83711305e-02 3.23739168e+02] [-1.86460212e-01 9.82457045e-01 -3.27792291e-03 -4.57362534e+01] [-1.86601428e-02 -2.05629441e-04 9.99825863e-01 -6.52352883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664012739 meters 0.031325960921577085 Centerline is valid? [True, True] Translation: X:323.80, Y:-45.74, Z:-6.52 [[ 9.81015883e-01 1.92918223e-01 1.97584755e-02 3.23798642e+02] [-1.92886340e-01 9.81214775e-01 -3.52496162e-03 -4.57380763e+01] [-2.00673374e-02 -3.53096682e-04 9.99798568e-01 -6.52155153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724012739 meters 0.031219874347370346 Centerline is valid? [True, True] Translation: X:323.86, Y:-45.75, Z:-6.52 [[ 9.80481620e-01 1.95586449e-01 2.00432902e-02 3.23855941e+02] [-1.95554212e-01 9.80686377e-01 -3.57505728e-03 -4.57484838e+01] [-2.03554144e-02 -4.14271860e-04 9.99792721e-01 -6.52399139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784012739 meters 0.03038283129996066 Centerline is valid? [True, True] Translation: X:323.91, Y:-45.76, Z:-6.52 [[ 9.80686562e-01 1.94532327e-01 2.02741379e-02 3.23913101e+02] [-1.94499143e-01 9.80896027e-01 -3.61500881e-03 -4.57616693e+01] [-2.05900573e-02 -3.98111872e-04 9.99787923e-01 -6.52315446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844012739 meters 0.030330099638755107 Centerline is valid? [True, True] Translation: X:323.97, Y:-45.77, Z:-6.53 [[ 9.80838797e-01 1.93918033e-01 1.87363638e-02 3.23969647e+02] [-1.93889596e-01 9.81017670e-01 -3.34001063e-03 -4.57727485e+01] [-1.90283922e-02 -3.56773979e-04 9.99818880e-01 -6.52817545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904012739 meters 0.030285004000296028 Centerline is valid? [True, True] Translation: X:324.03, Y:-45.79, Z:-6.53 [[ 9.80792354e-01 1.94070551e-01 1.95698714e-02 3.24026474e+02] [-1.94039583e-01 9.80987502e-01 -3.48730712e-03 -4.57865350e+01] [-1.98745829e-02 -3.77005525e-04 9.99802410e-01 -6.52923321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964012739 meters 0.033917806688263455 Centerline is valid? [True, True] Translation: X:324.09, Y:-45.79, Z:-6.53 [[ 9.79843433e-01 1.98792759e-01 1.97049473e-02 3.24085986e+02] [-1.98762334e-01 9.80041434e-01 -3.51042636e-03 -4.57900530e+01] [-2.00095121e-02 -4.76933099e-04 9.99799676e-01 -6.52908663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024012739 meters 0.03978509619443739 Centerline is valid? [True, True] Translation: X:324.15, Y:-45.79, Z:-6.53 [[ 9.78972511e-01 2.03176662e-01 1.82227133e-02 3.24146131e+02] [-2.03151413e-01 9.79141955e-01 -3.24571497e-03 -4.57921728e+01] [-1.85020766e-02 -5.24504213e-04 9.99828684e-01 -6.53314864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084012739 meters 0.042209655990220356 Centerline is valid? [True, True] Translation: X:324.21, Y:-45.80, Z:-6.54 [[ 9.78554328e-01 2.05195604e-01 1.80607725e-02 3.24205339e+02] [-2.05171148e-01 9.78720825e-01 -3.21670532e-03 -4.57977620e+01] [-1.83365079e-02 -5.57828510e-04 9.99831716e-01 -6.53524801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144012739 meters 0.04454541221873645 Centerline is valid? [True, True] Translation: X:324.26, Y:-45.80, Z:-6.54 [[ 9.79078554e-01 2.02857949e-01 1.59322646e-02 3.24262778e+02] [-2.02838613e-01 9.79208071e-01 -2.83730582e-03 -4.58027028e+01] [-1.61765721e-02 -4.53733164e-04 9.99869048e-01 -6.54132834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204012739 meters 0.036824663348750494 Centerline is valid? [True, True] Translation: X:324.32, Y:-45.82, Z:-6.54 [[ 9.79454274e-01 2.00794655e-01 1.87305082e-02 3.24319020e+02] [-2.00767586e-01 9.79633228e-01 -3.33391481e-03 -4.58212320e+01] [-1.90184605e-02 -4.95061807e-04 9.99819010e-01 -6.53600713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264012739 meters 0.03323536798656515 Centerline is valid? [True, True] Translation: X:324.38, Y:-45.84, Z:-6.53 [[ 9.80064931e-01 1.97558245e-01 2.10587481e-02 3.24377565e+02] [-1.97523304e-01 9.80291030e-01 -3.74723759e-03 -4.58356372e+01] [-2.13839995e-02 -4.87057334e-04 9.99771217e-01 -6.53342143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324012739 meters 0.030998126127839743 Centerline is valid? [True, True] Translation: X:324.43, Y:-45.85, Z:-6.54 [[ 9.80717079e-01 1.94484960e-01 1.92252665e-02 3.24434488e+02] [-1.94455252e-01 9.80905425e-01 -3.42080697e-03 -4.58516291e+01] [-1.95234637e-02 -3.83610215e-04 9.99809325e-01 -6.53822548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384012739 meters 0.030424170391771015 Centerline is valid? [True, True] Translation: X:324.49, Y:-45.86, Z:-6.54 [[ 9.80927406e-01 1.93300225e-01 2.04070355e-02 3.24491091e+02] [-1.93266516e-01 9.81139580e-01 -3.63005298e-03 -4.58635349e+01] [-2.07238403e-02 -3.83178203e-04 9.99785165e-01 -6.53726078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444012739 meters 0.030050304852585055 Centerline is valid? [True, True] Translation: X:324.55, Y:-45.87, Z:-6.54 [[ 9.81073942e-01 1.92564843e-01 2.03150641e-02 3.24549337e+02] [-1.92531305e-01 9.81284182e-01 -3.61250532e-03 -4.58737573e+01] [-2.06304926e-02 -3.67150973e-04 9.99787101e-01 -6.53768540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504012739 meters 0.027451941393612383 Centerline is valid? [True, True] Translation: X:324.61, Y:-45.89, Z:-6.54 [[ 9.81605186e-01 1.89997456e-01 1.87676445e-02 3.24606603e+02] [-1.89968380e-01 9.81784540e-01 -3.33650104e-03 -4.58913152e+01] [-1.90597099e-02 -2.90132292e-04 9.99818305e-01 -6.54243593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564012739 meters 0.026616065841676445 Centerline is valid? [True, True] Translation: X:324.66, Y:-45.90, Z:-6.54 [[ 9.81905561e-01 1.88398917e-01 1.91655379e-02 3.24662856e+02] [-1.88368298e-01 9.82092551e-01 -3.40680690e-03 -4.59035889e+01] [-1.94641708e-02 -2.65017132e-04 9.99810520e-01 -6.54194015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624012739 meters 0.02681782936059795 Centerline is valid? [True, True] Translation: X:324.72, Y:-45.91, Z:-6.54 [[ 9.81886341e-01 1.88393002e-01 2.01814092e-02 3.24720402e+02] [-1.88359076e-01 9.82093681e-01 -3.58610423e-03 -4.59133409e+01] [-2.04956314e-02 -2.80204825e-04 9.99789903e-01 -6.54102415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684012739 meters 0.030628932853699997 Centerline is valid? [True, True] Translation: X:324.78, Y:-45.91, Z:-6.54 [[ 9.81390322e-01 1.90945425e-01 2.03194597e-02 3.24779417e+02] [-1.90911600e-01 9.81600597e-01 -3.60968466e-03 -4.59129632e+01] [-2.06348465e-02 -3.36710970e-04 9.99787022e-01 -6.54192967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744012739 meters 0.03321689064043876 Centerline is valid? [True, True] Translation: X:324.84, Y:-45.91, Z:-6.55 [[ 9.80887216e-01 1.93620918e-01 1.92667793e-02 3.24839161e+02] [-1.93591043e-01 9.81076348e-01 -3.42161998e-03 -4.59132290e+01] [-1.95646787e-02 -3.73652611e-04 9.99808524e-01 -6.54651966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80401273900003 meters 0.028433887364238346 Centerline is valid? [True, True] Translation: X:324.90, Y:-45.93, Z:-6.55 [[ 9.81672214e-01 1.89682849e-01 1.84412945e-02 3.24896097e+02] [-1.89654799e-01 9.81845373e-01 -3.27424803e-03 -4.59272663e+01] [-1.87275684e-02 -2.83241683e-04 9.99824584e-01 -6.54829195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86401273900003 meters 0.02382667620003543 Centerline is valid? [True, True] Translation: X:324.95, Y:-45.94, Z:-6.54 [[ 9.82649069e-01 1.84273726e-01 2.10713157e-02 3.24953370e+02] [-1.84235882e-01 9.82874942e-01 -3.74010986e-03 -4.59420171e+01] [-2.13996722e-02 -2.06876968e-04 9.99770979e-01 -6.54445058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92401273900003 meters 0.02194254460771408 Centerline is valid? [True, True] Translation: X:325.01, Y:-45.96, Z:-6.54 [[ 9.83364374e-01 1.80164151e-01 2.31384235e-02 3.25009327e+02] [-1.80117408e-01 9.83636550e-01 -4.10579937e-03 -4.59574790e+01] [-2.34995169e-02 -1.30136028e-04 9.99723840e-01 -6.54190372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984012739 meters 0.021406371816985306 Centerline is valid? [True, True] Translation: X:325.07, Y:-45.97, Z:-6.54 [[ 9.83611958e-01 1.78878464e-01 2.25834454e-02 3.25067289e+02] [-1.78833626e-01 9.83871173e-01 -4.00608392e-03 -4.59702621e+01] [-2.29358030e-02 -9.82473851e-05 9.99736935e-01 -6.54425808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044012739 meters 0.021972287103790223 Centerline is valid? [True, True] Translation: X:325.12, Y:-45.98, Z:-6.55 [[ 9.83431987e-01 1.80051882e-01 2.10439411e-02 3.25123862e+02] [-1.80013233e-01 9.83657108e-01 -3.73228465e-03 -4.59801229e+01] [-2.13720271e-02 -1.17739765e-04 9.99771585e-01 -6.54866365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104012739 meters 0.02398887366310426 Centerline is valid? [True, True] Translation: X:325.18, Y:-45.98, Z:-6.55 [[ 9.82777844e-01 1.83494123e-01 2.18544544e-02 3.25182710e+02] [-1.83453318e-01 9.83020786e-01 -3.87475511e-03 -4.59844834e+01] [-2.21943778e-02 -2.01248705e-04 9.99753654e-01 -6.54802055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164012739 meters 0.02806212173001694 Centerline is valid? [True, True] Translation: X:325.24, Y:-45.98, Z:-6.55 [[ 9.81839112e-01 1.88291843e-01 2.31978252e-02 3.25242108e+02] [-1.88247230e-01 9.82113065e-01 -4.11184316e-03 -4.59821464e+01] [-2.35571137e-02 -3.29757905e-04 9.99722438e-01 -6.54690519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224012739 meters 0.027644712132947443 Centerline is valid? [True, True] Translation: X:325.30, Y:-45.99, Z:-6.55 [[ 9.81545658e-01 1.89793828e-01 2.33757208e-02 3.25300565e+02] [-1.89748975e-01 9.81823898e-01 -4.14247359e-03 -4.59916053e+01] [-2.37370573e-02 -3.69492102e-04 9.99718168e-01 -6.54917360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284012739 meters 0.032606664188997214 Centerline is valid? [True, True] Translation: X:325.36, Y:-45.99, Z:-6.55 [[ 9.81044256e-01 1.92500544e-01 2.22644974e-02 3.25360267e+02] [-1.92460575e-01 9.81296779e-01 -3.94449379e-03 -4.59861610e+01] [-2.26073967e-02 -4.15314994e-04 9.99744334e-01 -6.55092223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344012739 meters 0.028263235226751993 Centerline is valid? [True, True] Translation: X:325.42, Y:-46.00, Z:-6.56 [[ 9.81749850e-01 1.89019331e-01 2.09505432e-02 3.25418471e+02] [-1.88983172e-01 9.81973316e-01 -3.71054519e-03 -4.59978398e+01] [-2.12742391e-02 -3.16472923e-04 9.99773628e-01 -6.55511668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404012739 meters 0.02381855005092605 Centerline is valid? [True, True] Translation: X:325.48, Y:-46.01, Z:-6.55 [[ 9.82599820e-01 1.84394085e-01 2.22803695e-02 3.25475803e+02] [-1.84352020e-01 9.82852363e-01 -3.94522621e-03 -4.60131069e+01] [-2.26257902e-02 -2.30852563e-04 9.99743977e-01 -6.55446511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464012739 meters 0.021094461346026595 Centerline is valid? [True, True] Translation: X:325.53, Y:-46.03, Z:-6.55 [[ 9.84005684e-01 1.76686713e-01 2.26852164e-02 3.25532200e+02] [-1.76641079e-01 9.84267140e-01 -4.01584366e-03 -4.60346565e+01] [-2.30378593e-02 -5.55281074e-05 9.99734592e-01 -6.55426992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524012739 meters 0.02096120700525376 Centerline is valid? [True, True] Translation: X:325.59, Y:-46.05, Z:-6.55 [[ 9.84575693e-01 1.73238194e-01 2.44792354e-02 3.25589673e+02] [-1.73184004e-01 9.84879956e-01 -4.33279609e-03 -4.60503785e+01] [-2.48597141e-02 2.65537084e-05 9.99690949e-01 -6.55256862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584012739 meters 0.021479412476780795 Centerline is valid? [True, True] Translation: X:325.65, Y:-46.07, Z:-6.55 [[ 9.85007887e-01 1.70752959e-01 2.45538143e-02 3.25647022e+02] [-1.70697680e-01 9.85313868e-01 -4.34546350e-03 -4.60703545e+01] [-2.49352145e-02 8.90366908e-05 9.99689065e-01 -6.55373499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644012739 meters 0.02123425195416943 Centerline is valid? [True, True] Translation: X:325.71, Y:-46.08, Z:-6.56 [[ 9.84844151e-01 1.71778290e-01 2.39628270e-02 3.25706120e+02] [-1.71725949e-01 9.85135633e-01 -4.24064097e-03 -4.60838157e+01] [-2.43350848e-02 6.13312482e-05 9.99703856e-01 -6.55663172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704012739 meters 0.02109801009419744 Centerline is valid? [True, True] Translation: X:325.76, Y:-46.10, Z:-6.56 [[ 9.84678252e-01 1.72772304e-01 2.36319881e-02 3.25764079e+02] [-1.72721686e-01 9.84961791e-01 -4.18205144e-03 -4.60978304e+01] [-2.39991480e-02 3.62182730e-05 9.99711978e-01 -6.55697556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764012739 meters 0.021563736591631064 Centerline is valid? [True, True] Translation: X:325.82, Y:-46.12, Z:-6.56 [[ 9.85047556e-01 1.70662570e-01 2.35711807e-02 3.25823120e+02] [-1.70611600e-01 9.85329528e-01 -4.17162222e-03 -4.61181463e+01] [-2.39373201e-02 8.77294289e-05 9.99713457e-01 -6.55952278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824012739 meters 0.023084589849296743 Centerline is valid? [True, True] Translation: X:325.88, Y:-46.14, Z:-6.56 [[ 9.85572877e-01 1.67507151e-01 2.42375252e-02 3.25880095e+02] [-1.67452203e-01 9.85870846e-01 -4.29364243e-03 -4.61449589e+01] [-2.46142853e-02 1.73070536e-04 9.99697008e-01 -6.55896790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884012739 meters 0.02468896581957647 Centerline is valid? [True, True] Translation: X:325.94, Y:-46.17, Z:-6.56 [[ 9.86026539e-01 1.65111467e-01 2.21329537e-02 3.25939785e+02] [-1.65064974e-01 9.86274889e-01 -3.92396366e-03 -4.61663769e+01] [-2.24770679e-02 2.15756867e-04 9.99747336e-01 -6.56433495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944012739 meters 0.024498431647888674 Centerline is valid? [True, True] Translation: X:326.00, Y:-46.19, Z:-6.57 [[ 9.86099397e-01 1.64998301e-01 1.95841644e-02 3.26000302e+02] [-1.64961824e-01 9.86293832e-01 -3.47483853e-03 -4.61851610e+01] [-1.98890830e-02 1.95896705e-04 9.99802173e-01 -6.57107639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004012739 meters 0.023028738465191993 Centerline is valid? [True, True] Translation: X:326.06, Y:-46.20, Z:-6.57 [[ 9.85614140e-01 1.67707897e-01 2.09482203e-02 3.26061452e+02] [-1.67666682e-01 9.85836719e-01 -3.72112221e-03 -4.61965367e+01] [-2.12755864e-02 1.55272075e-04 9.99773637e-01 -6.56854470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064012739 meters 0.021572837441207048 Centerline is valid? [True, True] Translation: X:326.12, Y:-46.21, Z:-6.57 [[ 9.84642646e-01 1.72908883e-01 2.41117669e-02 3.26122989e+02] [-1.72855723e-01 9.84937823e-01 -4.28762160e-03 -4.62075465e+01] [-2.44899591e-02 5.39181674e-05 9.99700075e-01 -6.56516497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124012739 meters 0.02156804108855876 Centerline is valid? [True, True] Translation: X:326.18, Y:-46.21, Z:-6.57 [[ 9.83823597e-01 1.77704014e-01 2.26365369e-02 3.26184759e+02] [-1.77658344e-01 9.84083980e-01 -4.02899980e-03 -4.62136146e+01] [-2.29922228e-02 -5.77445806e-05 9.99735642e-01 -6.56845877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184012739 meters 0.023887030724383296 Centerline is valid? [True, True] Translation: X:326.25, Y:-46.21, Z:-6.58 [[ 9.82834750e-01 1.83540077e-01 1.86786850e-02 3.26246540e+02] [-1.83509982e-01 9.83012215e-01 -3.32736681e-03 -4.62147505e+01] [-1.89720806e-02 -1.57473406e-04 9.99820001e-01 -6.57764179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244012739 meters 0.02360862483978772 Centerline is valid? [True, True] Translation: X:326.31, Y:-46.23, Z:-6.57 [[ 9.82685810e-01 1.83988961e-01 2.18325785e-02 3.26306606e+02] [-1.83947873e-01 9.82928291e-01 -3.89284027e-03 -4.62257864e+01] [-2.21760987e-02 -1.90617471e-04 9.99754062e-01 -6.57278351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30401273900003 meters 0.023311325326874806 Centerline is valid? [True, True] Translation: X:326.37, Y:-46.24, Z:-6.57 [[ 9.82821416e-01 1.83213516e-01 2.22457080e-02 3.26366765e+02] [-1.83170651e-01 9.83073129e-01 -3.96683558e-03 -4.62388601e+01] [-2.25959356e-02 -1.76069858e-04 9.99744664e-01 -6.57340723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36401273900003 meters 0.022983447337994786 Centerline is valid? [True, True] Translation: X:326.43, Y:-46.25, Z:-6.57 [[ 9.82974485e-01 1.82358583e-01 2.25057444e-02 3.26427703e+02] [-1.82314404e-01 9.83232080e-01 -4.01682220e-03 -4.62499343e+01] [-2.28608719e-02 -1.54687631e-04 9.99738644e-01 -6.57454146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42401273900003 meters 0.02309085680599608 Centerline is valid? [True, True] Translation: X:326.49, Y:-46.26, Z:-6.58 [[ 9.82966439e-01 1.82677957e-01 2.01430932e-02 3.26489195e+02] [-1.82642572e-01 9.83172795e-01 -3.59816317e-03 -4.62603995e+01] [-2.04614463e-02 -1.42112717e-04 9.99790633e-01 -6.58005972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484012739 meters 0.02454548214476693 Centerline is valid? [True, True] Translation: X:326.55, Y:-46.26, Z:-6.58 [[ 9.82436707e-01 1.85489858e-01 2.02886621e-02 3.26550030e+02] [-1.85454489e-01 9.82646159e-01 -3.62757632e-03 -4.62636212e+01] [-2.06094545e-02 -1.98759327e-04 9.99787583e-01 -6.57974687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544012739 meters 0.02762533998548065 Centerline is valid? [True, True] Translation: X:326.61, Y:-46.26, Z:-6.58 [[ 9.81775819e-01 1.89016120e-01 1.97268271e-02 3.26609691e+02] [-1.88983394e-01 9.81973949e-01 -3.52713591e-03 -4.62622247e+01] [-2.00379159e-02 -2.65185990e-04 9.99799186e-01 -6.58225081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604012739 meters 0.030089801915598565 Centerline is valid? [True, True] Translation: X:326.67, Y:-46.26, Z:-6.58 [[ 9.80935454e-01 1.93297067e-01 2.00469194e-02 3.26670184e+02] [-1.93264178e-01 9.81140212e-01 -3.58364411e-03 -4.62610077e+01] [-2.03615467e-02 -3.59027840e-04 9.99792618e-01 -6.58376497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664012739 meters 0.030732557182243412 Centerline is valid? [True, True] Translation: X:326.73, Y:-46.27, Z:-6.59 [[ 9.81018663e-01 1.93032126e-01 1.84656817e-02 3.26728123e+02] [-1.93004186e-01 9.81192383e-01 -3.30035965e-03 -4.62660562e+01] [-1.87554616e-02 -3.26239449e-04 9.99824048e-01 -6.58799862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724012739 meters 0.02540431374369471 Centerline is valid? [True, True] Translation: X:326.79, Y:-46.28, Z:-6.59 [[ 9.82473006e-01 1.85608293e-01 1.72149098e-02 3.26785733e+02] [-1.85582889e-01 9.82623800e-01 -3.07569193e-03 -4.62849436e+01] [-1.74866541e-02 -1.73008398e-04 9.99847082e-01 -6.59271465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784012739 meters 0.021871255433758195 Centerline is valid? [True, True] Translation: X:326.84, Y:-46.32, Z:-6.59 [[ 9.84559668e-01 1.73959790e-01 1.95000495e-02 3.26842770e+02] [-1.73924915e-01 9.84752756e-01 -3.48337380e-03 -4.63171379e+01] [-1.98086944e-02 3.80449151e-05 9.99803788e-01 -6.58921654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844012739 meters 0.02368588854101775 Centerline is valid? [True, True] Translation: X:326.90, Y:-46.34, Z:-6.59 [[ 9.85472048e-01 1.68714209e-01 1.95027906e-02 3.26900715e+02] [-1.68678284e-01 9.85665001e-01 -3.48449549e-03 -4.63406187e+01] [-1.98111020e-02 1.44175655e-04 9.99803730e-01 -6.59129626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904012739 meters 0.023163461868708726 Centerline is valid? [True, True] Translation: X:326.96, Y:-46.35, Z:-6.60 [[ 9.85140435e-01 1.70952717e-01 1.65375881e-02 3.26961145e+02] [-1.70927163e-01 9.85279230e-01 -2.95703506e-03 -4.63505449e+01] [-1.67996552e-02 8.63717875e-05 9.99858872e-01 -6.59768426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964012739 meters 0.022305353494020266 Centerline is valid? [True, True] Translation: X:327.02, Y:-46.36, Z:-6.60 [[ 9.84585648e-01 1.74155151e-01 1.61581194e-02 3.27022527e+02] [-1.74131159e-01 9.84718225e-01 -2.89089522e-03 -4.63569694e+01] [-1.64146590e-02 3.27018785e-05 9.99865270e-01 -6.59855640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024012739 meters 0.02193074564511505 Centerline is valid? [True, True] Translation: X:327.08, Y:-46.37, Z:-6.60 [[ 9.84185740e-01 1.76073473e-01 1.94052112e-02 3.27081831e+02] [-1.76039229e-01 9.84377027e-01 -3.47242134e-03 -4.63663793e+01] [-1.97134454e-02 1.42915112e-06 9.99805671e-01 -6.59546667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084012739 meters 0.021974538123663193 Centerline is valid? [True, True] Translation: X:327.14, Y:-46.38, Z:-6.60 [[ 9.84200127e-01 1.76136066e-01 1.80608983e-02 3.27142097e+02] [-1.76106415e-01 9.84365829e-01 -3.23178741e-03 -4.63816573e+01] [-1.83477655e-02 8.55288890e-08 9.99831666e-01 -6.59829692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144012739 meters 0.021971087151182876 Centerline is valid? [True, True] Translation: X:327.20, Y:-46.39, Z:-6.60 [[ 9.84139146e-01 1.76454972e-01 1.82697530e-02 3.27202294e+02] [-1.76424624e-01 9.84308713e-01 -3.27252205e-03 -4.63917998e+01] [-1.85605299e-02 -2.61724486e-06 9.99827739e-01 -6.59827045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204012739 meters 0.02280020978931592 Centerline is valid? [True, True] Translation: X:327.26, Y:-46.39, Z:-6.60 [[ 9.83233874e-01 1.81312285e-01 1.94165827e-02 3.27262819e+02] [-1.81278943e-01 9.83425567e-01 -3.47846131e-03 -4.63928852e+01] [-1.97254516e-02 -9.96765973e-05 9.99805429e-01 -6.59698520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264012739 meters 0.024240601758146962 Centerline is valid? [True, True] Translation: X:327.32, Y:-46.40, Z:-6.60 [[ 9.82628679e-01 1.84600105e-01 1.90704127e-02 3.27322435e+02] [-1.84568563e-01 9.82813703e-01 -3.41624255e-03 -4.63953511e+01] [-1.93733017e-02 -1.62900776e-04 9.99812307e-01 -6.59878843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324012739 meters 0.025249219715962962 Centerline is valid? [True, True] Translation: X:327.38, Y:-46.40, Z:-6.60 [[ 9.82433248e-01 1.85748789e-01 1.79527362e-02 3.27380472e+02] [-1.85721036e-01 9.82597250e-01 -3.21560851e-03 -4.64025205e+01] [-1.82376047e-02 -1.75080062e-04 9.99833666e-01 -6.60211235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384012739 meters 0.022275445409008516 Centerline is valid? [True, True] Translation: X:327.44, Y:-46.43, Z:-6.60 [[ 9.83518603e-01 1.79878372e-01 1.83010661e-02 3.27437538e+02] [-1.79848532e-01 9.83688857e-01 -3.27705817e-03 -4.64250697e+01] [-1.85920267e-02 -6.83721920e-05 9.99827151e-01 -6.60395992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444012739 meters 0.02172530721518087 Centerline is valid? [True, True] Translation: X:327.50, Y:-46.45, Z:-6.60 [[ 9.84244084e-01 1.75773432e-01 1.91646362e-02 3.27495501e+02] [-1.75739930e-01 9.84430648e-01 -3.43167011e-03 -4.64479053e+01] [-1.94694516e-02 9.60917421e-06 9.99810452e-01 -6.60288839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504012739 meters 0.02242635651372471 Centerline is valid? [True, True] Translation: X:327.55, Y:-46.48, Z:-6.61 [[ 9.84861874e-01 1.72403005e-01 1.80081349e-02 3.27553311e+02] [-1.72372859e-01 9.85026497e-01 -3.22467772e-03 -4.64750217e+01] [-1.82944341e-02 7.17484430e-05 9.99832640e-01 -6.60546520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564012739 meters 0.022084765747698864 Centerline is valid? [True, True] Translation: X:327.61, Y:-46.50, Z:-6.61 [[ 9.84764139e-01 1.72979610e-01 1.78226146e-02 3.27613942e+02] [-1.72950128e-01 9.84925404e-01 -3.19416811e-03 -4.64960916e+01] [-1.81064718e-02 6.30787408e-05 9.99836062e-01 -6.60705773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624012739 meters 0.021679830879390096 Centerline is valid? [True, True] Translation: X:327.67, Y:-46.51, Z:-6.61 [[ 9.83663925e-01 1.79054693e-01 1.85660919e-02 3.27674687e+02] [-1.79023709e-01 9.83839120e-01 -3.33121850e-03 -4.65054716e+01] [-1.88625178e-02 -4.69711718e-05 9.99822086e-01 -6.60540561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684012739 meters 0.02667342837233996 Centerline is valid? [True, True] Translation: X:327.74, Y:-46.50, Z:-6.61 [[ 9.81917537e-01 1.88497724e-01 1.75088046e-02 3.27735603e+02] [-1.88471614e-01 9.82073604e-01 -3.14445881e-03 -4.65038513e+01] [-1.77876581e-02 -2.12313408e-04 9.99841765e-01 -6.60928948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744012739 meters 0.03416236205939832 Centerline is valid? [True, True] Translation: X:327.80, Y:-46.50, Z:-6.61 [[ 9.80339401e-01 1.96610933e-01 1.66972980e-02 3.27796252e+02] [-1.96588361e-01 9.80481526e-01 -2.99875009e-03 -4.64981827e+01] [-1.69609793e-02 -3.42701582e-04 9.99856094e-01 -6.61099353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80401273900003 meters 0.03236743659777876 Centerline is valid? [True, True] Translation: X:327.85, Y:-46.51, Z:-6.61 [[ 9.80148463e-01 1.97439755e-01 1.80702309e-02 3.27854646e+02] [-1.97413462e-01 9.80314946e-01 -3.24516734e-03 -4.65113895e+01] [-1.83552425e-02 -3.86561066e-04 9.99831454e-01 -6.60932484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86401273900003 meters 0.030265115760131852 Centerline is valid? [True, True] Translation: X:327.91, Y:-46.53, Z:-6.61 [[ 9.80661618e-01 1.94713691e-01 1.97324271e-02 3.27913238e+02] [-1.94681797e-01 9.80860053e-01 -3.54314496e-03 -4.65251747e+01] [-2.00446483e-02 -3.66918108e-04 9.99799019e-01 -6.60793054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92401273900003 meters 0.029731354157084132 Centerline is valid? [True, True] Translation: X:327.97, Y:-46.54, Z:-6.61 [[ 9.81124035e-01 1.92436027e-01 1.90788540e-02 3.27971945e+02] [-1.92405776e-01 9.81309472e-01 -3.42600764e-03 -4.65374703e+01] [-1.93815475e-02 -3.09543280e-04 9.99812112e-01 -6.61020605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984012739 meters 0.028732587480180392 Centerline is valid? [True, True] Translation: X:328.03, Y:-46.55, Z:-6.61 [[ 9.81119301e-01 1.92530440e-01 1.83561094e-02 3.28032022e+02] [-1.92502451e-01 9.81290956e-01 -3.29640792e-03 -4.65500268e+01] [-1.86473430e-02 -2.99426611e-04 9.99826078e-01 -6.61306406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044012739 meters 0.03213897538387849 Centerline is valid? [True, True] Translation: X:328.09, Y:-46.56, Z:-6.61 [[ 9.80824977e-01 1.94062188e-01 1.79508321e-02 3.28091363e+02] [-1.94035669e-01 9.80989176e-01 -3.22411614e-03 -4.65572788e+01] [-1.82352510e-02 -3.20808082e-04 9.99833673e-01 -6.61455521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104012739 meters 0.030009745452773382 Centerline is valid? [True, True] Translation: X:328.15, Y:-46.57, Z:-6.62 [[ 9.80692962e-01 1.94731833e-01 1.79116508e-02 3.28150688e+02] [-1.94705546e-01 9.80856464e-01 -3.21681880e-03 -4.65709006e+01] [-1.81951755e-02 -3.32786198e-04 9.99834399e-01 -6.61597673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164012739 meters 0.029769035111679845 Centerline is valid? [True, True] Translation: X:328.21, Y:-46.58, Z:-6.61 [[ 9.80747857e-01 1.94278579e-01 1.97351371e-02 3.28211125e+02] [-1.94246570e-01 9.80946332e-01 -3.54456184e-03 -4.65835506e+01] [-2.00477428e-02 -3.57161257e-04 9.99798960e-01 -6.61465741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224012739 meters 0.027724884783309617 Centerline is valid? [True, True] Translation: X:328.27, Y:-46.60, Z:-6.62 [[ 9.81368978e-01 1.91264848e-01 1.82397390e-02 3.28270610e+02] [-1.91236982e-01 9.81538427e-01 -3.27612994e-03 -4.65971742e+01] [-1.85296132e-02 -2.73020349e-04 9.99828275e-01 -6.61876792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284012739 meters 0.024200521074261735 Centerline is valid? [True, True] Translation: X:328.33, Y:-46.61, Z:-6.62 [[ 9.82000941e-01 1.87818215e-01 1.99616868e-02 3.28331001e+02] [-1.87784060e-01 9.82203781e-01 -3.58874677e-03 -4.66140673e+01] [-2.02804762e-02 -2.24333879e-04 9.99794305e-01 -6.61725250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344012739 meters 0.022128307943762908 Centerline is valid? [True, True] Translation: X:328.39, Y:-46.64, Z:-6.62 [[ 9.83079631e-01 1.82005080e-01 2.07024094e-02 3.28389389e+02] [-1.81966974e-01 9.83297585e-01 -3.72566030e-03 -4.66359633e+01] [-2.10347183e-02 -1.04534038e-04 9.99778740e-01 -6.61764875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404012739 meters 0.021213038690520533 Centerline is valid? [True, True] Translation: X:328.45, Y:-46.66, Z:-6.62 [[ 9.83865366e-01 1.77724099e-01 2.05690747e-02 3.28448925e+02] [-1.77685477e-01 9.84080355e-01 -3.70495752e-03 -4.66552604e+01] [-2.09000826e-02 -9.64646364e-06 9.99781569e-01 -6.61964455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464012739 meters 0.02284410737786623 Centerline is valid? [True, True] Translation: X:328.51, Y:-46.68, Z:-6.63 [[ 9.85128245e-01 1.70894385e-01 1.78171332e-02 3.28506896e+02] [-1.70864243e-01 9.85289346e-01 -3.21175417e-03 -4.66832114e+01] [-1.81039023e-02 1.19678759e-04 9.99836104e-01 -6.62582870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524012739 meters 0.02479962664083307 Centerline is valid? [True, True] Translation: X:328.56, Y:-46.71, Z:-6.62 [[ 9.85767243e-01 1.67083013e-01 1.86067257e-02 3.28564580e+02] [-1.67049396e-01 9.85942811e-01 -3.35752643e-03 -4.67110990e+01] [-1.89061531e-02 2.01497276e-04 9.99821242e-01 -6.62372978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584012739 meters 0.023681414563509688 Centerline is valid? [True, True] Translation: X:328.62, Y:-46.73, Z:-6.62 [[ 9.85400261e-01 1.69171665e-01 1.91643769e-02 3.28623642e+02] [-1.69136365e-01 9.85586587e-01 -3.45983809e-03 -4.67283033e+01] [-1.94734594e-02 1.67932304e-04 9.99810360e-01 -6.62440098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644012739 meters 0.021115242298673103 Centerline is valid? [True, True] Translation: X:328.69, Y:-46.73, Z:-6.62 [[ 9.83887482e-01 1.77658560e-01 2.00713486e-02 3.28686539e+02] [-1.77621536e-01 9.84092189e-01 -3.62683453e-03 -4.67317956e+01] [-2.03963956e-02 3.29333317e-06 9.99791972e-01 -6.62344208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704012739 meters 0.02234915313905033 Centerline is valid? [True, True] Translation: X:328.75, Y:-46.74, Z:-6.63 [[ 9.82849634e-01 1.83432800e-01 1.89474007e-02 3.28747442e+02] [-1.83400821e-01 9.83032246e-01 -3.42675079e-03 -4.67394558e+01] [-1.92544843e-02 -1.06988073e-04 9.99814610e-01 -6.62688560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764012739 meters 0.02270305701477322 Centerline is valid? [True, True] Translation: X:328.81, Y:-46.76, Z:-6.63 [[ 9.82564502e-01 1.84930701e-01 1.91738207e-02 3.28807722e+02] [-1.84898180e-01 9.82751554e-01 -3.47067372e-03 -4.67551019e+01] [-1.94849362e-02 -1.35043745e-04 9.99810141e-01 -6.62664539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824012739 meters 0.024688786001468278 Centerline is valid? [True, True] Translation: X:328.87, Y:-46.76, Z:-6.62 [[ 9.81753521e-01 1.88972317e-01 2.12011377e-02 3.28869566e+02] [-1.88933412e-01 9.81982387e-01 -3.84149601e-03 -4.67641135e+01] [-2.15450802e-02 -2.34201048e-04 9.99767850e-01 -6.62378733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884012739 meters 0.030436498706134532 Centerline is valid? [True, True] Translation: X:328.93, Y:-46.76, Z:-6.63 [[ 9.80092910e-01 1.97436823e-01 2.08946937e-02 3.28931906e+02] [-1.97400884e-01 9.80315527e-01 -3.78929526e-03 -4.67647989e+01] [-2.12315391e-02 -4.10769589e-04 9.99774501e-01 -6.62585986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944012739 meters 0.034992393402024174 Centerline is valid? [True, True] Translation: X:328.99, Y:-46.77, Z:-6.63 [[ 9.78829951e-01 2.03753438e-01 1.94026566e-02 3.28993572e+02] [-2.03723679e-01 9.79022103e-01 -3.51915060e-03 -4.67653066e+01] [-1.97126687e-02 -5.08130573e-04 9.99805557e-01 -6.62878379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004012739 meters 0.039591982782829764 Centerline is valid? [True, True] Translation: X:329.05, Y:-46.76, Z:-6.63 [[ 9.78182196e-01 2.06794779e-01 1.98874346e-02 3.29054870e+02] [-2.06764136e-01 9.78384168e-01 -3.60731351e-03 -4.67639564e+01] [-2.02035247e-02 -5.83398380e-04 9.99795718e-01 -6.62942102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064012739 meters 0.04029861655945574 Centerline is valid? [True, True] Translation: X:329.12, Y:-46.77, Z:-6.63 [[ 9.77971966e-01 2.07683105e-01 2.09418784e-02 3.29116561e+02] [-2.07649300e-01 9.78195956e-01 -3.79998473e-03 -4.67722593e+01] [-2.12744534e-02 -6.32287868e-04 9.99773473e-01 -6.62885700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124012739 meters 0.04539329861577348 Centerline is valid? [True, True] Translation: X:329.18, Y:-46.77, Z:-6.63 [[ 9.77124387e-01 2.11702241e-01 2.02507722e-02 3.29178370e+02] [-2.11671426e-01 9.77333966e-01 -3.67778472e-03 -4.67691762e+01] [-2.05703628e-02 -6.92856706e-04 9.99788168e-01 -6.62980734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184012739 meters 0.04682891024798281 Centerline is valid? [True, True] Translation: X:329.24, Y:-46.77, Z:-6.64 [[ 9.76505463e-01 2.14714397e-01 1.82977768e-02 3.29239182e+02] [-2.14689761e-01 9.76676641e-01 -3.32346258e-03 -4.67708001e+01] [-1.85846065e-02 -6.82965966e-04 9.99827058e-01 -6.63596995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244012739 meters 0.04946634062087359 Centerline is valid? [True, True] Translation: X:329.30, Y:-46.77, Z:-6.63 [[ 9.76066634e-01 2.16546596e-01 2.00373839e-02 3.29300108e+02] [-2.16517443e-01 9.76271967e-01 -3.63917404e-03 -4.67700772e+01] [-2.03499869e-02 -7.86366762e-04 9.99792608e-01 -6.63328848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30401273900003 meters 0.05218708909667914 Centerline is valid? [True, True] Translation: X:329.36, Y:-46.77, Z:-6.64 [[ 9.75580743e-01 2.18745162e-01 1.98183690e-02 3.29359953e+02] [-2.18717104e-01 9.75781674e-01 -3.59894487e-03 -4.67712830e+01] [-2.01256531e-02 -8.23554974e-04 9.99797119e-01 -6.63579983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36401273900003 meters 0.05869951854910535 Centerline is valid? [True, True] Translation: X:329.42, Y:-46.76, Z:-6.64 [[ 9.74573264e-01 2.23214923e-01 1.95461280e-02 3.29422681e+02] [-2.23188540e-01 9.74768835e-01 -3.54882180e-03 -4.67589459e+01] [-1.98451064e-02 -9.03884939e-04 9.99802658e-01 -6.63733134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42401273900003 meters 0.05324706963346722 Centerline is valid? [True, True] Translation: X:329.48, Y:-46.77, Z:-6.64 [[ 9.75182545e-01 2.20386077e-01 2.11891538e-02 3.29481561e+02] [-2.20354411e-01 9.75412290e-01 -3.84686262e-03 -4.67722959e+01] [-2.15159559e-02 -9.17730227e-04 9.99768084e-01 -6.63623715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484012739 meters 0.044504547082614226 Centerline is valid? [True, True] Translation: X:329.54, Y:-46.79, Z:-6.64 [[ 9.76774411e-01 2.13349187e-01 1.98462805e-02 3.29538838e+02] [-2.13319960e-01 9.76975749e-01 -3.60284890e-03 -4.67926008e+01] [-2.01579996e-02 -7.14437148e-04 9.99796552e-01 -6.64042640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544012739 meters 0.038087065683339104 Centerline is valid? [True, True] Translation: X:329.60, Y:-46.81, Z:-6.64 [[ 9.78576269e-01 2.05058320e-01 1.84274723e-02 3.29596481e+02] [-2.05031654e-01 9.78749626e-01 -3.34516777e-03 -4.68069598e+01] [-1.87218361e-02 -5.04713338e-04 9.99824604e-01 -6.64492241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604012739 meters 0.035237539614262334 Centerline is valid? [True, True] Translation: X:329.65, Y:-46.82, Z:-6.65 [[ 9.79397745e-01 2.01179462e-01 1.75179937e-02 3.29654271e+02] [-2.01154749e-01 9.79554315e-01 -3.17974852e-03 -4.68200979e+01] [-1.77995264e-02 -4.09589089e-04 9.99841492e-01 -6.64704771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664012739 meters 0.034483287054066246 Centerline is valid? [True, True] Translation: X:329.71, Y:-46.83, Z:-6.65 [[ 9.79606319e-01 2.00069296e-01 1.85401195e-02 3.29712808e+02] [-2.00041424e-01 9.79781663e-01 -3.36485211e-03 -4.68253929e+01] [-1.88384727e-02 -4.12561518e-04 9.99822455e-01 -6.64583912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724012739 meters 0.03309142003681167 Centerline is valid? [True, True] Translation: X:329.77, Y:-46.83, Z:-6.65 [[ 9.80092586e-01 1.97609888e-01 1.92056090e-02 3.29770438e+02] [-1.97579524e-01 9.80280668e-01 -3.48471118e-03 -4.68337943e+01] [-1.95155006e-02 -3.79295505e-04 9.99809483e-01 -6.64590303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784012739 meters 0.028551271915876336 Centerline is valid? [True, True] Translation: X:329.83, Y:-46.85, Z:-6.65 [[ 9.80666868e-01 1.94769512e-01 1.89032211e-02 3.29828041e+02] [-1.94739586e-01 9.80848987e-01 -3.42896684e-03 -4.68494873e+01] [-1.92090635e-02 -3.18531284e-04 9.99815438e-01 -6.64712484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844012739 meters 0.026706479176394307 Centerline is valid? [True, True] Translation: X:329.89, Y:-46.86, Z:-6.65 [[ 9.81152386e-01 1.92137756e-01 2.05688578e-02 3.29886226e+02] [-1.92101756e-01 9.81367922e-01 -3.73056366e-03 -4.68583857e+01] [-2.09023994e-02 -2.91062277e-04 9.99781479e-01 -6.64594561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904012739 meters 0.026470834980790385 Centerline is valid? [True, True] Translation: X:329.94, Y:-46.87, Z:-6.65 [[ 9.81176369e-01 1.92037541e-01 2.03596528e-02 3.29944887e+02] [-1.92002264e-01 9.81387538e-01 -3.69190094e-03 -4.68682252e+01] [-2.06896931e-02 -2.86693463e-04 9.99785904e-01 -6.64811362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964012739 meters 0.026577109575798428 Centerline is valid? [True, True] Translation: X:330.00, Y:-46.88, Z:-6.65 [[ 9.81130129e-01 1.92430124e-01 1.88233161e-02 3.30003722e+02] [-1.92400051e-01 9.81310640e-01 -3.41289657e-03 -4.68790013e+01] [-1.91282645e-02 -2.73111323e-04 9.99817001e-01 -6.65097577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024012739 meters 0.02921976191816599 Centerline is valid? [True, True] Translation: X:330.06, Y:-46.88, Z:-6.65 [[ 9.80761512e-01 1.94338552e-01 1.84223969e-02 3.30063196e+02] [-1.94310090e-01 9.80934470e-01 -3.33978459e-03 -4.68790731e+01] [-1.87202130e-02 -3.04125418e-04 9.99824715e-01 -6.65353634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084012739 meters 0.03038725688283965 Centerline is valid? [True, True] Translation: X:330.12, Y:-46.89, Z:-6.66 [[ 9.80707118e-01 1.94829959e-01 1.59635982e-02 3.30120817e+02] [-1.94808659e-01 9.80836996e-01 -2.89363903e-03 -4.68856843e+01] [-1.62214553e-02 -2.72034769e-04 9.99868387e-01 -6.65971380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144012739 meters 0.0270104138668729 Centerline is valid? [True, True] Translation: X:330.18, Y:-46.90, Z:-6.66 [[ 9.81328614e-01 1.91575177e-01 1.71202335e-02 3.30178509e+02] [-1.91550202e-01 9.81477914e-01 -3.10222957e-03 -4.68996942e+01] [-1.73974413e-02 -2.35077538e-04 9.99848625e-01 -6.65910105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204012739 meters 0.02488358250667702 Centerline is valid? [True, True] Translation: X:330.24, Y:-46.92, Z:-6.66 [[ 9.81835191e-01 1.88746777e-01 1.93471238e-02 3.30235758e+02] [-1.88714359e-01 9.82025768e-01 -3.50439419e-03 -4.69153589e+01] [-1.96608172e-02 -2.10342528e-04 9.99806685e-01 -6.65594854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264012739 meters 0.021601227773183768 Centerline is valid? [True, True] Translation: X:330.29, Y:-46.94, Z:-6.66 [[ 9.83131438e-01 1.81893726e-01 1.91636975e-02 3.30293168e+02] [-1.81860635e-01 9.83318192e-01 -3.47022782e-03 -4.69409968e+01] [-1.94752251e-02 -7.34321297e-05 9.99810337e-01 -6.65729886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324012739 meters 0.021308395560527642 Centerline is valid? [True, True] Translation: X:330.35, Y:-46.97, Z:-6.66 [[ 9.84323360e-01 1.75238070e-01 1.99785347e-02 3.30351070e+02] [-1.75200728e-01 9.84526086e-01 -3.61799916e-03 -4.69693413e+01] [-2.03033998e-02 6.10272618e-05 9.99793863e-01 -6.65713587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384012739 meters 0.022196835153205807 Centerline is valid? [True, True] Translation: X:330.41, Y:-46.99, Z:-6.66 [[ 9.84846570e-01 1.72220735e-01 2.04267521e-02 3.30410389e+02] [-1.72180979e-01 9.85058375e-01 -3.70254178e-03 -4.69905057e+01] [-2.07591977e-02 1.29337398e-04 9.99784496e-01 -6.65729956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444012739 meters 0.021864511256696105 Centerline is valid? [True, True] Translation: X:330.47, Y:-47.01, Z:-6.66 [[ 9.84697522e-01 1.73378683e-01 1.76244832e-02 3.30471135e+02] [-1.73349230e-01 9.84855230e-01 -3.19702986e-03 -4.70069582e+01] [-1.79118613e-02 9.29167927e-05 9.99839565e-01 -6.66246132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504012739 meters 0.02164966808924627 Centerline is valid? [True, True] Translation: X:330.53, Y:-47.02, Z:-6.66 [[ 9.84593975e-01 1.73789916e-01 1.92813490e-02 3.30531606e+02] [-1.73754661e-01 9.84782745e-01 -3.50172750e-03 -4.70241691e+01] [-1.95965048e-02 9.75555255e-05 9.99807965e-01 -6.66157515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564012739 meters 0.022117234409758206 Centerline is valid? [True, True] Translation: X:330.59, Y:-47.05, Z:-6.66 [[ 9.84782746e-01 1.72528498e-01 2.09012233e-02 3.30588117e+02] [-1.72486694e-01 9.85004517e-01 -3.80025766e-03 -4.70545144e+01] [-2.12434521e-02 1.37245273e-04 9.99774323e-01 -6.65899237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624012739 meters 0.02124252331515313 Centerline is valid? [True, True] Translation: X:330.65, Y:-47.07, Z:-6.66 [[ 9.84186960e-01 1.76140111e-01 1.87266760e-02 3.30649251e+02] [-1.76107180e-01 9.84365104e-01 -3.40631544e-03 -4.70664505e+01] [-1.90338751e-02 5.45491457e-05 9.99818838e-01 -6.66448629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684012739 meters 0.024363413271280346 Centerline is valid? [True, True] Translation: X:330.71, Y:-47.06, Z:-6.67 [[ 9.81828640e-01 1.89028602e-01 1.67543563e-02 3.30713468e+02] [-1.89004066e-01 9.81971567e-01 -3.05040702e-03 -4.70595659e+01] [-1.70289157e-02 -1.71664476e-04 9.99854983e-01 -6.66807198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744012739 meters 0.0326428350014638 Centerline is valid? [True, True] Translation: X:330.78, Y:-47.05, Z:-6.67 [[ 9.79408530e-01 2.01134902e-01 1.74264674e-02 3.30775964e+02] [-2.01110251e-01 9.79563471e-01 -3.17377337e-03 -4.70516622e+01] [-1.77086874e-02 -3.96220508e-04 9.99843110e-01 -6.66769319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80401273900003 meters 0.039784181035624144 Centerline is valid? [True, True] Translation: X:330.84, Y:-47.05, Z:-6.67 [[ 9.78314473e-01 2.06354933e-01 1.78446952e-02 3.30837305e+02] [-2.06329950e-01 9.78477076e-01 -3.24998236e-03 -4.70456959e+01] [-1.81312751e-02 -5.02390303e-04 9.99835489e-01 -6.67007518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86401273900003 meters 0.038067807846112904 Centerline is valid? [True, True] Translation: X:330.90, Y:-47.05, Z:-6.67 [[ 9.78780150e-01 2.04080423e-01 1.84553227e-02 3.30895600e+02] [-2.04053305e-01 9.78954010e-01 -3.36076691e-03 -4.70525466e+01] [-1.87527789e-02 -4.76417654e-04 9.99824038e-01 -6.67020219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.924012739 meters 0.03731953215215696 Centerline is valid? [True, True] Translation: X:330.95, Y:-47.06, Z:-6.67 [[ 9.79035926e-01 2.02898351e-01 1.79140747e-02 3.30952835e+02] [-2.02872616e-01 9.79199706e-01 -3.26143479e-03 -4.70608414e+01] [-1.82031964e-02 -4.41213357e-04 9.99834211e-01 -6.67181694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984012739 meters 0.0333680228425043 Centerline is valid? [True, True] Translation: X:331.01, Y:-47.07, Z:-6.67 [[ 9.79915647e-01 1.98550381e-01 1.85221454e-02 3.31011975e+02] [-1.98522115e-01 9.80090611e-01 -3.37097449e-03 -4.70706043e+01] [-1.88226891e-02 -3.73784833e-04 9.99822768e-01 -6.67293215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044012739 meters 0.026777001432794607 Centerline is valid? [True, True] Translation: X:331.07, Y:-47.09, Z:-6.67 [[ 9.81389782e-01 1.91137307e-01 1.84560724e-02 3.31067962e+02] [-1.91107933e-01 9.81563282e-01 -3.35876105e-03 -4.70929748e+01] [-1.87577875e-02 -2.30848076e-04 9.99824031e-01 -6.67261859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104012739 meters 0.02123467731625044 Centerline is valid? [True, True] Translation: X:331.13, Y:-47.12, Z:-6.67 [[ 9.83177757e-01 1.81443661e-01 2.09689190e-02 3.31125096e+02] [-1.81403546e-01 9.83401340e-01 -3.81557156e-03 -4.71227421e+01] [-2.13131743e-02 -5.24511537e-05 9.99772847e-01 -6.66937715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164012739 meters 0.021308595398783808 Centerline is valid? [True, True] Translation: X:331.18, Y:-47.15, Z:-6.67 [[ 9.84108427e-01 1.76391172e-01 2.04146538e-02 3.31184449e+02] [-1.76352051e-01 9.84320147e-01 -3.71520589e-03 -4.71474120e+01] [-2.07498846e-02 5.59993364e-05 9.99784696e-01 -6.67133042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224012739 meters 0.02133570563801871 Centerline is valid? [True, True] Translation: X:331.25, Y:-47.16, Z:-6.68 [[ 9.84004221e-01 1.77230788e-01 1.80260878e-02 3.31246119e+02] [-1.77200377e-01 9.84169318e-01 -3.28329387e-03 -4.71614250e+01] [-1.83226233e-02 3.65454609e-05 9.99832126e-01 -6.67749682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284012739 meters 0.02198185391072255 Centerline is valid? [True, True] Translation: X:331.31, Y:-47.17, Z:-6.69 [[ 9.83181034e-01 1.82007645e-01 1.51086767e-02 3.31306582e+02] [-1.81986801e-01 9.83297114e-01 -2.75483749e-03 -4.71683221e+01] [-1.53577197e-02 -4.10757714e-05 9.99882062e-01 -6.68514530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344012739 meters 0.024755988425126347 Centerline is valid? [True, True] Translation: X:331.37, Y:-47.17, Z:-6.68 [[ 9.82045336e-01 1.87897136e-01 1.67816730e-02 3.31366365e+02] [-1.87872271e-01 9.82188701e-01 -3.06023661e-03 -4.71692457e+01] [-1.70577793e-02 -1.47519930e-04 9.99854495e-01 -6.68216842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404012739 meters 0.026741150384483107 Centerline is valid? [True, True] Translation: X:331.43, Y:-47.18, Z:-6.68 [[ 9.81551670e-01 1.90309773e-01 1.83986146e-02 3.31425417e+02] [-1.90280322e-01 9.81724069e-01 -3.35441407e-03 -4.71766481e+01] [-1.87007406e-02 -2.08363578e-04 9.99825104e-01 -6.68027178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464012739 meters 0.023839974544136073 Centerline is valid? [True, True] Translation: X:331.49, Y:-47.19, Z:-6.68 [[ 9.81828629e-01 1.88736078e-01 1.97796945e-02 3.31485995e+02] [-1.88701730e-01 9.82027829e-01 -3.60568576e-03 -4.71929187e+01] [-2.01047335e-02 -1.92297080e-04 9.99797861e-01 -6.67846008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524012739 meters 0.023648212481929054 Centerline is valid? [True, True] Translation: X:331.55, Y:-47.20, Z:-6.68 [[ 9.81834652e-01 1.88616734e-01 2.06020112e-02 3.31547914e+02] [-1.88579369e-01 9.82050757e-01 -3.75921298e-03 -4.72026644e+01] [-2.09412712e-02 -1.94188708e-04 9.99780689e-01 -6.67727945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584012739 meters 0.025059716441887342 Centerline is valid? [True, True] Translation: X:331.61, Y:-47.21, Z:-6.68 [[ 9.81250280e-01 1.91534549e-01 2.15035970e-02 3.31610505e+02] [-1.91494448e-01 9.81485836e-01 -3.92801478e-03 -4.72057736e+01] [-2.18578264e-02 -2.63453821e-04 9.99761054e-01 -6.67651507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644012739 meters 0.024141140758462132 Centerline is valid? [True, True] Translation: X:331.67, Y:-47.22, Z:-6.68 [[ 9.81520598e-01 1.90165420e-01 2.13173513e-02 3.31671237e+02] [-1.90125610e-01 9.81752037e-01 -3.89758678e-03 -4.72175859e+01] [-2.16695393e-02 -2.27412722e-04 9.99765162e-01 -6.67799147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704012739 meters 0.022049982817089198 Centerline is valid? [True, True] Translation: X:331.73, Y:-47.24, Z:-6.68 [[ 9.82414181e-01 1.85698697e-01 1.94517826e-02 3.31730436e+02] [-1.85664614e-01 9.82606728e-01 -3.55950102e-03 -4.72376537e+01] [-1.97744471e-02 -1.14603428e-04 9.99804460e-01 -6.68406677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764012739 meters 0.021849020341486593 Centerline is valid? [True, True] Translation: X:331.79, Y:-47.25, Z:-6.69 [[ 9.82537543e-01 1.85124195e-01 1.86817641e-02 3.31790615e+02] [-1.85092597e-01 9.82715128e-01 -3.42162500e-03 -4.72523638e+01] [-1.89922778e-02 -9.59812147e-05 9.99819626e-01 -6.68539286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824012739 meters 0.02366977107142599 Centerline is valid? [True, True] Translation: X:331.85, Y:-47.26, Z:-6.69 [[ 9.81892540e-01 1.88605156e-01 1.77520197e-02 3.31851144e+02] [-1.88577130e-01 9.82052989e-01 -3.25478874e-03 -4.72551584e+01] [-1.80472940e-02 -1.51772159e-04 9.99837123e-01 -6.68864565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884012739 meters 0.030410366119755124 Centerline is valid? [True, True] Translation: X:331.91, Y:-47.24, Z:-6.69 [[ 9.79766556e-01 1.99366234e-01 1.76238880e-02 3.31914981e+02] [-1.99340343e-01 9.79924989e-01 -3.23156989e-03 -4.72406465e+01] [-1.79143542e-02 -3.46967787e-04 9.99839465e-01 -6.69057344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944012739 meters 0.03193838689735335 Centerline is valid? [True, True] Translation: X:331.97, Y:-47.24, Z:-6.69 [[ 9.79536022e-01 2.00445773e-01 1.81844218e-02 3.31972738e+02] [-2.00418399e-01 9.79704725e-01 -3.33414232e-03 -4.72436495e+01] [-1.84836787e-02 -3.78580199e-04 9.99829091e-01 -6.69089949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004012739 meters 0.02894564931205787 Centerline is valid? [True, True] Translation: X:332.03, Y:-47.25, Z:-6.69 [[ 9.80301625e-01 1.96709465e-01 1.77231349e-02 3.32032587e+02] [-1.96682870e-01 9.80461777e-01 -3.24852958e-03 -4.72505457e+01] [-1.80158729e-02 -3.01298221e-04 9.99837656e-01 -6.69334287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064012739 meters 0.027304427622162453 Centerline is valid? [True, True] Translation: X:332.09, Y:-47.26, Z:-6.69 [[ 9.80706298e-01 1.94619456e-01 1.83962939e-02 3.32091422e+02] [-1.94590438e-01 9.80878786e-01 -3.37174766e-03 -4.72555491e+01] [-1.87007421e-02 -2.73048726e-04 9.99825089e-01 -6.69412877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124012739 meters 0.028722452217656156 Centerline is valid? [True, True] Translation: X:332.15, Y:-47.25, Z:-6.69 [[ 9.80505126e-01 1.95617812e-01 1.85302162e-02 3.32150630e+02] [-1.95588565e-01 9.80680164e-01 -3.39540643e-03 -4.72532464e+01] [-1.88364174e-02 -2.95084984e-04 9.99822535e-01 -6.69330168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184012739 meters 0.028809315876514797 Centerline is valid? [True, True] Translation: X:332.21, Y:-47.26, Z:-6.69 [[ 9.80190074e-01 1.97098548e-01 1.94828208e-02 3.32210043e+02] [-1.97066533e-01 9.80383622e-01 -3.56871940e-03 -4.72573696e+01] [-1.98040279e-02 -3.41388632e-04 9.99803823e-01 -6.69412446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244012739 meters 0.027797384062909648 Centerline is valid? [True, True] Translation: X:332.27, Y:-47.27, Z:-6.69 [[ 9.80453477e-01 1.95719878e-01 2.01173695e-02 3.32268686e+02] [-1.95685474e-01 9.80659790e-01 -3.68393151e-03 -4.72651436e+01] [-2.04493139e-02 -3.24753518e-04 9.99790838e-01 -6.69432941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30401273900003 meters 0.026174694982762262 Centerline is valid? [True, True] Translation: X:332.33, Y:-47.27, Z:-6.69 [[ 9.81004772e-01 1.92918354e-01 2.03013573e-02 3.32326506e+02] [-1.92882739e-01 9.81214776e-01 -3.71661751e-03 -4.72715488e+01] [-2.06369955e-02 -2.69761896e-04 9.99786998e-01 -6.69486263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36401273900003 meters 0.026148834150816765 Centerline is valid? [True, True] Translation: X:332.38, Y:-47.28, Z:-6.70 [[ 9.81185815e-01 1.91973372e-01 2.05090562e-02 3.32383905e+02] [-1.91936844e-01 9.81400102e-01 -3.75338404e-03 -4.72782481e+01] [-2.08481397e-02 -2.53676346e-04 9.99782622e-01 -6.69599082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.424012739 meters 0.02532436236905714 Centerline is valid? [True, True] Translation: X:332.44, Y:-47.29, Z:-6.70 [[ 9.81402331e-01 1.90842626e-01 2.07016067e-02 3.32441502e+02] [-1.90805183e-01 9.81620618e-01 -3.78737114e-03 -4.72900871e+01] [-2.10439158e-02 -2.33038985e-04 9.99778525e-01 -6.69738251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484012739 meters 0.023366154712102447 Centerline is valid? [True, True] Translation: X:332.50, Y:-47.31, Z:-6.70 [[ 9.81922884e-01 1.88317321e-01 1.90797423e-02 3.32498332e+02] [-1.88285055e-01 9.82108222e-01 -3.48983251e-03 -4.73080648e+01] [-1.93955677e-02 -1.65683923e-04 9.99811875e-01 -6.70112519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544012739 meters 0.023066230208116188 Centerline is valid? [True, True] Translation: X:332.55, Y:-47.32, Z:-6.70 [[ 9.82143968e-01 1.87103173e-01 1.96374602e-02 3.32554205e+02] [-1.87068770e-01 9.82340257e-01 -3.59084422e-03 -4.73234196e+01] [-1.99625260e-02 -1.46829526e-04 9.99800718e-01 -6.70123505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604012739 meters 0.023455086718238885 Centerline is valid? [True, True] Translation: X:332.61, Y:-47.33, Z:-6.70 [[ 9.82071040e-01 1.87555687e-01 1.89561567e-02 3.32610979e+02] [-1.87523736e-01 9.82253960e-01 -3.46514083e-03 -4.73338750e+01] [-1.92696668e-02 -1.51714863e-04 9.99814311e-01 -6.70456768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664012739 meters 0.02364360372978908 Centerline is valid? [True, True] Translation: X:332.67, Y:-47.35, Z:-6.71 [[ 9.81984610e-01 1.88104608e-01 1.79689419e-02 3.32668517e+02] [-1.88076010e-01 9.82148987e-01 -3.28357653e-03 -4.73467894e+01] [-1.82658340e-02 -1.55105286e-04 9.99833154e-01 -6.70737967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724012739 meters 0.023136667291901433 Centerline is valid? [True, True] Translation: X:332.73, Y:-47.36, Z:-6.71 [[ 9.82035615e-01 1.87680805e-01 1.95439510e-02 3.32726015e+02] [-1.87646910e-01 9.82230059e-01 -3.57035041e-03 -4.73600725e+01] [-1.98667424e-02 -1.61150770e-04 9.99802624e-01 -6.70523259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784012739 meters 0.02222288466298652 Centerline is valid? [True, True] Translation: X:332.78, Y:-47.37, Z:-6.71 [[ 9.82463125e-01 1.85349206e-01 2.02948399e-02 3.32782738e+02] [-1.85312181e-01 9.82672711e-01 -3.70649437e-03 -4.73742159e+01] [-2.06301811e-02 -1.19386998e-04 9.99787168e-01 -6.70555697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844012739 meters 0.02183374571374269 Centerline is valid? [True, True] Translation: X:332.84, Y:-47.39, Z:-6.71 [[ 9.82681115e-01 1.84159002e-01 2.05739441e-02 3.32839805e+02] [-1.84120707e-01 9.82896461e-01 -3.75671055e-03 -4.73868259e+01] [-2.09138889e-02 -9.64406039e-05 9.99781276e-01 -6.70620636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904012739 meters 0.02161531498548088 Centerline is valid? [True, True] Translation: X:332.90, Y:-47.40, Z:-6.71 [[ 9.82808941e-01 1.83519066e-01 2.01826137e-02 3.32898412e+02] [-1.83482093e-01 9.83016147e-01 -3.68454749e-03 -4.73985742e+01] [-2.05160199e-02 -8.19420019e-05 9.99789521e-01 -6.70791478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964012739 meters 0.02216095498295922 Centerline is valid? [True, True] Translation: X:332.96, Y:-47.40, Z:-6.71 [[ 9.82584659e-01 1.84821752e-01 1.91913461e-02 3.32956794e+02] [-1.84788579e-01 9.82772053e-01 -3.50317570e-03 -4.74025186e+01] [-1.95081817e-02 -1.04174867e-04 9.99809692e-01 -6.71109024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024012739 meters 0.022883252846587942 Centerline is valid? [True, True] Translation: X:333.02, Y:-47.41, Z:-6.71 [[ 9.82230544e-01 1.86681496e-01 1.93177800e-02 3.33015783e+02] [-1.86648266e-01 9.82420479e-01 -3.52508541e-03 -4.74053998e+01] [-1.96362509e-02 -1.43183576e-04 9.99807180e-01 -6.71298464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084012739 meters 0.02348175623308676 Centerline is valid? [True, True] Translation: X:333.07, Y:-47.41, Z:-6.72 [[ 9.82138292e-01 1.87337184e-01 1.75827965e-02 3.33074564e+02] [-1.87309774e-01 9.82295658e-01 -3.20774489e-03 -4.74074057e+01] [-1.78724345e-02 -1.42980539e-04 9.99840265e-01 -6.71649140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144012739 meters 0.02323548802652455 Centerline is valid? [True, True] Translation: X:333.13, Y:-47.41, Z:-6.71 [[ 9.82038022e-01 1.87612975e-01 2.00672671e-02 3.33133376e+02] [-1.87577356e-01 9.82243016e-01 -3.65961637e-03 -4.74122444e+01] [-2.03975244e-02 -1.70282479e-04 9.99791934e-01 -6.71296637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204012739 meters 0.023375959908492314 Centerline is valid? [True, True] Translation: X:333.19, Y:-47.42, Z:-6.71 [[ 9.82014576e-01 1.87598116e-01 2.13147522e-02 3.33191373e+02] [-1.87557951e-01 9.82245852e-01 -3.88600762e-03 -4.74171760e+01] [-2.16653347e-02 -1.81635124e-04 9.99765263e-01 -6.71194121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264012739 meters 0.022588616292398615 Centerline is valid? [True, True] Translation: X:333.25, Y:-47.42, Z:-6.71 [[ 9.82279129e-01 1.86288815e-01 2.05958637e-02 3.33249877e+02] [-1.86251053e-01 9.82495015e-01 -3.75366379e-03 -4.74241244e+01] [-2.09345990e-02 -1.48855717e-04 9.99780836e-01 -6.71408399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324012739 meters 0.021326587475053674 Centerline is valid? [True, True] Translation: X:333.31, Y:-47.43, Z:-6.71 [[ 9.82828413e-01 1.83316437e-01 2.10569413e-02 3.33307467e+02] [-1.83276305e-01 9.83053954e-01 -3.83667026e-03 -4.74333783e+01] [-2.14034341e-02 -8.84498470e-05 9.99770916e-01 -6.71419527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384012739 meters 0.020834960986429018 Centerline is valid? [True, True] Translation: X:333.37, Y:-47.44, Z:-6.72 [[ 9.83452537e-01 1.80095190e-01 1.96680083e-02 3.33365070e+02] [-1.80059551e-01 9.83649186e-01 -3.58273695e-03 -4.74447880e+01] [-1.99916541e-02 -1.79610070e-05 9.99800147e-01 -6.71793016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444012739 meters 0.02085324246072734 Centerline is valid? [True, True] Translation: X:333.42, Y:-47.46, Z:-6.72 [[ 9.83989774e-01 1.77069229e-01 2.02635611e-02 3.33422394e+02] [-1.77030778e-01 9.84198398e-01 -3.69016158e-03 -4.74551264e+01] [-2.05967784e-02 4.38072744e-05 9.99787863e-01 -6.71829041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504012739 meters 0.024369444869530302 Centerline is valid? [True, True] Translation: X:333.48, Y:-47.48, Z:-6.72 [[ 9.85591497e-01 1.68045147e-01 1.92413317e-02 3.33479270e+02] [-1.68008780e-01 9.85779276e-01 -3.50280692e-03 -4.74808587e+01] [-1.95563357e-02 2.19624059e-04 9.99808732e-01 -6.72181238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564012739 meters 0.03022321588823191 Centerline is valid? [True, True] Translation: X:333.54, Y:-47.51, Z:-6.72 [[ 9.86917029e-01 1.60098472e-01 1.90593030e-02 3.33536148e+02] [-1.60061306e-01 9.87100977e-01 -3.46965635e-03 -4.75070962e+01] [-1.93689433e-02 3.73606007e-04 9.99812335e-01 -6.72329257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624012739 meters 0.03640573801013173 Centerline is valid? [True, True] Translation: X:333.59, Y:-47.53, Z:-6.72 [[ 9.88229176e-01 1.51777423e-01 1.91496671e-02 3.33593164e+02] [-1.51738336e-01 9.88414550e-01 -3.48635006e-03 -4.75332559e+01] [-1.94569588e-02 5.39574218e-04 9.99810550e-01 -6.72324028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684012739 meters 0.03906656648116159 Centerline is valid? [True, True] Translation: X:333.65, Y:-47.55, Z:-6.73 [[ 9.88506603e-01 1.50076858e-01 1.82107907e-02 3.33651243e+02] [-1.50041226e-01 9.88674183e-01 -3.31515837e-03 -4.75545926e+01] [-1.85020672e-02 5.44686571e-04 9.99828674e-01 -6.72624808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744012739 meters 0.0397826021925112 Centerline is valid? [True, True] Translation: X:333.71, Y:-47.58, Z:-6.73 [[ 9.88499286e-01 1.50102063e-01 1.83992264e-02 3.33711824e+02] [-1.50065641e-01 9.88670352e-01 -3.35234055e-03 -4.75757362e+01] [-1.86939629e-02 5.52694541e-04 9.99825100e-01 -6.72701362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80401273900003 meters 0.03922526841010391 Centerline is valid? [True, True] Translation: X:333.77, Y:-47.59, Z:-6.73 [[ 9.88406244e-01 1.50642808e-01 1.89694768e-02 3.33771372e+02] [-1.50604120e-01 9.88588098e-01 -3.46001023e-03 -4.75939356e+01] [-1.92742246e-02 5.63014364e-04 9.99814076e-01 -6.72631769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86401273900003 meters 0.03960829098034458 Centerline is valid? [True, True] Translation: X:333.83, Y:-47.61, Z:-6.73 [[ 9.88240970e-01 1.51821053e-01 1.81700985e-02 3.33830160e+02] [-1.51785701e-01 9.88407860e-01 -3.31714341e-03 -4.76142826e+01] [-1.84630803e-02 5.20175883e-04 9.99829407e-01 -6.73015439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.924012739 meters 0.0395529024896312 Centerline is valid? [True, True] Translation: X:333.89, Y:-47.63, Z:-6.72 [[ 9.88136591e-01 1.52126346e-01 2.10630394e-02 3.33890163e+02] [-1.52078829e-01 9.88360873e-01 -3.84905227e-03 -4.76341845e+01] [-2.14034262e-02 6.00147034e-04 9.99770740e-01 -6.72452751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984012739 meters 0.0393962018476444 Centerline is valid? [True, True] Translation: X:333.95, Y:-47.65, Z:-6.73 [[ 9.88272933e-01 1.51206793e-01 2.12865029e-02 3.33949933e+02] [-1.51157973e-01 9.88501952e-01 -3.89339419e-03 -4.76525582e+01] [-2.16304573e-02 6.30111465e-04 9.99765836e-01 -6.72676759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044012739 meters 0.0408826284962382 Centerline is valid? [True, True] Translation: X:334.01, Y:-47.68, Z:-6.73 [[ 9.88218443e-01 1.51890220e-01 1.88061390e-02 3.34007744e+02] [-1.51852186e-01 9.88397219e-01 -3.44248666e-03 -4.76766148e+01] [-1.91108156e-02 5.46175471e-04 9.99817223e-01 -6.73265009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104012739 meters 0.034353531798782484 Centerline is valid? [True, True] Translation: X:334.07, Y:-47.69, Z:-6.73 [[ 9.87595278e-01 1.55715424e-01 2.02057670e-02 3.34067891e+02] [-1.55672249e-01 9.87801825e-01 -3.70200182e-03 -4.76906309e+01] [-2.05357523e-02 5.10602327e-04 9.99788989e-01 -6.72878823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164012739 meters 0.028847836977211997 Centerline is valid? [True, True] Translation: X:334.13, Y:-47.70, Z:-6.73 [[ 9.86475946e-01 1.62849451e-01 1.85812731e-02 3.34127650e+02] [-1.62814192e-01 9.86650873e-01 -3.40502816e-03 -4.77042352e+01] [-1.88877363e-02 3.33683419e-04 9.99821555e-01 -6.73357921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224012739 meters 0.023482958788636973 Centerline is valid? [True, True] Translation: X:334.19, Y:-47.71, Z:-6.73 [[ 9.85013656e-01 1.71506808e-01 1.82623306e-02 3.34187199e+02] [-1.71474229e-01 9.85182921e-01 -3.34682150e-03 -4.77122185e+01] [-1.85657389e-02 1.65145821e-04 9.99827628e-01 -6.73480828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284012739 meters 0.02065316645179591 Centerline is valid? [True, True] Translation: X:334.25, Y:-47.71, Z:-6.73 [[ 9.83639502e-01 1.79123236e-01 1.91884603e-02 3.34249973e+02] [-1.79088719e-01 9.83826644e-01 -3.51638614e-03 -4.77140507e+01] [-1.95079849e-02 2.24195495e-05 9.99809701e-01 -6.73282138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344012739 meters 0.020852294183810096 Centerline is valid? [True, True] Translation: X:334.31, Y:-47.72, Z:-6.73 [[ 9.82933616e-01 1.82784320e-01 2.07701383e-02 3.34311410e+02] [-1.82744612e-01 9.83153035e-01 -3.81011165e-03 -4.77212156e+01] [-2.11166532e-02 -5.05440344e-05 9.99777017e-01 -6.73202761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404012739 meters 0.02138547138931934 Centerline is valid? [True, True] Translation: X:334.37, Y:-47.73, Z:-6.73 [[ 9.82515769e-01 1.84958576e-01 2.12858726e-02 3.34373721e+02] [-1.84917295e-01 9.82746313e-01 -3.90872011e-03 -4.77311727e+01] [-2.16415641e-02 -9.57468352e-05 9.99765789e-01 -6.73282105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464012739 meters 0.0217187721599682 Centerline is valid? [True, True] Translation: X:334.44, Y:-47.74, Z:-6.74 [[ 9.82373581e-01 1.85909387e-01 1.94896616e-02 3.34436614e+02] [-1.85874898e-01 9.82566888e-01 -3.58232007e-03 -4.77373146e+01] [-1.98158831e-02 -1.03462274e-04 9.99803641e-01 -6.73635927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524012739 meters 0.02152661109080578 Centerline is valid? [True, True] Translation: X:334.50, Y:-47.75, Z:-6.74 [[ 9.82414395e-01 1.85587465e-01 2.04755952e-02 3.34498429e+02] [-1.85549242e-01 9.82627744e-01 -3.76766105e-03 -4.77488812e+01] [-2.08191186e-02 -9.78267255e-05 9.99783254e-01 -6.73570809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584012739 meters 0.02076554612724017 Centerline is valid? [True, True] Translation: X:334.56, Y:-47.77, Z:-6.73 [[ 9.83037015e-01 1.82068231e-01 2.21220744e-02 3.34557835e+02] [-1.82022622e-01 9.83285899e-01 -4.07508868e-03 -4.77668737e+01] [-2.24942680e-02 -2.07549753e-05 9.99746972e-01 -6.73411317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644012739 meters 0.021502844172809732 Centerline is valid? [True, True] Translation: X:334.62, Y:-47.79, Z:-6.74 [[ 9.84016220e-01 1.76901764e-01 2.04412311e-02 3.34616436e+02] [-1.76861647e-01 9.84228509e-01 -3.76837235e-03 -4.77900201e+01] [-2.07854741e-02 9.28697244e-05 9.99783954e-01 -6.73830874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704012739 meters 0.022017226866896382 Centerline is valid? [True, True] Translation: X:334.68, Y:-47.81, Z:-6.74 [[ 9.84210641e-01 1.76027679e-01 1.85383321e-02 3.34675812e+02] [-1.75994471e-01 9.84385212e-01 -3.42062944e-03 -4.78062632e+01] [-1.88509854e-02 1.03975953e-04 9.99822299e-01 -6.74243068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764012739 meters 0.022106762410628075 Centerline is valid? [True, True] Translation: X:334.74, Y:-47.82, Z:-6.75 [[ 9.84169403e-01 1.76329960e-01 1.78418528e-02 3.34737874e+02] [-1.76299225e-01 9.84331111e-01 -3.29354527e-03 -4.78190275e+01] [-1.81430415e-02 9.59016651e-05 9.99835397e-01 -6.74534457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824012739 meters 0.02204617551208461 Centerline is valid? [True, True] Translation: X:334.80, Y:-47.83, Z:-6.75 [[ 9.84017616e-01 1.77121980e-01 1.83612732e-02 3.34797830e+02] [-1.77089496e-01 9.84188903e-01 -3.39317891e-03 -4.78348440e+01] [-1.86719679e-02 8.73592023e-05 9.99825660e-01 -6.74545856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884012739 meters 0.021347268161757818 Centerline is valid? [True, True] Translation: X:334.86, Y:-47.85, Z:-6.74 [[ 9.83580994e-01 1.79303766e-01 2.04594171e-02 3.34858576e+02] [-1.79263819e-01 9.83793757e-01 -3.78506927e-03 -4.78466053e+01] [-2.08065240e-02 5.52889581e-05 9.99783519e-01 -6.74254780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944012739 meters 0.02189505072729119 Centerline is valid? [True, True] Translation: X:334.92, Y:-47.86, Z:-6.75 [[ 9.83800836e-01 1.78373953e-01 1.78507259e-02 3.34917657e+02] [-1.78343340e-01 9.83962768e-01 -3.30524940e-03 -4.78622057e+01] [-1.81540200e-02 6.81490456e-05 9.99835200e-01 -6.74851296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004012739 meters 0.022149631341638835 Centerline is valid? [True, True] Translation: X:334.98, Y:-47.88, Z:-6.75 [[ 9.84097239e-01 1.76628820e-01 1.88383749e-02 3.34978818e+02] [-1.76594373e-01 9.84277526e-01 -3.48985967e-03 -4.78803698e+01] [-1.91585988e-02 1.07610272e-04 9.99816451e-01 -6.74739533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064012739 meters 0.021180668037296232 Centerline is valid? [True, True] Translation: X:335.04, Y:-47.89, Z:-6.74 [[ 9.83297734e-01 1.80865431e-01 2.03288240e-02 3.35039729e+02] [-1.80826133e-01 9.83507852e-01 -3.77025348e-03 -4.78860960e+01] [-2.06754665e-02 3.12990708e-05 9.99786239e-01 -6.74451904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124012739 meters 0.021423154634090343 Centerline is valid? [True, True] Translation: X:335.10, Y:-47.89, Z:-6.74 [[ 9.82520437e-01 1.85012652e-01 2.05890568e-02 3.35103318e+02] [-1.84973182e-01 9.82736137e-01 -3.82180102e-03 -4.78910252e+01] [-2.09406917e-02 -5.34257437e-05 9.99780718e-01 -6.74463821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184012739 meters 0.022086826093993137 Centerline is valid? [True, True] Translation: X:335.17, Y:-47.90, Z:-6.75 [[ 9.81926330e-01 1.88093298e-01 2.10141186e-02 3.35165595e+02] [-1.88052800e-01 9.82151158e-01 -3.90478252e-03 -4.78980423e+01] [-2.13735044e-02 -1.17555061e-04 9.99771554e-01 -6.74586799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244012739 meters 0.02413548677275959 Centerline is valid? [True, True] Translation: X:335.23, Y:-47.90, Z:-6.75 [[ 9.81076426e-01 1.92673302e-01 1.91323164e-02 3.35227193e+02] [-1.92640544e-01 9.81262942e-01 -3.55807098e-03 -4.79034485e+01] [-1.94593783e-02 -1.94920284e-04 9.99810629e-01 -6.75057116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30401273900003 meters 0.03076836647424893 Centerline is valid? [True, True] Translation: X:335.29, Y:-47.90, Z:-6.75 [[ 9.79664922e-01 1.99718289e-01 1.92157772e-02 3.35289833e+02] [-1.99686536e-01 9.79853302e-01 -3.57678186e-03 -4.78968612e+01] [-1.95429915e-02 -3.33084257e-04 9.99808962e-01 -6.75120402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36401273900003 meters 0.03293825175416774 Centerline is valid? [True, True] Translation: X:335.35, Y:-47.90, Z:-6.75 [[ 9.78363330e-01 2.05987704e-01 1.93457931e-02 3.35351764e+02] [-2.05956729e-01 9.78554472e-01 -3.60164610e-03 -4.78964228e+01] [-1.96728071e-02 -4.60677792e-04 9.99806365e-01 -6.75282854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.424012739 meters 0.0358315635480594 Centerline is valid? [True, True] Translation: X:335.41, Y:-47.89, Z:-6.76 [[ 9.78062679e-01 2.07450709e-01 1.89102803e-02 3.35412052e+02] [-2.07421376e-01 9.78245355e-01 -3.52117130e-03 -4.78945068e+01] [-1.92293634e-02 -4.78470129e-04 9.99814984e-01 -6.75588095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484012739 meters 0.03467360043848302 Centerline is valid? [True, True] Translation: X:335.47, Y:-47.90, Z:-6.76 [[ 9.78624100e-01 2.04791363e-01 1.88512170e-02 3.35470994e+02] [-2.04761704e-01 9.78805557e-01 -3.51092262e-03 -4.79000130e+01] [-1.91706826e-02 -4.24133839e-04 9.99816136e-01 -6.75783146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544012739 meters 0.02929702935253743 Centerline is valid? [True, True] Translation: X:335.53, Y:-47.92, Z:-6.77 [[ 9.79974090e-01 1.98553877e-01 1.50711721e-02 3.35530165e+02] [-1.98534189e-01 9.80089945e-01 -2.80647348e-03 -4.79158849e+01] [-1.53283404e-02 -2.41871626e-04 9.99882485e-01 -6.76635634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604012739 meters 0.02617032419789819 Centerline is valid? [True, True] Translation: X:335.59, Y:-47.93, Z:-6.76 [[ 9.80712591e-01 1.94740633e-01 1.67002980e-02 3.35588096e+02] [-1.94715899e-01 9.80854752e-01 -3.11018617e-03 -4.79301676e+01] [-1.69862463e-02 -2.01614821e-04 9.99855703e-01 -6.76412217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664012739 meters 0.02443295327415833 Centerline is valid? [True, True] Translation: X:335.65, Y:-47.95, Z:-6.76 [[ 9.81193470e-01 1.92050961e-01 1.93856275e-02 3.35647756e+02] [-1.92017119e-01 9.81384938e-01 -3.60971008e-03 -4.79458750e+01] [-1.97180111e-02 -1.80548380e-04 9.99805565e-01 -6.76111286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724012739 meters 0.023977527318276324 Centerline is valid? [True, True] Translation: X:335.71, Y:-47.95, Z:-6.76 [[ 9.81321473e-01 1.91281457e-01 2.04834399e-02 3.35709275e+02] [-1.91243495e-01 9.81535213e-01 -3.81466432e-03 -4.79532811e+01] [-2.08348921e-02 -1.73912627e-04 9.99782915e-01 -6.76054419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784012739 meters 0.024202654634096526 Centerline is valid? [True, True] Translation: X:335.77, Y:-47.96, Z:-6.76 [[ 9.81384702e-01 1.90987527e-01 2.01948487e-02 3.35768890e+02] [-1.90950545e-01 9.81592450e-01 -3.76188348e-03 -4.79640405e+01] [-2.05415839e-02 -1.64362481e-04 9.99788986e-01 -6.76287103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844012739 meters 0.02289509857663681 Centerline is valid? [True, True] Translation: X:335.83, Y:-47.98, Z:-6.76 [[ 9.81845134e-01 1.88604026e-01 2.02151823e-02 3.35828792e+02] [-1.88566459e-01 9.82053211e-01 -3.76591569e-03 -4.79784161e+01] [-2.05626515e-02 -1.14359342e-04 9.99788560e-01 -6.76282980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904012739 meters 0.022187122781118004 Centerline is valid? [True, True] Translation: X:335.89, Y:-47.99, Z:-6.76 [[ 9.82201810e-01 1.86632338e-01 2.11654051e-02 3.35888093e+02] [-1.86590687e-01 9.82429827e-01 -3.94345254e-03 -4.79932942e+01] [-2.15295010e-02 -7.60012399e-05 9.99768211e-01 -6.76289062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964012739 meters 0.02194402416612843 Centerline is valid? [True, True] Translation: X:335.95, Y:-48.01, Z:-6.76 [[ 9.82416220e-01 1.85499849e-01 2.11701658e-02 3.35948512e+02] [-1.85457903e-01 9.82644291e-01 -3.94498667e-03 -4.80087215e+01] [-2.15345370e-02 -5.05556560e-05 9.99768104e-01 -6.76285277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024012739 meters 0.022565451507386407 Centerline is valid? [True, True] Translation: X:336.01, Y:-48.02, Z:-6.77 [[ 9.81941673e-01 1.88060724e-01 2.05843411e-02 3.36009625e+02] [-1.88021561e-01 9.82157398e-01 -3.83909190e-03 -4.80215916e+01] [-2.09390453e-02 -1.00535637e-04 9.99780749e-01 -6.76664939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084012739 meters 0.02331285118660204 Centerline is valid? [True, True] Translation: X:336.07, Y:-48.03, Z:-6.77 [[ 9.81518249e-01 1.90240647e-01 2.07466283e-02 3.36069437e+02] [-1.90201278e-01 9.81737478e-01 -3.87279642e-03 -4.80340804e+01] [-2.11045058e-02 -1.44814856e-04 9.99777265e-01 -6.76734974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144012739 meters 0.02648850600131349 Centerline is valid? [True, True] Translation: X:336.13, Y:-48.04, Z:-6.77 [[ 9.80479965e-01 1.95493000e-01 2.10125189e-02 3.36130401e+02] [-1.95453779e-01 9.80705063e-01 -3.92432689e-03 -4.80429725e+01] [-2.13742621e-02 -2.59252348e-04 9.99771511e-01 -6.76736600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204012739 meters 0.03007439525620945 Centerline is valid? [True, True] Translation: X:336.19, Y:-48.05, Z:-6.77 [[ 9.79616175e-01 1.99943810e-01 1.93551563e-02 3.36191052e+02] [-1.99911392e-01 9.79807310e-01 -3.61522617e-03 -4.80470829e+01] [-1.96871657e-02 -3.27782199e-04 9.99806135e-01 -6.77136800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264012739 meters 0.036801690648947685 Centerline is valid? [True, True] Translation: X:336.25, Y:-48.05, Z:-6.78 [[ 9.78241323e-01 2.06684486e-01 1.80398693e-02 3.36252808e+02] [-2.06657468e-01 9.78407552e-01 -3.36957575e-03 -4.80450036e+01] [-1.83467834e-02 -4.31815473e-04 9.99831590e-01 -6.77561219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324012739 meters 0.038619678748309794 Centerline is valid? [True, True] Translation: X:336.31, Y:-48.05, Z:-6.77 [[ 9.77177950e-01 2.11431616e-01 2.04920875e-02 3.36313151e+02] [-2.11397801e-01 9.77392614e-01 -3.82734775e-03 -4.80507206e+01] [-2.08380373e-02 -5.91982400e-04 9.99782689e-01 -6.77181645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384012739 meters 0.04043817892662222 Centerline is valid? [True, True] Translation: X:336.37, Y:-48.05, Z:-6.77 [[ 9.76637033e-01 2.13914337e-01 2.05125083e-02 3.36372765e+02] [-2.13881007e-01 9.76852210e-01 -3.83090451e-03 -4.80527184e+01] [-2.08571745e-02 -6.45832714e-04 9.99782257e-01 -6.77444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444012739 meters 0.04199159685416837 Centerline is valid? [True, True] Translation: X:336.43, Y:-48.05, Z:-6.78 [[ 9.76456083e-01 2.14795807e-01 1.99067735e-02 3.36431002e+02] [-2.14764613e-01 9.76658766e-01 -3.71707911e-03 -4.80542059e+01] [-2.02405379e-02 -6.45706013e-04 9.99794931e-01 -6.77522812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504012739 meters 0.045982249323300216 Centerline is valid? [True, True] Translation: X:336.49, Y:-48.05, Z:-6.78 [[ 9.75926939e-01 2.17258619e-01 1.91128807e-02 3.36491472e+02] [-2.17230356e-01 9.76113848e-01 -3.56772697e-03 -4.80482605e+01] [-1.94314670e-02 -6.70057032e-04 9.99810967e-01 -6.77931760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564012739 meters 0.0477369120358265 Centerline is valid? [True, True] Translation: X:336.55, Y:-48.05, Z:-6.78 [[ 9.75985454e-01 2.17025740e-01 1.87675763e-02 3.36549091e+02] [-2.16998462e-01 9.76165662e-01 -3.50248180e-03 -4.80483637e+01] [-1.90803923e-02 -6.54163895e-04 9.99817739e-01 -6.78156090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624012739 meters 0.044245572932496334 Centerline is valid? [True, True] Translation: X:336.61, Y:-48.05, Z:-6.78 [[ 9.76555579e-01 2.14310148e-01 2.02574050e-02 3.36609476e+02] [-2.14277833e-01 9.76765446e-01 -3.77807940e-03 -4.80533917e+01] [-2.05964140e-02 -6.51208321e-04 9.99787659e-01 -6.77868129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684012739 meters 0.04207037819070841 Centerline is valid? [True, True] Translation: X:336.67, Y:-48.06, Z:-6.78 [[ 9.77052100e-01 2.11973420e-01 2.08916831e-02 3.36668759e+02] [-2.11938522e-01 9.77275234e-01 -3.89607514e-03 -4.80590403e+01] [-2.12427889e-02 -6.21084045e-04 9.99774154e-01 -6.77878057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744012739 meters 0.03867234250710069 Centerline is valid? [True, True] Translation: X:336.73, Y:-48.07, Z:-6.78 [[ 9.77800280e-01 2.08522173e-01 2.06183508e-02 3.36727973e+02] [-2.08487447e-01 9.78017490e-01 -3.84358979e-03 -4.80677438e+01] [-2.09665814e-02 -5.40404161e-04 9.99780031e-01 -6.78151777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80401273900003 meters 0.031343838319630495 Centerline is valid? [True, True] Translation: X:336.79, Y:-48.09, Z:-6.78 [[ 9.79003365e-01 2.02708603e-01 2.14856565e-02 3.36785268e+02] [-2.02669507e-01 9.79239008e-01 -4.00461378e-03 -4.80855112e+01] [-2.18513626e-02 -4.33957048e-04 9.99761136e-01 -6.78139573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86401273900003 meters 0.02813774682322634 Centerline is valid? [True, True] Translation: X:336.84, Y:-48.10, Z:-6.78 [[ 9.80030533e-01 1.97600619e-01 2.22294665e-02 3.36842849e+02] [-1.97557467e-01 9.80282554e-01 -4.14269187e-03 -4.80985828e+01] [-2.26097567e-02 -3.31632579e-04 9.99744312e-01 -6.77983938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.924012739 meters 0.025712630674524114 Centerline is valid? [True, True] Translation: X:336.90, Y:-48.12, Z:-6.78 [[ 9.80752831e-01 1.94016313e-01 2.19443731e-02 3.36899663e+02] [-1.93973376e-01 9.80998272e-01 -4.08899518e-03 -4.81150528e+01] [-2.23207239e-02 -2.46330526e-04 9.99750831e-01 -6.78155028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984012739 meters 0.02328089975976825 Centerline is valid? [True, True] Translation: X:336.95, Y:-48.13, Z:-6.78 [[ 9.81720520e-01 1.88915430e-01 2.31469206e-02 3.36954807e+02] [-1.88866266e-01 9.81993351e-01 -4.31189771e-03 -4.81339859e+01] [-2.35447061e-02 -1.38594007e-04 9.99722775e-01 -6.78189676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044012739 meters 0.021860183233311584 Centerline is valid? [True, True] Translation: X:337.01, Y:-48.16, Z:-6.79 [[ 9.82711230e-01 1.83897839e-01 2.14528266e-02 3.37010709e+02] [-1.83854437e-01 9.82945362e-01 -3.99519490e-03 -4.81584797e+01] [-2.18216642e-02 -1.80744731e-05 9.99761879e-01 -6.78535720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104012739 meters 0.022036983869920725 Centerline is valid? [True, True] Translation: X:337.07, Y:-48.18, Z:-6.79 [[ 9.83104313e-01 1.82112092e-01 1.84687557e-02 3.37067485e+02] [-1.82079617e-01 9.83277777e-01 -3.43910744e-03 -4.81758657e+01] [-1.87862201e-02 1.82173951e-05 9.99823523e-01 -6.79206662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164012739 meters 0.021788681666843883 Centerline is valid? [True, True] Translation: X:337.12, Y:-48.19, Z:-6.79 [[ 9.82899065e-01 1.82935593e-01 2.10712524e-02 3.37124822e+02] [-1.82893523e-01 9.83124900e-01 -3.92306596e-03 -4.81902882e+01] [-2.14333413e-02 2.18227822e-06 9.99770280e-01 -6.78773073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224012739 meters 0.021726523496477863 Centerline is valid? [True, True] Translation: X:337.18, Y:-48.20, Z:-6.79 [[ 9.82803141e-01 1.83309842e-01 2.22595659e-02 3.37184054e+02] [-1.83263010e-01 9.83055188e-01 -4.14333560e-03 -4.82027023e+01] [-2.26418959e-02 -7.27180452e-06 9.99743639e-01 -6.78714382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284012739 meters 0.021889085704439336 Centerline is valid? [True, True] Translation: X:337.24, Y:-48.22, Z:-6.79 [[ 9.83159457e-01 1.81559159e-01 2.08267345e-02 3.37243129e+02] [-1.81517768e-01 9.83380024e-01 -3.87675498e-03 -4.82232744e+01] [-2.11844551e-02 3.10459673e-05 9.99775584e-01 -6.79100586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344012739 meters 0.022143407772981197 Centerline is valid? [True, True] Translation: X:337.30, Y:-48.24, Z:-6.79 [[ 9.83445713e-01 1.80131377e-01 1.96778159e-02 3.37302374e+02] [-1.80094077e-01 9.83642559e-01 -3.66609266e-03 -4.82404066e+01] [-2.00163155e-02 6.15450068e-05 9.99799652e-01 -6.79437555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404012739 meters 0.021654167501335576 Centerline is valid? [True, True] Translation: X:337.36, Y:-48.25, Z:-6.79 [[ 9.82891315e-01 1.83062599e-01 2.03161754e-02 3.37361786e+02] [-1.83023397e-01 9.83101259e-01 -3.78831516e-03 -4.82501666e+01] [-2.06663564e-02 5.16663704e-06 9.99786428e-01 -6.79338750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464012739 meters 0.022701062881344738 Centerline is valid? [True, True] Translation: X:337.42, Y:-48.25, Z:-6.79 [[ 9.81826282e-01 1.88527127e-01 2.17870251e-02 3.37421532e+02] [-1.88483387e-01 9.82067976e-01 -4.06252151e-03 -4.82490824e+01] [-2.21622351e-02 -1.17801900e-04 9.99754381e-01 -6.79217638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524012739 meters 0.023578672198470672 Centerline is valid? [True, True] Translation: X:337.48, Y:-48.26, Z:-6.79 [[ 9.81450141e-01 1.90512286e-01 2.14636720e-02 3.37479916e+02] [-1.90470326e-01 9.81684798e-01 -4.00145443e-03 -4.82555724e+01] [-2.18328868e-02 -1.60964603e-04 9.99761621e-01 -6.79456311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584012739 meters 0.023194725191618006 Centerline is valid? [True, True] Translation: X:337.54, Y:-48.26, Z:-6.80 [[ 9.81660373e-01 1.89500114e-01 2.07994847e-02 3.37537326e+02] [-1.89460505e-01 9.81880690e-01 -3.87667062e-03 -4.82639437e+01] [-2.11572419e-02 -1.35106942e-04 9.99776151e-01 -6.79781984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644012739 meters 0.02248376479420621 Centerline is valid? [True, True] Translation: X:337.60, Y:-48.27, Z:-6.80 [[ 9.81788719e-01 1.88717399e-01 2.18324047e-02 3.37595805e+02] [-1.88673592e-01 9.82031429e-01 -4.06791629e-03 -4.82738905e+01] [-2.22077942e-02 -1.25363893e-04 9.99753369e-01 -6.79682101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704012739 meters 0.023598804303006173 Centerline is valid? [True, True] Translation: X:337.65, Y:-48.28, Z:-6.80 [[ 9.81512450e-01 1.90139655e-01 2.19139643e-02 3.37654584e+02] [-1.90095888e-01 9.81757040e-01 -4.08253789e-03 -4.82766890e+01] [-2.22904411e-02 -1.58692739e-04 9.99751525e-01 -6.79718436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764012739 meters 0.024790652035162095 Centerline is valid? [True, True] Translation: X:337.71, Y:-48.28, Z:-6.80 [[ 9.81126118e-01 1.92128625e-01 2.18662261e-02 3.37713117e+02] [-1.92085561e-01 9.81369731e-01 -4.07279507e-03 -4.82805039e+01] [-2.22413529e-02 -2.04260675e-04 9.99752610e-01 -6.79827944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824012739 meters 0.024929268817273954 Centerline is valid? [True, True] Translation: X:337.77, Y:-48.29, Z:-6.80 [[ 9.80791635e-01 1.93763548e-01 2.24378145e-02 3.37771641e+02] [-1.93718659e-01 9.81048228e-01 -4.17798229e-03 -4.82875797e+01] [-2.28221189e-02 -2.48893257e-04 9.99739511e-01 -6.79907909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884012739 meters 0.027552753686555274 Centerline is valid? [True, True] Translation: X:337.83, Y:-48.29, Z:-6.80 [[ 9.80549228e-01 1.95155891e-01 2.09138433e-02 3.37830439e+02] [-1.95117231e-01 9.80772200e-01 -3.89324617e-03 -4.82895905e+01] [-2.12715060e-02 -2.63131658e-04 9.99773701e-01 -6.80298816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944012739 meters 0.026007256557029998 Centerline is valid? [True, True] Translation: X:337.89, Y:-48.30, Z:-6.81 [[ 9.80681303e-01 1.94624639e-01 1.96324309e-02 3.37888361e+02] [-1.94590488e-01 9.80877767e-01 -3.65358077e-03 -4.82989380e+01] [-1.99680918e-02 -2.37285954e-04 9.99800590e-01 -6.80670299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004012739 meters 0.026819743931547964 Centerline is valid? [True, True] Translation: X:337.95, Y:-48.30, Z:-6.81 [[ 9.80581906e-01 1.95030968e-01 2.05437714e-02 3.37946587e+02] [-1.94993683e-01 9.80797051e-01 -3.82215502e-03 -4.83021733e+01] [-2.08947089e-02 -2.57969582e-04 9.99781648e-01 -6.80590428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064012739 meters 0.027378199251372793 Centerline is valid? [True, True] Translation: X:338.01, Y:-48.30, Z:-6.81 [[ 9.80139170e-01 1.97104638e-01 2.18396227e-02 3.38005713e+02] [-1.97063044e-01 9.80382404e-01 -4.06188242e-03 -4.83032964e+01] [-2.22117977e-02 -3.22572469e-04 9.99753236e-01 -6.80520322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124012739 meters 0.02527550791897362 Centerline is valid? [True, True] Translation: X:338.06, Y:-48.31, Z:-6.81 [[ 9.80932335e-01 1.93270535e-01 2.04512716e-02 3.38064401e+02] [-1.93233252e-01 9.81145479e-01 -3.80250214e-03 -4.83117054e+01] [-2.08005843e-02 -2.21868429e-04 9.99783620e-01 -6.81024198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184012739 meters 0.022710004609796892 Centerline is valid? [True, True] Translation: X:338.12, Y:-48.33, Z:-6.81 [[ 9.81998580e-01 1.87878059e-01 1.95095645e-02 3.38121296e+02] [-1.87843092e-01 9.82192356e-01 -3.62607472e-03 -4.83279524e+01] [-1.98434050e-02 -1.03936695e-04 9.99803095e-01 -6.81378380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244012739 meters 0.022014403660015825 Centerline is valid? [True, True] Translation: X:338.18, Y:-48.35, Z:-6.81 [[ 9.83472049e-01 1.79777300e-01 2.15139959e-02 3.38176869e+02] [-1.79732863e-01 9.83707334e-01 -3.99745558e-03 -4.83455662e+01] [-2.18821273e-02 6.46137410e-05 9.99760555e-01 -6.80990364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30401273900003 meters 0.023771922031505476 Centerline is valid? [True, True] Translation: X:338.23, Y:-48.36, Z:-6.81 [[ 9.84441943e-01 1.74224969e-01 2.27973802e-02 3.38234620e+02] [-1.74173613e-01 9.84705855e-01 -4.23456822e-03 -4.83611591e+01] [-2.31864813e-02 1.97984499e-04 9.99731138e-01 -6.80877301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36401273900003 meters 0.025232855493724875 Centerline is valid? [True, True] Translation: X:338.29, Y:-48.37, Z:-6.81 [[ 9.84888489e-01 1.71621510e-01 2.32534142e-02 3.38292538e+02] [-1.71567366e-01 9.85162924e-01 -4.31870709e-03 -4.83738701e+01] [-2.36495846e-02 2.63917867e-04 9.99720275e-01 -6.80919273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.424012739 meters 0.02666176528496745 Centerline is valid? [True, True] Translation: X:338.35, Y:-48.39, Z:-6.81 [[ 9.85259732e-01 1.69712136e-01 2.14721264e-02 3.38349833e+02] [-1.69665526e-01 9.85493637e-01 -3.98748536e-03 -4.83883747e+01] [-2.18373686e-02 2.85629140e-04 9.99761495e-01 -6.81254874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484012739 meters 0.029357393668431903 Centerline is valid? [True, True] Translation: X:338.41, Y:-48.40, Z:-6.82 [[ 9.85809313e-01 1.66591433e-01 2.06710825e-02 3.38407235e+02] [-1.66547536e-01 9.86025952e-01 -3.83939725e-03 -4.84046532e+01] [-2.10218345e-02 3.42195706e-04 9.99778958e-01 -6.81561756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544012739 meters 0.03324022373170277 Centerline is valid? [True, True] Translation: X:338.47, Y:-48.42, Z:-6.82 [[ 9.86525451e-01 1.62241687e-01 2.10990171e-02 3.38466178e+02] [-1.62194968e-01 9.86750950e-01 -3.91842822e-03 -4.84232807e+01] [-2.14552076e-02 4.43474770e-04 9.99769712e-01 -6.81680015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604012739 meters 0.04033679720835433 Centerline is valid? [True, True] Translation: X:338.52, Y:-48.45, Z:-6.82 [[ 9.87620458e-01 1.55491062e-01 2.06968882e-02 3.38522558e+02] [-1.55444615e-01 9.87837129e-01 -3.84420372e-03 -4.84495866e+01] [-2.10428939e-02 5.79394431e-04 9.99778406e-01 -6.81852205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664012739 meters 0.04604405814654181 Centerline is valid? [True, True] Translation: X:338.58, Y:-48.47, Z:-6.82 [[ 9.88414031e-01 1.50417592e-01 2.03039595e-02 3.38579875e+02] [-1.50371820e-01 9.88622321e-01 -3.77131073e-03 -4.84711555e+01] [-2.06402191e-02 6.74473093e-04 9.99786740e-01 -6.82070671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724012739 meters 0.04965292259728987 Centerline is valid? [True, True] Translation: X:338.64, Y:-48.50, Z:-6.82 [[ 9.89072472e-01 1.45913686e-01 2.10912693e-02 3.38637042e+02] [-1.45863270e-01 9.89297002e-01 -3.91760578e-03 -4.84963922e+01] [-2.14371618e-02 7.98354533e-04 9.99769879e-01 -6.82121247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784012739 meters 0.054155736943789425 Centerline is valid? [True, True] Translation: X:338.69, Y:-48.52, Z:-6.83 [[ 9.89548796e-01 1.42897590e-01 1.93251073e-02 3.38693412e+02] [-1.42854689e-01 9.89737163e-01 -3.58961444e-03 -4.85210142e+01] [-1.96397242e-02 7.91416450e-04 9.99806809e-01 -6.82550999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844012739 meters 0.049490677583253546 Centerline is valid? [True, True] Translation: X:338.75, Y:-48.54, Z:-6.83 [[ 9.89482530e-01 1.43395834e-01 1.90251647e-02 3.38754071e+02] [-1.43354334e-01 9.89665116e-01 -3.53459190e-03 -4.85350254e+01] [-1.93353876e-02 7.70077122e-04 9.99812757e-01 -6.82701523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904012739 meters 0.0444869809084917 Centerline is valid? [True, True] Translation: X:338.81, Y:-48.55, Z:-6.83 [[ 9.88723907e-01 1.48575781e-01 1.87155909e-02 3.38813071e+02] [-1.48536484e-01 9.88900804e-01 -3.48038334e-03 -4.85476187e+01] [-1.90249636e-02 6.61190157e-04 9.99818790e-01 -6.82765520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964012739 meters 0.04216101136938319 Centerline is valid? [True, True] Translation: X:338.87, Y:-48.56, Z:-6.83 [[ 9.88077983e-01 1.52918944e-01 1.78240533e-02 3.38870703e+02] [-1.52884006e-01 9.88238582e-01 -3.31462876e-03 -4.85620455e+01] [-1.81212866e-02 5.50099043e-04 9.99835645e-01 -6.83170549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024012739 meters 0.036255631808909464 Centerline is valid? [True, True] Translation: X:338.93, Y:-48.57, Z:-6.83 [[ 9.87100884e-01 1.59146181e-01 1.74452895e-02 3.38930056e+02] [-1.59113687e-01 9.87254937e-01 -3.24395397e-03 -4.85720032e+01] [-1.77392110e-02 4.26325510e-04 9.99842557e-01 -6.83259522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084012739 meters 0.028477400421090947 Centerline is valid? [True, True] Translation: X:338.99, Y:-48.58, Z:-6.83 [[ 9.85618514e-01 1.67973289e-01 1.84694053e-02 3.38989645e+02] [-1.67938414e-01 9.85791506e-01 -3.43445590e-03 -4.85773881e+01] [-1.87838797e-02 2.83340694e-04 9.99823527e-01 -6.83145210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144012739 meters 0.02363939015035372 Centerline is valid? [True, True] Translation: X:339.05, Y:-48.58, Z:-6.83 [[ 9.84524038e-01 1.74136879e-01 1.97171658e-02 3.39051896e+02] [-1.74098371e-01 9.84721441e-01 -3.66624339e-03 -4.85812097e+01] [-2.00543441e-02 1.76778300e-04 9.99798876e-01 -6.83078817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204012739 meters 0.021629417707987347 Centerline is valid? [True, True] Translation: X:339.11, Y:-48.59, Z:-6.83 [[ 9.83474795e-01 1.80019352e-01 1.92447717e-02 3.39112818e+02] [-1.79983780e-01 9.83663067e-01 -3.57899269e-03 -4.85880793e+01] [-1.95746591e-02 5.61023513e-05 9.99808396e-01 -6.83337748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264012739 meters 0.021409126274197596 Centerline is valid? [True, True] Translation: X:339.17, Y:-48.59, Z:-6.84 [[ 9.82892096e-01 1.83294873e-01 1.80587268e-02 3.39173152e+02] [-1.83264048e-01 9.83057979e-01 -3.36140095e-03 -4.85929662e+01] [-1.83689030e-02 -5.62095640e-06 9.99831277e-01 -6.83634416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324012739 meters 0.022122615093867773 Centerline is valid? [True, True] Translation: X:339.23, Y:-48.60, Z:-6.84 [[ 9.82099498e-01 1.87522834e-01 1.77697143e-02 3.39232979e+02] [-1.87493679e-01 9.82260240e-01 -3.30766214e-03 -4.85951487e+01] [-1.80747460e-02 -8.32557748e-05 9.99836635e-01 -6.83699951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384012739 meters 0.02285328676154495 Centerline is valid? [True, True] Translation: X:339.29, Y:-48.60, Z:-6.83 [[ 9.81496443e-01 1.90296604e-01 2.12587580e-02 3.39293251e+02] [-1.90255538e-01 9.81726630e-01 -3.95649904e-03 -4.85973464e+01] [-2.16231972e-02 -1.61306701e-04 9.99766178e-01 -6.83239253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444012739 meters 0.021962273334426744 Centerline is valid? [True, True] Translation: X:339.35, Y:-48.61, Z:-6.84 [[ 9.82091873e-01 1.87524775e-01 1.81662165e-02 3.39352551e+02] [-1.87494322e-01 9.82259870e-01 -3.38047156e-03 -4.86138944e+01] [-1.84778676e-02 -8.61288013e-05 9.99829266e-01 -6.83898870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504012739 meters 0.021517467419766238 Centerline is valid? [True, True] Translation: X:339.41, Y:-48.63, Z:-6.84 [[ 9.82520520e-01 1.85277436e-01 1.80471426e-02 3.39410734e+02] [-1.85246993e-01 9.82686252e-01 -3.35883139e-03 -4.86265329e+01] [-1.83569946e-02 -4.30581345e-05 9.99831495e-01 -6.83983242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564012739 meters 0.021119615080554738 Centerline is valid? [True, True] Translation: X:339.47, Y:-48.64, Z:-6.84 [[ 9.82848059e-01 1.83454810e-01 1.88155617e-02 3.39469664e+02] [-1.83421389e-01 9.83028144e-01 -3.50158908e-03 -4.86405889e+01] [-1.91386101e-02 -9.64644479e-06 9.99816840e-01 -6.83955454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624012739 meters 0.022273323717271004 Centerline is valid? [True, True] Translation: X:339.53, Y:-48.67, Z:-6.84 [[ 9.83932509e-01 1.77674494e-01 1.75667856e-02 3.39528345e+02] [-1.77644449e-01 9.84089308e-01 -3.26875724e-03 -4.86655831e+01] [-1.78680606e-02 9.55945731e-05 9.99840349e-01 -6.84427891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684012739 meters 0.025443205233239695 Centerline is valid? [True, True] Translation: X:339.59, Y:-48.69, Z:-6.84 [[ 9.84815100e-01 1.72609477e-01 1.85792116e-02 3.39585218e+02] [-1.72574900e-01 9.84990319e-01 -3.46063926e-03 -4.86921009e+01] [-1.88976827e-02 2.01784211e-04 9.99821402e-01 -6.84313514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744012739 meters 0.028035445199871837 Centerline is valid? [True, True] Translation: X:339.64, Y:-48.72, Z:-6.84 [[ 9.85305283e-01 1.69748403e-01 1.89467404e-02 3.39643453e+02] [-1.69711886e-01 9.85487397e-01 -3.53065534e-03 -4.87161122e+01] [-1.92710970e-02 2.63286310e-04 9.99814261e-01 -6.84324866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80401273900003 meters 0.023754179806728212 Centerline is valid? [True, True] Translation: X:339.70, Y:-48.72, Z:-6.84 [[ 9.84394590e-01 1.75052645e-01 1.79961859e-02 3.39704072e+02] [-1.75020535e-01 9.84559063e-01 -3.35626093e-03 -4.87237412e+01] [-1.83058303e-02 1.54183008e-04 9.99832422e-01 -6.84460371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86401273900003 meters 0.021051613236180596 Centerline is valid? [True, True] Translation: X:339.77, Y:-48.73, Z:-6.85 [[ 9.83025868e-01 1.82623604e-01 1.75716177e-02 3.39765124e+02] [-1.82594191e-01 9.83182902e-01 -3.27750397e-03 -4.87266527e+01] [-1.78746636e-02 1.33958631e-05 9.99840235e-01 -6.84715712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.924012739 meters 0.021537730383866242 Centerline is valid? [True, True] Translation: X:339.83, Y:-48.74, Z:-6.85 [[ 9.82328911e-01 1.86551696e-01 1.51121092e-02 3.39826160e+02] [-1.86530416e-01 9.82445145e-01 -2.81808874e-03 -4.87355835e+01] [-1.53725376e-02 -5.05779759e-05 9.99881834e-01 -6.85193155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984012739 meters 0.02288461279274671 Centerline is valid? [True, True] Translation: X:339.89, Y:-48.74, Z:-6.85 [[ 9.81422078e-01 1.91189431e-01 1.60407476e-02 3.39886597e+02] [-1.91166014e-01 9.81553150e-01 -2.99492401e-03 -4.87408806e+01] [-1.63174441e-02 -1.27161235e-04 9.99866854e-01 -6.85115394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044012739 meters 0.024347328123379024 Centerline is valid? [True, True] Translation: X:339.95, Y:-48.75, Z:-6.85 [[ 9.80802322e-01 1.94214302e-01 1.75387882e-02 3.39947105e+02] [-1.94186791e-01 9.80959106e-01 -3.27461907e-03 -4.87475744e+01] [-1.78408119e-02 -1.94047014e-04 9.99840821e-01 -6.84924315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104012739 meters 0.028924499767711106 Centerline is valid? [True, True] Translation: X:340.01, Y:-48.75, Z:-6.85 [[ 9.79707808e-01 1.99640207e-01 1.77875952e-02 3.40007253e+02] [-1.99612801e-01 9.79869226e-01 -3.32115653e-03 -4.87456043e+01] [-1.80925535e-02 -2.96868705e-04 9.99836272e-01 -6.85146268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164012739 meters 0.03429894528019069 Centerline is valid? [True, True] Translation: X:340.07, Y:-48.74, Z:-6.85 [[ 9.78489515e-01 2.05517967e-01 1.79062809e-02 3.40068749e+02] [-2.05491190e-01 9.78653257e-01 -3.34261570e-03 -4.87423614e+01] [-1.82110077e-02 -4.08868546e-04 9.99834082e-01 -6.85149589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224012739 meters 0.03496734677731688 Centerline is valid? [True, True] Translation: X:340.13, Y:-48.75, Z:-6.85 [[ 9.78079118e-01 2.07481897e-01 1.76777204e-02 3.40127647e+02] [-2.07456121e-01 9.78238759e-01 -3.29983439e-03 -4.87466340e+01] [-1.79776872e-02 -4.39852197e-04 9.99838292e-01 -6.85190326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284012739 meters 0.03537875361660885 Centerline is valid? [True, True] Translation: X:340.19, Y:-48.75, Z:-6.85 [[ 9.78426320e-01 2.05693592e-01 1.92894262e-02 3.40185369e+02] [-2.05662574e-01 9.78616344e-01 -3.59968145e-03 -4.87515975e+01] [-1.96173791e-02 -4.45089967e-04 9.99807462e-01 -6.85111132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344012739 meters 0.032817834403423424 Centerline is valid? [True, True] Translation: X:340.24, Y:-48.76, Z:-6.85 [[ 9.78629828e-01 2.04678509e-01 1.97577211e-02 3.40242864e+02] [-2.04645784e-01 9.78829156e-01 -3.68586263e-03 -4.87646530e+01] [-2.00938504e-02 -4.36239212e-04 9.99798003e-01 -6.85158416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404012739 meters 0.0339125901335269 Centerline is valid? [True, True] Translation: X:340.30, Y:-48.77, Z:-6.85 [[ 9.78540649e-01 2.05219698e-01 1.85222541e-02 3.40300790e+02] [-2.05191049e-01 9.78715842e-01 -3.45457862e-03 -4.87707716e+01] [-1.88369711e-02 -4.20155147e-04 9.99822480e-01 -6.85470136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464012739 meters 0.03428891081627692 Centerline is valid? [True, True] Translation: X:340.36, Y:-48.78, Z:-6.86 [[ 9.78587528e-01 2.05089179e-01 1.74607784e-02 3.40358682e+02] [-2.05063716e-01 9.78743211e-01 -3.25566957e-03 -4.87767597e+01] [-1.77573209e-02 -3.94614473e-04 9.99842248e-01 -6.85847669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524012739 meters 0.03461001478453082 Centerline is valid? [True, True] Translation: X:340.42, Y:-48.78, Z:-6.86 [[ 9.78532781e-01 2.05247462e-01 1.86300000e-02 3.40417171e+02] [-2.05218530e-01 9.78710018e-01 -3.47224974e-03 -4.87822131e+01] [-1.89460380e-02 -4.25511009e-04 9.99820417e-01 -6.85675427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584012739 meters 0.03457313031930837 Centerline is valid? [True, True] Translation: X:340.47, Y:-48.79, Z:-6.85 [[ 9.78593479e-01 2.04807159e-01 2.02195623e-02 3.40474468e+02] [-2.04773006e-01 9.78802238e-01 -3.76749461e-03 -4.87887800e+01] [-2.05625627e-02 -4.53574902e-04 9.99788465e-01 -6.85471892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644012739 meters 0.034089391202318776 Centerline is valid? [True, True] Translation: X:340.53, Y:-48.79, Z:-6.86 [[ 9.78814713e-01 2.03802846e-01 1.96509007e-02 3.40532274e+02] [-2.03770407e-01 9.79011860e-01 -3.66044246e-03 -4.87939518e+01] [-1.99844735e-02 -4.21377110e-04 9.99800202e-01 -6.85682776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704012739 meters 0.033473753584262515 Centerline is valid? [True, True] Translation: X:340.59, Y:-48.80, Z:-6.86 [[ 9.78686915e-01 2.04389313e-01 1.99231137e-02 3.40590827e+02] [-2.04356113e-01 9.78889583e-01 -3.71000457e-03 -4.87992379e+01] [-2.02608137e-02 -4.40477148e-04 9.99794632e-01 -6.85697377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764012739 meters 0.03451386255076413 Centerline is valid? [True, True] Translation: X:340.65, Y:-48.80, Z:-6.86 [[ 9.78538605e-01 2.05068396e-01 2.02274952e-02 3.40649805e+02] [-2.05034339e-01 9.78747536e-01 -3.76572071e-03 -4.88014246e+01] [-2.05698414e-02 -4.62428025e-04 9.99788311e-01 -6.85734892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824012739 meters 0.035147296418058395 Centerline is valid? [True, True] Translation: X:340.71, Y:-48.80, Z:-6.86 [[ 9.78438006e-01 2.05518749e-01 2.05210290e-02 3.40708668e+02] [-2.05483832e-01 9.78653061e-01 -3.81864645e-03 -4.88041460e+01] [-2.08677713e-02 -4.80430861e-04 9.99782129e-01 -6.85790838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884012739 meters 0.03403989685493588 Centerline is valid? [True, True] Translation: X:340.77, Y:-48.81, Z:-6.86 [[ 9.78775022e-01 2.04103044e-01 1.84771017e-02 3.40766855e+02] [-2.04074502e-01 9.78949326e-01 -3.43733003e-03 -4.88123119e+01] [-1.87897157e-02 -4.06332551e-04 9.99823375e-01 -6.86342221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944012739 meters 0.032325171039599726 Centerline is valid? [True, True] Translation: X:340.82, Y:-48.82, Z:-6.86 [[ 9.79234580e-01 2.01887920e-01 1.84636161e-02 3.40823640e+02] [-2.01859042e-01 9.79408564e-01 -3.43398864e-03 -4.88212955e+01] [-1.87767046e-02 -3.64367426e-04 9.99823636e-01 -6.86494383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004012739 meters 0.0310052333051427 Centerline is valid? [True, True] Translation: X:340.88, Y:-48.83, Z:-6.86 [[ 9.79290796e-01 2.01413320e-01 2.05477719e-02 3.40882670e+02] [-2.01377476e-01 9.79506262e-01 -3.82031775e-03 -4.88280067e+01] [-2.08961341e-02 -3.96656427e-04 9.99781573e-01 -6.86198665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064012739 meters 0.032556344769964565 Centerline is valid? [True, True] Translation: X:340.94, Y:-48.83, Z:-6.87 [[ 9.79101411e-01 2.02413306e-01 1.97302060e-02 3.40941108e+02] [-2.02380478e-01 9.79300103e-01 -3.66743106e-03 -4.88290818e+01] [-2.00641296e-02 -4.02221599e-04 9.99798614e-01 -6.86537529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124012739 meters 0.031822173952091935 Centerline is valid? [True, True] Translation: X:341.00, Y:-48.84, Z:-6.87 [[ 9.79283301e-01 2.01527334e-01 1.97724664e-02 3.40999283e+02] [-2.01494208e-01 9.79482815e-01 -3.67413607e-03 -4.88368670e+01] [-2.01072299e-02 -3.86017373e-04 9.99797755e-01 -6.86721734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184012739 meters 0.027413627323289627 Centerline is valid? [True, True] Translation: X:341.06, Y:-48.85, Z:-6.87 [[ 9.80301399e-01 1.96492840e-01 1.99932667e-02 3.41055910e+02] [-1.96457942e-01 9.80505218e-01 -3.71423462e-03 -4.88549533e+01] [-2.03333228e-02 -2.86766628e-04 9.99793215e-01 -6.86828664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244012739 meters 0.023473789514955795 Centerline is valid? [True, True] Translation: X:341.11, Y:-48.88, Z:-6.87 [[ 9.81189735e-01 1.92051259e-01 1.95708555e-02 3.41112196e+02] [-1.92016944e-01 9.81384877e-01 -3.63535470e-03 -4.88765873e+01] [-1.99047161e-02 -1.90963147e-04 9.99801863e-01 -6.87026783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30401273900003 meters 0.022771039536126633 Centerline is valid? [True, True] Translation: X:341.17, Y:-48.89, Z:-6.87 [[ 9.81467587e-01 1.90617267e-01 1.96578989e-02 3.41169474e+02] [-1.90582389e-01 9.81664419e-01 -3.64998464e-03 -4.88910025e+01] [-1.99932100e-02 -1.64107725e-04 9.99800102e-01 -6.87006318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36401273900003 meters 0.02573160860993997 Centerline is valid? [True, True] Translation: X:341.23, Y:-48.90, Z:-6.87 [[ 9.80624656e-01 1.94891242e-01 1.98163744e-02 3.41228371e+02] [-1.94856690e-01 9.80824826e-01 -3.67847099e-03 -4.88956815e+01] [-2.01532937e-02 -2.54153782e-04 9.99796869e-01 -6.87094413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.424012739 meters 0.027066841798635402 Centerline is valid? [True, True] Translation: X:341.28, Y:-48.91, Z:-6.87 [[ 9.80344492e-01 1.96167599e-01 2.10464010e-02 3.41284753e+02] [-1.96128940e-01 9.80570336e-01 -3.90574544e-03 -4.89071583e+01] [-2.14036572e-02 -2.98832298e-04 9.99770871e-01 -6.87044820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484012739 meters 0.025302121741887295 Centerline is valid? [True, True] Translation: X:341.34, Y:-48.93, Z:-6.87 [[ 9.80714661e-01 1.94321302e-01 2.09280795e-02 3.41341281e+02] [-1.94282682e-01 9.80937901e-01 -3.88259521e-03 -4.89264300e+01] [-2.12836173e-02 -2.58245369e-04 9.99773445e-01 -6.87203053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544012739 meters 0.02440069347896375 Centerline is valid? [True, True] Translation: X:341.40, Y:-48.94, Z:-6.87 [[ 9.80995261e-01 1.92769502e-01 2.20956269e-02 3.41397615e+02] [-1.92726083e-01 9.81244038e-01 -4.09808860e-03 -4.89396569e+01] [-2.24711886e-02 -2.38198128e-04 9.99747463e-01 -6.87060759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604012739 meters 0.02465685015696624 Centerline is valid? [True, True] Translation: X:341.45, Y:-48.95, Z:-6.87 [[ 9.80862206e-01 1.93571665e-01 2.09605220e-02 3.41454483e+02] [-1.93532801e-01 9.81086108e-01 -3.88641179e-03 -4.89527676e+01] [-2.13163761e-02 -2.44514088e-04 9.99772750e-01 -6.87434419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664012739 meters 0.027007382879488867 Centerline is valid? [True, True] Translation: X:341.51, Y:-48.96, Z:-6.88 [[ 9.80548098e-01 1.95259270e-01 1.99811385e-02 3.41511739e+02] [-1.95224321e-01 9.80751623e-01 -3.70392358e-03 -4.89589535e+01] [-2.03197594e-02 -2.68928990e-04 9.99793496e-01 -6.87725515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724012739 meters 0.0290710618867855 Centerline is valid? [True, True] Translation: X:341.57, Y:-48.97, Z:-6.88 [[ 9.80278614e-01 1.96822895e-01 1.77366244e-02 3.41568615e+02] [-1.96795634e-01 9.80439022e-01 -3.28673695e-03 -4.89668477e+01] [-1.80365838e-02 -2.68572300e-04 9.99837292e-01 -6.88256718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784012739 meters 0.026888205546088752 Centerline is valid? [True, True] Translation: X:341.63, Y:-48.98, Z:-6.88 [[ 9.80529386e-01 1.95492785e-01 1.85659311e-02 3.41625371e+02] [-1.95462697e-01 9.80705106e-01 -3.43931772e-03 -4.89812267e+01] [-1.88800652e-02 -2.56594871e-04 9.99821723e-01 -6.88280580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844012739 meters 0.022809954760294012 Centerline is valid? [True, True] Translation: X:341.68, Y:-49.00, Z:-6.88 [[ 9.81395889e-01 1.90897823e-01 2.04970844e-02 3.41680759e+02] [-1.90860168e-01 9.81609895e-01 -3.79602748e-03 -4.90040981e+01] [-2.08447943e-02 -1.86671211e-04 9.99782706e-01 -6.88115286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904012739 meters 0.0210213243412387 Centerline is valid? [True, True] Translation: X:341.74, Y:-49.02, Z:-6.88 [[ 9.82124181e-01 1.87131080e-01 2.03482516e-02 3.41737032e+02] [-1.87093182e-01 9.82334947e-01 -3.76749336e-03 -4.90241928e+01] [-2.06938138e-02 -1.06872801e-04 9.99785854e-01 -6.88116465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964012739 meters 0.020401330775206988 Centerline is valid? [True, True] Translation: X:341.79, Y:-49.04, Z:-6.88 [[ 9.82561457e-01 1.84822965e-01 2.03336099e-02 3.41793097e+02] [-1.84784647e-01 9.82771829e-01 -3.76380927e-03 -4.90385737e+01] [-2.06789374e-02 -5.91649951e-05 9.99786166e-01 -6.88194842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024012739 meters 0.020448714790886453 Centerline is valid? [True, True] Translation: X:341.85, Y:-49.05, Z:-6.88 [[ 9.82411471e-01 1.85507402e-01 2.13238455e-02 3.41850857e+02] [-1.85465450e-01 9.82642864e-01 -3.94579767e-03 -4.90489288e+01] [-2.16856993e-02 -7.84397028e-05 9.99764834e-01 -6.88051166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084012739 meters 0.021643730571543247 Centerline is valid? [True, True] Translation: X:341.91, Y:-49.05, Z:-6.88 [[ 9.81745613e-01 1.88926766e-01 2.19596832e-02 3.41909482e+02] [-1.88883153e-01 9.81991167e-01 -4.06237067e-03 -4.90533877e+01] [-2.23317055e-02 -1.59599613e-04 9.99750604e-01 -6.88133359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144012739 meters 0.021039963184538227 Centerline is valid? [True, True] Translation: X:341.97, Y:-49.07, Z:-6.88 [[ 9.82104077e-01 1.87090759e-01 2.16478792e-02 3.41965282e+02] [-1.87047953e-01 9.82342626e-01 -4.00362856e-03 -4.90672585e+01] [-2.20146764e-02 -1.17211564e-04 9.99757641e-01 -6.88282036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204012739 meters 0.020076233623789012 Centerline is valid? [True, True] Translation: X:342.02, Y:-49.09, Z:-6.88 [[ 9.83278258e-01 1.80662785e-01 2.29090566e-02 3.42022499e+02] [-1.80613130e-01 9.83545097e-01 -4.23553777e-03 -4.90914768e+01] [-2.32972943e-02 2.70357831e-05 9.99728581e-01 -6.88198647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264012739 meters 0.021401872473133358 Centerline is valid? [True, True] Translation: X:342.08, Y:-49.11, Z:-6.89 [[ 9.84148308e-01 1.76275012e-01 1.94737932e-02 3.42080917e+02] [-1.76238276e-01 9.84340951e-01 -3.60030542e-03 -4.91122094e+01] [-1.98034960e-02 1.11206737e-04 9.99803885e-01 -6.88928413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324012739 meters 0.021790155697110007 Centerline is valid? [True, True] Translation: X:342.14, Y:-49.13, Z:-6.89 [[ 9.84267269e-01 1.75620942e-01 1.93708163e-02 3.42138863e+02] [-1.75584403e-01 9.84457855e-01 -3.58449493e-03 -4.91263923e+01] [-1.96992646e-02 1.26887824e-04 9.99805943e-01 -6.89211925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384012739 meters 0.021887629555302542 Centerline is valid? [True, True] Translation: X:342.20, Y:-49.14, Z:-6.89 [[ 9.84412186e-01 1.74709575e-01 2.02290147e-02 3.42197668e+02] [-1.74669529e-01 9.84619999e-01 -3.74353850e-03 -4.91392881e+01] [-2.05719244e-02 1.51792449e-04 9.99788364e-01 -6.89117855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444012739 meters 0.026958667731705674 Centerline is valid? [True, True] Translation: X:342.25, Y:-49.17, Z:-6.89 [[ 9.85890341e-01 1.66187600e-01 2.00478840e-02 3.42254765e+02] [-1.66146504e-01 9.86094100e-01 -3.71001713e-03 -4.91686057e+01] [-2.03856589e-02 3.26784217e-04 9.99792137e-01 -6.89336558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504012739 meters 0.03747558132466596 Centerline is valid? [True, True] Translation: X:342.31, Y:-49.20, Z:-6.90 [[ 9.87576554e-01 1.55934063e-01 1.94195136e-02 3.42308542e+02] [-1.55893510e-01 9.87767329e-01 -3.59418099e-03 -4.92036298e+01] [-1.97424163e-02 5.22152731e-04 9.99804963e-01 -6.89611284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564012739 meters 0.03925119942415586 Centerline is valid? [True, True] Translation: X:342.37, Y:-49.23, Z:-6.89 [[ 9.88098544e-01 1.52508395e-01 2.00613219e-02 3.42366447e+02] [-1.52464394e-01 9.88301986e-01 -3.71382554e-03 -4.92262467e+01] [-2.03930339e-02 6.10988330e-04 9.99791854e-01 -6.89460514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624012739 meters 0.03618956559155402 Centerline is valid? [True, True] Translation: X:342.43, Y:-49.24, Z:-6.89 [[ 9.87548128e-01 1.55944229e-01 2.07386497e-02 3.42426498e+02] [-1.55897949e-01 9.87765703e-01 -3.83988831e-03 -4.92386935e+01] [-2.10837353e-02 5.58961570e-04 9.99777557e-01 -6.89361823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684012739 meters 0.03132183268065408 Centerline is valid? [True, True] Translation: X:342.49, Y:-49.25, Z:-6.90 [[ 9.86448820e-01 1.62775712e-01 2.05619267e-02 3.42485948e+02] [-1.62731688e-01 9.86663012e-01 -3.80764783e-03 -4.92463926e+01] [-2.09074852e-02 4.09972657e-04 9.99781331e-01 -6.89553230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744012739 meters 0.026576749418614196 Centerline is valid? [True, True] Translation: X:342.55, Y:-49.25, Z:-6.90 [[ 9.85534768e-01 1.68192675e-01 2.07952974e-02 3.42548330e+02] [-1.68148852e-01 9.85754095e-01 -3.85081355e-03 -4.92491530e+01] [-2.11467282e-02 2.98405256e-04 9.99776338e-01 -6.89605981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80401273900003 meters 0.024558232824810428 Centerline is valid? [True, True] Translation: X:342.61, Y:-49.26, Z:-6.90 [[ 9.85026797e-01 1.71053409e-01 2.15160739e-02 3.42609606e+02] [-1.71007155e-01 9.85261727e-01 -3.98523985e-03 -4.92579850e+01] [-2.18806530e-02 2.46165458e-04 9.99760560e-01 -6.89589682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86401273900003 meters 0.02710626457092993 Centerline is valid? [True, True] Translation: X:342.67, Y:-49.28, Z:-6.90 [[ 9.85580241e-01 1.67864104e-01 2.12892042e-02 3.42669293e+02] [-1.67818003e-01 9.85810094e-01 -3.94663836e-03 -4.92765781e+01] [-2.16496113e-02 3.17017067e-04 9.99765569e-01 -6.89846257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.924012739 meters 0.028753936823544463 Centerline is valid? [True, True] Translation: X:342.73, Y:-49.29, Z:-6.90 [[ 9.86183437e-01 1.64311888e-01 2.10672998e-02 3.42728730e+02] [-1.64265861e-01 9.86408358e-01 -3.90881575e-03 -4.92939985e+01] [-2.14232254e-02 3.94171222e-04 9.99770419e-01 -6.90023864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984012739 meters 0.02821027106131998 Centerline is valid? [True, True] Translation: X:342.79, Y:-49.31, Z:-6.90 [[ 9.86029779e-01 1.65241552e-01 2.09882151e-02 3.42790148e+02] [-1.65196041e-01 9.86253055e-01 -3.89596443e-03 -4.93053066e+01] [-2.13434665e-02 3.74366891e-04 9.99772132e-01 -6.90038998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044012739 meters 0.025846090137851472 Centerline is valid? [True, True] Translation: X:342.85, Y:-49.32, Z:-6.90 [[ 9.85573410e-01 1.67947186e-01 2.09474505e-02 3.42851398e+02] [-1.67902387e-01 9.85795943e-01 -3.89196839e-03 -4.93155602e+01] [-2.13035569e-02 3.18693627e-04 9.99773003e-01 -6.90197990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104012739 meters 0.02288300518159053 Centerline is valid? [True, True] Translation: X:342.91, Y:-49.32, Z:-6.91 [[ 9.84685042e-01 1.73378504e-01 1.83101747e-02 3.42911916e+02] [-1.73345158e-01 9.84855250e-01 -3.40496700e-03 -4.93215562e+01] [-1.86232197e-02 1.78839952e-04 9.99826557e-01 -6.90790595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164012739 meters 0.02216235579796563 Centerline is valid? [True, True] Translation: X:342.97, Y:-49.33, Z:-6.91 [[ 9.84382512e-01 1.75252444e-01 1.66628759e-02 3.42973137e+02] [-1.75225100e-01 9.84523521e-01 -3.09849961e-03 -4.93319193e+01] [-1.69480129e-02 1.30354742e-04 9.99856364e-01 -6.91287143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224012739 meters 0.020527650038810845 Centerline is valid? [True, True] Translation: X:343.04, Y:-49.34, Z:-6.91 [[ 9.83768466e-01 1.78304644e-01 2.01757315e-02 3.43035618e+02] [-1.78265109e-01 9.83975327e-01 -3.75585804e-03 -4.93376546e+01] [-2.05221090e-02 9.82657161e-05 9.99789395e-01 -6.90739262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284012739 meters 0.021189851338829332 Centerline is valid? [True, True] Translation: X:343.10, Y:-49.35, Z:-6.91 [[ 9.83893720e-01 1.77545251e-01 2.07564852e-02 3.43095713e+02] [-1.77503162e-01 9.84112630e-01 -3.86761169e-03 -4.93512594e+01] [-2.11133953e-02 1.20977113e-04 9.99777080e-01 -6.90826078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344012739 meters 0.021596284608006514 Centerline is valid? [True, True] Translation: X:343.16, Y:-49.36, Z:-6.91 [[ 9.84098318e-01 1.76578980e-01 1.92448344e-02 3.43157932e+02] [-1.76542551e-01 9.84286465e-01 -3.58914360e-03 -4.93629035e+01] [-1.95761974e-02 1.34538025e-04 9.99808359e-01 -6.91303119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404012739 meters 0.022015962202297377 Centerline is valid? [True, True] Translation: X:343.22, Y:-49.37, Z:-6.92 [[ 9.84299454e-01 1.75544933e-01 1.84000357e-02 3.43219564e+02] [-1.75511389e-01 9.84471408e-01 -3.43496936e-03 -4.93733358e+01] [-1.87173005e-02 1.51622643e-04 9.99824804e-01 -6.91500110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464012739 meters 0.022423359042875235 Centerline is valid? [True, True] Translation: X:343.28, Y:-49.38, Z:-6.91 [[ 9.84401617e-01 1.74792445e-01 2.00264031e-02 3.43281350e+02] [-1.74752477e-01 9.84605285e-01 -3.74224990e-03 -4.93838018e+01] [-2.03722193e-02 1.84213312e-04 9.99792448e-01 -6.91281678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524012739 meters 0.022837665782768822 Centerline is valid? [True, True] Translation: X:343.34, Y:-49.40, Z:-6.92 [[ 9.84376453e-01 1.74993013e-01 1.95049776e-02 3.43342060e+02] [-1.74955066e-01 9.84569659e-01 -3.64847466e-03 -4.93956216e+01] [-1.98424667e-02 1.78977892e-04 9.99803103e-01 -6.91562377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584012739 meters 0.021461411179877547 Centerline is valid? [True, True] Translation: X:343.40, Y:-49.40, Z:-6.92 [[ 9.84073778e-01 1.76805751e-01 1.83990737e-02 3.43403743e+02] [-1.76772245e-01 9.84245756e-01 -3.44469613e-03 -4.94014405e+01] [-1.87182523e-02 1.37389566e-04 9.99824789e-01 -6.91885841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644012739 meters 0.02227889225214274 Centerline is valid? [True, True] Translation: X:343.46, Y:-49.42, Z:-6.92 [[ 9.84143359e-01 1.76437062e-01 1.82157123e-02 3.43463682e+02] [-1.76404101e-01 9.84311913e-01 -3.41341458e-03 -4.94164199e+01] [-1.85321955e-02 1.45962935e-04 9.99828253e-01 -6.92049738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704012739 meters 0.022672032241822963 Centerline is valid? [True, True] Translation: X:343.52, Y:-49.43, Z:-6.92 [[ 9.84428007e-01 1.74897117e-01 1.76776174e-02 3.43524052e+02] [-1.74865770e-01 9.84586699e-01 -3.31569255e-03 -4.94324985e+01] [-1.79850520e-02 1.72850436e-04 9.99838241e-01 -6.92298787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764012739 meters 0.02529469170517148 Centerline is valid? [True, True] Translation: X:343.58, Y:-49.46, Z:-6.92 [[ 9.84987397e-01 1.71764977e-01 1.72226640e-02 3.43581842e+02] [-1.71734694e-01 9.85137930e-01 -3.23322330e-03 -4.94567617e+01] [-1.75220541e-02 2.26955265e-04 9.99846451e-01 -6.92481772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824012739 meters 0.02464670607441196 Centerline is valid? [True, True] Translation: X:343.64, Y:-49.47, Z:-6.92 [[ 9.84866668e-01 1.72310209e-01 1.86235837e-02 3.43641434e+02] [-1.72274837e-01 9.85042707e-01 -3.49933925e-03 -4.94749736e+01] [-1.89479971e-02 2.38007751e-04 9.99820442e-01 -6.92247901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884012739 meters 0.02132750762778411 Centerline is valid? [True, True] Translation: X:343.70, Y:-49.49, Z:-6.92 [[ 9.83922695e-01 1.77411306e-01 2.05270080e-02 3.43700959e+02] [-1.77369363e-01 9.84136781e-01 -3.86075210e-03 -4.94877631e+01] [-2.08863247e-02 1.57819265e-04 9.99781844e-01 -6.92015316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944012739 meters 0.01921660583314848 Centerline is valid? [True, True] Translation: X:343.76, Y:-49.49, Z:-6.93 [[ 9.82796054e-01 1.83803690e-01 1.81140735e-02 3.43762977e+02] [-1.83772070e-01 9.82962971e-01 -3.40930682e-03 -4.94941970e+01] [-1.84321067e-02 2.17925123e-05 9.99830114e-01 -6.92601900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004012739 meters 0.019921902613929787 Centerline is valid? [True, True] Translation: X:343.82, Y:-49.50, Z:-6.93 [[ 9.81684498e-01 1.89640437e-01 1.82222569e-02 3.43824461e+02] [-1.89609386e-01 9.81853603e-01 -3.43270434e-03 -4.94979365e+01] [-1.85425681e-02 -8.52782920e-05 9.99828068e-01 -6.92661293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064012739 meters 0.029124182510269353 Centerline is valid? [True, True] Translation: X:343.89, Y:-49.49, Z:-6.92 [[ 9.78619150e-01 2.04756199e-01 1.94796895e-02 3.43887836e+02] [-2.04723635e-01 9.78812926e-01 -3.67281559e-03 -4.94856781e+01] [-1.98190037e-02 -3.93665172e-04 9.99803507e-01 -6.92498459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124012739 meters 0.03251025944067473 Centerline is valid? [True, True] Translation: X:343.95, Y:-49.49, Z:-6.93 [[ 9.77917193e-01 2.08103104e-01 1.92629803e-02 3.43947560e+02] [-2.08071914e-01 9.78106788e-01 -3.63170154e-03 -4.94897844e+01] [-1.95970201e-02 -4.56581802e-04 9.99807856e-01 -6.92649796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184012739 meters 0.028725447262333798 Centerline is valid? [True, True] Translation: X:344.01, Y:-49.51, Z:-6.93 [[ 9.78824305e-01 2.03811584e-01 1.90739929e-02 3.44006077e+02] [-2.03780192e-01 9.79010063e-01 -3.59582010e-03 -4.95070474e+01] [-1.94065008e-02 -3.67225837e-04 9.99811609e-01 -6.92960404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244012739 meters 0.023662075300341076 Centerline is valid? [True, True] Translation: X:344.06, Y:-49.53, Z:-6.93 [[ 9.80183412e-01 1.97211834e-01 1.86539675e-02 3.44062861e+02] [-1.97180609e-01 9.80360872e-01 -3.51687188e-03 -4.95312402e+01] [-1.89811886e-02 -2.31021199e-04 9.99819814e-01 -6.93163327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30401273900003 meters 0.023771993013031834 Centerline is valid? [True, True] Translation: X:344.12, Y:-49.54, Z:-6.93 [[ 9.80182317e-01 1.97225678e-01 1.85649629e-02 3.44123529e+02] [-1.97194753e-01 9.80358087e-01 -3.50005528e-03 -4.95418339e+01] [-1.88906123e-02 -2.30220975e-04 9.99821530e-01 -6.93250271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36401273900003 meters 0.02975872227167256 Centerline is valid? [True, True] Translation: X:344.18, Y:-49.54, Z:-6.93 [[ 9.78830817e-01 2.03690432e-01 2.00110024e-02 3.44184553e+02] [-2.03655840e-01 9.79035271e-01 -3.77319025e-03 -4.95386805e+01] [-2.03600399e-02 -3.82042611e-04 9.99792640e-01 -6.93139260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.424012739 meters 0.0359958216733903 Centerline is valid? [True, True] Translation: X:344.25, Y:-49.54, Z:-6.93 [[ 9.77495669e-01 2.10008745e-01 1.99635701e-02 3.44246020e+02] [-2.09975637e-01 9.77699373e-01 -3.76401499e-03 -4.95353783e+01] [-2.03088460e-02 -5.12554982e-04 9.99793623e-01 -6.93299497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484012739 meters 0.03592813215009696 Centerline is valid? [True, True] Translation: X:344.31, Y:-49.54, Z:-6.93 [[ 9.77246785e-01 2.11177675e-01 1.98169311e-02 3.44305085e+02] [-2.11145298e-01 9.77447546e-01 -3.73605421e-03 -4.95421833e+01] [-2.01589819e-02 -5.33204855e-04 9.99796645e-01 -6.93466862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544012739 meters 0.03599008107406144 Centerline is valid? [True, True] Translation: X:344.36, Y:-49.54, Z:-6.94 [[ 9.76898170e-01 2.12805004e-01 1.95958173e-02 3.44364914e+02] [-2.12773681e-01 9.77094527e-01 -3.69391708e-03 -4.95444348e+01] [-1.99330498e-02 -5.60893339e-04 9.99801160e-01 -6.93652843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604012739 meters 0.04264744856187338 Centerline is valid? [True, True] Translation: X:344.43, Y:-49.54, Z:-6.94 [[ 9.76341769e-01 2.15508010e-01 1.76931462e-02 3.44425574e+02] [-2.15482929e-01 9.76501914e-01 -3.33467718e-03 -4.95397957e+01] [-1.79960408e-02 -5.56786340e-04 9.99837903e-01 -6.94166071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664012739 meters 0.04334820535821098 Centerline is valid? [True, True] Translation: X:344.49, Y:-49.54, Z:-6.94 [[ 9.75957722e-01 2.17287031e-01 1.71134910e-02 3.44485742e+02] [-2.17263850e-01 9.76107586e-01 -3.22479014e-03 -4.95434760e+01] [-1.74053135e-02 -5.70884096e-04 9.99848353e-01 -6.94411785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724012739 meters 0.038680468948832876 Centerline is valid? [True, True] Translation: X:344.54, Y:-49.56, Z:-6.95 [[ 9.76708286e-01 2.13861092e-01 1.74458455e-02 3.44543713e+02] [-2.13836463e-01 9.76863943e-01 -3.28700264e-03 -4.95578914e+01] [-1.77451794e-02 -5.20115165e-04 9.99842407e-01 -6.94583657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784012739 meters 0.036402272615563024 Centerline is valid? [True, True] Translation: X:344.60, Y:-49.57, Z:-6.95 [[ 9.77367544e-01 2.10910812e-01 1.64107857e-02 3.44602358e+02] [-2.10888609e-01 9.77505210e-01 -3.09162238e-03 -4.95692139e+01] [-1.66936851e-02 -4.39196396e-04 9.99860554e-01 -6.94863800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844012739 meters 0.04165169905135834 Centerline is valid? [True, True] Translation: X:344.66, Y:-49.57, Z:-6.95 [[ 9.76324385e-01 2.15603792e-01 1.74842935e-02 3.44662679e+02] [-2.15579348e-01 9.76480772e-01 -3.29341541e-03 -4.95664431e+01] [-1.77831492e-02 -5.53810804e-04 9.99841714e-01 -6.94693454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904012739 meters 0.04841210068410265 Centerline is valid? [True, True] Translation: X:344.72, Y:-49.56, Z:-6.95 [[ 9.75172751e-01 2.20692294e-01 1.82487283e-02 3.44723608e+02] [-2.20666563e-01 9.75343250e-01 -3.43694035e-03 -4.95632308e+01] [-1.85572802e-02 -6.75273580e-04 9.99827571e-01 -6.94770299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964012739 meters 0.05266891977560183 Centerline is valid? [True, True] Translation: X:344.78, Y:-49.56, Z:-6.95 [[ 9.74342641e-01 2.24168838e-01 2.01184290e-02 3.44784555e+02] [-2.24138309e-01 9.74549980e-01 -3.78877498e-03 -4.95639482e+01] [-2.04557399e-02 -8.17745645e-04 9.99790425e-01 -6.94581325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024012739 meters 0.04552511552206014 Centerline is valid? [True, True] Translation: X:344.84, Y:-49.58, Z:-6.95 [[ 9.75735412e-01 2.18017729e-01 2.02157360e-02 3.44842221e+02] [-2.17985589e-01 9.75944563e-01 -3.80686801e-03 -4.95805878e+01] [-2.05594023e-02 -6.92243194e-04 9.99788393e-01 -6.94790687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084012739 meters 0.03582093728329006 Centerline is valid? [True, True] Translation: X:344.90, Y:-49.61, Z:-6.95 [[ 9.77598103e-01 2.09589498e-01 1.93440396e-02 3.44898736e+02] [-2.09558425e-01 9.77789343e-01 -3.64237931e-03 -4.96052839e+01] [-1.96778002e-02 -4.92923380e-04 9.99806252e-01 -6.95080496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144012739 meters 0.03478456358263082 Centerline is valid? [True, True] Translation: X:344.96, Y:-49.62, Z:-6.95 [[ 9.77961646e-01 2.07881374e-01 1.93998447e-02 3.44955122e+02] [-2.07849788e-01 9.78153936e-01 -3.65277692e-03 -4.96164783e+01] [-1.97353787e-02 -4.59977889e-04 9.99805133e-01 -6.95164817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204012739 meters 0.0366318852270627 Centerline is valid? [True, True] Translation: X:345.01, Y:-49.62, Z:-6.95 [[ 9.77569170e-01 2.09652110e-01 2.01124599e-02 3.45013473e+02] [-2.09618560e-01 9.77775909e-01 -3.78575731e-03 -4.96230322e+01] [-2.04591708e-02 -5.15105243e-04 9.99790557e-01 -6.95090660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264012739 meters 0.04678401426636537 Centerline is valid? [True, True] Translation: X:345.08, Y:-49.62, Z:-6.96 [[ 9.76252913e-01 2.15935738e-01 1.73783512e-02 3.45075041e+02] [-2.15911697e-01 9.76407417e-01 -3.27031580e-03 -4.96157993e+01] [-1.76745291e-02 -5.59533977e-04 9.99843637e-01 -6.95870072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324012739 meters 0.04860734186792578 Centerline is valid? [True, True] Translation: X:345.13, Y:-49.62, Z:-6.96 [[ 9.75989437e-01 2.17085187e-01 1.78505000e-02 3.45134103e+02] [-2.17060013e-01 9.76152481e-01 -3.35926746e-03 -4.96202913e+01] [-1.81540571e-02 -5.96020212e-04 9.99835024e-01 -6.95924282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384012739 meters 0.04604199884474613 Centerline is valid? [True, True] Translation: X:345.19, Y:-49.63, Z:-6.96 [[ 9.76205920e-01 2.16265073e-01 1.58562043e-02 3.45192366e+02] [-2.16245111e-01 9.76334549e-01 -2.98337317e-03 -4.96293902e+01] [-1.61261595e-02 -5.16440100e-04 9.99869832e-01 -6.96384086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444012739 meters 0.041132999555641196 Centerline is valid? [True, True] Translation: X:345.25, Y:-49.64, Z:-6.96 [[ 9.76826572e-01 2.13353260e-01 1.70362587e-02 3.45250896e+02] [-2.13329789e-01 9.76974991e-01 -3.20450697e-03 -4.96397836e+01] [-1.73276907e-02 -5.04093909e-04 9.99849737e-01 -6.96271482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504012739 meters 0.037969959910471904 Centerline is valid? [True, True] Translation: X:345.31, Y:-49.65, Z:-6.96 [[ 9.77419442e-01 2.10539079e-01 1.80147519e-02 3.45310090e+02] [-2.10512364e-01 9.77585324e-01 -3.38809646e-03 -4.96498356e+01] [-1.83242837e-02 -4.80736654e-04 9.99831981e-01 -6.96197695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564012739 meters 0.03291142951597605 Centerline is valid? [True, True] Translation: X:345.37, Y:-49.66, Z:-6.96 [[ 9.78337141e-01 2.06254964e-01 1.77575151e-02 3.45368315e+02] [-2.06228304e-01 9.78498203e-01 -3.33954406e-03 -4.96627346e+01] [-1.80644942e-02 -3.94902252e-04 9.99836746e-01 -6.96369473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624012739 meters 0.0287031709912008 Centerline is valid? [True, True] Translation: X:345.43, Y:-49.68, Z:-6.96 [[ 9.78866393e-01 2.03509532e-01 2.01110883e-02 3.45425194e+02] [-2.03474768e-01 9.79072887e-01 -3.78163929e-03 -4.96791425e+01] [-2.04598209e-02 -3.90379427e-04 9.99790600e-01 -6.95990307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684012739 meters 0.024861091212853365 Centerline is valid? [True, True] Translation: X:345.48, Y:-49.70, Z:-6.96 [[ 9.79889905e-01 1.98556016e-01 1.97808684e-02 3.45482288e+02] [-1.98521393e-01 9.80089500e-01 -3.71859023e-03 -4.96970135e+01] [-2.01253698e-02 -2.83116523e-04 9.99797424e-01 -6.96241603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744012739 meters 0.025183404896604873 Centerline is valid? [True, True] Translation: X:345.54, Y:-49.71, Z:-6.97 [[ 9.80014831e-01 1.97992251e-01 1.92353979e-02 3.45539097e+02] [-1.97959412e-01 9.80203550e-01 -3.61562007e-03 -4.97079242e+01] [-1.95704701e-02 -2.64466767e-04 9.99808445e-01 -6.96514066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80401273900003 meters 0.024445404970736304 Centerline is valid? [True, True] Translation: X:345.60, Y:-49.72, Z:-6.97 [[ 9.80042372e-01 1.97828459e-01 1.95153640e-02 3.45595972e+02] [-1.97794648e-01 9.80236619e-01 -3.66704306e-03 -4.97214663e+01] [-1.98551199e-02 -2.66176982e-04 9.99802832e-01 -6.96588444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86401273900003 meters 0.022841457842288845 Centerline is valid? [True, True] Translation: X:345.65, Y:-49.74, Z:-6.97 [[ 9.80583317e-01 1.95288463e-01 1.78542759e-02 3.45651995e+02] [-1.95259765e-01 9.80745827e-01 -3.35366982e-03 -4.97415177e+01] [-1.81654396e-02 -1.97669053e-04 9.99834975e-01 -6.97095521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.924012739 meters 0.02158476101080575 Centerline is valid? [True, True] Translation: X:345.71, Y:-49.76, Z:-6.97 [[ 9.81283686e-01 1.91761838e-01 1.75989834e-02 3.45707231e+02] [-1.91733402e-01 9.81441481e-01 -3.30488837e-03 -4.97591143e+01] [-1.79061238e-02 -1.31279906e-04 9.99839664e-01 -6.97289100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984012739 meters 0.02068294909310074 Centerline is valid? [True, True] Translation: X:345.76, Y:-49.78, Z:-6.98 [[ 9.81770264e-01 1.89381997e-01 1.61743247e-02 3.45762869e+02] [-1.89357671e-01 9.81903484e-01 -3.03640865e-03 -4.97796595e+01] [-1.64566670e-02 -8.16767474e-05 9.99864577e-01 -6.97656950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044012739 meters 0.020555150552461605 Centerline is valid? [True, True] Translation: X:345.82, Y:-49.79, Z:-6.97 [[ 9.81678978e-01 1.89737280e-01 1.74970926e-02 3.45820500e+02] [-1.89708885e-01 9.81834892e-01 -3.28382403e-03 -4.97927765e+01] [-1.78023198e-02 -9.56928987e-05 9.99841522e-01 -6.97477600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104012739 meters 0.02195361918922955 Centerline is valid? [True, True] Translation: X:345.88, Y:-49.80, Z:-6.98 [[ 9.81002016e-01 1.93201155e-01 1.75601110e-02 3.45878317e+02] [-1.93173125e-01 9.81159155e-01 -3.29478174e-03 -4.98035131e+01] [-1.78658193e-02 -1.59953985e-04 9.99840381e-01 -6.97687844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164012739 meters 0.02409608427614162 Centerline is valid? [True, True] Translation: X:345.94, Y:-49.81, Z:-6.98 [[ 9.80655584e-01 1.94963659e-01 1.74297887e-02 3.45935874e+02] [-1.94936337e-01 9.80810448e-01 -3.26949701e-03 -4.98110945e+01] [-1.77327520e-02 -1.91448656e-04 9.99842744e-01 -6.97882424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224012739 meters 0.022790126085309614 Centerline is valid? [True, True] Translation: X:345.99, Y:-49.83, Z:-6.98 [[ 9.80798637e-01 1.94229406e-01 1.75775771e-02 3.45993158e+02] [-1.94201521e-01 9.80956118e-01 -3.29608649e-03 -4.98264321e+01] [-1.78830287e-02 -1.80795081e-04 9.99840070e-01 -6.97917093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284012739 meters 0.02178349486702413 Centerline is valid? [True, True] Translation: X:346.05, Y:-49.84, Z:-6.98 [[ 9.81373540e-01 1.91279607e-01 1.78350173e-02 3.46048823e+02] [-1.91250427e-01 9.81535580e-01 -3.34350937e-03 -4.98448364e+01] [-1.81452492e-02 -1.29723056e-04 9.99835353e-01 -6.98093908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344012739 meters 0.02038232185755443 Centerline is valid? [True, True] Translation: X:346.10, Y:-49.86, Z:-6.98 [[ 9.81687189e-01 1.89381715e-01 2.06113761e-02 3.46104874e+02] [-1.89342354e-01 9.81903536e-01 -3.86255214e-03 -4.98642420e+01] [-2.09698798e-02 -1.10788522e-04 9.99780102e-01 -6.97516435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404012739 meters 0.021233962960884575 Centerline is valid? [True, True] Translation: X:346.16, Y:-49.88, Z:-6.98 [[ 9.81406734e-01 1.90877131e-01 2.01678647e-02 3.46162330e+02] [-1.90839780e-01 9.81613927e-01 -3.77850457e-03 -4.98767896e+01] [-2.05182870e-02 -1.40581034e-04 9.99789468e-01 -6.97819621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464012739 meters 0.021125174438976924 Centerline is valid? [True, True] Translation: X:346.22, Y:-49.90, Z:-6.98 [[ 9.81639742e-01 1.89914398e-01 1.77746369e-02 3.46218699e+02] [-1.89885242e-01 9.81800647e-01 -3.32935612e-03 -4.98957100e+01] [-1.80834427e-02 -1.06912958e-04 9.99836475e-01 -6.98405363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524012739 meters 0.020130550475144254 Centerline is valid? [True, True] Translation: X:346.28, Y:-49.92, Z:-6.99 [[ 9.82145499e-01 1.87298805e-01 1.75890885e-02 3.46276635e+02] [-1.87269845e-01 9.82302985e-01 -3.29408347e-03 -4.99153264e+01] [-1.78947920e-02 -5.86366156e-05 9.99839874e-01 -6.98556860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584012739 meters 0.020507566025083517 Centerline is valid? [True, True] Translation: X:346.34, Y:-49.93, Z:-6.98 [[ 9.81805926e-01 1.88887476e-01 1.94588304e-02 3.46335317e+02] [-1.88852343e-01 9.81998733e-01 -3.64424863e-03 -4.99321343e+01] [-1.97968997e-02 -9.69008172e-05 9.99804017e-01 -6.98255754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644012739 meters 0.02208304458714256 Centerline is valid? [True, True] Translation: X:346.40, Y:-49.94, Z:-6.98 [[ 9.81023788e-01 1.92841813e-01 2.01087503e-02 3.46396169e+02] [-1.92805124e-01 9.81229841e-01 -3.76596558e-03 -4.99382283e+01] [-2.04575415e-02 -1.82568261e-04 9.99790706e-01 -6.98314207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704012739 meters 0.0272304093477319 Centerline is valid? [True, True] Translation: X:346.46, Y:-49.94, Z:-6.99 [[ 9.79868220e-01 1.98779853e-01 1.85698981e-02 3.46456151e+02] [-1.98749629e-01 9.80044127e-01 -3.47780675e-03 -4.99381550e+01] [-1.88906375e-02 -2.82968044e-04 9.99821516e-01 -6.98753657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764012739 meters 0.03433675210296005 Centerline is valid? [True, True] Translation: X:346.52, Y:-49.93, Z:-6.99 [[ 9.78054049e-01 2.07512742e-01 1.86745416e-02 3.46518388e+02] [-2.07483773e-01 9.78232209e-01 -3.49691823e-03 -4.99342920e+01] [-1.89936932e-02 -4.54489315e-04 9.99819500e-01 -6.98725469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824012739 meters 0.04259528830017785 Centerline is valid? [True, True] Translation: X:346.58, Y:-49.93, Z:-6.99 [[ 9.76426411e-01 2.15240215e-01 1.62207770e-02 3.46581305e+02] [-2.15219423e-01 9.76560994e-01 -3.03740771e-03 -4.99251691e+01] [-1.64943504e-02 -5.25221158e-04 9.99863821e-01 -6.99457962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884012739 meters 0.04907181863575534 Centerline is valid? [True, True] Translation: X:346.64, Y:-49.92, Z:-6.99 [[ 9.75180589e-01 2.20684370e-01 1.79228452e-02 3.46643253e+02] [-2.20659904e-01 9.75345038e-01 -3.35605202e-03 -4.99165540e+01] [-1.82215863e-02 -6.82096515e-04 9.99833740e-01 -6.99188195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944012739 meters 0.050348206098065944 Centerline is valid? [True, True] Translation: X:346.70, Y:-49.92, Z:-6.99 [[ 9.75023109e-01 2.21238852e-01 1.95782459e-02 3.46703139e+02] [-2.21209774e-01 9.75219359e-01 -3.66577107e-03 -4.99182613e+01] [-1.99040954e-02 -7.56687864e-04 9.99801608e-01 -6.99026068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004012739 meters 0.04331500985843478 Centerline is valid? [True, True] Translation: X:346.76, Y:-49.92, Z:-6.99 [[ 9.75969497e-01 2.17108960e-01 1.86343747e-02 3.46762886e+02] [-2.17081883e-01 9.76147165e-01 -3.48817288e-03 -4.99244788e+01] [-1.89472057e-02 -6.40834835e-04 9.99820280e-01 -6.99416805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064012739 meters 0.041952566971893035 Centerline is valid? [True, True] Translation: X:346.82, Y:-49.93, Z:-7.00 [[ 9.77199762e-01 2.11527141e-01 1.83546528e-02 3.46822543e+02] [-2.11499888e-01 9.77371983e-01 -3.43570620e-03 -4.99297478e+01] [-1.86660685e-02 -5.24635720e-04 9.99825636e-01 -6.99628060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124012739 meters 0.030514724176150244 Centerline is valid? [True, True] Translation: X:346.88, Y:-49.95, Z:-7.00 [[ 9.79330464e-01 2.01354085e-01 1.91930852e-02 3.46880301e+02] [-2.01322333e-01 9.79518460e-01 -3.59236173e-03 -4.99485131e+01] [-1.95233179e-02 -3.45887407e-04 9.99809342e-01 -6.99590767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184012739 meters 0.023610500866886715 Centerline is valid? [True, True] Translation: X:346.94, Y:-49.97, Z:-6.99 [[ 9.80961788e-01 1.93103274e-01 2.06178577e-02 3.46936988e+02] [-1.93064820e-01 9.81178418e-01 -3.85850445e-03 -4.99656816e+01] [-2.09748868e-02 -1.95537545e-04 9.99779984e-01 -6.99370355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244012739 meters 0.020323065348858586 Centerline is valid? [True, True] Translation: X:346.99, Y:-49.99, Z:-7.00 [[ 9.82239238e-01 1.86566610e-01 1.99744836e-02 3.46993327e+02] [-1.86529174e-01 9.82442312e-01 -3.73767251e-03 -4.99851042e+01] [-2.03211027e-02 -5.45353333e-05 9.99793504e-01 -6.99606230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30401273900003 meters 0.02065330629980818 Centerline is valid? [True, True] Translation: X:347.05, Y:-50.00, Z:-7.00 [[ 9.83307098e-01 1.80873841e-01 1.97940405e-02 3.47049904e+02] [-1.80835942e-01 9.83506304e-01 -3.70299767e-03 -5.00045484e+01] [-2.01373390e-02 6.17099406e-05 9.99797221e-01 -6.99751403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36401273900003 meters 0.021740359436541283 Centerline is valid? [True, True] Translation: X:347.11, Y:-50.02, Z:-7.00 [[ 9.83936740e-01 1.77315690e-01 2.06793800e-02 3.47106673e+02] [-1.77273560e-01 9.84154016e-01 -3.86763187e-03 -5.00232553e+01] [-2.10374867e-02 1.39597787e-04 9.99778678e-01 -6.99750826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.424012739 meters 0.024576982348612067 Centerline is valid? [True, True] Translation: X:347.16, Y:-50.05, Z:-7.00 [[ 9.84711856e-01 1.73128113e-01 1.92150191e-02 3.47162427e+02] [-1.73090957e-01 9.84899290e-01 -3.59289339e-03 -5.00451618e+01] [-1.95468895e-02 2.12018678e-04 9.99808919e-01 -7.00069522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484012739 meters 0.02469448182727269 Centerline is valid? [True, True] Translation: X:347.22, Y:-50.06, Z:-7.01 [[ 9.84948238e-01 1.71971149e-01 1.74037747e-02 3.47220441e+02] [-1.71940498e-01 9.85101964e-01 -3.25368731e-03 -5.00615070e+01] [-1.77040330e-02 2.12299887e-04 9.99843249e-01 -7.00505467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544012739 meters 0.023843929779583165 Centerline is valid? [True, True] Translation: X:347.28, Y:-50.08, Z:-7.00 [[ 9.84662906e-01 1.73425388e-01 1.90419709e-02 3.47278271e+02] [-1.73388965e-01 9.84846990e-01 -3.55997841e-03 -5.00750247e+01] [-1.93708184e-02 2.03711050e-04 9.99812347e-01 -7.00380685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604012739 meters 0.023476790734421618 Centerline is valid? [True, True] Translation: X:347.34, Y:-50.09, Z:-7.01 [[ 9.84606522e-01 1.73806753e-01 1.84718702e-02 3.47336951e+02] [-1.73772554e-01 9.84779761e-01 -3.45293059e-03 -5.00903146e+01] [-1.87908666e-02 1.89873912e-04 9.99823418e-01 -7.00588548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664012739 meters 0.024298165379018043 Centerline is valid? [True, True] Translation: X:347.39, Y:-50.11, Z:-7.01 [[ 9.84691712e-01 1.73282989e-01 1.88477776e-02 3.47394241e+02] [-1.73247288e-01 9.84872055e-01 -3.52321374e-03 -5.01083010e+01] [-1.91731625e-02 2.03953007e-04 9.99816157e-01 -7.00604045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724012739 meters 0.023826388649072276 Centerline is valid? [True, True] Translation: X:347.45, Y:-50.12, Z:-7.00 [[ 9.84603423e-01 1.73676563e-01 1.98128882e-02 3.47453791e+02] [-1.73637197e-01 9.84802726e-01 -3.70336885e-03 -5.01214699e+01] [-2.01549747e-02 2.06095281e-04 9.99796847e-01 -7.00440278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784012739 meters 0.022482961316320226 Centerline is valid? [True, True] Translation: X:347.51, Y:-50.13, Z:-7.01 [[ 9.84118197e-01 1.76467719e-01 1.92488638e-02 3.47512215e+02] [-1.76431095e-01 9.84306417e-01 -3.59797265e-03 -5.01280392e+01] [-1.95817062e-02 1.44732243e-04 9.99808250e-01 -7.00841024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844012739 meters 0.02152463557740109 Centerline is valid? [True, True] Translation: X:347.57, Y:-50.14, Z:-7.01 [[ 9.83984701e-01 1.77280246e-01 1.85963170e-02 3.47571935e+02] [-1.77246222e-01 9.84160403e-01 -3.47533116e-03 -5.01356208e+01] [-1.89178664e-02 1.23545767e-04 9.99821034e-01 -7.01051014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904012739 meters 0.023271791176374908 Centerline is valid? [True, True] Translation: X:347.63, Y:-50.15, Z:-7.01 [[ 9.84297814e-01 1.75346795e-01 2.02808830e-02 3.47630284e+02] [-1.75305916e-01 9.84506714e-01 -3.79014967e-03 -5.01524483e+01] [-2.06312561e-02 1.75277260e-04 9.99787138e-01 -7.00904265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964012739 meters 0.025866566625053402 Centerline is valid? [True, True] Translation: X:347.69, Y:-50.17, Z:-7.01 [[ 9.85045382e-01 1.71044927e-01 2.07178280e-02 3.47689264e+02] [-1.71001309e-01 9.85263193e-01 -3.87208003e-03 -5.01714161e+01] [-2.10748130e-02 2.71398854e-04 9.99777865e-01 -7.00903600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024012739 meters 0.029189922302254093 Centerline is valid? [True, True] Translation: X:347.75, Y:-50.19, Z:-7.01 [[ 9.86042018e-01 1.65416927e-01 1.89309181e-02 3.47746861e+02] [-1.65379464e-01 9.86223662e-01 -3.53850229e-03 -5.01926846e+01] [-1.92554476e-02 3.58326852e-04 9.99814532e-01 -7.01472832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084012739 meters 0.030323413533903536 Centerline is valid? [True, True] Translation: X:347.81, Y:-50.21, Z:-7.02 [[ 9.86348177e-01 1.63597833e-01 1.87888865e-02 3.47807395e+02] [-1.63560591e-01 9.86527038e-01 -3.51241840e-03 -5.02091961e+01] [-1.91103686e-02 3.91346098e-04 9.99817304e-01 -7.01588161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144012739 meters 0.034564955740543024 Centerline is valid? [True, True] Translation: X:347.86, Y:-50.24, Z:-7.02 [[ 9.87251693e-01 1.57941092e-01 1.97156399e-02 3.47864025e+02] [-1.57898883e-01 9.87448394e-01 -3.68935609e-03 -5.02386440e+01] [-2.00508779e-02 5.29245526e-04 9.99798821e-01 -7.01548288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204012739 meters 0.038456512317709454 Centerline is valid? [True, True] Translation: X:347.92, Y:-50.27, Z:-7.01 [[ 9.87509557e-01 1.56211641e-01 2.05620650e-02 3.47920011e+02] [-1.56165349e-01 9.87723431e-01 -3.84802123e-03 -5.02696731e+01] [-2.09107391e-02 5.88875676e-04 9.99781173e-01 -7.01393644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264012739 meters 0.035699798727019394 Centerline is valid? [True, True] Translation: X:347.98, Y:-50.28, Z:-7.01 [[ 9.86771930e-01 1.60770238e-01 2.08348045e-02 3.47977940e+02] [-1.60723714e-01 9.86991733e-01 -3.89956270e-03 -5.02834757e+01] [-2.11907134e-02 4.99331864e-04 9.99775327e-01 -7.01466935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324012739 meters 0.02695510397439822 Centerline is valid? [True, True] Translation: X:348.04, Y:-50.28, Z:-7.02 [[ 9.85303288e-01 1.69945866e-01 1.71997769e-02 3.48039748e+02] [-1.69915560e-01 9.85453368e-01 -3.21900258e-03 -5.02842966e+01] [-1.74966343e-02 2.49184104e-04 9.99846891e-01 -7.02258820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384012739 meters 0.02578144020975276 Centerline is valid? [True, True] Translation: X:348.10, Y:-50.29, Z:-7.02 [[ 9.84560064e-01 1.74127640e-01 1.79177608e-02 3.48101712e+02] [-1.74095448e-01 9.84723074e-01 -3.35308323e-03 -5.02896655e+01] [-1.82278969e-02 1.81911261e-04 9.99833842e-01 -7.01952967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444012739 meters 0.02239630096430162 Centerline is valid? [True, True] Translation: X:348.16, Y:-50.30, Z:-7.02 [[ 9.83982486e-01 1.77060111e-01 2.06926288e-02 3.48163945e+02] [-1.77017738e-01 9.84200028e-01 -3.87635414e-03 -5.02968605e+01] [-2.10520335e-02 1.51302232e-04 9.99778370e-01 -7.01885501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504012739 meters 0.02329222434434991 Centerline is valid? [True, True] Translation: X:348.22, Y:-50.31, Z:-7.02 [[ 9.84271724e-01 1.75722813e-01 1.81842492e-02 3.48224237e+02] [-1.75689810e-01 9.84439672e-01 -3.40930162e-03 -5.03094375e+01] [-1.85003884e-02 1.60891886e-04 9.99828840e-01 -7.02492562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564012739 meters 0.02521224480262903 Centerline is valid? [True, True] Translation: X:348.28, Y:-50.33, Z:-7.03 [[ 9.84832679e-01 1.72590158e-01 1.78109898e-02 3.48283272e+02] [-1.72557958e-01 9.84993701e-01 -3.34078943e-03 -5.03304983e+01] [-1.81203001e-02 2.16690582e-04 9.99835790e-01 -7.02569865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624012739 meters 0.02624619710585798 Centerline is valid? [True, True] Translation: X:348.34, Y:-50.35, Z:-7.03 [[ 9.84985427e-01 1.71716563e-01 1.78081555e-02 3.48342173e+02] [-1.71684171e-01 9.85146368e-01 -3.34348892e-03 -5.03488349e+01] [-1.81177722e-02 2.35909437e-04 9.99835832e-01 -7.02718398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684012739 meters 0.02372190347576843 Centerline is valid? [True, True] Translation: X:348.40, Y:-50.36, Z:-7.02 [[ 9.84249075e-01 1.75637990e-01 2.01259930e-02 3.48403197e+02] [-1.75597393e-01 9.84454804e-01 -3.78077211e-03 -5.03595914e+01] [-2.04771777e-02 1.87149561e-04 9.99790303e-01 -7.02338614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744012739 meters 0.021630949698633103 Centerline is valid? [True, True] Translation: X:348.46, Y:-50.36, Z:-7.03 [[ 9.83213364e-01 1.81687897e-01 1.67627487e-02 3.48464681e+02] [-1.81660574e-01 9.83356245e-01 -3.15125210e-03 -5.03640085e+01] [-1.70562980e-02 5.32226346e-05 9.99854529e-01 -7.03049020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80401273900003 meters 0.021182069581791467 Centerline is valid? [True, True] Translation: X:348.53, Y:-50.37, Z:-7.03 [[ 9.82889539e-01 1.83338961e-01 1.77476839e-02 3.48525960e+02] [-1.83308550e-01 9.83049757e-01 -3.33930034e-03 -5.03733599e+01] [-1.80590802e-02 2.88611550e-05 9.99836921e-01 -7.02976514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86401273900003 meters 0.022327444151235606 Centerline is valid? [True, True] Translation: X:348.59, Y:-50.39, Z:-7.03 [[ 9.83604316e-01 1.79164032e-01 2.05620940e-02 3.48585384e+02] [-1.79122215e-01 9.83819208e-01 -3.87274681e-03 -5.03914517e+01] [-2.09232400e-02 1.26122638e-04 9.99781077e-01 -7.02508581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.924012739 meters 0.024602828443526334 Centerline is valid? [True, True] Translation: X:348.64, Y:-50.41, Z:-7.03 [[ 9.84250209e-01 1.75717581e-01 1.93612664e-02 3.48644578e+02] [-1.75679785e-01 9.84440600e-01 -3.64935516e-03 -5.04086552e+01] [-1.97012726e-02 1.90495454e-04 9.99805893e-01 -7.02863749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984012739 meters 0.024756233395140874 Centerline is valid? [True, True] Translation: X:348.71, Y:-50.42, Z:-7.03 [[ 9.84416564e-01 1.74773158e-01 1.94517713e-02 3.48705723e+02] [-1.74734765e-01 9.84608703e-01 -3.66935563e-03 -5.04187104e+01] [-1.97936882e-02 2.13273765e-04 9.99804063e-01 -7.02968933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044012739 meters 0.023636470198118386 Centerline is valid? [True, True] Translation: X:348.77, Y:-50.43, Z:-7.03 [[ 9.84068229e-01 1.76814942e-01 1.86063690e-02 3.48767764e+02] [-1.76780122e-01 9.84244100e-01 -3.51287402e-03 -5.04264558e+01] [-1.89343375e-02 1.67671537e-04 9.99820715e-01 -7.03148726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104012739 meters 0.022129900401213053 Centerline is valid? [True, True] Translation: X:348.83, Y:-50.43, Z:-7.04 [[ 9.83322009e-01 1.81103293e-01 1.67159998e-02 3.48830917e+02] [-1.81075766e-01 9.83464077e-01 -3.15847241e-03 -5.04277446e+01] [-1.70115951e-02 7.89329580e-05 9.99855289e-01 -7.03654425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164012739 meters 0.02157533762025509 Centerline is valid? [True, True] Translation: X:348.89, Y:-50.43, Z:-7.04 [[ 9.82912149e-01 1.83272612e-01 1.71714037e-02 3.48892543e+02] [-1.83243841e-01 9.83062128e-01 -3.24758854e-03 -5.04317918e+01] [-1.74757507e-02 4.55402622e-05 9.99847286e-01 -7.03730431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224012739 meters 0.021433525089504395 Centerline is valid? [True, True] Translation: X:348.95, Y:-50.44, Z:-7.04 [[ 9.82828240e-01 1.83606851e-01 1.83623314e-02 3.48953496e+02] [-1.83573947e-01 9.82999757e-01 -3.47617537e-03 -5.04386063e+01] [-1.86884169e-02 4.56376739e-05 9.99825355e-01 -7.03642699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284012739 meters 0.021745347976202912 Centerline is valid? [True, True] Translation: X:349.01, Y:-50.45, Z:-7.04 [[ 9.83000642e-01 1.82805928e-01 1.70801389e-02 3.49014875e+02] [-1.82777339e-01 9.83149017e-01 -3.23338835e-03 -5.04496553e+01] [-1.73834043e-02 5.65604774e-05 9.99848896e-01 -7.04059681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344012739 meters 0.021522972412509226 Centerline is valid? [True, True] Translation: X:349.08, Y:-50.46, Z:-7.04 [[ 9.82895465e-01 1.83392591e-01 1.68423063e-02 3.49075399e+02] [-1.83364823e-01 9.83039753e-01 -3.19161945e-03 -5.04551463e+01] [-1.71419760e-02 4.87417640e-05 9.99853064e-01 -7.04174134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404012739 meters 0.021353420426952673 Centerline is valid? [True, True] Translation: X:349.14, Y:-50.46, Z:-7.04 [[ 9.82737534e-01 1.84223369e-01 1.69908544e-02 3.49135395e+02] [-1.84195229e-01 9.82884403e-01 -3.22000741e-03 -5.04624750e+01] [-1.72932464e-02 3.47878193e-05 9.99850460e-01 -7.04225792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464012739 meters 0.021405568516510036 Centerline is valid? [True, True] Translation: X:349.20, Y:-50.48, Z:-7.04 [[ 9.82940341e-01 1.82906186e-01 1.93290508e-02 3.49196062e+02] [-1.82869516e-01 9.83130369e-01 -3.66299566e-03 -5.04758836e+01] [-1.96729614e-02 6.58120449e-05 9.99806466e-01 -7.03941889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524012739 meters 0.02158476444994524 Centerline is valid? [True, True] Translation: X:349.26, Y:-50.49, Z:-7.04 [[ 9.82999666e-01 1.82473911e-01 2.03698050e-02 3.49255805e+02] [-1.82433015e-01 9.83210692e-01 -3.86392655e-03 -5.04932777e+01] [-2.07328758e-02 8.21135711e-05 9.99785047e-01 -7.03808833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584012739 meters 0.0209863798574012 Centerline is valid? [True, True] Translation: X:349.32, Y:-50.50, Z:-7.04 [[ 9.82671405e-01 1.84268646e-01 2.00493192e-02 3.49317482e+02] [-1.84229327e-01 9.82875915e-01 -3.80674069e-03 -5.05020446e+01] [-2.04074559e-02 4.71026365e-05 9.99791745e-01 -7.03950761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644012739 meters 0.021164728713974002 Centerline is valid? [True, True] Translation: X:349.38, Y:-50.51, Z:-7.04 [[ 9.81667435e-01 1.89684456e-01 1.86776477e-02 3.49377679e+02] [-1.89651253e-01 9.81845102e-01 -3.54942499e-03 -5.05068970e+01] [-1.90118276e-02 -5.78843670e-05 9.99819257e-01 -7.04483920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704012739 meters 0.02220349615465543 Centerline is valid? [True, True] Translation: X:349.44, Y:-50.51, Z:-7.05 [[ 9.80984128e-01 1.93208801e-01 1.84526604e-02 3.49438464e+02] [-1.93176996e-01 9.81157655e-01 -3.50777576e-03 -5.05132317e+01] [-1.87827021e-02 -1.23557145e-04 9.99823582e-01 -7.04647473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764012739 meters 0.02299597775495369 Centerline is valid? [True, True] Translation: X:349.50, Y:-50.52, Z:-7.05 [[ 9.80965311e-01 1.93408223e-01 1.73296786e-02 3.49496880e+02] [-1.93380201e-01 9.81118364e-01 -3.29440138e-03 -5.05206371e+01] [-1.76396302e-02 -1.19523244e-04 9.99844402e-01 -7.05118257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824012739 meters 0.021429717169488424 Centerline is valid? [True, True] Translation: X:349.55, Y:-50.54, Z:-7.05 [[ 9.81535668e-01 1.90437604e-01 1.79234820e-02 3.49554046e+02] [-1.90407146e-01 9.81699299e-01 -3.40658472e-03 -5.05372956e+01] [-1.82442115e-02 -6.90746352e-05 9.99833558e-01 -7.05102715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884012739 meters 0.020791239258746985 Centerline is valid? [True, True] Translation: X:349.61, Y:-50.55, Z:-7.05 [[ 9.82099082e-01 1.87337539e-01 1.96479113e-02 3.49612840e+02] [-1.87300326e-01 9.82295600e-01 -3.73382571e-03 -5.05538648e+01] [-1.99995425e-02 -1.30733913e-05 9.99799989e-01 -7.04954342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944012739 meters 0.020934584288129443 Centerline is valid? [True, True] Translation: X:349.67, Y:-50.57, Z:-7.05 [[ 9.82366386e-01 1.86028731e-01 1.86974431e-02 3.49673626e+02] [-1.85994800e-01 9.82544305e-01 -3.55292765e-03 -5.05692474e+01] [-1.90320129e-02 1.26495066e-05 9.99818875e-01 -7.05235266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004012739 meters 0.02131839278417828 Centerline is valid? [True, True] Translation: X:349.73, Y:-50.59, Z:-7.06 [[ 9.82743952e-01 1.84103614e-01 1.78937129e-02 3.49732825e+02] [-1.84072157e-01 9.82906840e-01 -3.40358884e-03 -5.05869576e+01] [-1.82144658e-02 5.11220277e-05 9.99834102e-01 -7.05519090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064012739 meters 0.021492319008761994 Centerline is valid? [True, True] Translation: X:349.79, Y:-50.60, Z:-7.05 [[ 9.82937682e-01 1.82971116e-01 1.88436531e-02 3.49793519e+02] [-1.82935957e-01 9.83118286e-01 -3.58763328e-03 -5.06042809e+01] [-1.91819732e-02 7.92382305e-05 9.99816006e-01 -7.05319368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124012739 meters 0.02087115814258853 Centerline is valid? [True, True] Translation: X:349.85, Y:-50.61, Z:-7.05 [[ 9.82583053e-01 1.84806363e-01 1.94204262e-02 3.49853784e+02] [-1.84769299e-01 9.82774952e-01 -3.70137196e-03 -5.06144526e+01] [-1.97699455e-02 4.86068212e-05 9.99804554e-01 -7.05296055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184012739 meters 0.020688529325045644 Centerline is valid? [True, True] Translation: X:349.91, Y:-50.62, Z:-7.05 [[ 9.82196682e-01 1.86691065e-01 2.08835862e-02 3.49914126e+02] [-1.86648587e-01 9.82418672e-01 -3.98228922e-03 -5.06237808e+01] [-2.12598829e-02 1.34993868e-05 9.99773983e-01 -7.05249945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244012739 meters 0.020764562167560816 Centerline is valid? [True, True] Translation: X:349.98, Y:-50.64, Z:-7.06 [[ 9.82216364e-01 1.86694114e-01 1.99078335e-02 3.49975136e+02] [-1.86655506e-01 9.82418092e-01 -3.79663702e-03 -5.06420256e+01] [-2.02666256e-02 1.32122716e-05 9.99794611e-01 -7.05599519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30401273900003 meters 0.02061916045147291 Centerline is valid? [True, True] Translation: X:350.04, Y:-50.66, Z:-7.06 [[ 9.81948472e-01 1.88055229e-01 2.03083503e-02 3.50035474e+02] [-1.88015263e-01 9.82158455e-01 -3.87689023e-03 -5.06576739e+01] [-2.06750874e-02 -1.13733846e-05 9.99786247e-01 -7.05600722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36401273900003 meters 0.022640500277862026 Centerline is valid? [True, True] Translation: X:350.10, Y:-50.66, Z:-7.06 [[ 9.80627485e-01 1.94784678e-01 2.07042115e-02 3.50096074e+02] [-1.94744561e-01 9.80846015e-01 -3.95602713e-03 -5.06618579e+01] [-2.10782168e-02 -1.52643639e-04 9.99777818e-01 -7.05644268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.424012739 meters 0.026264081288068595 Centerline is valid? [True, True] Translation: X:350.16, Y:-50.67, Z:-7.06 [[ 9.78963096e-01 2.03128072e-01 1.92416860e-02 3.50157473e+02] [-2.03095027e-01 9.79152129e-01 -3.67677818e-03 -5.06651245e+01] [-1.95873946e-02 -3.08460573e-04 9.99808101e-01 -7.06014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484012739 meters 0.030800731393403186 Centerline is valid? [True, True] Translation: X:350.22, Y:-50.67, Z:-7.06 [[ 9.77761205e-01 2.08761959e-01 2.00367125e-02 3.50218574e+02] [-2.08727302e-01 9.77966386e-01 -3.82896051e-03 -5.06665452e+01] [-2.03945726e-02 -4.38399902e-04 9.99791913e-01 -7.05926040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544012739 meters 0.04021527240731211 Centerline is valid? [True, True] Translation: X:350.28, Y:-50.66, Z:-7.06 [[ 9.76904163e-01 2.12809462e-01 1.92454943e-02 3.50279405e+02] [-2.12778277e-01 9.77093588e-01 -3.67754544e-03 -5.06589350e+01] [-1.95872655e-02 -5.02413661e-04 9.99808025e-01 -7.06201413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604012739 meters 0.0414903723792743 Centerline is valid? [True, True] Translation: X:350.34, Y:-50.66, Z:-7.06 [[ 9.75536670e-01 2.19063822e-01 1.84186502e-02 3.50340746e+02] [-2.19036382e-01 9.75710347e-01 -3.51898395e-03 -5.06593549e+01] [-1.87421496e-02 -6.01456606e-04 9.99824170e-01 -7.06437807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664012739 meters 0.04340740577931959 Centerline is valid? [True, True] Translation: X:350.40, Y:-50.66, Z:-7.06 [[ 9.75143994e-01 2.20725290e-01 1.93529803e-02 3.50401693e+02] [-2.20695323e-01 9.75335790e-01 -3.69743911e-03 -5.06596859e+01] [-1.96917727e-02 -6.65576695e-04 9.99805877e-01 -7.06430056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724012739 meters 0.03964090036115516 Centerline is valid? [True, True] Translation: X:350.46, Y:-50.67, Z:-7.06 [[ 9.76054194e-01 2.16608476e-01 1.99744504e-02 3.50460303e+02] [-2.16575701e-01 9.76258371e-01 -3.81567585e-03 -5.06672461e+01] [-2.03267321e-02 -6.01674180e-04 9.99793210e-01 -7.06339796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784012739 meters 0.03521148566282068 Centerline is valid? [True, True] Translation: X:350.52, Y:-50.68, Z:-7.06 [[ 9.77160977e-01 2.11534915e-01 2.02337739e-02 3.50519213e+02] [-2.11500206e-01 9.77370312e-01 -3.86472570e-03 -5.06772237e+01] [-2.05934144e-02 -5.02988217e-04 9.99787807e-01 -7.06422523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844012739 meters 0.030226053134728932 Centerline is valid? [True, True] Translation: X:350.58, Y:-50.69, Z:-7.06 [[ 9.78290164e-01 2.06166660e-01 2.10633375e-02 3.50577745e+02] [-2.06127806e-01 9.78516808e-01 -4.02291760e-03 -5.06895269e+01] [-2.14402213e-02 -4.06158837e-04 9.99770050e-01 -7.06440407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904012739 meters 0.023669039269496723 Centerline is valid? [True, True] Translation: X:350.63, Y:-50.71, Z:-7.06 [[ 9.80085057e-01 1.97362205e-01 2.19417497e-02 3.50633523e+02] [-1.97317840e-01 9.80330613e-01 -4.19039448e-03 -5.07119810e+01] [-2.23371945e-02 -2.22555642e-04 9.99750469e-01 -7.06421731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964012739 meters 0.021064912314032867 Centerline is valid? [True, True] Translation: X:350.69, Y:-50.73, Z:-7.07 [[ 9.81171810e-01 1.92116208e-01 1.98303223e-02 3.50690598e+02] [-1.92078908e-01 9.81372179e-01 -3.78673604e-03 -5.07317325e+01] [-2.01884200e-02 -9.35479993e-05 9.99796189e-01 -7.07060002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024012739 meters 0.020579249514968846 Centerline is valid? [True, True] Translation: X:350.75, Y:-50.75, Z:-7.08 [[ 9.81936504e-01 1.88403729e-01 1.74567391e-02 3.50747804e+02] [-1.88374246e-01 9.82091663e-01 -3.33301427e-03 -5.07511388e+01] [-1.77720702e-02 -1.55916766e-05 9.99842064e-01 -7.07649629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084012739 meters 0.02040174477542351 Centerline is valid? [True, True] Translation: X:350.80, Y:-50.77, Z:-7.08 [[ 9.82143015e-01 1.87243532e-01 1.83018714e-02 3.50803999e+02] [-1.87210916e-01 9.82313524e-01 -3.49475571e-03 -5.07673167e+01] [-1.86325462e-02 6.03979689e-06 9.99826399e-01 -7.07617729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144012739 meters 0.020919643507263525 Centerline is valid? [True, True] Translation: X:350.86, Y:-50.79, Z:-7.08 [[ 9.82719141e-01 1.84221738e-01 1.80400066e-02 3.50861270e+02] [-1.84189552e-01 9.82884707e-01 -3.44404519e-03 -5.07904917e+01] [-1.83657146e-02 6.17483954e-05 9.99831334e-01 -7.07882078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204012739 meters 0.020971365724942577 Centerline is valid? [True, True] Translation: X:350.92, Y:-50.81, Z:-7.07 [[ 9.82873036e-01 1.83127007e-01 2.06178218e-02 3.50921100e+02] [-1.83084721e-01 9.83089259e-01 -3.93628154e-03 -5.08130632e+01] [-2.09899986e-02 9.40568394e-05 9.99779681e-01 -7.07415811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264012739 meters 0.02105033197483747 Centerline is valid? [True, True] Translation: X:350.98, Y:-50.81, Z:-7.08 [[ 9.81222814e-01 1.91852244e-01 1.98621696e-02 3.50982239e+02] [-1.91814709e-01 9.81423817e-01 -3.79579091e-03 -5.08118362e+01] [-2.02214373e-02 -8.53396510e-05 9.99795522e-01 -7.07540564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324012739 meters 0.030707833007152338 Centerline is valid? [True, True] Translation: X:351.05, Y:-50.80, Z:-7.08 [[ 9.78577334e-01 2.04925809e-01 1.97942889e-02 3.51045212e+02] [-2.04891202e-01 9.78777445e-01 -3.78258540e-03 -5.07989667e+01] [-2.01493529e-02 -3.54123302e-04 9.99796918e-01 -7.07672166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384012739 meters 0.03709581449863685 Centerline is valid? [True, True] Translation: X:351.11, Y:-50.80, Z:-7.08 [[ 9.76938318e-01 2.12573144e-01 2.01042737e-02 3.51107354e+02] [-2.12539070e-01 9.77145019e-01 -3.84134232e-03 -5.07968160e+01] [-2.04613571e-02 -5.20189129e-04 9.99790509e-01 -7.07768623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444012739 meters 0.040869785272053476 Centerline is valid? [True, True] Translation: X:351.17, Y:-50.79, Z:-7.08 [[ 9.75693454e-01 2.18454772e-01 1.73146174e-02 3.51169335e+02] [-2.18430424e-01 9.75846917e-01 -3.30828100e-03 -5.07938256e+01] [-1.76191258e-02 -5.54171097e-04 9.99844618e-01 -7.08419393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504012739 meters 0.044781875553432715 Centerline is valid? [True, True] Translation: X:351.23, Y:-50.79, Z:-7.08 [[ 9.74892028e-01 2.21976449e-01 1.76632545e-02 3.51231920e+02] [-2.21951688e-01 9.75051824e-01 -3.37486350e-03 -5.07866777e+01] [-1.79717287e-02 -6.30261621e-04 9.99838297e-01 -7.08477456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564012739 meters 0.0461059626604578 Centerline is valid? [True, True] Translation: X:351.29, Y:-50.78, Z:-7.09 [[ 9.74783919e-01 2.22440878e-01 1.77867240e-02 3.51291669e+02] [-2.22415847e-01 9.74945969e-01 -3.39841645e-03 -5.07804853e+01] [-1.80970416e-02 -6.43327579e-04 9.99836028e-01 -7.08659547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624012739 meters 0.042080104228057164 Centerline is valid? [True, True] Translation: X:351.35, Y:-50.78, Z:-7.09 [[ 9.75709230e-01 2.18327362e-01 1.80183548e-02 3.51351828e+02] [-2.18301006e-01 9.75875418e-01 -3.44088218e-03 -5.07839434e+01] [-1.83349083e-02 -5.76124489e-04 9.99831735e-01 -7.08867481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684012739 meters 0.036219001538300384 Centerline is valid? [True, True] Translation: X:351.41, Y:-50.79, Z:-7.09 [[ 9.77309011e-01 2.11152500e-01 1.67844542e-02 3.51410891e+02] [-2.11128574e-01 9.77453044e-01 -3.20507991e-03 -5.07914850e+01] [-1.70827764e-02 -4.11324395e-04 9.99853994e-01 -7.09283364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744012739 meters 0.02886929641762887 Centerline is valid? [True, True] Translation: X:351.47, Y:-50.81, Z:-7.09 [[ 9.78857426e-01 2.03564757e-01 1.99882271e-02 3.51469327e+02] [-2.03529249e-01 9.79061428e-01 -3.81649188e-03 -5.08068436e+01] [-2.03466054e-02 -3.32387434e-04 9.99792931e-01 -7.08677297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80401273900003 meters 0.02397288791471227 Centerline is valid? [True, True] Translation: X:351.53, Y:-50.82, Z:-7.09 [[ 9.80109097e-01 1.97281148e-01 2.15941259e-02 3.51526896e+02] [-1.97238180e-01 9.80346929e-01 -4.12300401e-03 -5.08243417e+01] [-2.19831260e-02 -2.18192364e-04 9.99758318e-01 -7.08671766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86401273900003 meters 0.021165411620974364 Centerline is valid? [True, True] Translation: X:351.58, Y:-50.84, Z:-7.09 [[ 9.81024492e-01 1.92660907e-01 2.17421515e-02 3.51583890e+02] [-1.92616226e-01 9.81265388e-01 -4.15066329e-03 -5.08422846e+01] [-2.21344913e-02 -1.15988820e-04 9.99754995e-01 -7.08691191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.924012739 meters 0.020067469476913378 Centerline is valid? [True, True] Translation: X:351.64, Y:-50.86, Z:-7.09 [[ 9.82009660e-01 1.87631938e-01 2.12434143e-02 3.51639853e+02] [-1.87588141e-01 9.82239409e-01 -4.05382185e-03 -5.08611102e+01] [-2.16267452e-02 -4.12038188e-06 9.99766115e-01 -7.08787041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984012739 meters 0.021523453277127406 Centerline is valid? [True, True] Translation: X:351.70, Y:-50.88, Z:-7.09 [[ 9.83342693e-01 1.80668468e-01 1.99010511e-02 3.51695592e+02] [-1.80628622e-01 9.83544043e-01 -3.79679195e-03 -5.08823587e+01] [-2.02595208e-02 1.38848192e-04 9.99794745e-01 -7.09181379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044012739 meters 0.02317929177402671 Centerline is valid? [True, True] Translation: X:351.75, Y:-50.90, Z:-7.09 [[ 9.83765379e-01 1.78410017e-01 1.93789606e-02 3.51751134e+02] [-1.78371814e-01 9.83956215e-01 -3.69627799e-03 -5.08975032e+01] [-1.97275017e-02 1.79609963e-04 9.99805378e-01 -7.09378030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104012739 meters 0.02385876646009963 Centerline is valid? [True, True] Translation: X:351.81, Y:-50.91, Z:-7.09 [[ 9.84170298e-01 1.76063317e-01 2.02616327e-02 3.51808882e+02] [-1.76021085e-01 9.84378816e-01 -3.86321855e-03 -5.09102894e+01] [-2.06252931e-02 2.35590367e-04 9.99787248e-01 -7.09272762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164012739 meters 0.0276107089138424 Centerline is valid? [True, True] Translation: X:351.87, Y:-50.93, Z:-7.10 [[ 9.84667852e-01 1.73324672e-01 1.96921053e-02 3.51865045e+02] [-1.73284253e-01 9.84864700e-01 -3.75369966e-03 -5.09291582e+01] [-2.00446682e-02 2.83815630e-04 9.99799045e-01 -7.09622717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224012739 meters 0.02816847899311301 Centerline is valid? [True, True] Translation: X:351.92, Y:-50.94, Z:-7.10 [[ 9.85131829e-01 1.70904465e-01 1.75197918e-02 3.51922743e+02] [-1.70872100e-01 9.85287560e-01 -3.33903239e-03 -5.09441288e+01] [-1.78326884e-02 2.95743474e-04 9.99840941e-01 -7.10160135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284012739 meters 0.03014203422280369 Centerline is valid? [True, True] Translation: X:351.98, Y:-50.96, Z:-7.10 [[ 9.85434823e-01 1.69131873e-01 1.76810273e-02 3.51978478e+02] [-1.69098632e-01 9.85593375e-01 -3.36929325e-03 -5.09626464e+01] [-1.79961583e-02 3.30381366e-04 9.99838001e-01 -7.10264128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344012739 meters 0.028441133495200884 Centerline is valid? [True, True] Translation: X:352.04, Y:-50.98, Z:-7.10 [[ 9.85373048e-01 1.69499710e-01 1.76012619e-02 3.52036860e+02] [-1.69466829e-01 9.85530184e-01 -3.35401300e-03 -5.09789677e+01] [-1.79150791e-02 3.22123987e-04 9.99839460e-01 -7.10477901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404012739 meters 0.02681555373224582 Centerline is valid? [True, True] Translation: X:352.10, Y:-51.00, Z:-7.10 [[ 9.85080241e-01 1.71163747e-01 1.78855096e-02 3.52095495e+02] [-1.71130069e-01 9.85242551e-01 -3.40816713e-03 -5.09974071e+01] [-1.82049197e-02 2.96569609e-04 9.99834233e-01 -7.10462695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464012739 meters 0.026169707333045265 Centerline is valid? [True, True] Translation: X:352.15, Y:-51.01, Z:-7.11 [[ 9.84444301e-01 1.74942629e-01 1.62633170e-02 3.52153417e+02] [-1.74915297e-01 9.84578607e-01 -3.09913979e-03 -5.10127062e+01] [-1.65546857e-02 2.06227571e-04 9.99862941e-01 -7.11014171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524012739 meters 0.022896963549036153 Centerline is valid? [True, True] Translation: X:352.21, Y:-51.02, Z:-7.11 [[ 9.83843274e-01 1.78223988e-01 1.69888791e-02 3.52213334e+02] [-1.78194652e-01 9.83989931e-01 -3.23744081e-03 -5.10197433e+01] [-1.72938756e-02 1.57806972e-04 9.99850437e-01 -7.10872808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584012739 meters 0.02103536501989201 Centerline is valid? [True, True] Translation: X:352.27, Y:-51.03, Z:-7.11 [[ 9.83070934e-01 1.82158589e-01 1.97430391e-02 3.52272484e+02] [-1.82119767e-01 9.83269158e-01 -3.76200442e-03 -5.10267030e+01] [-2.00980029e-02 1.02719513e-04 9.99798009e-01 -7.10530646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644012739 meters 0.02097876496737407 Centerline is valid? [True, True] Translation: X:352.33, Y:-51.04, Z:-7.10 [[ 9.82988162e-01 1.82302553e-01 2.23618491e-02 3.52330158e+02] [-1.82252798e-01 9.83242476e-01 -4.26038125e-03 -5.10397791e+01] [-2.27637982e-02 1.12394764e-04 9.99740865e-01 -7.10181661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704012739 meters 0.02201267290211704 Centerline is valid? [True, True] Translation: X:352.39, Y:-51.06, Z:-7.10 [[ 9.83432755e-01 1.79853841e-01 2.26409212e-02 3.52389415e+02] [-1.79802203e-01 9.83693330e-01 -4.31287700e-03 -5.10553815e+01] [-2.30474107e-02 1.70536983e-04 9.99734359e-01 -7.10361359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764012739 meters 0.023471908892023222 Centerline is valid? [True, True] Translation: X:352.45, Y:-51.08, Z:-7.11 [[ 9.84069639e-01 1.76542354e-01 2.09700527e-02 3.52448555e+02] [-1.76497292e-01 9.84293017e-01 -3.99519622e-03 -5.10757022e+01] [-2.13459978e-02 2.30393786e-04 9.99772122e-01 -7.10865344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824012739 meters 0.026547912661411467 Centerline is valid? [True, True] Translation: X:352.51, Y:-51.10, Z:-7.11 [[ 9.84670492e-01 1.73252344e-01 2.01902938e-02 3.52505854e+02] [-1.73209811e-01 9.84877423e-01 -3.85001166e-03 -5.10985229e+01] [-2.05519880e-02 2.93835913e-04 9.99788742e-01 -7.11123182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884012739 meters 0.02627886869391648 Centerline is valid? [True, True] Translation: X:352.57, Y:-51.11, Z:-7.11 [[ 9.84416006e-01 1.74828081e-01 1.89807403e-02 3.52565617e+02] [-1.74790778e-01 9.84598945e-01 -3.61966301e-03 -5.11135348e+01] [-1.93212356e-02 2.45595826e-04 9.99813297e-01 -7.11462493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944012739 meters 0.023303222175595953 Centerline is valid? [True, True] Translation: X:352.63, Y:-51.12, Z:-7.12 [[ 9.83824280e-01 1.78157136e-01 1.87035148e-02 3.52627146e+02] [-1.78121464e-01 9.84002034e-01 -3.56957754e-03 -5.11215257e+01] [-1.90402423e-02 1.80339622e-04 9.99818702e-01 -7.11584483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004012739 meters 0.021214682457347787 Centerline is valid? [True, True] Translation: X:352.69, Y:-51.13, Z:-7.12 [[ 9.82932467e-01 1.82925754e-01 1.95431513e-02 3.52687584e+02] [-1.82887677e-01 9.83126726e-01 -3.73338818e-03 -5.11283664e+01] [-1.98963272e-02 9.54669150e-05 9.99802044e-01 -7.11510066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064012739 meters 0.02122698124955934 Centerline is valid? [True, True] Translation: X:352.75, Y:-51.14, Z:-7.12 [[ 9.82903243e-01 1.83157872e-01 1.88257691e-02 3.52748045e+02] [-1.83122586e-01 9.83083509e-01 -3.59612450e-03 -5.11437324e+01] [-1.91659616e-02 8.72189099e-05 9.99816312e-01 -7.11819044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124012739 meters 0.021619109670508372 Centerline is valid? [True, True] Translation: X:352.81, Y:-51.16, Z:-7.12 [[ 9.83045133e-01 1.82349853e-01 1.92561133e-02 3.52807052e+02] [-1.82312713e-01 9.83233705e-01 -3.68175648e-03 -5.11600179e+01] [-1.96046274e-02 1.08698518e-04 9.99807805e-01 -7.11856234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184012739 meters 0.02183970268310198 Centerline is valid? [True, True] Translation: X:352.87, Y:-51.18, Z:-7.12 [[ 9.82996232e-01 1.82368001e-01 2.14550625e-02 3.52865491e+02] [-1.82321819e-01 9.83230338e-01 -4.10578621e-03 -5.11763411e+01] [-2.18440323e-02 1.24246358e-04 9.99761383e-01 -7.11538531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244012739 meters 0.022109097680345628 Centerline is valid? [True, True] Translation: X:352.93, Y:-51.19, Z:-7.12 [[ 9.83114668e-01 1.81707315e-01 2.16333238e-02 3.52925250e+02] [-1.81660197e-01 9.83352649e-01 -4.14017294e-03 -5.11913751e+01] [-2.20254860e-02 1.40350900e-04 9.99757400e-01 -7.11622586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30401273900003 meters 0.022465393916340236 Centerline is valid? [True, True] Translation: X:352.99, Y:-51.21, Z:-7.12 [[ 9.83289408e-01 1.80940196e-01 2.00645269e-02 3.52985611e+02] [-1.80899496e-01 9.83494089e-01 -3.84036059e-03 -5.12102716e+01] [-2.04282192e-02 1.46523085e-04 9.99791311e-01 -7.12103158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36401273900003 meters 0.022515636487548295 Centerline is valid? [True, True] Translation: X:353.05, Y:-51.23, Z:-7.12 [[ 9.83305688e-01 1.80783049e-01 2.06739582e-02 3.53046015e+02] [-1.80739719e-01 9.83522986e-01 -3.96103579e-03 -5.12272104e+01] [-2.10494013e-02 1.58303616e-04 9.99778424e-01 -7.12124565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.424012739 meters 0.023228276464640627 Centerline is valid? [True, True] Translation: X:353.11, Y:-51.25, Z:-7.13 [[ 9.83439154e-01 1.80321291e-01 1.82115977e-02 3.53105773e+02] [-1.80287539e-01 9.83607752e-01 -3.49203341e-03 -5.12484927e+01] [-1.85427566e-02 1.50878268e-04 9.99828057e-01 -7.12906025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484012739 meters 0.02291923493156663 Centerline is valid? [True, True] Translation: X:353.16, Y:-51.27, Z:-7.13 [[ 9.83252227e-01 1.81229717e-01 1.92574232e-02 3.53163900e+02] [-1.81192075e-01 9.83440780e-01 -3.69640035e-03 -5.12685948e+01] [-1.96084329e-02 1.45201398e-04 9.99807726e-01 -7.12795382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544012739 meters 0.02109109878750319 Centerline is valid? [True, True] Translation: X:353.22, Y:-51.28, Z:-7.12 [[ 9.82400726e-01 1.85649079e-01 2.05726301e-02 3.53224142e+02] [-1.85607019e-01 9.82616108e-01 -3.95214066e-03 -5.12784519e+01] [-2.09487090e-02 6.41613174e-05 9.99780550e-01 -7.12468033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604012739 meters 0.021033639756517484 Centerline is valid? [True, True] Translation: X:353.29, Y:-51.28, Z:-7.13 [[ 9.81213996e-01 1.91808244e-01 2.07048572e-02 3.53287887e+02] [-1.91766945e-01 9.81432419e-01 -3.98065278e-03 -5.12821897e+01] [-2.10839401e-02 -6.46349787e-05 9.99777707e-01 -7.12597745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664012739 meters 0.022999328552633456 Centerline is valid? [True, True] Translation: X:353.35, Y:-51.29, Z:-7.12 [[ 9.80249323e-01 1.96574384e-01 2.16743164e-02 3.53349282e+02] [-1.96530196e-01 9.80488900e-01 -4.17132684e-03 -5.12865109e+01] [-2.20714026e-02 -1.70717324e-04 9.99756382e-01 -7.12475523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724012739 meters 0.023344373156099295 Centerline is valid? [True, True] Translation: X:353.41, Y:-51.30, Z:-7.13 [[ 9.80069004e-01 1.97655009e-01 1.99310038e-02 3.53409465e+02] [-1.97617809e-01 9.80271629e-01 -3.83865894e-03 -5.12971533e+01] [-2.02965277e-02 -1.76570659e-04 9.99793989e-01 -7.12979593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784012739 meters 0.02379969329723516 Centerline is valid? [True, True] Translation: X:353.47, Y:-51.31, Z:-7.13 [[ 9.79988534e-01 1.98141042e-01 1.90420888e-02 3.53470264e+02] [-1.98107170e-01 9.80173503e-01 -3.66787891e-03 -5.13077788e+01] [-1.93913083e-02 -1.77895051e-04 9.99811955e-01 -7.13227379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844012739 meters 0.023165251170879905 Centerline is valid? [True, True] Translation: X:353.53, Y:-51.32, Z:-7.13 [[ 9.80177159e-01 1.97183108e-01 1.92758643e-02 3.53529890e+02] [-1.97148205e-01 9.80366664e-01 -3.71336219e-03 -5.13223560e+01] [-1.96296271e-02 -1.60449250e-04 9.99807307e-01 -7.13287734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904012739 meters 0.021263268984203554 Centerline is valid? [True, True] Translation: X:353.59, Y:-51.34, Z:-7.14 [[ 9.80969548e-01 1.93217467e-01 1.91247345e-02 3.53589415e+02] [-1.93182349e-01 9.81155953e-01 -3.68455169e-03 -5.13426713e+01] [-1.94762668e-02 -8.01281202e-05 9.99810316e-01 -7.13509987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964012739 meters 0.020814551754110493 Centerline is valid? [True, True] Translation: X:353.65, Y:-51.36, Z:-7.13 [[ 9.81296423e-01 1.91436999e-01 2.02288206e-02 3.53649017e+02] [-1.91397259e-01 9.81504902e-01 -3.90076022e-03 -5.13597570e+01] [-2.06014364e-02 -4.39387571e-05 9.99787767e-01 -7.13444929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024012739 meters 0.021047557341446272 Centerline is valid? [True, True] Translation: X:353.71, Y:-51.37, Z:-7.14 [[ 9.80916858e-01 1.93409232e-01 1.98742617e-02 3.53710662e+02] [-1.93371212e-01 9.81118170e-01 -3.83559398e-03 -5.13707204e+01] [-2.02408386e-02 -8.07112875e-05 9.99795130e-01 -7.13707315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084012739 meters 0.02331868361282613 Centerline is valid? [True, True] Translation: X:353.77, Y:-51.37, Z:-7.14 [[ 9.80021649e-01 1.97913960e-01 1.96883881e-02 3.53772396e+02] [-1.97877477e-01 9.80219382e-01 -3.80366917e-03 -5.13742688e+01] [-2.00517388e-02 -1.68210439e-04 9.99798930e-01 -7.13681803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144012739 meters 0.025969164292614078 Centerline is valid? [True, True] Translation: X:353.83, Y:-51.38, Z:-7.14 [[ 9.79332777e-01 2.01344997e-01 1.91703774e-02 3.53832619e+02] [-2.01311029e-01 9.79520362e-01 -3.70547197e-03 -5.13806498e+01] [-1.95238532e-02 -2.30318237e-04 9.99809365e-01 -7.14103920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204012739 meters 0.025042398722632905 Centerline is valid? [True, True] Translation: X:353.89, Y:-51.40, Z:-7.14 [[ 9.79222548e-01 2.01899113e-01 1.89723230e-02 3.53893256e+02] [-2.01865951e-01 9.79406295e-01 -3.66700116e-03 -5.13950581e+01] [-1.93219769e-02 -2.39055801e-04 9.99813285e-01 -7.14234324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264012739 meters 0.026333452549780555 Centerline is valid? [True, True] Translation: X:353.95, Y:-51.41, Z:-7.15 [[ 9.78931063e-01 2.03448775e-01 1.73945444e-02 3.53952507e+02] [-2.03421089e-01 9.79085561e-01 -3.36512892e-03 -5.14057967e+01] [-1.77153786e-02 -2.44187940e-04 9.99843041e-01 -7.14626059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324012739 meters 0.02831262091952226 Centerline is valid? [True, True] Translation: X:354.01, Y:-51.41, Z:-7.15 [[ 9.78470689e-01 2.05648829e-01 1.74261321e-02 3.54011189e+02] [-2.05621386e-01 9.78625811e-01 -3.37154362e-03 -5.14128493e+01] [-1.77470166e-02 -2.84228817e-04 9.99842469e-01 -7.14666267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384012739 meters 0.030733448005731075 Centerline is valid? [True, True] Translation: X:354.07, Y:-51.42, Z:-7.15 [[ 9.77900840e-01 2.08306863e-01 1.78381256e-02 3.54070477e+02] [-2.08278557e-01 9.78063462e-01 -3.45081998e-03 -5.14202679e+01] [-1.81656484e-02 -3.40739295e-04 9.99834933e-01 -7.14706850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444012739 meters 0.037189401353392715 Centerline is valid? [True, True] Translation: X:354.13, Y:-51.42, Z:-7.14 [[ 9.77125191e-01 2.11775343e-01 1.94310219e-02 3.54130129e+02] [-2.11742450e-01 9.77318274e-01 -3.75846774e-03 -5.14196081e+01] [-1.97862436e-02 -4.41878670e-04 9.99804135e-01 -7.14438105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504012739 meters 0.040519124733579714 Centerline is valid? [True, True] Translation: X:354.19, Y:-51.42, Z:-7.15 [[ 9.76629748e-01 2.14074557e-01 1.91420940e-02 3.54189736e+02] [-2.14043082e-01 9.76817205e-01 -3.70226029e-03 -5.14224071e+01] [-1.94908865e-02 -4.81495255e-04 9.99809919e-01 -7.14795777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564012739 meters 0.04222362895735706 Centerline is valid? [True, True] Translation: X:354.25, Y:-51.43, Z:-7.15 [[ 9.76443838e-01 2.14905148e-01 1.93186148e-02 3.54248060e+02] [-2.14873264e-01 9.76634796e-01 -3.73579208e-03 -5.14278417e+01] [-1.96700723e-02 -5.03262655e-04 9.99806399e-01 -7.14902848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624012739 meters 0.03912276288584967 Centerline is valid? [True, True] Translation: X:354.31, Y:-51.44, Z:-7.15 [[ 9.76420276e-01 2.14954298e-01 1.99522925e-02 3.54305911e+02] [-2.14920321e-01 9.76623969e-01 -3.85722955e-03 -5.14381875e+01] [-2.03150152e-02 -5.21875968e-04 9.99793493e-01 -7.14838728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684012739 meters 0.03994856381609479 Centerline is valid? [True, True] Translation: X:354.36, Y:-51.44, Z:-7.15 [[ 9.76340856e-01 2.15381181e-01 1.92218787e-02 3.54364763e+02] [-2.15349745e-01 9.76529920e-01 -3.71520029e-03 -5.14418887e+01] [-1.95709239e-02 -5.12124854e-04 9.99808340e-01 -7.15178496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744012739 meters 0.04096303300704092 Centerline is valid? [True, True] Translation: X:354.42, Y:-51.45, Z:-7.15 [[ 9.76233053e-01 2.15779535e-01 2.02044170e-02 3.54423850e+02] [-2.15744908e-01 9.76441955e-01 -3.90416310e-03 -5.14488678e+01] [-2.05708790e-02 -5.47627021e-04 9.99788247e-01 -7.15042726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80401273900003 meters 0.037792032279870096 Centerline is valid? [True, True] Translation: X:354.48, Y:-51.46, Z:-7.16 [[ 9.76521127e-01 2.14632245e-01 1.84251983e-02 3.54481349e+02] [-2.14603258e-01 9.76694820e-01 -3.55962538e-03 -5.14605325e+01] [-1.87598061e-02 -4.78058192e-04 9.99823905e-01 -7.15655668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86401273900003 meters 0.03405159949201718 Centerline is valid? [True, True] Translation: X:354.54, Y:-51.48, Z:-7.16 [[ 9.77380323e-01 2.10679253e-01 1.84920703e-02 3.54539339e+02] [-2.10649364e-01 9.77555159e-01 -3.57165431e-03 -5.14751308e+01] [-1.88294922e-02 -4.04478203e-04 9.99822628e-01 -7.15807354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.924012739 meters 0.032539907030506826 Centerline is valid? [True, True] Translation: X:354.60, Y:-51.48, Z:-7.15 [[ 9.77705014e-01 2.08944278e-01 2.08612888e-02 3.54597052e+02] [-2.08905856e-01 9.77927458e-01 -4.02870525e-03 -5.14849165e+01] [-2.12426020e-02 -4.19160064e-04 9.99774263e-01 -7.15325953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984012739 meters 0.033344987163202215 Centerline is valid? [True, True] Translation: X:354.65, Y:-51.49, Z:-7.16 [[ 9.77804199e-01 2.08521930e-01 2.04341123e-02 3.54654954e+02] [-2.08484992e-01 9.78017609e-01 -3.94529848e-03 -5.14905618e+01] [-2.08076029e-02 -4.02476321e-04 9.99783417e-01 -7.15712957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044012739 meters 0.02760268629982639 Centerline is valid? [True, True] Translation: X:354.71, Y:-51.51, Z:-7.16 [[ 9.78600885e-01 2.04716387e-01 2.07727767e-02 3.54712602e+02] [-2.04677382e-01 9.78821277e-01 -4.00952671e-03 -5.15074830e+01] [-2.11536517e-02 -3.27991169e-04 9.99776183e-01 -7.15756096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104012739 meters 0.02401677145911552 Centerline is valid? [True, True] Translation: X:354.77, Y:-51.53, Z:-7.16 [[ 9.79866949e-01 1.98693272e-01 1.95383294e-02 3.54769227e+02] [-1.98657575e-01 9.80061707e-01 -3.77082543e-03 -5.15252781e+01] [-1.98980061e-02 -1.86529945e-04 9.99801998e-01 -7.16145604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164012739 meters 0.02115173485225545 Centerline is valid? [True, True] Translation: X:354.83, Y:-51.55, Z:-7.16 [[ 9.80663620e-01 1.94778535e-01 1.89786141e-02 3.54827274e+02] [-1.94744129e-01 9.80847242e-01 -3.66234887e-03 -5.15451391e+01] [-1.93284682e-02 -1.04441366e-04 9.99813182e-01 -7.16329289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224012739 meters 0.021288626527699275 Centerline is valid? [True, True] Translation: X:354.89, Y:-51.56, Z:-7.16 [[ 9.80628844e-01 1.94937567e-01 1.91419880e-02 3.54886111e+02] [-1.94902596e-01 9.80815647e-01 -3.69389836e-03 -5.15560856e+01] [-1.94948409e-02 -1.08479864e-04 9.99809952e-01 -7.16437743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284012739 meters 0.022845200846076528 Centerline is valid? [True, True] Translation: X:354.94, Y:-51.56, Z:-7.16 [[ 9.79952674e-01 1.98128186e-01 2.09279325e-02 3.54944580e+02] [-1.98087123e-01 9.80176100e-01 -4.03797842e-03 -5.15613481e+01] [-2.13130965e-02 -1.88526189e-04 9.99772832e-01 -7.16196154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344012739 meters 0.02548931554118432 Centerline is valid? [True, True] Translation: X:355.00, Y:-51.56, Z:-7.16 [[ 9.79365634e-01 2.01001593e-01 2.10074761e-02 3.55003335e+02] [-2.00960894e-01 9.79590882e-01 -4.05257154e-03 -5.15645221e+01] [-2.13933053e-02 -2.52731885e-04 9.99771105e-01 -7.16335004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404012739 meters 0.027450498324751743 Centerline is valid? [True, True] Translation: X:355.06, Y:-51.57, Z:-7.17 [[ 9.79233998e-01 2.01684602e-01 2.05936714e-02 3.55061094e+02] [-2.01645656e-01 9.79450485e-01 -3.97202240e-03 -5.15680171e+01] [-2.09715772e-02 -2.63085016e-04 9.99780038e-01 -7.16565569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464012739 meters 0.024584176791532276 Centerline is valid? [True, True] Translation: X:355.12, Y:-51.58, Z:-7.17 [[ 9.79596046e-01 2.00029566e-01 1.94874272e-02 3.55118923e+02] [-1.99994386e-01 9.79789838e-01 -3.75761368e-03 -5.15804754e+01] [-1.98452169e-02 -2.16432535e-04 9.99803041e-01 -7.16810511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524012739 meters 0.023859315756928706 Centerline is valid? [True, True] Translation: X:355.18, Y:-51.59, Z:-7.17 [[ 9.79903639e-01 1.98670466e-01 1.78578765e-02 3.55176885e+02] [-1.98640712e-01 9.80066332e-01 -3.44265245e-03 -5.15895209e+01] [-1.81858569e-02 -1.73833640e-04 9.99834609e-01 -7.17283366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584012739 meters 0.02738677901957749 Centerline is valid? [True, True] Translation: X:355.24, Y:-51.58, Z:-7.17 [[ 9.79438142e-01 2.00804205e-01 1.94575753e-02 3.55236381e+02] [-2.00769321e-01 9.79631368e-01 -3.75007230e-03 -5.15847820e+01] [-1.98142814e-02 -2.33520347e-04 9.99803651e-01 -7.17118119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644012739 meters 0.028744472546012523 Centerline is valid? [True, True] Translation: X:355.30, Y:-51.59, Z:-7.17 [[ 9.78761608e-01 2.04172695e-01 1.84180612e-02 3.55295649e+02] [-2.04142053e-01 9.78934844e-01 -3.54871684e-03 -5.15873775e+01] [-1.87546329e-02 -2.86553026e-04 9.99824075e-01 -7.17336153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704012739 meters 0.032206172173234314 Centerline is valid? [True, True] Translation: X:355.36, Y:-51.59, Z:-7.18 [[ 9.78155977e-01 2.07147217e-01 1.73469063e-02 3.55355977e+02] [-2.07120518e-01 9.78309729e-01 -3.34153919e-03 -5.15879145e+01] [-1.76628377e-02 -3.24353677e-04 9.99843947e-01 -7.17706878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764012739 meters 0.029182817493251745 Centerline is valid? [True, True] Translation: X:355.41, Y:-51.60, Z:-7.18 [[ 9.78337833e-01 2.06080497e-01 1.96446834e-02 3.55414005e+02] [-2.06046050e-01 9.78534981e-01 -3.78367377e-03 -5.15961269e+01] [-2.00027513e-02 -3.45998217e-04 9.99799865e-01 -7.17515761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824012739 meters 0.024604239597429207 Centerline is valid? [True, True] Translation: X:355.47, Y:-51.61, Z:-7.18 [[ 9.79457066e-01 2.00701666e-01 1.95626350e-02 3.55470868e+02] [-2.00666451e-01 9.79652380e-01 -3.76693883e-03 -5.16147553e+01] [-1.99206129e-02 -2.36009692e-04 9.99801537e-01 -7.17671094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884012739 meters 0.020268239457939725 Centerline is valid? [True, True] Translation: X:355.53, Y:-51.64, Z:-7.18 [[ 9.81505530e-01 1.90439538e-01 1.94853009e-02 3.55525841e+02] [-1.90402584e-01 9.81698926e-01 -3.75158717e-03 -5.16406440e+01] [-1.98431495e-02 -2.78480951e-05 9.99803105e-01 -7.17852436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944012739 meters 0.02032390229598047 Centerline is valid? [True, True] Translation: X:355.58, Y:-51.66, Z:-7.18 [[ 9.82031155e-01 1.87744371e-01 1.91536661e-02 3.55581070e+02] [-1.87708164e-01 9.82217924e-01 -3.68708260e-03 -5.16575998e+01] [-1.95053032e-02 2.55304836e-05 9.99809753e-01 -7.17917747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004012739 meters 0.020528091655628484 Centerline is valid? [True, True] Translation: X:355.64, Y:-51.66, Z:-7.18 [[ 9.81271466e-01 1.91757752e-01 1.83104838e-02 3.55640927e+02] [-1.91725381e-01 9.81442287e-01 -3.52372022e-03 -5.16601488e+01] [-1.86463837e-02 -5.28583658e-05 9.99826140e-01 -7.18101879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064012739 meters 0.021252215362601728 Centerline is valid? [True, True] Translation: X:355.70, Y:-51.67, Z:-7.18 [[ 9.80847414e-01 1.93919220e-01 1.82671051e-02 3.55699499e+02] [-1.93887392e-01 9.81017496e-01 -3.51454075e-03 -5.16669942e+01] [-1.86018867e-02 -9.45331567e-05 9.99826965e-01 -7.18277240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124012739 meters 0.02111306744888353 Centerline is valid? [True, True] Translation: X:355.76, Y:-51.68, Z:-7.18 [[ 9.80808850e-01 1.93963288e-01 1.98050980e-02 3.55757189e+02] [-1.93925903e-01 9.81008783e-01 -3.80944920e-03 -5.16778102e+01] [-2.01678684e-02 -1.04380039e-04 9.99796602e-01 -7.18109429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184012739 meters 0.022509133880801974 Centerline is valid? [True, True] Translation: X:355.81, Y:-51.68, Z:-7.19 [[ 9.80440115e-01 1.96043760e-01 1.74363272e-02 3.55814880e+02] [-1.96015125e-01 9.80595139e-01 -3.35314470e-03 -5.16813947e+01] [-1.77553408e-02 -1.30226273e-04 9.99842353e-01 -7.18619921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244012739 meters 0.024999670645075918 Centerline is valid? [True, True] Translation: X:355.87, Y:-51.68, Z:-7.18 [[ 9.79756847e-01 1.99357500e-01 1.82512496e-02 3.55873808e+02] [-1.99326720e-01 9.79926807e-01 -3.50879278e-03 -5.16783939e+01] [-1.85843929e-02 -2.00197968e-04 9.99827275e-01 -7.18497661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30401273900003 meters 0.025067587980352093 Centerline is valid? [True, True] Translation: X:355.93, Y:-51.69, Z:-7.18 [[ 9.79690841e-01 1.99466191e-01 2.04718033e-02 3.55931381e+02] [-1.99427530e-01 9.79904682e-01 -3.93373676e-03 -5.16851790e+01] [-2.08450634e-02 -2.28795275e-04 9.99782692e-01 -7.18189712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36401273900003 meters 0.022660167222387506 Centerline is valid? [True, True] Translation: X:355.99, Y:-51.70, Z:-7.18 [[ 9.80331228e-01 1.96128113e-01 2.20101503e-02 3.55988052e+02] [-1.96082615e-01 9.80578265e-01 -4.22777926e-03 -5.16984002e+01] [-2.24118614e-02 -1.71183775e-04 9.99748808e-01 -7.17923133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.424012739 meters 0.02067290605335599 Centerline is valid? [True, True] Translation: X:356.04, Y:-51.71, Z:-7.18 [[ 9.80933611e-01 1.93077449e-01 2.21438374e-02 3.56044794e+02] [-1.93030647e-01 9.81183514e-01 -4.25223738e-03 -5.17144662e+01] [-2.25481794e-02 -1.03276691e-04 9.99745752e-01 -7.18094336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484012739 meters 0.020155171298720576 Centerline is valid? [True, True] Translation: X:356.10, Y:-51.74, Z:-7.19 [[ 9.82067778e-01 1.87466488e-01 1.99798929e-02 3.56099450e+02] [-1.87427242e-01 9.82270999e-01 -3.83582724e-03 -5.17354282e+01] [-2.03447584e-02 2.22661259e-05 9.99793024e-01 -7.18712382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544012739 meters 0.0209555066987938 Centerline is valid? [True, True] Translation: X:356.16, Y:-51.76, Z:-7.19 [[ 9.82764277e-01 1.83911967e-01 1.87287209e-02 3.56155145e+02] [-1.83876857e-01 9.82942715e-01 -3.59456185e-03 -5.17557301e+01] [-1.90703427e-02 8.88286425e-05 9.99818141e-01 -7.19053028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604012739 meters 0.02261494446571322 Centerline is valid? [True, True] Translation: X:356.21, Y:-51.78, Z:-7.19 [[ 9.83540458e-01 1.79588578e-01 1.99025064e-02 3.56211263e+02] [-1.79548063e-01 9.83741790e-01 -3.81884365e-03 -5.17779005e+01] [-2.02647480e-02 1.82530752e-04 9.99794632e-01 -7.18883633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664012739 meters 0.026097752027873587 Centerline is valid? [True, True] Translation: X:356.27, Y:-51.81, Z:-7.19 [[ 9.84345673e-01 1.75176052e-01 1.94151139e-02 3.56267045e+02] [-1.75136653e-01 9.84537089e-01 -3.72460373e-03 -5.18074559e+01] [-1.97673611e-02 2.65999503e-04 9.99804571e-01 -7.19081998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724012739 meters 0.026874151809016717 Centerline is valid? [True, True] Translation: X:356.33, Y:-51.83, Z:-7.19 [[ 9.84649381e-01 1.73419404e-01 1.97814598e-02 3.56325326e+02] [-1.73378146e-01 9.84848017e-01 -3.79507568e-03 -5.18321255e+01] [-2.01398713e-02 3.07146093e-04 9.99797125e-01 -7.19056312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784012739 meters 0.02819645646244119 Centerline is valid? [True, True] Translation: X:356.38, Y:-51.86, Z:-7.19 [[ 9.84724474e-01 1.73157790e-01 1.82781248e-02 3.56382948e+02] [-1.73122465e-01 9.84894053e-01 -3.50960832e-03 -5.18585725e+01] [-1.86097325e-02 2.91643184e-04 9.99826781e-01 -7.19416554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844012739 meters 0.02755556807967846 Centerline is valid? [True, True] Translation: X:356.44, Y:-51.88, Z:-7.20 [[ 9.84697366e-01 1.73375881e-01 1.76607479e-02 3.56443464e+02] [-1.73342913e-01 9.84855688e-01 -3.39237791e-03 -5.18777999e+01] [-1.79814446e-02 2.79100086e-04 9.99838282e-01 -7.19639833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904012739 meters 0.02306015581859005 Centerline is valid? [True, True] Translation: X:356.50, Y:-51.90, Z:-7.19 [[ 9.83463816e-01 1.79856344e-01 2.12277834e-02 3.56501712e+02] [-1.79810120e-01 9.83692867e-01 -4.08219170e-03 -5.18985690e+01] [-2.16158272e-02 1.97717529e-04 9.99766331e-01 -7.19073282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964012739 meters 0.02033538326997445 Centerline is valid? [True, True] Translation: X:356.56, Y:-51.90, Z:-7.19 [[ 9.82045108e-01 1.87503615e-01 2.07316146e-02 3.56564625e+02] [-1.87461217e-01 9.82263912e-01 -3.98728361e-03 -5.19029905e+01] [-2.11115469e-02 2.93186599e-05 9.99777126e-01 -7.19288714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024012739 meters 0.02382282500921147 Centerline is valid? [True, True] Translation: X:356.63, Y:-51.90, Z:-7.20 [[ 9.79718698e-01 1.99465869e-01 1.90955546e-02 3.56625397e+02] [-1.99432145e-01 9.79904752e-01 -3.67375305e-03 -5.18989444e+01] [-1.94446130e-02 -2.09022841e-04 9.99810914e-01 -7.19637163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084012739 meters 0.02876497465957616 Centerline is valid? [True, True] Translation: X:356.68, Y:-51.90, Z:-7.20 [[ 9.78705101e-01 2.04274760e-01 2.02026631e-02 3.56684917e+02] [-2.04238019e-01 9.78913540e-01 -3.88743969e-03 -5.19017481e+01] [-2.05707663e-02 -3.21494848e-04 9.99788348e-01 -7.19570628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144012739 meters 0.02691778352858448 Centerline is valid? [True, True] Translation: X:356.74, Y:-51.91, Z:-7.20 [[ 9.78855099e-01 2.03678579e-01 1.89137799e-02 3.56743385e+02] [-2.03646274e-01 9.79037769e-01 -3.63900704e-03 -5.19132611e+01] [-1.92584926e-02 -2.89660205e-04 9.99814496e-01 -7.19934887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204012739 meters 0.027855338393964806 Centerline is valid? [True, True] Translation: X:356.80, Y:-51.92, Z:-7.20 [[ 9.78823020e-01 2.03901681e-01 1.81548632e-02 3.56801579e+02] [-2.03871962e-01 9.78991330e-01 -3.49264181e-03 -5.19152270e+01] [-1.84856092e-02 -2.82589383e-04 9.99829087e-01 -7.20256544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264012739 meters 0.02742398912802308 Centerline is valid? [True, True] Translation: X:356.86, Y:-51.92, Z:-7.20 [[ 9.78891351e-01 2.03587949e-01 1.79908097e-02 3.56860039e+02] [-2.03558732e-01 9.79056623e-01 -3.45998872e-03 -5.19245839e+01] [-1.83184334e-02 -2.75233383e-04 9.99832166e-01 -7.20344068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324012739 meters 0.024196513873989786 Centerline is valid? [True, True] Translation: X:356.92, Y:-51.94, Z:-7.20 [[ 9.79802311e-01 1.99202930e-01 1.74820858e-02 3.56917688e+02] [-1.99174659e-01 9.79958243e-01 -3.36129055e-03 -5.19410027e+01] [-1.78012930e-02 -1.88588216e-04 9.99841527e-01 -7.20490988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384012739 meters 0.02100115290699842 Centerline is valid? [True, True] Translation: X:356.97, Y:-51.96, Z:-7.20 [[ 9.80941854e-01 1.93318864e-01 1.95165706e-02 3.56974839e+02] [-1.93282474e-01 9.81135978e-01 -3.75192575e-03 -5.19630347e+01] [-1.98737276e-02 -9.17900494e-05 9.99802494e-01 -7.20293323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444012739 meters 0.020997452723992265 Centerline is valid? [True, True] Translation: X:357.03, Y:-51.97, Z:-7.20 [[ 9.80915076e-01 1.93397948e-01 2.00710299e-02 3.57034315e+02] [-1.93359478e-01 9.81120392e-01 -3.85851671e-03 -5.19742384e+01] [-2.04383259e-02 -9.60466334e-05 9.99791111e-01 -7.20242796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504012739 meters 0.02278691593584905 Centerline is valid? [True, True] Translation: X:357.09, Y:-51.98, Z:-7.21 [[ 9.80100826e-01 1.97707977e-01 1.77179651e-02 3.57094475e+02] [-1.97678702e-01 9.80260949e-01 -3.40615628e-03 -5.19793409e+01] [-1.80416535e-02 -1.64087761e-04 9.99837223e-01 -7.20680034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564012739 meters 0.025679906371699663 Centerline is valid? [True, True] Translation: X:357.15, Y:-51.98, Z:-7.21 [[ 9.79297861e-01 2.01566604e-01 1.86172916e-02 3.57153446e+02] [-2.01534976e-01 9.79474779e-01 -3.57911895e-03 -5.19807261e+01] [-1.89565984e-02 -2.47011887e-04 9.99820277e-01 -7.20565333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624012739 meters 0.026478484239477566 Centerline is valid? [True, True] Translation: X:357.21, Y:-51.99, Z:-7.21 [[ 9.79036065e-01 2.02762349e-01 1.93859004e-02 3.57211854e+02] [-2.02728310e-01 9.79227936e-01 -3.72587388e-03 -5.19888516e+01] [-1.97386822e-02 -2.82305929e-04 9.99805133e-01 -7.20508254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684012739 meters 0.02820030328116648 Centerline is valid? [True, True] Translation: X:357.27, Y:-51.99, Z:-7.21 [[ 9.78784325e-01 2.03965870e-01 1.94722501e-02 3.57269915e+02] [-2.03931784e-01 9.78977951e-01 -3.74154136e-03 -5.19910983e+01] [-1.98260502e-02 -3.08848658e-04 9.99803397e-01 -7.20718104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744012739 meters 0.02684757353002535 Centerline is valid? [True, True] Translation: X:357.33, Y:-52.00, Z:-7.22 [[ 9.79276503e-01 2.01884258e-01 1.61331119e-02 3.57327191e+02] [-2.01860591e-01 9.79409361e-01 -3.09913188e-03 -5.20037060e+01] [-1.64265868e-02 -2.21732485e-04 9.99865050e-01 -7.21529358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80401273900003 meters 0.023796653715689176 Centerline is valid? [True, True] Translation: X:357.38, Y:-52.02, Z:-7.21 [[ 9.80068477e-01 1.97765108e-01 1.88345903e-02 3.57383592e+02] [-1.97732109e-01 9.80249422e-01 -3.61705745e-03 -5.20237471e+01] [-1.91779240e-02 -1.79239278e-04 9.99816071e-01 -7.21080595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86401273900003 meters 0.02273720153689824 Centerline is valid? [True, True] Translation: X:357.44, Y:-52.04, Z:-7.21 [[ 9.80232969e-01 1.96850703e-01 1.98274422e-02 3.57440818e+02] [-1.96813965e-01 9.80433461e-01 -3.80677651e-03 -5.20377361e+01] [-2.01888544e-02 -1.70789678e-04 9.99796170e-01 -7.20978792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.924012739 meters 0.023714475683460953 Centerline is valid? [True, True] Translation: X:357.50, Y:-52.05, Z:-7.21 [[ 9.79998389e-01 1.98165005e-01 1.82698678e-02 3.57499091e+02] [-1.98134057e-01 9.80168658e-01 -3.50688796e-03 -5.20491670e+01] [-1.86024943e-02 -1.83138477e-04 9.99826942e-01 -7.21436585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984012739 meters 0.02610499856740958 Centerline is valid? [True, True] Translation: X:357.56, Y:-52.06, Z:-7.22 [[ 9.79372360e-01 2.01349846e-01 1.69711527e-02 3.57556366e+02] [-2.01323624e-01 9.79519366e-01 -3.25733896e-03 -5.20561185e+01] [-1.72794374e-02 -2.26546213e-04 9.99850674e-01 -7.21666150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044012739 meters 0.028511567973599262 Centerline is valid? [True, True] Translation: X:357.62, Y:-52.06, Z:-7.21 [[ 9.78575113e-01 2.04928387e-01 1.98772590e-02 3.57615078e+02] [-2.04893180e-01 9.78776910e-01 -3.81373776e-03 -5.20635230e+01] [-2.02369453e-02 -3.40685947e-04 9.99795154e-01 -7.21163424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104012739 meters 0.029642956065425444 Centerline is valid? [True, True] Translation: X:357.67, Y:-52.07, Z:-7.21 [[ 9.78063406e-01 2.07371415e-01 1.97248430e-02 3.57673739e+02] [-2.07337261e-01 9.78262206e-01 -3.78356817e-03 -5.20706852e+01] [-2.00806724e-02 -3.89125364e-04 9.99798287e-01 -7.21290182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164012739 meters 0.03367904483675768 Centerline is valid? [True, True] Translation: X:357.73, Y:-52.07, Z:-7.21 [[ 9.77697932e-01 2.08959273e-01 2.10422416e-02 3.57732544e+02] [-2.08920795e-01 9.77924240e-01 -4.03516129e-03 -5.20716638e+01] [-2.14209025e-02 -4.50993014e-04 9.99770444e-01 -7.21102115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224012739 meters 0.03355316281078086 Centerline is valid? [True, True] Translation: X:357.79, Y:-52.08, Z:-7.22 [[ 9.77895256e-01 2.08193240e-01 1.94021192e-02 3.57789675e+02] [-2.08160401e-01 9.78087631e-01 -3.71940067e-03 -5.20778943e+01] [-1.97513268e-02 -4.01568630e-04 9.99804843e-01 -7.21626089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284012739 meters 0.028483044989121315 Centerline is valid? [True, True] Translation: X:357.85, Y:-52.09, Z:-7.22 [[ 9.78979650e-01 2.02999597e-01 1.97486350e-02 3.57847733e+02] [-2.02964540e-01 9.79178774e-01 -3.78467591e-03 -5.20943460e+01] [-2.01057319e-02 -3.03151919e-04 9.99797813e-01 -7.21717346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344012739 meters 0.024220676121974927 Centerline is valid? [True, True] Translation: X:357.90, Y:-52.11, Z:-7.22 [[ 9.79821581e-01 1.98846353e-01 2.02434385e-02 3.57904057e+02] [-1.98808636e-01 9.80030651e-01 -3.87926445e-03 -5.21132161e+01] [-2.06105678e-02 -2.23583348e-04 9.99787555e-01 -7.21719509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404012739 meters 0.021744944097667085 Centerline is valid? [True, True] Translation: X:357.96, Y:-52.13, Z:-7.22 [[ 9.80523333e-01 1.95449556e-01 1.93252486e-02 3.57961449e+02] [-1.95414540e-01 9.80713745e-01 -3.70244320e-03 -5.21322463e+01] [-1.96761778e-02 -1.46102618e-04 9.99806395e-01 -7.22048726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464012739 meters 0.022039269439331318 Centerline is valid? [True, True] Translation: X:358.02, Y:-52.14, Z:-7.22 [[ 9.80480530e-01 1.95798478e-01 1.79133089e-02 3.58018808e+02] [-1.95768455e-01 9.80644143e-01 -3.43161570e-03 -5.21409819e+01] [-1.82384866e-02 -1.42228425e-04 9.99833655e-01 -7.22332955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524012739 meters 0.022880899082747166 Centerline is valid? [True, True] Translation: X:358.08, Y:-52.15, Z:-7.23 [[ 9.80288222e-01 1.96837231e-01 1.70325101e-02 3.58075504e+02] [-1.96810262e-01 9.80436169e-01 -3.26191710e-03 -5.21504334e+01] [-1.73413556e-02 -1.54553854e-04 9.99849615e-01 -7.22656068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584012739 meters 0.022106655546801218 Centerline is valid? [True, True] Translation: X:358.13, Y:-52.16, Z:-7.23 [[ 9.80511541e-01 1.95614403e-01 1.82242227e-02 3.58132232e+02] [-1.95583339e-01 9.80680878e-01 -3.48898748e-03 -5.21631863e+01] [-1.85546429e-02 -1.43361826e-04 9.99827838e-01 -7.22512030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644012739 meters 0.02238930141541065 Centerline is valid? [True, True] Translation: X:358.19, Y:-52.17, Z:-7.22 [[ 9.80340056e-01 1.96284142e-01 2.01472352e-02 3.58190050e+02] [-1.96246344e-01 9.80547044e-01 -3.85581713e-03 -5.21720293e+01] [-2.05121477e-02 -1.73809276e-04 9.99789589e-01 -7.22246611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704012739 meters 0.02339561081931152 Centerline is valid? [True, True] Translation: X:358.25, Y:-52.18, Z:-7.22 [[ 9.79858244e-01 1.98639515e-01 2.04979330e-02 3.58248959e+02] [-1.98600924e-01 9.80072595e-01 -3.92197402e-03 -5.21786227e+01] [-2.08685214e-02 -2.27929848e-04 9.99782203e-01 -7.22251924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764012739 meters 0.025347947831456667 Centerline is valid? [True, True] Translation: X:358.31, Y:-52.19, Z:-7.23 [[ 9.79635950e-01 1.99861360e-01 1.92052669e-02 3.58306318e+02] [-1.99827735e-01 9.79824158e-01 -3.67379075e-03 -5.21855478e+01] [-1.95520333e-02 -2.38767484e-04 9.99808812e-01 -7.22603159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824012739 meters 0.026322596641448495 Centerline is valid? [True, True] Translation: X:358.36, Y:-52.20, Z:-7.22 [[ 9.79357457e-01 2.00951492e-01 2.18510702e-02 3.58364513e+02] [-2.00908266e-01 9.79601148e-01 -4.17847617e-03 -5.21955996e+01] [-2.22450045e-02 -2.97838827e-04 9.99752505e-01 -7.22173084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884012739 meters 0.024626301325583827 Centerline is valid? [True, True] Translation: X:358.42, Y:-52.21, Z:-7.23 [[ 9.79578463e-01 2.00020177e-01 2.04441440e-02 3.58421550e+02] [-1.99982154e-01 9.79791744e-01 -3.90857724e-03 -5.22107298e+01] [-2.08127978e-02 -2.59705859e-04 9.99783357e-01 -7.22570876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944012739 meters 0.025313565851037202 Centerline is valid? [True, True] Translation: X:358.48, Y:-52.22, Z:-7.23 [[ 9.79255074e-01 2.01702506e-01 1.93803884e-02 3.58479112e+02] [-2.01668683e-01 9.79446793e-01 -3.70434984e-03 -5.22201911e+01] [-1.97292360e-02 -2.80914036e-04 9.99805320e-01 -7.22872031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004012739 meters 0.027079524004605494 Centerline is valid? [True, True] Translation: X:358.54, Y:-52.23, Z:-7.23 [[ 9.78914051e-01 2.03438492e-01 1.84407443e-02 3.58536883e+02] [-2.03408197e-01 9.79087682e-01 -3.52367433e-03 -5.22273165e+01] [-1.87719566e-02 -3.01624244e-04 9.99823746e-01 -7.23148164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064012739 meters 0.02488598319414283 Centerline is valid? [True, True] Translation: X:358.59, Y:-52.24, Z:-7.23 [[ 9.79669767e-01 1.99738789e-01 1.87500261e-02 3.58593652e+02] [-1.99706814e-01 9.79849152e-01 -3.58160017e-03 -5.22413057e+01] [-1.90875817e-02 -2.35722573e-04 9.99817788e-01 -7.23298984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124012739 meters 0.022305834258525916 Centerline is valid? [True, True] Translation: X:358.65, Y:-52.26, Z:-7.23 [[ 9.80382382e-01 1.96185171e-01 1.90200930e-02 3.58650699e+02] [-1.96151618e-01 9.80566851e-01 -3.63223541e-03 -5.22605914e+01] [-1.93630635e-02 -1.69842414e-04 9.99812504e-01 -7.23440700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184012739 meters 0.021290971334713336 Centerline is valid? [True, True] Translation: X:358.71, Y:-52.28, Z:-7.24 [[ 9.80852682e-01 1.93970067e-01 1.74249827e-02 3.58707754e+02] [-1.93941563e-01 9.81007441e-01 -3.32727537e-03 -5.22758098e+01] [-1.77394295e-02 -1.15861392e-04 9.99842637e-01 -7.23831114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244012739 meters 0.022811523373601768 Centerline is valid? [True, True] Translation: X:358.77, Y:-52.28, Z:-7.24 [[ 9.80323546e-01 1.96596296e-01 1.77663110e-02 3.58765121e+02] [-1.96567104e-01 9.80484507e-01 -3.39188714e-03 -5.22813391e+01] [-1.80864252e-02 -1.67125491e-04 9.99836413e-01 -7.23894480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30401273900003 meters 0.02481768347144354 Centerline is valid? [True, True] Translation: X:358.82, Y:-52.29, Z:-7.24 [[ 9.79753541e-01 1.99337818e-01 1.86395907e-02 3.58824260e+02] [-1.99306208e-01 9.79930805e-01 -3.55719782e-03 -5.22872076e+01] [-1.89745932e-02 -2.29808984e-04 9.99819940e-01 -7.23748062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36401273900003 meters 0.025420936357699826 Centerline is valid? [True, True] Translation: X:358.88, Y:-52.30, Z:-7.24 [[ 9.79689449e-01 1.99679826e-01 1.83453422e-02 3.58881208e+02] [-1.99649282e-01 9.79861170e-01 -3.50022721e-03 -5.22957898e+01] [-1.86748132e-02 -2.33498725e-04 9.99825583e-01 -7.23998028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.424012739 meters 0.024708201891564512 Centerline is valid? [True, True] Translation: X:358.94, Y:-52.31, Z:-7.24 [[ 9.79784489e-01 1.99250663e-01 1.79312016e-02 3.58939429e+02] [-1.99221429e-01 9.79948531e-01 -3.42025237e-03 -5.23071048e+01] [-1.82531423e-02 -2.21169387e-04 9.99833373e-01 -7.24154256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484012739 meters 0.02630073325666726 Centerline is valid? [True, True] Translation: X:359.00, Y:-52.31, Z:-7.24 [[ 9.79573373e-01 2.00227398e-01 1.85740530e-02 3.58997125e+02] [-2.00196234e-01 9.79749420e-01 -3.54134095e-03 -5.23123955e+01] [-1.89069911e-02 -2.49452151e-04 9.99821216e-01 -7.24145457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544012739 meters 0.026665817879521967 Centerline is valid? [True, True] Translation: X:359.06, Y:-52.32, Z:-7.24 [[ 9.79533751e-01 2.00414771e-01 1.86427086e-02 3.59055471e+02] [-2.00383431e-01 9.79711108e-01 -3.55332072e-03 -5.23196732e+01] [-1.89766066e-02 -2.55092346e-04 9.99819895e-01 -7.24278135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604012739 meters 0.02536458845810468 Centerline is valid? [True, True] Translation: X:359.11, Y:-52.33, Z:-7.25 [[ 9.79793227e-01 1.99174404e-01 1.82972579e-02 3.59113495e+02] [-1.99144014e-01 9.79964032e-01 -3.48667701e-03 -5.23306648e+01] [-1.86251114e-02 -2.27566851e-04 9.99826512e-01 -7.24520448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664012739 meters 0.023897931666711322 Centerline is valid? [True, True] Translation: X:359.17, Y:-52.34, Z:-7.25 [[ 9.80223626e-01 1.97050593e-01 1.82402418e-02 3.59169584e+02] [-1.97020039e-01 9.80393303e-01 -3.47500917e-03 -5.23434161e+01] [-1.85673635e-02 -1.87407061e-04 9.99827594e-01 -7.24654554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724012739 meters 0.02207355796485767 Centerline is valid? [True, True] Translation: X:359.23, Y:-52.36, Z:-7.25 [[ 9.80487566e-01 1.95785929e-01 1.76636201e-02 3.59227258e+02] [-1.95757088e-01 9.80646646e-01 -3.36418354e-03 -5.23572578e+01] [-1.79804296e-02 -1.59238710e-04 9.99838326e-01 -7.24798588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784012739 meters 0.023916336810570454 Centerline is valid? [True, True] Translation: X:359.28, Y:-52.36, Z:-7.25 [[ 9.79980085e-01 1.98216370e-01 1.86896716e-02 3.59284870e+02] [-1.98184541e-01 9.80158265e-01 -3.55863304e-03 -5.23631995e+01] [-1.90242154e-02 -2.16614474e-04 9.99819000e-01 -7.24754671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844012739 meters 0.03133527787668008 Centerline is valid? [True, True] Translation: X:359.35, Y:-52.36, Z:-7.25 [[ 9.78910252e-01 2.03401261e-01 1.90432402e-02 3.59346210e+02] [-2.03369220e-01 9.79095410e-01 -3.62473085e-03 -5.23556508e+01] [-1.93824239e-02 -3.24522730e-04 9.99812091e-01 -7.24846457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904012739 meters 0.03156700826535598 Centerline is valid? [True, True] Translation: X:359.40, Y:-52.36, Z:-7.25 [[ 9.78890761e-01 2.03514512e-01 1.88340277e-02 3.59404221e+02] [-2.03483205e-01 9.79071876e-01 -3.58425466e-03 -5.23637546e+01] [-1.91693147e-02 -3.23814549e-04 9.99816199e-01 -7.25005892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964012739 meters 0.02547487512224539 Centerline is valid? [True, True] Translation: X:359.46, Y:-52.38, Z:-7.25 [[ 9.79655129e-01 1.99771171e-01 1.91652754e-02 3.59461064e+02] [-1.99738053e-01 9.79842545e-01 -3.64645504e-03 -5.23805430e+01] [-1.95074089e-02 -2.55766412e-04 9.99809680e-01 -7.25041731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024012739 meters 0.022120784069794786 Centerline is valid? [True, True] Translation: X:359.52, Y:-52.39, Z:-7.25 [[ 9.80453168e-01 1.95739952e-01 1.99363275e-02 3.59518233e+02] [-1.95703301e-01 9.80655820e-01 -3.79219337e-03 -5.23941016e+01] [-2.02929593e-02 -1.83537084e-04 9.99794060e-01 -7.24928879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084012739 meters 0.021186542800348075 Centerline is valid? [True, True] Translation: X:359.58, Y:-52.41, Z:-7.25 [[ 9.80853460e-01 1.93802971e-01 1.91545775e-02 3.59576293e+02] [-1.93768786e-01 9.81040463e-01 -3.64260901e-03 -5.24055318e+01] [-1.94973640e-02 -1.38693570e-04 9.99809899e-01 -7.25254604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144012739 meters 0.020330674653787805 Centerline is valid? [True, True] Translation: X:359.63, Y:-52.42, Z:-7.26 [[ 9.81411928e-01 1.91106560e-01 1.75758370e-02 3.59633166e+02] [-1.91077359e-01 9.81569293e-01 -3.34160971e-03 -5.24190335e+01] [-1.78905054e-02 -7.88488806e-05 9.99839949e-01 -7.25733784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204012739 meters 0.019615864420829604 Centerline is valid? [True, True] Translation: X:359.69, Y:-52.44, Z:-7.25 [[ 9.82579094e-01 1.84792360e-01 1.97511554e-02 3.59689147e+02] [-1.84754227e-01 9.82777585e-01 -3.75410257e-03 -5.24371793e+01] [-2.01047222e-02 3.95932518e-05 9.99797879e-01 -7.25438481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264012739 meters 0.023603541383834057 Centerline is valid? [True, True] Translation: X:359.75, Y:-52.46, Z:-7.26 [[ 9.84139349e-01 1.76284719e-01 1.98353153e-02 3.59745673e+02] [-1.76244550e-01 9.84339196e-01 -3.76911667e-03 -5.24645467e+01] [-2.01891160e-02 2.13469795e-04 9.99796156e-01 -7.25674705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324012739 meters 0.026095051328895134 Centerline is valid? [True, True] Translation: X:359.81, Y:-52.48, Z:-7.26 [[ 9.84964926e-01 1.71629489e-01 1.96828232e-02 3.59805630e+02] [-1.71589005e-01 9.85161522e-01 -3.74011973e-03 -5.24834436e+01] [-2.00326749e-02 3.06530691e-04 9.99799279e-01 -7.25762883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384012739 meters 0.030199002638104648 Centerline is valid? [True, True] Translation: X:359.86, Y:-52.51, Z:-7.26 [[ 9.85642751e-01 1.67864322e-01 1.81641658e-02 3.59863039e+02] [-1.67829192e-01 9.85810045e-01 -3.45228814e-03 -5.25059908e+01] [-1.84859331e-02 3.54245515e-04 9.99829058e-01 -7.26212841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444012739 meters 0.031033647384947856 Centerline is valid? [True, True] Translation: X:359.92, Y:-52.52, Z:-7.27 [[ 9.85701808e-01 1.67721458e-01 1.61696810e-02 3.59922083e+02] [-1.67693586e-01 9.85834373e-01 -3.07412186e-03 -5.25231739e+01] [-1.64562236e-02 3.18615685e-04 9.99864536e-01 -7.26722687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504012739 meters 0.027345476188547563 Centerline is valid? [True, True] Translation: X:359.98, Y:-52.53, Z:-7.26 [[ 9.85204362e-01 1.70269930e-01 1.95067943e-02 3.59983174e+02] [-1.70229792e-01 9.85397401e-01 -3.71220269e-03 -5.25332743e+01] [-1.98540209e-02 3.36640748e-04 9.99802833e-01 -7.26101942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564012739 meters 0.024413380332584986 Centerline is valid? [True, True] Translation: X:360.04, Y:-52.54, Z:-7.26 [[ 9.84384062e-01 1.75047699e-01 1.86097263e-02 3.60043128e+02] [-1.75012010e-01 9.84559927e-01 -3.54207811e-03 -5.25420959e+01] [-1.89424234e-02 2.29839649e-04 9.99820550e-01 -7.26453456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624012739 meters 0.022729307200715036 Centerline is valid? [True, True] Translation: X:360.10, Y:-52.55, Z:-7.27 [[ 9.83994352e-01 1.77270753e-01 1.81712979e-02 3.60103249e+02] [-1.77237078e-01 9.84162104e-01 -3.46001572e-03 -5.25518884e+01] [-1.84968624e-02 1.84008179e-04 9.99828901e-01 -7.26739257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684012739 meters 0.023421541388630108 Centerline is valid? [True, True] Translation: X:360.16, Y:-52.57, Z:-7.27 [[ 9.84086767e-01 1.76741690e-01 1.83196418e-02 3.60161686e+02] [-1.76707373e-01 9.84257251e-01 -3.48823021e-03 -5.25711311e+01] [-1.86477560e-02 1.95505418e-04 9.99826096e-01 -7.26814088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744012739 meters 0.025121224897971344 Centerline is valid? [True, True] Translation: X:360.22, Y:-52.60, Z:-7.26 [[ 9.84463833e-01 1.74383582e-01 2.05262599e-02 3.60220829e+02] [-1.74339911e-01 9.84677761e-01 -3.91192824e-03 -5.25952640e+01] [-2.08939277e-02 2.72605539e-04 9.99781661e-01 -7.26450216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80401273900003 meters 0.025369190563080766 Centerline is valid? [True, True] Translation: X:360.28, Y:-52.62, Z:-7.27 [[ 9.84428279e-01 1.74673335e-01 1.97531929e-02 3.60279791e+02] [-1.74632888e-01 9.84626406e-01 -3.76769087e-03 -5.26158865e+01] [-2.01076304e-02 2.59464320e-04 9.99797787e-01 -7.26801013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86401273900003 meters 0.02221998715561815 Centerline is valid? [True, True] Translation: X:360.34, Y:-52.63, Z:-7.27 [[ 9.83618800e-01 1.79325100e-01 1.83457299e-02 3.60341619e+02] [-1.79290962e-01 9.83789858e-01 -3.50236069e-03 -5.26258602e+01] [-1.86764042e-02 1.55764249e-04 9.99825569e-01 -7.27218531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.924012739 meters 0.02070230085063061 Centerline is valid? [True, True] Translation: X:360.40, Y:-52.62, Z:-7.28 [[ 9.81300989e-01 1.91858604e-01 1.54481358e-02 3.60402161e+02] [-1.91835931e-01 9.81422575e-01 -2.95031688e-03 -5.26215500e+01] [-1.57271929e-02 -6.83586395e-05 9.99876318e-01 -7.27781145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984012739 meters 0.03406013387596128 Centerline is valid? [True, True] Translation: X:360.47, Y:-52.60, Z:-7.28 [[ 9.78001339e-01 2.07955117e-01 1.63722465e-02 3.60466792e+02] [-2.07931908e-01 9.78138308e-01 -3.12611595e-03 -5.26031978e+01] [-1.66644133e-02 -3.46966860e-04 9.99861079e-01 -7.27737640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044012739 meters 0.04556128539342613 Centerline is valid? [True, True] Translation: X:360.53, Y:-52.59, Z:-7.27 [[ 9.74943936e-01 2.21651863e-01 1.88354487e-02 3.60530377e+02] [-2.21623696e-01 9.75125635e-01 -3.59618729e-03 -5.25907127e+01] [-1.91640305e-02 -6.68300761e-04 9.99816130e-01 -7.27379240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104012739 meters 0.05249812684382676 Centerline is valid? [True, True] Translation: X:360.59, Y:-52.58, Z:-7.28 [[ 9.73293627e-01 2.28803040e-01 1.86730837e-02 3.60592965e+02] [-2.28776668e-01 9.73472406e-01 -3.56518444e-03 -5.25840347e+01] [-1.89934567e-02 -8.01994576e-04 9.99819286e-01 -7.27569185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164012739 meters 0.05718793133095022 Centerline is valid? [True, True] Translation: X:360.65, Y:-52.57, Z:-7.28 [[ 9.72665896e-01 2.31532234e-01 1.77166454e-02 3.60654880e+02] [-2.31508949e-01 9.72826894e-01 -3.38239426e-03 -5.25744106e+01] [-1.80183625e-02 -8.11622424e-04 9.99837327e-01 -7.27888762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224012739 meters 0.0519232605038758 Centerline is valid? [True, True] Translation: X:360.71, Y:-52.58, Z:-7.27 [[ 9.74050802e-01 2.25264775e-01 2.19275154e-02 3.60714409e+02] [-2.25227524e-01 9.74297203e-01 -4.18604720e-03 -5.25799341e+01] [-2.23068859e-02 -8.61257373e-04 9.99750799e-01 -7.27258241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284012739 meters 0.04326219585517102 Centerline is valid? [True, True] Translation: X:360.77, Y:-52.59, Z:-7.28 [[ 9.75268719e-01 2.20267892e-01 1.82477741e-02 3.60773532e+02] [-2.20241226e-01 9.75439219e-01 -3.48329699e-03 -5.25909821e+01] [-1.85668530e-02 -6.21761559e-04 9.99827428e-01 -7.28063843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344012739 meters 0.039929830220663175 Centerline is valid? [True, True] Translation: X:360.83, Y:-52.60, Z:-7.28 [[ 9.75871962e-01 2.17591325e-01 1.81087926e-02 3.60833577e+02] [-2.17564604e-01 9.76039802e-01 -3.45673599e-03 -5.25981461e+01] [-1.84270581e-02 -5.66500543e-04 9.99830047e-01 -7.28170751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404012739 meters 0.03780350466651707 Centerline is valid? [True, True] Translation: X:360.89, Y:-52.61, Z:-7.28 [[ 9.76164722e-01 2.16229755e-01 1.86314011e-02 3.60891822e+02] [-2.16201221e-01 9.76342350e-01 -3.55647972e-03 -5.26097646e+01] [-1.89596426e-02 -5.56421615e-04 9.99820095e-01 -7.28198768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464012739 meters 0.03771007775420721 Centerline is valid? [True, True] Translation: X:360.95, Y:-52.62, Z:-7.28 [[ 9.77207917e-01 2.11437626e-01 1.89424752e-02 3.60950214e+02] [-2.11407293e-01 9.77391378e-01 -3.61260442e-03 -5.26174011e+01] [-1.92780524e-02 -4.74311752e-04 9.99814049e-01 -7.28309180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524012739 meters 0.032241329877209145 Centerline is valid? [True, True] Translation: X:361.01, Y:-52.63, Z:-7.29 [[ 9.77780530e-01 2.08840783e-01 1.81868645e-02 3.61007465e+02] [-2.08812380e-01 9.77949570e-01 -3.46809605e-03 -5.26337343e+01] [-1.85101162e-02 -4.06605668e-04 9.99828590e-01 -7.28508394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584012739 meters 0.030453949211861238 Centerline is valid? [True, True] Translation: X:361.07, Y:-52.64, Z:-7.29 [[ 9.78057595e-01 2.07501821e-01 1.86100566e-02 3.61066067e+02] [-2.07471852e-01 9.78234553e-01 -3.54812355e-03 -5.26422318e+01] [-1.89412425e-02 -3.90793724e-04 9.99820522e-01 -7.28567815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644012739 meters 0.029727789159861476 Centerline is valid? [True, True] Translation: X:361.12, Y:-52.65, Z:-7.29 [[ 9.78475923e-01 2.05636090e-01 1.72819453e-02 3.61123694e+02] [-2.05609968e-01 9.78628474e-01 -3.29416504e-03 -5.26497235e+01] [-1.75900029e-02 -3.30079031e-04 9.99845229e-01 -7.28982488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704012739 meters 0.027891504825639544 Centerline is valid? [True, True] Translation: X:361.18, Y:-52.66, Z:-7.29 [[ 9.78791693e-01 2.04012402e-01 1.85946512e-02 3.61181865e+02] [-2.03981891e-01 9.78968250e-01 -3.54314854e-03 -5.26609184e+01] [-1.89264194e-02 -3.24967765e-04 9.99820826e-01 -7.28849557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764012739 meters 0.02477221132560287 Centerline is valid? [True, True] Translation: X:361.24, Y:-52.68, Z:-7.29 [[ 9.79608492e-01 1.99811440e-01 2.10378294e-02 3.61238578e+02] [-1.99771439e-01 9.79834329e-01 -4.00752548e-03 -5.26752265e+01] [-2.14143369e-02 -2.76951464e-04 9.99770648e-01 -7.28600173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824012739 meters 0.0216989853349618 Centerline is valid? [True, True] Translation: X:361.30, Y:-52.69, Z:-7.29 [[ 9.80786650e-01 1.94280904e-01 1.76770455e-02 3.61295613e+02] [-1.94251777e-01 9.80945928e-01 -3.36661827e-03 -5.26909463e+01] [-1.79942954e-02 -1.31863235e-04 9.99838081e-01 -7.29312102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884012739 meters 0.0199626928614361 Centerline is valid? [True, True] Translation: X:361.35, Y:-52.71, Z:-7.29 [[ 9.81881038e-01 1.88685484e-01 1.75332458e-02 3.61349995e+02] [-1.88655951e-01 9.82037569e-01 -3.33842502e-03 -5.27125721e+01] [-1.78482184e-02 -2.98149366e-05 9.99840707e-01 -7.29430533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944012739 meters 0.02025894757653908 Centerline is valid? [True, True] Translation: X:361.40, Y:-52.74, Z:-7.30 [[ 9.82850854e-01 1.83531356e-01 1.79008145e-02 3.61404545e+02] [-1.83499736e-01 9.83013854e-01 -3.40731712e-03 -5.27358079e+01] [-1.82220982e-02 6.40898119e-05 9.99833962e-01 -7.29605486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004012739 meters 0.020768703663495796 Centerline is valid? [True, True] Translation: X:361.46, Y:-52.76, Z:-7.29 [[ 9.83195754e-01 1.81553116e-01 1.90938567e-02 3.61459663e+02] [-1.81516790e-01 9.83381134e-01 -3.63320675e-03 -5.27597348e+01] [-1.94361584e-02 1.06297888e-04 9.99811094e-01 -7.29284050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064012739 meters 0.02086115525151606 Centerline is valid? [True, True] Translation: X:361.52, Y:-52.78, Z:-7.30 [[ 9.83291090e-01 1.81115142e-01 1.83286211e-02 3.61516639e+02] [-1.81081608e-01 9.83461892e-01 -3.48678754e-03 -5.27764108e+01] [-1.86570104e-02 1.09550926e-04 9.99825937e-01 -7.29580818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124012739 meters 0.020485667028096392 Centerline is valid? [True, True] Translation: X:361.57, Y:-52.80, Z:-7.29 [[ 9.83123997e-01 1.81778300e-01 2.05877470e-02 3.61572882e+02] [-1.81736158e-01 9.83339533e-01 -3.91545501e-03 -5.27959261e+01] [-2.09564903e-02 1.07839736e-04 9.99780383e-01 -7.29313030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184012739 meters 0.019998683282893566 Centerline is valid? [True, True] Translation: X:361.63, Y:-52.81, Z:-7.30 [[ 9.82738591e-01 1.84018584e-01 1.90268893e-02 3.61630954e+02] [-1.83983027e-01 9.82922763e-01 -3.61773562e-03 -5.28106081e+01] [-1.93676932e-02 5.46637060e-05 9.99812427e-01 -7.29623682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244012739 meters 0.0199742960392136 Centerline is valid? [True, True] Translation: X:361.69, Y:-52.82, Z:-7.30 [[ 9.82172504e-01 1.87134553e-01 1.78278353e-02 3.61688389e+02] [-1.87103856e-01 9.82334291e-01 -3.38936372e-03 -5.28209742e+01] [-1.81471610e-02 -6.71688233e-06 9.99835327e-01 -7.29995648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30401273900003 meters 0.020007904587635652 Centerline is valid? [True, True] Translation: X:361.75, Y:-52.83, Z:-7.29 [[ 9.81495983e-01 1.90226045e-01 2.19017799e-02 3.61746249e+02] [-1.90180506e-01 9.81740315e-01 -4.16288223e-03 -5.28301887e+01] [-2.22937489e-02 -7.94393919e-05 9.99751460e-01 -7.29393822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36401273900003 meters 0.019748975114776364 Centerline is valid? [True, True] Translation: X:361.80, Y:-52.85, Z:-7.30 [[ 9.82157704e-01 1.86884166e-01 2.09893601e-02 3.61802506e+02] [-1.86841600e-01 9.82381956e-01 -3.98848173e-03 -5.28498424e+01] [-2.13649528e-02 -4.36757833e-06 9.99771743e-01 -7.29707340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.424012739 meters 0.020514787240100727 Centerline is valid? [True, True] Translation: X:361.86, Y:-52.87, Z:-7.30 [[ 9.83028825e-01 1.82557983e-01 1.80807361e-02 3.61860695e+02] [-1.82525678e-01 9.83195086e-01 -3.43509304e-03 -5.28734189e+01] [-1.84039945e-02 7.65968637e-05 9.99830629e-01 -7.30389812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484012739 meters 0.02023691064650632 Centerline is valid? [True, True] Translation: X:361.92, Y:-52.89, Z:-7.30 [[ 9.82974439e-01 1.82666093e-01 1.98582846e-02 3.61920158e+02] [-1.82627135e-01 9.83175006e-01 -3.77334382e-03 -5.28870288e+01] [-2.02134311e-02 8.24389021e-05 9.99795684e-01 -7.30124502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544012739 meters 0.01987077222250493 Centerline is valid? [True, True] Translation: X:361.98, Y:-52.89, Z:-7.30 [[ 9.82091497e-01 1.87447490e-01 1.89665719e-02 3.61979755e+02] [-1.87412842e-01 9.82274625e-01 -3.60393393e-03 -5.28923442e+01] [-1.93059307e-02 -1.51862822e-05 9.99813623e-01 -7.30429915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604012739 meters 0.021945645806316777 Centerline is valid? [True, True] Translation: X:362.04, Y:-52.89, Z:-7.31 [[ 9.80792080e-01 1.94124211e-01 1.90443555e-02 3.62038377e+02] [-1.94090543e-01 9.80976946e-01 -3.61828522e-03 -5.28932279e+01] [-1.93844705e-02 -1.47543830e-04 9.99812093e-01 -7.30565606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664012739 meters 0.02566736500350873 Centerline is valid? [True, True] Translation: X:362.10, Y:-52.89, Z:-7.31 [[ 9.79800271e-01 1.99082192e-01 1.89131945e-02 3.62097059e+02] [-1.99049931e-01 9.79982766e-01 -3.59222979e-03 -5.28943404e+01] [-1.92497536e-02 -2.45002338e-04 9.99814676e-01 -7.30667561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724012739 meters 0.02673215355497845 Centerline is valid? [True, True] Translation: X:362.15, Y:-52.90, Z:-7.31 [[ 9.79556022e-01 2.00431853e-01 1.72357988e-02 3.62154988e+02] [-2.00405286e-01 9.79707615e-01 -3.27273543e-03 -5.29018641e+01] [-1.75420037e-02 -2.48317485e-04 9.99846096e-01 -7.31161502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784012739 meters 0.026938686952996928 Centerline is valid? [True, True] Translation: X:362.21, Y:-52.91, Z:-7.31 [[ 9.79495684e-01 2.00510105e-01 1.95934375e-02 3.62212648e+02] [-2.00475813e-01 9.79691593e-01 -3.71910580e-03 -5.29099107e+01] [-1.99412443e-02 -2.85162241e-04 9.99801113e-01 -7.30888972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844012739 meters 0.02673114682618648 Centerline is valid? [True, True] Translation: X:362.27, Y:-52.92, Z:-7.31 [[ 9.79491848e-01 2.00572831e-01 1.91378863e-02 3.62270799e+02] [-2.00540153e-01 9.79678754e-01 -3.63131668e-03 -5.29191992e+01] [-1.94773241e-02 -2.81069561e-04 9.99810259e-01 -7.30997996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904012739 meters 0.026178349071572356 Centerline is valid? [True, True] Translation: X:362.33, Y:-52.93, Z:-7.31 [[ 9.79873821e-01 1.98699500e-01 1.91259735e-02 3.62327989e+02] [-1.98666524e-01 9.80060431e-01 -3.62817167e-03 -5.29280466e+01] [-1.94655257e-02 -2.44540230e-04 9.99810499e-01 -7.31179690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964012739 meters 0.025674313875861353 Centerline is valid? [True, True] Translation: X:362.39, Y:-52.94, Z:-7.32 [[ 9.80058230e-01 1.97911664e-01 1.77999650e-02 3.62386352e+02] [-1.97882989e-01 9.80219836e-01 -3.37565026e-03 -5.29353465e+01] [-1.81159593e-02 -2.13976454e-04 9.99835870e-01 -7.31595560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024012739 meters 0.02391251383027684 Centerline is valid? [True, True] Translation: X:362.44, Y:-52.95, Z:-7.32 [[ 9.80091783e-01 1.97697380e-01 1.83260001e-02 3.62444196e+02] [-1.97666964e-01 9.80263076e-01 -3.47457062e-03 -5.29486840e+01] [-1.86512147e-02 -2.17046683e-04 9.99826027e-01 -7.31553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084012739 meters 0.02547214870999548 Centerline is valid? [True, True] Translation: X:362.50, Y:-52.95, Z:-7.32 [[ 9.80157093e-01 1.97317988e-01 1.89125695e-02 3.62503094e+02] [-1.97285541e-01 9.80339515e-01 -3.58482593e-03 -5.29487101e+01] [-1.92480898e-02 -2.17483943e-04 9.99814715e-01 -7.31561646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144012739 meters 0.02465209883588242 Centerline is valid? [True, True] Translation: X:362.56, Y:-52.95, Z:-7.32 [[ 9.79914836e-01 1.98464623e-01 1.94604128e-02 3.62562162e+02] [-1.98430519e-01 9.80108020e-01 -3.68743174e-03 -5.29547451e+01] [-1.98051314e-02 -2.48170752e-04 9.99803828e-01 -7.31524113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204012739 meters 0.027296193334468793 Centerline is valid? [True, True] Translation: X:362.62, Y:-52.95, Z:-7.31 [[ 9.79817379e-01 1.98780813e-01 2.10735132e-02 3.62621889e+02] [-1.98740919e-01 9.80043934e-01 -3.99194132e-03 -5.29519499e+01] [-2.14464901e-02 -2.76795883e-04 9.99769959e-01 -7.31411429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264012739 meters 0.02602721187075072 Centerline is valid? [True, True] Translation: X:362.68, Y:-52.96, Z:-7.32 [[ 9.79828515e-01 1.98816073e-01 2.02051870e-02 3.62679235e+02] [-1.98779441e-01 9.80036784e-01 -3.82577685e-03 -5.29607873e+01] [-2.05624524e-02 -2.67770519e-04 9.99788535e-01 -7.31740065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324012739 meters 0.02474187460315232 Centerline is valid? [True, True] Translation: X:362.74, Y:-52.97, Z:-7.32 [[ 9.79932869e-01 1.98467099e-01 1.85035907e-02 3.62737509e+02] [-1.98436338e-01 9.80107521e-01 -3.50238260e-03 -5.29676587e+01] [-1.88306161e-02 -2.39684951e-04 9.99822659e-01 -7.32202726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384012739 meters 0.024478096732874346 Centerline is valid? [True, True] Translation: X:362.80, Y:-52.97, Z:-7.32 [[ 9.80302563e-01 1.96598726e-01 1.88633740e-02 3.62796483e+02] [-1.96566428e-01 9.80484012e-01 -3.56957148e-03 -5.29679556e+01] [-1.91970099e-02 -2.08645983e-04 9.99815699e-01 -7.32277301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444012739 meters 0.023172045429106457 Centerline is valid? [True, True] Translation: X:362.85, Y:-52.97, Z:-7.32 [[ 9.80525754e-01 1.95386861e-01 1.98297792e-02 3.62854762e+02] [-1.95350958e-01 9.80726229e-01 -3.75064419e-03 -5.29749076e+01] [-2.01804112e-02 -1.96163138e-04 9.99796336e-01 -7.32240068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504012739 meters 0.021955259318493094 Centerline is valid? [True, True] Translation: X:362.91, Y:-52.98, Z:-7.33 [[ 9.81102876e-01 1.92582115e-01 1.86889054e-02 3.62912151e+02] [-1.92549730e-01 9.81280853e-01 -3.53406375e-03 -5.29802444e+01] [-1.90196625e-02 -1.31263593e-04 9.99819101e-01 -7.32625830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564012739 meters 0.020069274207182762 Centerline is valid? [True, True] Translation: X:362.97, Y:-53.00, Z:-7.32 [[ 9.82641355e-01 1.84416810e-01 2.01595754e-02 3.62968601e+02] [-1.84377446e-01 9.82848126e-01 -3.81026298e-03 -5.29967182e+01] [-2.05164775e-02 2.71509507e-05 9.99789515e-01 -7.32408149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624012739 meters 0.02460994570405184 Centerline is valid? [True, True] Translation: X:363.02, Y:-53.02, Z:-7.33 [[ 9.84434546e-01 1.74740983e-01 1.88205547e-02 3.63023654e+02] [-1.74704919e-01 9.84614414e-01 -3.55632513e-03 -5.30225259e+01] [-1.91524252e-02 2.12925818e-04 9.99816553e-01 -7.32837575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684012739 meters 0.02872304478772149 Centerline is valid? [True, True] Translation: X:363.08, Y:-53.04, Z:-7.33 [[ 9.85658603e-01 1.67503956e-01 2.04827577e-02 3.63080531e+02] [-1.67459693e-01 9.85871329e-01 -3.86963068e-03 -5.30428168e+01] [-2.08415420e-02 3.84098445e-04 9.99782718e-01 -7.32624047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744012739 meters 0.031031613233795215 Centerline is valid? [True, True] Translation: X:363.14, Y:-53.06, Z:-7.32 [[ 9.85834464e-01 1.66301690e-01 2.17751350e-02 3.63136981e+02] [-1.66251384e-01 9.86074824e-01 -4.11323604e-03 -5.30604724e+01] [-2.21559505e-02 4.34823530e-04 9.99754432e-01 -7.32476949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80401273900003 meters 0.03006829977267944 Centerline is valid? [True, True] Translation: X:363.19, Y:-53.07, Z:-7.33 [[ 9.85643978e-01 1.67632223e-01 2.01342030e-02 3.63193468e+02] [-1.67589501e-01 9.85849531e-01 -3.80274476e-03 -5.30728037e+01] [-2.04867571e-02 3.73871439e-04 9.99790054e-01 -7.32802242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86401273900003 meters 0.026576607286763924 Centerline is valid? [True, True] Translation: X:363.25, Y:-53.08, Z:-7.33 [[ 9.84860619e-01 1.72220156e-01 1.97428389e-02 3.63253091e+02] [-1.72180023e-01 9.85058447e-01 -3.72770105e-03 -5.30813725e+01] [-2.00898355e-02 2.71943509e-04 9.99798142e-01 -7.33084830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.924012739 meters 0.02414272611092875 Centerline is valid? [True, True] Translation: X:363.31, Y:-53.09, Z:-7.33 [[ 9.84255204e-01 1.75791083e-01 1.84170602e-02 3.63310719e+02] [-1.75756786e-01 9.84427479e-01 -3.47725958e-03 -5.30885408e+01] [-1.87415314e-02 1.85587519e-04 9.99824345e-01 -7.33499480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984012739 meters 0.021701950496096502 Centerline is valid? [True, True] Translation: X:363.37, Y:-53.09, Z:-7.33 [[ 9.83536702e-01 1.79596354e-01 2.00176539e-02 3.63369299e+02] [-1.79556649e-01 9.83740380e-01 -3.77823563e-03 -5.30935805e+01] [-2.03707318e-02 1.21730562e-04 9.99792488e-01 -7.33276608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044012739 meters 0.020495803647426918 Centerline is valid? [True, True] Translation: X:363.43, Y:-53.09, Z:-7.33 [[ 9.82415087e-01 1.85656735e-01 1.98033768e-02 3.63429091e+02] [-1.85619123e-01 9.82614663e-01 -3.73688908e-03 -5.30941336e+01] [-2.01528671e-02 -4.70922991e-06 9.99796910e-01 -7.33421989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104012739 meters 0.02204866318781226 Centerline is valid? [True, True] Translation: X:363.49, Y:-53.10, Z:-7.34 [[ 9.81475668e-01 1.90758111e-01 1.78004534e-02 3.63488096e+02] [-1.90728574e-01 9.81637068e-01 -3.35821349e-03 -5.30967924e+01] [-1.81141914e-02 -9.90502689e-05 9.99835920e-01 -7.33944451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164012739 meters 0.024396018491760322 Centerline is valid? [True, True] Translation: X:363.55, Y:-53.09, Z:-7.34 [[ 9.80360574e-01 1.96322228e-01 1.87277371e-02 3.63548719e+02] [-1.96290565e-01 9.80539411e-01 -3.53225052e-03 -5.30932636e+01] [-1.90567436e-02 -2.13198952e-04 9.99818381e-01 -7.33695868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224012739 meters 0.027078143014975496 Centerline is valid? [True, True] Translation: X:363.61, Y:-53.09, Z:-7.34 [[ 9.80014898e-01 1.98027460e-01 1.88659659e-02 3.63607726e+02] [-1.97995661e-01 9.80196441e-01 -3.55741377e-03 -5.30937649e+01] [-1.91968183e-02 -2.49060887e-04 9.99815693e-01 -7.33854083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284012739 meters 0.02517364838894582 Centerline is valid? [True, True] Translation: X:363.67, Y:-53.10, Z:-7.34 [[ 9.80236264e-01 1.97012069e-01 1.79753217e-02 3.63665817e+02] [-1.96983050e-01 9.80401039e-01 -3.38841951e-03 -5.31040046e+01] [-1.82905836e-02 -2.19382013e-04 9.99832689e-01 -7.34162726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344012739 meters 0.024603482861221285 Centerline is valid? [True, True] Translation: X:363.72, Y:-53.11, Z:-7.34 [[ 9.80438277e-01 1.96031909e-01 1.76713016e-02 3.63724582e+02] [-1.96003720e-01 9.80597497e-01 -3.33027247e-03 -5.31074807e+01] [-1.79812738e-02 -1.98514241e-04 9.99838304e-01 -7.34266291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404012739 meters 0.023553732143735625 Centerline is valid? [True, True] Translation: X:363.78, Y:-53.11, Z:-7.34 [[ 9.80704378e-01 1.94515692e-01 1.95593460e-02 3.63784613e+02] [-1.94480875e-01 9.80899388e-01 -3.68509552e-03 -5.31092652e+01] [-1.99025594e-02 -1.89929409e-04 9.99801906e-01 -7.34059573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464012739 meters 0.021086473552293747 Centerline is valid? [True, True] Translation: X:363.84, Y:-53.12, Z:-7.34 [[ 9.81977545e-01 1.88071262e-01 1.86895812e-02 3.63842120e+02] [-1.88038361e-01 9.82155383e-01 -3.51827085e-03 -5.31243983e+01] [-1.90177584e-02 -5.94952311e-05 9.99819144e-01 -7.34391517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524012739 meters 0.022255334842588292 Centerline is valid? [True, True] Translation: X:363.90, Y:-53.15, Z:-7.34 [[ 9.83849144e-01 1.77838381e-01 2.03561286e-02 3.63897779e+02] [-1.77797172e-01 9.84059697e-01 -3.83119462e-03 -5.31453722e+01] [-2.07129792e-02 1.50055466e-04 9.99785452e-01 -7.34162259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584012739 meters 0.025773496936662272 Centerline is valid? [True, True] Translation: X:363.95, Y:-53.16, Z:-7.34 [[ 9.84915013e-01 1.71821837e-01 2.04859510e-02 3.63954817e+02] [-1.71778818e-01 9.85128001e-01 -3.85465189e-03 -5.31636190e+01] [-2.08435974e-02 2.77452050e-04 9.99782710e-01 -7.34263942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644012739 meters 0.03335622063728894 Centerline is valid? [True, True] Translation: X:364.01, Y:-53.19, Z:-7.35 [[ 9.86290460e-01 1.63950730e-01 1.87426236e-02 3.64010234e+02] [-1.63913307e-01 9.86468445e-01 -3.52620599e-03 -5.31898157e+01] [-1.90671308e-02 4.05697923e-04 9.99818123e-01 -7.34729473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704012739 meters 0.03575810509014819 Centerline is valid? [True, True] Translation: X:364.07, Y:-53.21, Z:-7.35 [[ 9.86805082e-01 1.60912868e-01 1.79660434e-02 3.64067594e+02] [-1.60877982e-01 9.86968516e-01 -3.37994005e-03 -5.32079055e+01] [-1.82757950e-02 4.45001207e-04 9.99832885e-01 -7.34955738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764012739 meters 0.0389095585658596 Centerline is valid? [True, True] Translation: X:364.12, Y:-53.23, Z:-7.35 [[ 9.87235643e-01 1.58169731e-01 1.86580127e-02 3.64124120e+02] [-1.58131624e-01 9.87411804e-01 -3.50967025e-03 -5.32293880e+01] [-1.89782656e-02 5.14449711e-04 9.99819764e-01 -7.34935023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824012739 meters 0.0389670579563936 Centerline is valid? [True, True] Translation: X:364.18, Y:-53.25, Z:-7.35 [[ 9.87208693e-01 1.58384952e-01 1.82538829e-02 3.64181172e+02] [-1.58348523e-01 9.87377313e-01 -3.43328707e-03 -5.32459942e+01] [-1.85672508e-02 4.98895453e-04 9.99827489e-01 -7.35175300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884012739 meters 0.037179497493813086 Centerline is valid? [True, True] Translation: X:364.24, Y:-53.26, Z:-7.35 [[ 9.86820654e-01 1.60738019e-01 1.86624520e-02 3.64236926e+02] [-1.60700376e-01 9.86996998e-01 -3.50928350e-03 -5.32608402e+01] [-1.89838593e-02 4.63970396e-04 9.99819683e-01 -7.35193400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944012739 meters 0.03326801411595655 Centerline is valid? [True, True] Translation: X:364.30, Y:-53.27, Z:-7.35 [[ 9.86617166e-01 1.61661163e-01 2.12658236e-02 3.64295417e+02] [-1.61612527e-01 9.86846194e-01 -3.99749692e-03 -5.32711990e+01] [-2.16323371e-02 5.07175607e-04 9.99765865e-01 -7.34717904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004012739 meters 0.03333605703453648 Centerline is valid? [True, True] Translation: X:364.35, Y:-53.29, Z:-7.35 [[ 9.86663303e-01 1.61479643e-01 2.04902765e-02 3.64352349e+02] [-1.61434465e-01 9.86875921e-01 -3.85100897e-03 -5.32895348e+01] [-2.08432201e-02 4.91812387e-04 9.99782636e-01 -7.35056799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064012739 meters 0.03208860438671465 Centerline is valid? [True, True] Translation: X:364.41, Y:-53.31, Z:-7.35 [[ 9.86185262e-01 1.64494117e-01 1.95016756e-02 3.64408936e+02] [-1.64453792e-01 9.86377980e-01 -3.66477189e-03 -5.33065477e+01] [-1.98388569e-02 4.07019522e-04 9.99803108e-01 -7.35313859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124012739 meters 0.02469377194386407 Centerline is valid? [True, True] Translation: X:364.47, Y:-53.31, Z:-7.35 [[ 9.84624956e-01 1.73596251e-01 1.94431962e-02 3.64469390e+02] [-1.73557953e-01 9.84816883e-01 -3.65307466e-03 -5.33097798e+01] [-1.97821479e-02 2.22387158e-04 9.99804289e-01 -7.35442166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184012739 meters 0.02075788443256693 Centerline is valid? [True, True] Translation: X:364.53, Y:-53.31, Z:-7.36 [[ 9.82865689e-01 1.83472433e-01 1.76890889e-02 3.64529008e+02] [-1.83442330e-01 9.83024855e-01 -3.32350211e-03 -5.33069366e+01] [-1.79985851e-02 2.16284998e-05 9.99838012e-01 -7.35802502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244012739 meters 0.02087603462971297 Centerline is valid? [True, True] Translation: X:364.59, Y:-53.31, Z:-7.36 [[ 9.82287167e-01 1.86547709e-01 1.76599620e-02 3.64587247e+02] [-1.86518216e-01 9.82445902e-01 -3.31727141e-03 -5.33131001e+01] [-1.79687866e-02 -3.53914515e-05 9.99838548e-01 -7.35946202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30401273900003 meters 0.022657660805602428 Centerline is valid? [True, True] Translation: X:364.65, Y:-53.32, Z:-7.36 [[ 9.81244152e-01 1.91928896e-01 1.79781240e-02 3.64646735e+02] [-1.91899257e-01 9.81408824e-01 -3.37570058e-03 -5.33158106e+01] [-1.82917840e-02 -1.37602174e-04 9.99832682e-01 -7.35928686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36401273900003 meters 0.022123099899681746 Centerline is valid? [True, True] Translation: X:364.70, Y:-53.33, Z:-7.36 [[ 9.81383501e-01 1.91196374e-01 1.81760736e-02 3.64704290e+02] [-1.91165969e-01 9.81551797e-01 -3.41199442e-03 -5.33255361e+01] [-1.84931187e-02 -1.26171700e-04 9.99828980e-01 -7.35998676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.424012739 meters 0.021259737847374963 Centerline is valid? [True, True] Translation: X:364.76, Y:-53.34, Z:-7.36 [[ 9.81713261e-01 1.89481722e-01 1.83234968e-02 3.64761820e+02] [-1.89450539e-01 9.81884244e-01 -3.43878736e-03 -5.33399095e+01] [-1.86431401e-02 -9.54931985e-05 9.99826197e-01 -7.36071346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484012739 meters 0.020586175061348327 Centerline is valid? [True, True] Translation: X:364.82, Y:-53.35, Z:-7.36 [[ 9.82153944e-01 1.87073748e-01 1.94176158e-02 3.64817633e+02] [-1.87038278e-01 9.82345871e-01 -3.64312568e-03 -5.33536758e+01] [-1.97563479e-02 -5.37271872e-05 9.99804823e-01 -7.35940538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544012739 meters 0.020507146207594078 Centerline is valid? [True, True] Translation: X:364.87, Y:-53.36, Z:-7.36 [[ 9.82179893e-01 1.86906879e-01 1.97097884e-02 3.64873910e+02] [-1.86870332e-01 9.82377634e-01 -3.69633519e-03 -5.33634836e+01] [-2.00533257e-02 -5.27086021e-05 9.99798910e-01 -7.36053031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604012739 meters 0.02054315096700723 Centerline is valid? [True, True] Translation: X:364.93, Y:-53.37, Z:-7.36 [[ 9.82198266e-01 1.86861692e-01 1.92165342e-02 3.64931063e+02] [-1.86826987e-01 9.82386230e-01 -3.60164815e-03 -5.33734219e+01] [-1.95510687e-02 -5.26346171e-05 9.99808858e-01 -7.36279403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664012739 meters 0.02034574678014937 Centerline is valid? [True, True] Translation: X:364.99, Y:-53.39, Z:-7.37 [[ 9.82517395e-01 1.85275498e-01 1.82361953e-02 3.64986852e+02] [-1.85243992e-01 9.82686618e-01 -3.41671176e-03 -5.33879170e+01] [-1.85534981e-02 -2.11668846e-05 9.99827869e-01 -7.36534068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724012739 meters 0.020374215731479704 Centerline is valid? [True, True] Translation: X:365.04, Y:-53.40, Z:-7.37 [[ 9.82900778e-01 1.83282240e-01 1.77110422e-02 3.65042258e+02] [-1.83252221e-01 9.83060334e-01 -3.31710198e-03 -5.34036632e+01] [-1.80189890e-02 1.47942971e-05 9.99837645e-01 -7.36785682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784012739 meters 0.02035475115392514 Centerline is valid? [True, True] Translation: X:365.10, Y:-53.42, Z:-7.37 [[ 9.82992569e-01 1.82749862e-01 1.81134609e-02 3.65098938e+02] [-1.82718397e-01 9.83159441e-01 -3.39119185e-03 -5.34170771e+01] [-1.84281600e-02 2.38538464e-05 9.99830187e-01 -7.36836251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844012739 meters 0.020359502102829802 Centerline is valid? [True, True] Translation: X:365.16, Y:-53.43, Z:-7.37 [[ 9.83175776e-01 1.81670147e-01 1.90092483e-02 3.65155068e+02] [-1.81635318e-01 9.83359525e-01 -3.55750846e-03 -5.34321172e+01] [-1.93392184e-02 4.49052943e-05 9.99812979e-01 -7.36704088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904012739 meters 0.020840608705413075 Centerline is valid? [True, True] Translation: X:365.21, Y:-53.45, Z:-7.37 [[ 9.83433954e-01 1.80475274e-01 1.69213879e-02 3.65211731e+02] [-1.80447517e-01 9.83579520e-01 -3.16568412e-03 -5.34475658e+01] [-1.72148583e-02 5.98188091e-05 9.99851812e-01 -7.37184066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964012739 meters 0.020365021821294484 Centerline is valid? [True, True] Translation: X:365.27, Y:-53.46, Z:-7.37 [[ 9.83096018e-01 1.82251882e-01 1.75063265e-02 3.65269404e+02] [-1.82222470e-01 9.83251876e-01 -3.27424906e-03 -5.34575287e+01] [-1.78098664e-02 2.88551547e-05 9.99841391e-01 -7.37159146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024012739 meters 0.020313123181837294 Centerline is valid? [True, True] Translation: X:365.33, Y:-53.47, Z:-7.37 [[ 9.82860909e-01 1.83438244e-01 1.82987724e-02 3.65326573e+02] [-1.83406331e-01 9.83031236e-01 -3.42157319e-03 -5.34672232e+01] [-1.86159122e-02 6.81983103e-06 9.99826709e-01 -7.37192457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084012739 meters 0.020342922002366027 Centerline is valid? [True, True] Translation: X:365.38, Y:-53.48, Z:-7.37 [[ 9.82628744e-01 1.84699011e-01 1.80838903e-02 3.65382561e+02] [-1.84668080e-01 9.82795134e-01 -3.38013530e-03 -5.34777449e+01] [-1.83970671e-02 -1.80992102e-05 9.99830759e-01 -7.37411541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144012739 meters 0.020410116552829188 Centerline is valid? [True, True] Translation: X:365.44, Y:-53.49, Z:-7.38 [[ 9.82581782e-01 1.85058733e-01 1.69206315e-02 3.65439787e+02] [-1.85031730e-01 9.82727462e-01 -3.16135540e-03 -5.34901135e+01] [-1.72134057e-02 -2.45635062e-05 9.99851838e-01 -7.37697159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204012739 meters 0.020275708984550514 Centerline is valid? [True, True] Translation: X:365.50, Y:-53.51, Z:-7.38 [[ 9.83007190e-01 1.82633716e-01 1.84875581e-02 3.65495745e+02] [-1.82601069e-01 9.83181024e-01 -3.45315005e-03 -5.35076446e+01] [-1.88072779e-02 1.86234564e-05 9.99823127e-01 -7.37549535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264012739 meters 0.021062634735818868 Centerline is valid? [True, True] Translation: X:365.55, Y:-53.53, Z:-7.37 [[ 9.83781168e-01 1.78223457e-01 2.02734294e-02 3.65551330e+02] [-1.78183288e-01 9.83990034e-01 -3.78539758e-03 -5.35320049e+01] [-2.06234991e-02 1.11616556e-04 9.99787307e-01 -7.37297805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324012739 meters 0.021439548454273795 Centerline is valid? [True, True] Translation: X:365.61, Y:-53.55, Z:-7.38 [[ 9.83909372e-01 1.77827847e-01 1.73090613e-02 3.65607367e+02] [-1.77798518e-01 9.84061607e-01 -3.23117237e-03 -5.35496035e+01] [-1.76077751e-02 1.01655331e-04 9.99844966e-01 -7.37951736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384012739 meters 0.02046542824403228 Centerline is valid? [True, True] Translation: X:365.67, Y:-53.56, Z:-7.38 [[ 9.83301908e-01 1.81154783e-01 1.73292238e-02 3.65666198e+02] [-1.81125912e-01 9.83454596e-01 -3.23434829e-03 -5.35575284e+01] [-1.76284224e-02 4.15693874e-05 9.99844606e-01 -7.37977664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444012739 meters 0.02040675782074171 Centerline is valid? [True, True] Translation: X:365.72, Y:-53.57, Z:-7.38 [[ 9.83163642e-01 1.81963711e-01 1.66871428e-02 3.65722298e+02] [-1.81937069e-01 9.83305246e-01 -3.11379730e-03 -5.35708430e+01] [-1.69751531e-02 2.53624511e-05 9.99855911e-01 -7.38263910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504012739 meters 0.020304399085365257 Centerline is valid? [True, True] Translation: X:365.78, Y:-53.59, Z:-7.38 [[ 9.83277446e-01 1.81001781e-01 2.00952489e-02 3.65779528e+02] [-1.80962972e-01 9.83482767e-01 -3.74833657e-03 -5.35862591e+01] [-2.04417866e-02 4.91588446e-05 9.99791044e-01 -7.37639258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564012739 meters 0.020327102595497637 Centerline is valid? [True, True] Translation: X:365.84, Y:-53.60, Z:-7.38 [[ 9.83061360e-01 1.82142579e-01 2.03578942e-02 3.65837618e+02] [-1.82103013e-01 9.83272129e-01 -3.79637601e-03 -5.35952256e+01] [-2.07088317e-02 2.48366968e-05 9.99785549e-01 -7.37772532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624012739 meters 0.02144993066380809 Centerline is valid? [True, True] Translation: X:365.90, Y:-53.59, Z:-7.38 [[ 9.81942528e-01 1.88174246e-01 1.94762594e-02 3.65896942e+02] [-1.88139234e-01 9.82135654e-01 -3.63112797e-03 -5.35947341e+01] [-1.98116136e-02 -9.86895565e-05 9.99803726e-01 -7.38060119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684012739 meters 0.023772783626125706 Centerline is valid? [True, True] Translation: X:365.96, Y:-53.60, Z:-7.38 [[ 9.80996752e-01 1.93138409e-01 1.85182997e-02 3.65955749e+02] [-1.93107661e-01 9.81171503e-01 -3.45140522e-03 -5.35976858e+01] [-1.88362269e-02 -1.90208236e-04 9.99822564e-01 -7.38341126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744012739 meters 0.02525645861861228 Centerline is valid? [True, True] Translation: X:366.01, Y:-53.60, Z:-7.38 [[ 9.80610567e-01 1.95027440e-01 1.91628150e-02 3.66013349e+02] [-1.94994899e-01 9.80797758e-01 -3.57032463e-03 -5.36027465e+01] [-1.94911572e-02 -2.35553110e-04 9.99810002e-01 -7.38256377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80401273900003 meters 0.025671223265381717 Centerline is valid? [True, True] Translation: X:366.07, Y:-53.61, Z:-7.38 [[ 9.80409817e-01 1.95916750e-01 2.03277428e-02 3.66072004e+02] [-1.95880350e-01 9.80620494e-01 -3.78607515e-03 -5.36110880e+01] [-2.06755567e-02 -2.69900123e-04 9.99786201e-01 -7.38169138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86401273900003 meters 0.027731688217715336 Centerline is valid? [True, True] Translation: X:366.13, Y:-53.62, Z:-7.38 [[ 9.79962714e-01 1.98218397e-01 1.95587797e-02 3.66130122e+02] [-1.98185175e-01 9.80157830e-01 -3.64195305e-03 -5.36153815e+01] [-1.98925932e-02 -3.07281977e-04 9.99802076e-01 -7.38485608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.924012739 meters 0.03270317429401919 Centerline is valid? [True, True] Translation: X:366.19, Y:-53.61, Z:-7.39 [[ 9.79532705e-01 2.00457949e-01 1.82288121e-02 3.66188652e+02] [-2.00429497e-01 9.79702252e-01 -3.39332256e-03 -5.36141791e+01] [-1.85390267e-02 -3.29721217e-04 9.99828083e-01 -7.38849668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984012739 meters 0.027276427246328862 Centerline is valid? [True, True] Translation: X:366.25, Y:-53.63, Z:-7.38 [[ 9.80150949e-01 1.97157510e-01 2.08094544e-02 3.66245026e+02] [-1.97119723e-01 9.80371778e-01 -3.87205482e-03 -5.36330399e+01] [-2.11644065e-02 -3.06755666e-04 9.99775962e-01 -7.38387391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044012739 meters 0.025016355183723783 Centerline is valid? [True, True] Translation: X:366.30, Y:-53.65, Z:-7.39 [[ 9.80774850e-01 1.94090779e-01 2.02352067e-02 3.66301812e+02] [-1.94054414e-01 9.80983544e-01 -3.76428536e-03 -5.36480583e+01] [-2.05810178e-02 -2.34814774e-04 9.99788161e-01 -7.38610100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104012739 meters 0.024721844005934843 Centerline is valid? [True, True] Translation: X:366.36, Y:-53.66, Z:-7.39 [[ 9.80859787e-01 1.93702963e-01 1.98303033e-02 3.66359949e+02] [-1.93667979e-01 9.81060198e-01 -3.68805768e-03 -5.36590110e+01] [-2.01691090e-02 -2.23027284e-04 9.99796558e-01 -7.38840536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164012739 meters 0.023890862752668385 Centerline is valid? [True, True] Translation: X:366.42, Y:-53.67, Z:-7.39 [[ 9.81089054e-01 1.92645616e-01 1.87599354e-02 3.66417991e+02] [-1.92614129e-01 9.81268378e-01 -3.48816484e-03 -5.36704873e+01] [-1.90805111e-02 -1.91228284e-04 9.99817932e-01 -7.39111665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224012739 meters 0.022200420748366152 Centerline is valid? [True, True] Translation: X:366.47, Y:-53.69, Z:-7.39 [[ 9.81530371e-01 1.90266778e-01 1.99169204e-02 3.66474815e+02] [-1.90230818e-01 9.81732412e-01 -3.70228673e-03 -5.36853998e+01] [-2.02575085e-02 -1.54905186e-04 9.99794784e-01 -7.38996482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284012739 meters 0.021510160053812108 Centerline is valid? [True, True] Translation: X:366.53, Y:-53.70, Z:-7.39 [[ 9.81947792e-01 1.87985772e-01 2.09733958e-02 3.66530510e+02] [-1.87945397e-01 9.82171745e-01 -3.89760065e-03 -5.37019261e+01] [-2.13321703e-02 -1.14612862e-04 9.99772437e-01 -7.38894409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344012739 meters 0.021153263319766077 Centerline is valid? [True, True] Translation: X:366.59, Y:-53.72, Z:-7.39 [[ 9.81945642e-01 1.87835147e-01 2.23766417e-02 3.66587395e+02] [-1.87789181e-01 9.82200561e-01 -4.15698678e-03 -5.37171694e+01] [-2.27591783e-02 -1.20156166e-04 9.99740969e-01 -7.38796212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404012739 meters 0.02228178087283693 Centerline is valid? [True, True] Translation: X:366.64, Y:-53.73, Z:-7.39 [[ 9.81629906e-01 1.89547277e-01 2.17843508e-02 3.66644302e+02] [-1.89504156e-01 9.81871583e-01 -4.04594431e-03 -5.37264736e+01] [-2.21563327e-02 -1.56605091e-04 9.99754506e-01 -7.38981128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464012739 meters 0.02478332004307077 Centerline is valid? [True, True] Translation: X:366.70, Y:-53.73, Z:-7.39 [[ 9.80783443e-01 1.94048619e-01 2.02230617e-02 3.66702102e+02] [-1.94012436e-01 9.80991883e-01 -3.75488661e-03 -5.37338873e+01] [-2.05672899e-02 -2.40794848e-04 9.99788442e-01 -7.39403683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524012739 meters 0.028755672595431127 Centerline is valid? [True, True] Translation: X:366.76, Y:-53.74, Z:-7.40 [[ 9.79684928e-01 1.99482278e-01 2.05976395e-02 3.66761831e+02] [-1.99445967e-01 9.79901367e-01 -3.82321294e-03 -5.37356642e+01] [-2.09463183e-02 -3.62572029e-04 9.99780536e-01 -7.39525912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584012739 meters 0.03097897774866997 Centerline is valid? [True, True] Translation: X:366.82, Y:-53.74, Z:-7.39 [[ 9.79242040e-01 2.01454904e-01 2.23819086e-02 3.66820291e+02] [-2.01412564e-01 9.79497691e-01 -4.15348604e-03 -5.37405644e+01] [-2.27597679e-02 -4.40729454e-04 9.99740866e-01 -7.39384817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644012739 meters 0.02909027327548033 Centerline is valid? [True, True] Translation: X:366.88, Y:-53.75, Z:-7.40 [[ 9.79826639e-01 1.98651185e-01 2.18509572e-02 3.66876917e+02] [-1.98610161e-01 9.80070187e-01 -4.05372430e-03 -5.37539749e+01] [-2.22207489e-02 -3.67875083e-04 9.99753021e-01 -7.39640885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704012739 meters 0.027313568718239742 Centerline is valid? [True, True] Translation: X:366.93, Y:-53.77, Z:-7.40 [[ 9.80250471e-01 1.96464789e-01 2.25964714e-02 3.66933232e+02] [-1.96420361e-01 9.80510825e-01 -4.19092127e-03 -5.37660241e+01] [-2.29794533e-02 -3.30254528e-04 9.99735883e-01 -7.39543546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764012739 meters 0.027523007407060665 Centerline is valid? [True, True] Translation: X:366.99, Y:-53.78, Z:-7.40 [[ 9.80335651e-01 1.96044734e-01 2.25493751e-02 3.66990147e+02] [-1.96000410e-01 9.80594901e-01 -4.18090731e-03 -5.37754942e+01] [-2.29314471e-02 -3.20994271e-04 9.99736988e-01 -7.39708758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824012739 meters 0.028237843533353464 Centerline is valid? [True, True] Translation: X:367.05, Y:-53.78, Z:-7.40 [[ 9.80122958e-01 1.96941370e-01 2.39391849e-02 3.67048601e+02] [-1.96891714e-01 9.80415200e-01 -4.43722019e-03 -5.37829830e+01] [-2.43442130e-02 -3.64405776e-04 9.99703569e-01 -7.39592759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884012739 meters 0.028474037503029934 Centerline is valid? [True, True] Translation: X:367.11, Y:-53.79, Z:-7.40 [[ 9.80125369e-01 1.97117068e-01 2.23410724e-02 3.67105518e+02] [-1.97073889e-01 9.80379897e-01 -4.14001019e-03 -5.37920273e+01] [-2.27188049e-02 -3.45113013e-04 9.99741835e-01 -7.40104342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944012739 meters 0.024698823847556322 Centerline is valid? [True, True] Translation: X:367.16, Y:-53.81, Z:-7.41 [[ 9.81078640e-01 1.92439491e-01 2.12542681e-02 3.67162128e+02] [-1.92399342e-01 9.81308815e-01 -3.93727771e-03 -5.38098520e+01] [-2.16146884e-02 -2.26528144e-04 9.99766350e-01 -7.40507213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004012739 meters 0.02122119069001894 Centerline is valid? [True, True] Translation: X:367.22, Y:-53.83, Z:-7.41 [[ 9.82027148e-01 1.87436614e-01 2.21403951e-02 3.67218076e+02] [-1.87391797e-01 9.82276693e-01 -4.10040723e-03 -5.38324080e+01] [-2.25165605e-02 -1.22217215e-04 9.99746463e-01 -7.40575582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064012739 meters 0.020185688607985627 Centerline is valid? [True, True] Translation: X:367.27, Y:-53.85, Z:-7.41 [[ 9.82851125e-01 1.83072414e-01 2.20942907e-02 3.67273039e+02] [-1.83026705e-01 9.83099431e-01 -4.09082319e-03 -5.38541737e+01] [-2.24698015e-02 -2.31750515e-05 9.99747522e-01 -7.40635911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124012739 meters 0.019978243898806695 Centerline is valid? [True, True] Translation: X:367.33, Y:-53.87, Z:-7.41 [[ 9.83120981e-01 1.81570586e-01 2.24779657e-02 3.67329956e+02] [-1.81522911e-01 9.83377914e-01 -4.16061739e-03 -5.38721660e+01] [-2.28597808e-02 1.01244828e-05 9.99738681e-01 -7.40727082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184012739 meters 0.020242115035059495 Centerline is valid? [True, True] Translation: X:367.39, Y:-53.89, Z:-7.40 [[ 9.82547128e-01 1.84350708e-01 2.48184986e-02 3.67388376e+02] [-1.84293488e-01 9.82860526e-01 -4.59321296e-03 -5.38856080e+01] [-2.52398846e-02 -6.08394787e-05 9.99681422e-01 -7.40403086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244012739 meters 0.02042143624053422 Centerline is valid? [True, True] Translation: X:367.45, Y:-53.90, Z:-7.41 [[ 9.82259213e-01 1.85890645e-01 2.47286534e-02 3.67447045e+02] [-1.85834338e-01 9.82570434e-01 -4.57611438e-03 -5.38997775e+01] [-2.51483006e-02 -1.00502424e-04 9.99683726e-01 -7.40669899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30401273900003 meters 0.021046674227498736 Centerline is valid? [True, True] Translation: X:367.51, Y:-53.92, Z:-7.41 [[ 9.81860934e-01 1.88052011e-01 2.41981059e-02 3.67506142e+02] [-1.87998751e-01 9.82159059e-01 -4.47793492e-03 -5.39150699e+01] [-2.46084736e-02 -1.52504331e-04 9.99697154e-01 -7.40956793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36401273900003 meters 0.02472841220614042 Centerline is valid? [True, True] Translation: X:367.56, Y:-53.92, Z:-7.41 [[ 9.80651579e-01 1.94155253e-01 2.50243569e-02 3.67564544e+02] [-1.94100283e-01 9.80970763e-01 -4.63059119e-03 -5.39192649e+01] [-2.54472161e-02 -3.16238192e-04 9.99676117e-01 -7.40786143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.424012739 meters 0.029277346876203536 Centerline is valid? [True, True] Translation: X:367.62, Y:-53.92, Z:-7.41 [[ 9.79378082e-01 2.00383581e-01 2.57874675e-02 3.67624638e+02] [-2.00327392e-01 9.79717396e-01 -4.77063193e-03 -5.39227343e+01] [-2.62203868e-02 -4.93683768e-04 9.99656065e-01 -7.40906303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484012739 meters 0.03066041583164185 Centerline is valid? [True, True] Translation: X:367.68, Y:-53.93, Z:-7.41 [[ 9.79191377e-01 2.01369782e-01 2.51884391e-02 3.67682058e+02] [-2.01316521e-01 9.79515162e-01 -4.65900095e-03 -5.39311545e+01] [-2.56106400e-02 -5.08795366e-04 9.99671864e-01 -7.41259739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544012739 meters 0.03185973883723436 Centerline is valid? [True, True] Translation: X:367.74, Y:-53.94, Z:-7.41 [[ 9.79121827e-01 2.01756403e-01 2.47951991e-02 3.67739761e+02] [-2.01704956e-01 9.79435598e-01 -4.58466980e-03 -5.39381252e+01] [-2.52102872e-02 -5.12364288e-04 9.99682039e-01 -7.41413699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604012739 meters 0.03286876058886221 Centerline is valid? [True, True] Translation: X:367.80, Y:-53.94, Z:-7.42 [[ 9.78553093e-01 2.04426044e-01 2.53739493e-02 3.67800312e+02] [-2.04373098e-01 9.78881830e-01 -4.69033537e-03 -5.39374540e+01] [-2.57969246e-02 -5.96010449e-04 9.99667026e-01 -7.41508452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664012739 meters 0.033547542664081734 Centerline is valid? [True, True] Translation: X:367.86, Y:-53.94, Z:-7.42 [[ 9.78215250e-01 2.06049186e-01 2.52716691e-02 3.67859444e+02] [-2.05997226e-01 9.78541429e-01 -4.67068789e-03 -5.39409860e+01] [-2.56917666e-02 -6.36955609e-04 9.99669709e-01 -7.41693519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724012739 meters 0.034382784290250316 Centerline is valid? [True, True] Translation: X:367.92, Y:-53.94, Z:-7.42 [[ 9.78427146e-01 2.05012392e-01 2.54997702e-02 3.67918349e+02] [-2.04959173e-01 9.78759183e-01 -4.71151336e-03 -5.39407533e+01] [-2.59240529e-02 -6.16539243e-04 9.99663725e-01 -7.41774361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784012739 meters 0.030305424161250386 Centerline is valid? [True, True] Translation: X:367.98, Y:-53.95, Z:-7.42 [[ 9.79621219e-01 1.99231137e-01 2.54798427e-02 3.67976947e+02] [-1.99176079e-01 9.79952416e-01 -4.70647463e-03 -5.39486718e+01] [-2.59067098e-02 -4.64412768e-04 9.99664257e-01 -7.41815929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844012739 meters 0.024402025629018914 Centerline is valid? [True, True] Translation: X:368.04, Y:-53.96, Z:-7.41 [[ 9.80877500e-01 1.92499854e-01 2.86903338e-02 3.68035720e+02] [-1.92427182e-01 9.81296949e-01 -5.29885916e-03 -5.39616690e+01] [-2.91737666e-02 -3.23268350e-04 9.99574303e-01 -7.41378835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904012739 meters 0.022362046993945357 Centerline is valid? [True, True] Translation: X:368.09, Y:-53.97, Z:-7.41 [[ 9.81694498e-01 1.87647391e-01 3.26246602e-02 3.68092669e+02] [-1.87550768e-01 9.82236435e-01 -6.02449521e-03 -5.39747639e+01] [-3.31756107e-02 -2.04566278e-04 9.99449517e-01 -7.40794879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964012739 meters 0.02110636142778885 Centerline is valid? [True, True] Translation: X:368.15, Y:-53.99, Z:-7.41 [[ 9.82224620e-01 1.84886623e-01 3.24304129e-02 3.68150552e+02] [-1.84789691e-01 9.82759851e-01 -5.98715845e-03 -5.39872720e+01] [-3.29782532e-02 -1.12071516e-04 9.99456063e-01 -7.41239315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024012739 meters 0.021179527008554983 Centerline is valid? [True, True] Translation: X:368.21, Y:-54.00, Z:-7.41 [[ 9.82723691e-01 1.82210331e-01 3.24583337e-02 3.68207546e+02] [-1.82111802e-01 9.83259576e-01 -5.99138328e-03 -5.40000851e+01] [-3.30066594e-02 -2.31713723e-05 9.99455132e-01 -7.41190349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084012739 meters 0.021470840503483635 Centerline is valid? [True, True] Translation: X:368.27, Y:-54.02, Z:-7.42 [[ 9.83664348e-01 1.77071438e-01 3.24061135e-02 3.68265840e+02] [-1.76970460e-01 9.84197990e-01 -5.98102485e-03 -5.40170012e+01] [-3.29531005e-02 1.48396096e-04 9.99456888e-01 -7.41597863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144012739 meters 0.023515234962781878 Centerline is valid? [True, True] Translation: X:368.32, Y:-54.03, Z:-7.42 [[ 9.84590273e-01 1.72229921e-01 3.03125143e-02 3.68323480e+02] [-1.72139272e-01 9.85056734e-01 -5.59474157e-03 -5.40343277e+01] [-3.08231283e-02 2.90553999e-04 9.99524812e-01 -7.42091226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204012739 meters 0.025915015511938047 Centerline is valid? [True, True] Translation: X:368.38, Y:-54.05, Z:-7.43 [[ 9.85279056e-01 1.68337846e-01 2.97918137e-02 3.68383895e+02] [-1.68248449e-01 9.85729275e-01 -5.50048722e-03 -5.40509249e+01] [-3.02926031e-02 4.07088404e-04 9.99540991e-01 -7.42529680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264012739 meters 0.026059697675368008 Centerline is valid? [True, True] Translation: X:368.44, Y:-54.06, Z:-7.43 [[ 9.85451907e-01 1.67581787e-01 2.82998908e-02 3.68444444e+02] [-1.67500678e-01 9.85858090e-01 -5.22960730e-03 -5.40635925e+01] [-2.87760632e-02 4.13275582e-04 9.99585798e-01 -7.43057987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324012739 meters 0.02532248787783816 Centerline is valid? [True, True] Translation: X:368.50, Y:-54.07, Z:-7.43 [[ 9.85199345e-01 1.69149074e-01 2.77640427e-02 3.68503651e+02] [-1.69071522e-01 9.85590411e-01 -5.13442248e-03 -5.40728376e+01] [-2.82324570e-02 3.64320708e-04 9.99601318e-01 -7.43164863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384012739 meters 0.024354724078563466 Centerline is valid? [True, True] Translation: X:368.56, Y:-54.08, Z:-7.43 [[ 9.84833412e-01 1.70976379e-01 2.94996431e-02 3.68563546e+02] [-1.70889604e-01 9.85275072e-01 -5.45678158e-03 -5.40829581e+01] [-2.99982437e-02 3.32838505e-04 9.99549896e-01 -7.42977609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444012739 meters 0.024814552545865162 Centerline is valid? [True, True] Translation: X:368.62, Y:-54.10, Z:-7.44 [[ 9.85151521e-01 1.69636231e-01 2.64580931e-02 3.68624081e+02] [-1.69565918e-01 9.85506690e-01 -4.89524164e-03 -5.40974672e+01] [-2.69050381e-02 3.36163902e-04 9.99637937e-01 -7.43855753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504012739 meters 0.02456749801516116 Centerline is valid? [True, True] Translation: X:368.68, Y:-54.11, Z:-7.44 [[ 9.84850876e-01 1.71087787e-01 2.82439762e-02 3.68683399e+02] [-1.71008153e-01 9.85255737e-01 -5.22922197e-03 -5.41069529e+01] [-2.87221956e-02 3.20053626e-04 9.99587381e-01 -7.43530125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564012739 meters 0.02264903905772113 Centerline is valid? [True, True] Translation: X:368.74, Y:-54.11, Z:-7.43 [[ 9.84153816e-01 1.74773169e-01 2.99266738e-02 3.68742554e+02] [-1.74685482e-01 9.84608698e-01 -5.54016771e-03 -5.41112246e+01] [-3.04343360e-02 2.24621756e-04 9.99536743e-01 -7.43317607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624012739 meters 0.02070586486625154 Centerline is valid? [True, True] Translation: X:368.80, Y:-54.11, Z:-7.44 [[ 9.83220966e-01 1.80092439e-01 2.90386808e-02 3.68803135e+02] [-1.80012223e-01 9.83649689e-01 -5.37488751e-03 -5.41097005e+01] [-2.95318659e-02 5.73845971e-05 9.99563838e-01 -7.43843089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684012739 meters 0.02045411597291627 Centerline is valid? [True, True] Translation: X:368.86, Y:-54.12, Z:-7.44 [[ 9.83146585e-01 1.80649887e-01 2.80786717e-02 3.68862488e+02] [-1.80575134e-01 9.83547466e-01 -5.19653878e-03 -5.41185139e+01] [-2.85554605e-02 3.86494515e-05 9.99592209e-01 -7.44203910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744012739 meters 0.02053099563616324 Centerline is valid? [True, True] Translation: X:368.92, Y:-54.13, Z:-7.45 [[ 9.83414953e-01 1.79355793e-01 2.69541980e-02 3.68919717e+02] [-1.79286443e-01 9.83784272e-01 -4.98771205e-03 -5.41301295e+01] [-2.74116911e-02 7.24683441e-05 9.99624226e-01 -7.44505241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80401273900003 meters 0.0219899990912565 Centerline is valid? [True, True] Translation: X:368.98, Y:-54.15, Z:-7.45 [[ 9.84132353e-01 1.75367221e-01 2.70157243e-02 3.68975960e+02] [-1.75296076e-01 9.84503075e-01 -4.99815130e-03 -5.41481637e+01] [-2.74735756e-02 1.83091926e-04 9.99622513e-01 -7.44624667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86401273900003 meters 0.023802827168655977 Centerline is valid? [True, True] Translation: X:369.03, Y:-54.17, Z:-7.45 [[ 9.84945596e-01 1.70517834e-01 2.83873360e-02 3.69034248e+02] [-1.70437280e-01 9.85354534e-01 -5.25136004e-03 -5.41680813e+01] [-2.88670408e-02 3.34043611e-04 9.99583204e-01 -7.44685570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.924012739 meters 0.026323909779032734 Centerline is valid? [True, True] Translation: X:369.09, Y:-54.19, Z:-7.45 [[ 9.85591628e-01 1.66730379e-01 2.84626546e-02 3.69093319e+02] [-1.66647799e-01 9.86002424e-01 -5.26595667e-03 -5.41909203e+01] [-2.89422414e-02 4.46844076e-04 9.99580986e-01 -7.44947920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984012739 meters 0.026787270127048055 Centerline is valid? [True, True] Translation: X:369.15, Y:-54.21, Z:-7.45 [[ 9.85620449e-01 1.66687272e-01 2.77071042e-02 3.69153071e+02] [-1.66608935e-01 9.86009716e-01 -5.12851849e-03 -5.42101761e+01] [-2.81743327e-02 4.38521574e-04 9.99602929e-01 -7.45216699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044012739 meters 0.025287681712590448 Centerline is valid? [True, True] Translation: X:369.21, Y:-54.22, Z:-7.45 [[ 9.85211243e-01 1.69223830e-01 2.68719528e-02 3.69213779e+02] [-1.69150960e-01 9.85577580e-01 -4.97862068e-03 -5.42222921e+01] [-2.73268955e-02 3.59576446e-04 9.99626486e-01 -7.45426569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104012739 meters 0.02286132156135768 Centerline is valid? [True, True] Translation: X:369.27, Y:-54.23, Z:-7.45 [[ 9.84351416e-01 1.73732213e-01 2.94857277e-02 3.69274728e+02] [-1.73646376e-01 9.84792897e-01 -5.46680960e-03 -5.42297307e+01] [-2.99870961e-02 2.61172017e-04 9.99550252e-01 -7.45049924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164012739 meters 0.02091088024921074 Centerline is valid? [True, True] Translation: X:369.34, Y:-54.23, Z:-7.46 [[ 9.83541650e-01 1.78503217e-01 2.79718526e-02 3.69335323e+02] [-1.78427885e-01 9.83939322e-01 -5.18658437e-03 -5.42346187e+01] [-2.84484276e-02 1.10263265e-04 9.99595255e-01 -7.45506186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224012739 meters 0.02057929943599804 Centerline is valid? [True, True] Translation: X:369.40, Y:-54.24, Z:-7.46 [[ 9.82620957e-01 1.83512132e-01 2.79168787e-02 3.69395118e+02] [-1.83439123e-01 9.83017444e-01 -5.17611377e-03 -5.42359529e+01] [-2.83926585e-02 -3.48898748e-05 9.99596847e-01 -7.45675777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284012739 meters 0.021381175062403883 Centerline is valid? [True, True] Translation: X:369.46, Y:-54.23, Z:-7.46 [[ 9.81875092e-01 1.87432708e-01 2.81119750e-02 3.69455294e+02] [-1.87360311e-01 9.82277434e-01 -5.21118233e-03 -5.42320433e+01] [-2.85905046e-02 -1.50338236e-04 9.99591197e-01 -7.45818947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344012739 meters 0.022452373732021084 Centerline is valid? [True, True] Translation: X:369.51, Y:-54.23, Z:-7.46 [[ 9.81522398e-01 1.89408495e-01 2.71699127e-02 3.69514495e+02] [-1.89341664e-01 9.81898356e-01 -5.03519458e-03 -5.42299415e+01] [-2.76318012e-02 -2.02240233e-04 9.99618148e-01 -7.46210166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404012739 meters 0.021211309504003246 Centerline is valid? [True, True] Translation: X:369.57, Y:-54.23, Z:-7.46 [[ 9.82162106e-01 1.86146188e-01 2.65931268e-02 3.69572600e+02] [-1.86081010e-01 9.82522053e-01 -4.92675567e-03 -5.42347698e+01] [-2.70454303e-02 -1.09603179e-04 9.99634199e-01 -7.46460918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464012739 meters 0.020621193310792162 Centerline is valid? [True, True] Translation: X:369.63, Y:-54.25, Z:-7.47 [[ 9.83059920e-01 1.81301162e-01 2.68902035e-02 3.69630121e+02] [-1.81232747e-01 9.83427622e-01 -4.98029761e-03 -5.42464471e+01] [-2.73475027e-02 2.25455281e-05 9.99625987e-01 -7.46723963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524012739 meters 0.02394487727703672 Centerline is valid? [True, True] Translation: X:369.69, Y:-54.26, Z:-7.47 [[ 9.84645804e-01 1.72502845e-01 2.67471304e-02 3.69686813e+02] [-1.72431937e-01 9.85008984e-01 -4.95262360e-03 -5.42642614e+01] [-2.72005054e-02 2.64520542e-04 9.99629963e-01 -7.46917898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584012739 meters 0.02989303856755902 Centerline is valid? [True, True] Translation: X:369.74, Y:-54.28, Z:-7.47 [[ 9.85869574e-01 1.65604448e-01 2.52259912e-02 3.69743938e+02] [-1.65539136e-01 9.86192163e-01 -4.67024299e-03 -5.42811331e+01] [-2.56510878e-02 4.28361680e-04 9.99670865e-01 -7.47295766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644012739 meters 0.032039266667367915 Centerline is valid? [True, True] Translation: X:369.80, Y:-54.29, Z:-7.47 [[ 9.86492415e-01 1.61867318e-01 2.51333779e-02 3.69803456e+02] [-1.61801278e-01 9.86812392e-01 -4.65286914e-03 -5.42923259e+01] [-2.55550763e-02 5.23407444e-04 9.99673279e-01 -7.47420826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704012739 meters 0.02867719603199665 Centerline is valid? [True, True] Translation: X:369.86, Y:-54.29, Z:-7.47 [[ 9.86056196e-01 1.64183738e-01 2.71454921e-02 3.69864282e+02] [-1.64107580e-01 9.86429648e-01 -5.02519575e-03 -5.42918754e+01] [-2.76021737e-02 5.00344400e-04 9.99618862e-01 -7.47287438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764012739 meters 0.024717188071321915 Centerline is valid? [True, True] Translation: X:369.92, Y:-54.29, Z:-7.47 [[ 9.85036595e-01 1.70346332e-01 2.61731561e-02 3.69924473e+02] [-1.70277720e-01 9.85384203e-01 -4.84464364e-03 -5.42875541e+01] [-2.66158818e-02 3.15445935e-04 9.99645685e-01 -7.47471016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824012739 meters 0.023225227280573177 Centerline is valid? [True, True] Translation: X:369.98, Y:-54.29, Z:-7.48 [[ 9.84602579e-01 1.72884366e-01 2.58603560e-02 3.69984147e+02] [-1.72818273e-01 9.84942098e-01 -4.78619793e-03 -5.42888507e+01] [-2.62984121e-02 2.43360753e-04 9.99654107e-01 -7.47717890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884012739 meters 0.023519646554704888 Centerline is valid? [True, True] Translation: X:370.04, Y:-54.29, Z:-7.48 [[ 9.84552520e-01 1.72956719e-01 2.72453372e-02 3.70042030e+02] [-1.72883425e-01 9.84929393e-01 -5.04104465e-03 -5.42923691e+01] [-2.77066160e-02 2.52905996e-04 9.99616066e-01 -7.47562401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944012739 meters 0.023856329990595712 Centerline is valid? [True, True] Translation: X:370.10, Y:-54.30, Z:-7.48 [[ 9.84922358e-01 1.70865018e-01 2.70757334e-02 3.70100010e+02] [-1.70791892e-01 9.85294398e-01 -5.00786133e-03 -5.42992321e+01] [-2.75332368e-02 3.08038841e-04 9.99620841e-01 -7.47762170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004012739 meters 0.027353905409684506 Centerline is valid? [True, True] Translation: X:370.16, Y:-54.32, Z:-7.48 [[ 9.85713689e-01 1.66414946e-01 2.59728520e-02 3.70156670e+02] [-1.66346154e-01 9.86055726e-01 -4.80230576e-03 -5.43158863e+01] [-2.64098549e-02 4.13214485e-04 9.99651114e-01 -7.48090516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064012739 meters 0.03507351486584699 Centerline is valid? [True, True] Translation: X:370.21, Y:-54.34, Z:-7.48 [[ 9.87024686e-01 1.58475333e-01 2.58425674e-02 3.70212860e+02] [-1.58404527e-01 9.87362741e-01 -4.77742892e-03 -5.43399176e+01] [-2.62730929e-02 6.21860603e-04 9.99654609e-01 -7.48351565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124012739 meters 0.040308056386277394 Centerline is valid? [True, True] Translation: X:370.27, Y:-54.36, Z:-7.49 [[ 9.87999759e-01 1.52453889e-01 2.47848438e-02 3.70270635e+02] [-1.52386870e-01 9.88310300e-01 -4.58175227e-03 -5.43613496e+01] [-2.51936224e-02 7.49885358e-04 9.99682309e-01 -7.48644114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184012739 meters 0.03885172126478521 Centerline is valid? [True, True] Translation: X:370.33, Y:-54.37, Z:-7.49 [[ 9.88192474e-01 1.51578495e-01 2.23516022e-02 3.70329500e+02] [-1.51523765e-01 9.88444978e-01 -4.13205109e-03 -5.43722699e+01] [-2.27196590e-02 6.96462888e-04 9.99741633e-01 -7.49332245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.244012739 meters 0.04172034360201703 Centerline is valid? [True, True] Translation: X:370.39, Y:-54.39, Z:-7.50 [[ 9.88005404e-01 1.53067499e-01 2.03877770e-02 3.70385692e+02] [-1.53022279e-01 9.88215551e-01 -3.76914709e-03 -5.43937619e+01] [-2.07244522e-02 6.04153586e-04 9.99785043e-01 -7.49820917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30401273900003 meters 0.036538901218204606 Centerline is valid? [True, True] Translation: X:370.44, Y:-54.41, Z:-7.50 [[ 9.87721663e-01 1.54825601e-01 2.08554665e-02 3.70444559e+02] [-1.54778679e-01 9.87941647e-01 -3.85534110e-03 -5.44059339e+01] [-2.12008894e-02 5.80022366e-04 9.99775068e-01 -7.49810219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36401273900003 meters 0.028789240505868882 Centerline is valid? [True, True] Translation: X:370.51, Y:-54.41, Z:-7.50 [[ 9.86316295e-01 1.63541868e-01 2.08380407e-02 3.70505353e+02] [-1.63496979e-01 9.86536317e-01 -3.85148680e-03 -5.44090928e+01] [-2.11873633e-02 3.91827498e-04 9.99775446e-01 -7.49919964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.424012739 meters 0.02419199162712545 Centerline is valid? [True, True] Translation: X:370.57, Y:-54.41, Z:-7.50 [[ 9.85060149e-01 1.70792453e-01 2.20553945e-02 3.70565908e+02] [-1.70743981e-01 9.85306996e-01 -4.07643741e-03 -5.44139253e+01] [-2.24275592e-02 2.49710195e-04 9.99748439e-01 -7.49895046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.484012739 meters 0.02102982100860306 Centerline is valid? [True, True] Translation: X:370.62, Y:-54.42, Z:-7.50 [[ 9.83634690e-01 1.78524962e-01 2.43235248e-02 3.70623507e+02] [-1.78468379e-01 9.83935380e-01 -4.49512809e-03 -5.44210796e+01] [-2.47352691e-02 8.05838902e-05 9.99694033e-01 -7.49622520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.544012739 meters 0.02131966648291974 Centerline is valid? [True, True] Translation: X:370.68, Y:-54.44, Z:-7.50 [[ 9.83892111e-01 1.77361848e-01 2.23403035e-02 3.70679845e+02] [-1.77313845e-01 9.84145703e-01 -4.12739603e-03 -5.44372041e+01] [-2.27181563e-02 9.96672688e-05 9.99741904e-01 -7.50091371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.604012739 meters 0.021385973185248396 Centerline is valid? [True, True] Translation: X:370.74, Y:-54.45, Z:-7.51 [[ 9.83878450e-01 1.77679683e-01 2.03254978e-02 3.70736547e+02] [-1.77640035e-01 9.84088372e-01 -3.75426816e-03 -5.44512754e+01] [-2.06691432e-02 8.31213938e-05 9.99786367e-01 -7.50553119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.664012739 meters 0.020829798833728777 Centerline is valid? [True, True] Translation: X:370.79, Y:-54.46, Z:-7.50 [[ 9.82969817e-01 1.82387597e-01 2.24744933e-02 3.70794481e+02] [-1.82340378e-01 9.83226711e-01 -4.14998810e-03 -5.44576917e+01] [-2.28544284e-02 -1.86945477e-05 9.99738803e-01 -7.50325135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.724012739 meters 0.023115107344589072 Centerline is valid? [True, True] Translation: X:370.85, Y:-54.46, Z:-7.50 [[ 9.81413500e-01 1.90446584e-01 2.36144347e-02 3.70854583e+02] [-1.90396817e-01 9.81697535e-01 -4.35904200e-03 -5.44559399e+01] [-2.40123970e-02 -2.18090528e-04 9.99711637e-01 -7.50284497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.784012739 meters 0.026689698657653277 Centerline is valid? [True, True] Translation: X:370.91, Y:-54.45, Z:-7.51 [[ 9.80356223e-01 1.95965903e-01 2.23392114e-02 3.70914984e+02] [-1.95922820e-01 9.80610653e-01 -4.12262756e-03 -5.44547923e+01] [-2.27139631e-02 -3.35117708e-04 9.99741948e-01 -7.50745211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.844012739 meters 0.033572369695724115 Centerline is valid? [True, True] Translation: X:370.98, Y:-54.45, Z:-7.52 [[ 9.79218900e-01 2.02113718e-01 1.67449090e-02 3.70976857e+02] [-2.02090418e-01 9.79361995e-01 -3.08969984e-03 -5.44456341e+01] [-1.70237982e-02 -3.58493176e-04 9.99855020e-01 -7.52018873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.904012739 meters 0.03381866754811928 Centerline is valid? [True, True] Translation: X:371.04, Y:-54.44, Z:-7.52 [[ 9.78798600e-01 2.04149647e-01 1.66199345e-02 3.71036790e+02] [-2.04126981e-01 9.78939615e-01 -3.06700451e-03 -5.44444368e+01] [-1.68960402e-02 -3.90597352e-04 9.99857175e-01 -7.52240729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.964012739 meters 0.030115143356650283 Centerline is valid? [True, True] Translation: X:371.10, Y:-54.45, Z:-7.52 [[ 9.79887680e-01 1.98854759e-01 1.66408991e-02 3.71095611e+02] [-1.98831330e-01 9.80028925e-01 -3.06745010e-03 -5.44517898e+01] [-1.69185395e-02 -3.02975535e-04 9.99856825e-01 -7.52419113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.024012739 meters 0.024192901339734677 Centerline is valid? [True, True] Translation: X:371.15, Y:-54.47, Z:-7.52 [[ 9.81466666e-01 1.90769577e-01 1.81700878e-02 3.71153210e+02] [-1.90740266e-01 9.81634828e-01 -3.34883439e-03 -5.44680164e+01] [-1.84752468e-02 -1.78998055e-04 9.99829302e-01 -7.52280308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.084012739 meters 0.021576225570085365 Centerline is valid? [True, True] Translation: X:371.21, Y:-54.48, Z:-7.52 [[ 9.82624526e-01 1.84402316e-01 2.10909047e-02 3.71209660e+02] [-1.84361367e-01 9.82850844e-01 -3.88653471e-03 -5.44830236e+01] [-2.14458995e-02 -6.93436919e-05 9.99770008e-01 -7.51866772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.144012739 meters 0.021471139464116114 Centerline is valid? [True, True] Translation: X:371.27, Y:-54.50, Z:-7.52 [[ 9.83530032e-01 1.79736225e-01 1.90674071e-02 3.71267245e+02] [-1.79701900e-01 9.83714841e-01 -3.51262620e-03 -5.44956292e+01] [-1.93882375e-02 2.83240663e-05 9.99812030e-01 -7.52286258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.204012739 meters 0.021668427546798718 Centerline is valid? [True, True] Translation: X:371.33, Y:-54.50, Z:-7.52 [[ 9.83821732e-01 1.78144852e-01 1.89528903e-02 3.71325086e+02] [-1.78110660e-01 9.84004272e-01 -3.49065286e-03 -5.45041216e+01] [-1.92715668e-02 5.84683523e-05 9.99814284e-01 -7.52408157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.264012739 meters 0.022381581333531866 Centerline is valid? [True, True] Translation: X:371.38, Y:-54.51, Z:-7.53 [[ 9.84183679e-01 1.76347477e-01 1.68538732e-02 3.71382084e+02] [-1.76320185e-01 9.84327974e-01 -3.10351655e-03 -5.45110305e+01] [-1.71370362e-02 8.27522849e-05 9.99853147e-01 -7.52904910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.324012739 meters 0.022903719599126446 Centerline is valid? [True, True] Translation: X:371.44, Y:-54.52, Z:-7.53 [[ 9.84517081e-01 1.74422519e-01 1.74040761e-02 3.71440090e+02] [-1.74393145e-01 9.84670895e-01 -3.20318082e-03 -5.45224557e+01] [-1.76959940e-02 1.18434674e-04 9.99843407e-01 -7.52902917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.384012739 meters 0.023490275024139137 Centerline is valid? [True, True] Translation: X:371.50, Y:-54.54, Z:-7.53 [[ 9.84941449e-01 1.71717616e-01 2.00848680e-02 3.71497839e+02] [-1.71677953e-01 9.85146194e-01 -3.69548348e-03 -5.45352141e+01] [-2.04211109e-02 1.91705827e-04 9.99791449e-01 -7.52559930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.444012739 meters 0.024195198828926755 Centerline is valid? [True, True] Translation: X:371.55, Y:-54.55, Z:-7.53 [[ 9.85074570e-01 1.71221927e-01 1.76392538e-02 3.71554644e+02] [-1.71191270e-01 9.85232470e-01 -3.24478218e-03 -5.45476262e+01] [-1.79343435e-02 1.76666152e-04 9.99839151e-01 -7.53223089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.504012739 meters 0.024794405487016787 Centerline is valid? [True, True] Translation: X:371.61, Y:-54.56, Z:-7.54 [[ 9.85059861e-01 1.71518554e-01 1.54420294e-02 3.71611374e+02] [-1.71495109e-01 9.85180878e-01 -2.83979490e-03 -5.45588948e+01] [-1.57002696e-02 1.49135460e-04 9.99876732e-01 -7.53756225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.564012739 meters 0.024537474860635185 Centerline is valid? [True, True] Translation: X:371.67, Y:-54.57, Z:-7.53 [[ 9.85119159e-01 1.70964205e-01 1.76488617e-02 3.71668451e+02] [-1.70933512e-01 9.85277224e-01 -3.24438326e-03 -5.45717947e+01] [-1.79436949e-02 1.79322184e-04 9.99838983e-01 -7.53349844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.624012739 meters 0.02496189884012713 Centerline is valid? [True, True] Translation: X:371.73, Y:-54.59, Z:-7.54 [[ 9.85158509e-01 1.70865795e-01 1.63582280e-02 3.71725438e+02] [-1.70839426e-01 9.85294297e-01 -3.00642855e-03 -5.45892053e+01] [-1.66313646e-02 1.67178393e-04 9.99861675e-01 -7.53912614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.684012739 meters 0.023563419711243518 Centerline is valid? [True, True] Translation: X:371.78, Y:-54.61, Z:-7.54 [[ 9.84817861e-01 1.72776924e-01 1.67903222e-02 3.71782022e+02] [-1.72749434e-01 9.84960972e-01 -3.08503819e-03 -5.46056992e+01] [-1.70708355e-02 1.37682059e-04 9.99854273e-01 -7.53910556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.744012739 meters 0.0223397574055347 Centerline is valid? [True, True] Translation: X:371.84, Y:-54.61, Z:-7.54 [[ 9.84012505e-01 1.77502459e-01 1.45693852e-02 3.71839105e+02] [-1.77482286e-01 9.84120356e-01 -2.67647035e-03 -5.46142076e+01] [-1.48131086e-02 4.78725105e-05 9.99890279e-01 -7.54405599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80401273900003 meters 0.02196355880926082 Centerline is valid? [True, True] Translation: X:371.90, Y:-54.62, Z:-7.54 [[ 9.83032139e-01 1.82796629e-01 1.52711050e-02 3.71897774e+02] [-1.82775119e-01 9.83150747e-01 -2.80439453e-03 -5.46229299e+01] [-1.55264321e-02 -3.43680722e-05 9.99879457e-01 -7.54439147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86401273900003 meters 0.022235152984150904 Centerline is valid? [True, True] Translation: X:371.96, Y:-54.63, Z:-7.54 [[ 9.82721004e-01 1.84425420e-01 1.57064431e-02 3.71956195e+02] [-1.84402887e-01 9.82846509e-01 -2.88355056e-03 -5.46316795e+01] [-1.59688228e-02 -6.25877406e-05 9.99872488e-01 -7.54429457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.924012739 meters 0.02412461879565221 Centerline is valid? [True, True] Translation: X:372.01, Y:-54.64, Z:-7.55 [[ 9.81858958e-01 1.88974531e-01 1.55439157e-02 3.72014746e+02] [-1.88953042e-01 9.81981980e-01 -2.85302893e-03 -5.46360367e+01] [-1.58029949e-02 -1.35798135e-04 9.99875116e-01 -7.54569134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.984012739 meters 0.02598346208595529 Centerline is valid? [True, True] Translation: X:372.07, Y:-54.64, Z:-7.54 [[ 9.81012007e-01 1.93093011e-01 1.81805253e-02 3.72073697e+02] [-1.93064342e-01 9.81180428e-01 -3.33574580e-03 -5.46389908e+01] [-1.84824848e-02 -2.37604479e-04 9.99829156e-01 -7.54182607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.044012739 meters 0.024737218990441533 Centerline is valid? [True, True] Translation: X:372.13, Y:-54.65, Z:-7.54 [[ 9.81360351e-01 1.91199957e-01 1.93503753e-02 3.72131804e+02] [-1.91167148e-01 9.81551083e-01 -3.54854361e-03 -5.46506457e+01] [-1.96718633e-02 -2.16756063e-04 9.99806467e-01 -7.54144506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.104012739 meters 0.021780484922865485 Centerline is valid? [True, True] Translation: X:372.18, Y:-54.68, Z:-7.55 [[ 9.83609245e-01 1.79587949e-01 1.61561467e-02 3.72184786e+02] [-1.79563547e-01 9.83741922e-01 -2.96040752e-03 -5.46795764e+01] [-1.64251323e-02 1.08292012e-05 9.99865098e-01 -7.54897599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.164012739 meters 0.02838453413994391 Centerline is valid? [True, True] Translation: X:372.24, Y:-54.72, Z:-7.55 [[ 9.86205663e-01 1.64591362e-01 1.75520108e-02 3.72238594e+02] [-1.64560212e-01 9.86361802e-01 -3.21442197e-03 -5.47184223e+01] [-1.78416991e-02 2.81718529e-04 9.99840785e-01 -7.54739403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.224012739 meters 0.03604634000205882 Centerline is valid? [True, True] Translation: X:372.29, Y:-54.75, Z:-7.55 [[ 9.87588659e-01 1.55847020e-01 1.95024893e-02 3.72292723e+02] [-1.55806860e-01 9.87781083e-01 -3.57136904e-03 -5.47530990e+01] [-1.98207773e-02 4.88421930e-04 9.99803430e-01 -7.54557552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.284012739 meters 0.036028295457663825 Centerline is valid? [True, True] Translation: X:372.35, Y:-54.78, Z:-7.55 [[ 9.87721901e-01 1.55216100e-01 1.77033316e-02 3.72350401e+02] [-1.55182911e-01 9.87880436e-01 -3.24164532e-03 -5.47757696e+01] [-1.79919305e-02 4.54589535e-04 9.99838029e-01 -7.54978941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.344012739 meters 0.034027252088653905 Centerline is valid? [True, True] Translation: X:372.41, Y:-54.80, Z:-7.55 [[ 9.87265347e-01 1.58263249e-01 1.61207232e-02 3.72406570e+02] [-1.58236135e-01 9.87396887e-01 -2.95190201e-03 -5.47976959e+01] [-1.63847295e-02 3.63429618e-04 9.99865695e-01 -7.55445304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.404012739 meters 0.029697267082285688 Centerline is valid? [True, True] Translation: X:372.46, Y:-54.81, Z:-7.56 [[ 9.86367109e-01 1.63888019e-01 1.48541008e-02 3.72464396e+02] [-1.63865637e-01 9.86478918e-01 -2.71987172e-03 -5.48126398e+01] [-1.50990117e-02 2.48715323e-04 9.99885972e-01 -7.55821402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.464012739 meters 0.025639731719098918 Centerline is valid? [True, True] Translation: X:372.52, Y:-54.82, Z:-7.56 [[ 9.85426795e-01 1.69356301e-01 1.58894549e-02 3.72523604e+02] [-1.69331406e-01 9.85554875e-01 -2.90905149e-03 -5.48212502e+01] [-1.61525959e-02 1.76073545e-04 9.99869523e-01 -7.55752223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.524012739 meters 0.021741702791000912 Centerline is valid? [True, True] Translation: X:372.58, Y:-54.82, Z:-7.56 [[ 9.83405765e-01 1.80694209e-01 1.62081432e-02 3.72584145e+02] [-1.80669848e-01 9.83539324e-01 -2.96705768e-03 -5.48189743e+01] [-1.64774764e-02 -1.05011467e-05 9.99864237e-01 -7.55753136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.584012739 meters 0.02653359390400679 Centerline is valid? [True, True] Translation: X:372.65, Y:-54.81, Z:-7.56 [[ 9.81440843e-01 1.91204817e-01 1.46488834e-02 3.72645819e+02] [-1.91186092e-01 9.81550146e-01 -2.68118091e-03 -5.48088605e+01] [-1.48912684e-02 -1.69242329e-04 9.99889105e-01 -7.56219932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.644012739 meters 0.029831414747325525 Centerline is valid? [True, True] Translation: X:372.71, Y:-54.81, Z:-7.56 [[ 9.80673074e-01 1.95115610e-01 1.44989996e-02 3.72706897e+02] [-1.95097702e-01 9.80780224e-01 -2.65319278e-03 -5.48083711e+01] [-1.47380114e-02 -2.26806782e-04 9.99891364e-01 -7.56292612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.704012739 meters 0.027662996141645767 Centerline is valid? [True, True] Translation: X:372.76, Y:-54.82, Z:-7.57 [[ 9.81191302e-01 1.92522590e-01 1.40954063e-02 3.72764696e+02] [-1.92505399e-01 9.81292525e-01 -2.57916674e-03 -5.48192597e+01] [-1.43282647e-02 -1.82785846e-04 9.99897328e-01 -7.56516491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.764012739 meters 0.022522526533251614 Centerline is valid? [True, True] Translation: X:372.82, Y:-54.85, Z:-7.57 [[ 9.83392014e-01 1.81039497e-01 1.28392640e-02 3.72818265e+02] [-1.81024259e-01 9.83475826e-01 -2.34889027e-03 -5.48472957e+01] [-1.30523476e-02 -1.43383074e-05 9.99914814e-01 -7.57112649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.824012739 meters 0.02782341984787588 Centerline is valid? [True, True] Translation: X:372.87, Y:-54.88, Z:-7.57 [[ 9.85963030e-01 1.66589727e-01 1.11698711e-02 3.72873169e+02] [-1.66577276e-01 9.86026287e-01 -2.04250371e-03 -5.48821570e+01] [-1.13540466e-02 1.53186453e-04 9.99935529e-01 -7.57489235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.884012739 meters 0.03319584307437148 Centerline is valid? [True, True] Translation: X:372.93, Y:-54.91, Z:-7.58 [[ 9.87236731e-01 1.58927718e-01 1.02770137e-02 3.72929833e+02] [-1.58916762e-01 9.87290196e-01 -1.87920738e-03 -5.49086195e+01] [-1.04450530e-02 2.22032805e-04 9.99945424e-01 -7.57661458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.944012739 meters 0.034748016021854615 Centerline is valid? [True, True] Translation: X:372.99, Y:-54.92, Z:-7.58 [[ 9.87428500e-01 1.57791203e-01 9.32168835e-03 3.72988003e+02] [-1.57782137e-01 9.87472476e-01 -1.70470745e-03 -5.49231671e+01] [-9.47389852e-03 2.12480811e-04 9.99955099e-01 -7.57988038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.004012739 meters 0.0318573971715819 Centerline is valid? [True, True] Translation: X:373.05, Y:-54.93, Z:-7.58 [[ 9.86834368e-01 1.61485325e-01 8.96771480e-03 3.73047706e+02] [-1.61477087e-01 9.86875099e-01 -1.64000777e-03 -5.49293363e+01] [-9.11485161e-03 1.70335569e-04 9.99958444e-01 -7.58166034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.064012739 meters 0.026611698173300863 Centerline is valid? [True, True] Translation: X:373.11, Y:-54.93, Z:-7.58 [[ 9.85742814e-01 1.67796940e-01 1.24616403e-02 3.73108433e+02] [-1.67781543e-01 9.85821567e-01 -2.27839545e-03 -5.49322949e+01] [-1.26672615e-02 1.55078719e-04 9.99919755e-01 -7.57676037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.124012739 meters 0.035553063111282895 Centerline is valid? [True, True] Translation: X:373.17, Y:-54.94, Z:-7.57 [[ 9.85304986e-01 1.70452593e-01 1.09543807e-02 3.73166829e+02] [-1.70440856e-01 9.85365872e-01 -2.00305188e-03 -5.49420981e+01] [-1.11354983e-02 1.06542970e-04 9.99937993e-01 -7.56840127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.184012739 meters 0.023806751595792607 Centerline is valid? [True, True] Translation: X:373.23, Y:-54.95, Z:-7.58 [[ 9.84557446e-01 1.74715085e-01 1.10125052e-02 3.73225782e+02] [-1.74703496e-01 9.84619031e-01 -2.01313273e-03 -5.49455442e+01] [-1.11948468e-02 5.81216692e-05 9.99937334e-01 -7.58100843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.244012739 meters 0.022781948565781637 Centerline is valid? [True, True] Translation: X:373.28, Y:-54.95, Z:-7.58 [[ 9.84023857e-01 1.77516755e-01 1.35959905e-02 3.73284026e+02] [-1.77499370e-01 9.84117778e-01 -2.48451427e-03 -5.49534406e+01] [-1.38210988e-02 3.15415743e-05 9.99904484e-01 -7.57802526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30401273900003 meters 0.022710230106372506 Centerline is valid? [True, True] Translation: X:373.34, Y:-54.97, Z:-7.58 [[ 9.84033226e-01 1.77420429e-01 1.41633850e-02 3.73340227e+02] [-1.77401563e-01 9.84135148e-01 -2.58753868e-03 -5.49672695e+01] [-1.43977672e-02 3.36174156e-05 9.99896346e-01 -7.57810519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36401273900003 meters 0.022843429657327535 Centerline is valid? [True, True] Translation: X:373.40, Y:-54.98, Z:-7.58 [[ 9.84248747e-01 1.76159748e-01 1.49046266e-02 3.73397298e+02] [-1.76138726e-01 9.84361590e-01 -2.72193705e-03 -5.49807846e+01] [-1.51510377e-02 5.37811825e-05 9.99885215e-01 -7.57716608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.424012739 meters 0.022885614852144635 Centerline is valid? [True, True] Translation: X:373.45, Y:-54.99, Z:-7.58 [[ 9.84194674e-01 1.76594729e-01 1.32342515e-02 3.73454269e+02] [-1.76578201e-01 9.84283648e-01 -2.41635526e-03 -5.49941225e+01] [-1.34529730e-02 4.12836520e-05 9.99909504e-01 -7.57991418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.484012739 meters 0.022680319070612086 Centerline is valid? [True, True] Translation: X:373.51, Y:-55.00, Z:-7.58 [[ 9.83277541e-01 1.81605368e-01 1.35929117e-02 3.73513215e+02] [-1.81588420e-01 9.83371491e-01 -2.48116298e-03 -5.50002663e+01] [-1.38174743e-02 -2.86435204e-05 9.99904534e-01 -7.58051193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.544012739 meters 0.02334413745930185 Centerline is valid? [True, True] Translation: X:373.57, Y:-55.01, Z:-7.58 [[ 9.82851104e-01 1.83938729e-01 1.30480251e-02 3.73571973e+02] [-1.83923326e-01 9.82937709e-01 -2.38110042e-03 -5.50069516e+01] [-1.32633725e-02 -5.95690099e-05 9.99912036e-01 -7.58365042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.604012739 meters 0.023544108489715866 Centerline is valid? [True, True] Translation: X:373.63, Y:-55.02, Z:-7.59 [[ 9.82833097e-01 1.84098976e-01 1.21107504e-02 3.73630277e+02] [-1.84085726e-01 9.82907709e-01 -2.20953418e-03 -5.50156898e+01] [-1.23105229e-02 -5.78129563e-05 9.99924221e-01 -7.58516822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.664012739 meters 0.025483594628147206 Centerline is valid? [True, True] Translation: X:373.69, Y:-55.02, Z:-7.59 [[ 9.82325615e-01 1.86933007e-01 9.61446336e-03 3.73688254e+02] [-1.86924793e-01 9.82372661e-01 -1.75395329e-03 -5.50181067e+01] [-9.77285772e-03 -7.42283254e-05 9.99952242e-01 -7.59184586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.724012739 meters 0.02641083106038318 Centerline is valid? [True, True] Translation: X:373.75, Y:-55.02, Z:-7.59 [[ 9.81690793e-01 1.90200940e-01 1.03339380e-02 3.73747735e+02] [-1.90191640e-01 9.81745175e-01 -1.88438550e-03 -5.50222362e+01] [-1.05037057e-02 -1.15544719e-04 9.99944828e-01 -7.58948803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.784012739 meters 0.027855281823496947 Centerline is valid? [True, True] Translation: X:373.81, Y:-55.03, Z:-7.59 [[ 9.81203922e-01 1.92673192e-01 1.07658509e-02 3.73806782e+02] [-1.92663254e-01 9.81262971e-01 -1.96257308e-03 -5.50257448e+01] [-1.09422661e-02 -1.48499463e-04 9.99940121e-01 -7.59045598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.844012739 meters 0.027823875955609513 Centerline is valid? [True, True] Translation: X:373.86, Y:-55.03, Z:-7.60 [[ 9.81438420e-01 1.91576507e-01 8.77893350e-03 3.73864662e+02] [-1.91569857e-01 9.81477677e-01 -1.60011155e-03 -5.50344362e+01] [-8.92287104e-03 -1.11368079e-04 9.99960184e-01 -7.59637911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.904012739 meters 0.026757839379578912 Centerline is valid? [True, True] Translation: X:373.92, Y:-55.05, Z:-7.60 [[ 9.82083010e-01 1.88319170e-01 6.98931816e-03 3.73921536e+02] [-1.88314873e-01 9.82107879e-01 -1.27393491e-03 -5.50463317e+01] [-7.10417079e-03 -6.50827234e-05 9.99974763e-01 -7.60185867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.964012739 meters 0.025459158048383283 Centerline is valid? [True, True] Translation: X:373.98, Y:-55.06, Z:-7.60 [[ 9.82622177e-01 1.85476150e-01 7.22880669e-03 3.73979054e+02] [-1.85471481e-01 9.82648765e-01 -1.31694785e-03 -5.50609352e+01] [-7.34764038e-03 -4.66753114e-05 9.99973005e-01 -7.60249572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.024012739 meters 0.02526217650364796 Centerline is valid? [True, True] Translation: X:374.04, Y:-55.07, Z:-7.60 [[ 9.82401608e-01 1.86517485e-01 9.91506241e-03 3.74037458e+02] [-1.86508761e-01 9.82451639e-01 -1.80551126e-03 -5.50698759e+01] [-1.00778287e-02 -7.55088433e-05 9.99949215e-01 -7.59755186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.084012739 meters 0.024618179504845503 Centerline is valid? [True, True] Translation: X:374.09, Y:-55.08, Z:-7.60 [[ 9.82481417e-01 1.85965596e-01 1.21269229e-02 3.74094768e+02] [-1.85952513e-01 9.82556253e-01 -2.20748145e-03 -5.50820400e+01] [-1.23258995e-02 -8.62222832e-05 9.99924029e-01 -7.59530797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.144012739 meters 0.023226087531632984 Centerline is valid? [True, True] Translation: X:374.15, Y:-55.10, Z:-7.59 [[ 9.82902739e-01 1.83550637e-01 1.45385184e-02 3.74152267e+02] [-1.83531582e-01 9.83010254e-01 -2.64558004e-03 -5.50953387e+01] [-1.47771105e-02 -6.79294088e-05 9.99890810e-01 -7.58983124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.204012739 meters 0.022764395463626644 Centerline is valid? [True, True] Translation: X:374.21, Y:-55.11, Z:-7.59 [[ 9.83321351e-01 1.81233850e-01 1.52778270e-02 3.74208839e+02] [-1.81212541e-01 9.83440029e-01 -2.77929992e-03 -5.51126600e+01] [-1.55285298e-02 -3.55888913e-05 9.99879424e-01 -7.59096267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.264012739 meters 0.02276741467477733 Centerline is valid? [True, True] Translation: X:374.26, Y:-55.14, Z:-7.59 [[ 9.84240330e-01 1.76148683e-01 1.55760940e-02 3.74264425e+02] [-1.76125909e-01 9.84363571e-01 -2.83277447e-03 -5.51362016e+01] [-1.58315290e-02 4.47771643e-05 9.99874672e-01 -7.59146029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.324012739 meters 0.02327313444864058 Centerline is valid? [True, True] Translation: X:374.32, Y:-55.16, Z:-7.59 [[ 9.84466223e-01 1.75040091e-01 1.36829158e-02 3.74321659e+02] [-1.75022420e-01 9.84561305e-01 -2.48776429e-03 -5.51572794e+01] [-1.39071279e-02 5.43028830e-05 9.99903290e-01 -7.59441238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.384012739 meters 0.022742069410487335 Centerline is valid? [True, True] Translation: X:374.38, Y:-55.16, Z:-7.59 [[ 9.83599440e-01 1.79749971e-01 1.49026767e-02 3.74378919e+02] [-1.79729552e-01 9.83712330e-01 -2.70931703e-03 -5.51645957e+01] [-1.51469464e-02 -1.35686826e-05 9.99885278e-01 -7.59278954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.444012739 meters 0.02813575990493784 Centerline is valid? [True, True] Translation: X:374.44, Y:-55.16, Z:-7.60 [[ 9.81269633e-01 1.92169940e-01 1.34395283e-02 3.74440902e+02] [-1.92154508e-01 9.81361646e-01 -2.44238973e-03 -5.51573779e+01] [-1.36583915e-02 -1.85823090e-04 9.99906703e-01 -7.59678629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.504012739 meters 0.03293741402285838 Centerline is valid? [True, True] Translation: X:374.50, Y:-55.16, Z:-7.59 [[ 9.80002694e-01 1.98380767e-01 1.54851717e-02 3.74500901e+02] [-1.98361059e-01 9.80124978e-01 -2.81383695e-03 -5.51583869e+01] [-1.57356147e-02 -3.14087258e-04 9.99876138e-01 -7.59389544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.564012739 meters 0.031465787943195545 Centerline is valid? [True, True] Translation: X:374.56, Y:-55.17, Z:-7.60 [[ 9.80391250e-01 1.96628682e-01 1.30444488e-02 3.74558657e+02] [-1.96614549e-01 9.80477997e-01 -2.36980620e-03 -5.51692784e+01] [-1.32557669e-02 -2.41391154e-04 9.99912109e-01 -7.59925038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.624012739 meters 0.0298083200537797 Centerline is valid? [True, True] Translation: X:374.61, Y:-55.18, Z:-7.61 [[ 9.81061474e-01 1.93433421e-01 1.00942991e-02 3.74614544e+02] [-1.93424790e-01 9.81113392e-01 -1.83369859e-03 -5.51833914e+01] [-1.02583506e-02 -1.53516651e-04 9.99947370e-01 -7.60646326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.684012739 meters 0.026914268065422194 Centerline is valid? [True, True] Translation: X:374.67, Y:-55.20, Z:-7.60 [[ 9.81980145e-01 1.88660194e-01 1.10601398e-02 3.74670906e+02] [-1.88649538e-01 9.82042422e-01 -2.00837273e-03 -5.51982794e+01] [-1.12404264e-02 -1.14308113e-04 9.99936818e-01 -7.60497564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.744012739 meters 0.02382246382033213 Centerline is valid? [True, True] Translation: X:374.73, Y:-55.22, Z:-7.60 [[ 9.82882451e-01 1.83753858e-01 1.32893881e-02 3.74727119e+02] [-1.83738040e-01 9.82972286e-01 -2.41208721e-03 -5.52184918e+01] [-1.35063305e-02 -7.09679374e-05 9.99908783e-01 -7.60129087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80401273900003 meters 0.023787881668399288 Centerline is valid? [True, True] Translation: X:374.78, Y:-55.25, Z:-7.61 [[ 9.84534802e-01 1.74830644e-01 1.12012993e-02 3.74782838e+02] [-1.74818835e-01 9.84598519e-01 -2.03249962e-03 -5.52468036e+01] [-1.13841260e-02 4.28685171e-05 9.99935198e-01 -7.60625635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86401273900003 meters 0.0267500207486548 Centerline is valid? [True, True] Translation: X:374.84, Y:-55.28, Z:-7.60 [[ 9.85682114e-01 1.68047023e-01 1.38190902e-02 3.74837939e+02] [-1.68028388e-01 9.85778969e-01 -2.50698781e-03 -5.52757484e+01] [-1.40438604e-02 1.49093587e-04 9.99901369e-01 -7.60143734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.924012739 meters 0.02499358823021765 Centerline is valid? [True, True] Translation: X:374.90, Y:-55.28, Z:-7.60 [[ 9.85404905e-01 1.69560056e-01 1.50519135e-02 3.74898157e+02] [-1.69538128e-01 9.85519847e-01 -2.73038354e-03 -5.52824926e+01] [-1.52969235e-02 1.38660100e-04 9.99882986e-01 -7.59840245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.984012739 meters 0.02304022660712178 Centerline is valid? [True, True] Translation: X:374.96, Y:-55.29, Z:-7.60 [[ 9.84496840e-01 1.74801107e-01 1.45101985e-02 3.74957789e+02] [-1.74781296e-01 9.84603763e-01 -2.63225355e-03 -5.52861818e+01] [-1.47469169e-02 5.53340055e-05 9.99891257e-01 -7.60153252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.044012739 meters 0.022825648091346736 Centerline is valid? [True, True] Translation: X:375.02, Y:-55.29, Z:-7.60 [[ 9.83660378e-01 1.79408881e-01 1.49904891e-02 3.75017433e+02] [-1.79388277e-01 9.83774595e-01 -2.71900252e-03 -5.52895344e+01] [-1.52350755e-02 -1.45429545e-05 9.99883939e-01 -7.60247430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.104012739 meters 0.023491990625360268 Centerline is valid? [True, True] Translation: X:375.07, Y:-55.29, Z:-7.61 [[ 9.83142758e-01 1.82395916e-01 1.27298006e-02 3.75074824e+02] [-1.82381306e-01 9.83225166e-01 -2.30907463e-03 -5.52940328e+01] [-1.29374261e-02 -5.15276596e-05 9.99916307e-01 -7.60802374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.164012739 meters 0.024039374668120797 Centerline is valid? [True, True] Translation: X:375.13, Y:-55.29, Z:-7.61 [[ 9.82630459e-01 1.85062585e-01 1.37557388e-02 3.75134654e+02] [-1.85045804e-01 9.82726733e-01 -2.49392162e-03 -5.52936097e+01] [-1.39796638e-02 -9.48383965e-05 9.99902275e-01 -7.60553191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.224012739 meters 0.025923766210620633 Centerline is valid? [True, True] Translation: X:375.19, Y:-55.29, Z:-7.61 [[ 9.81939983e-01 1.88818806e-01 1.18882022e-02 3.75194319e+02] [-1.88806553e-01 9.82011936e-01 -2.15489102e-03 -5.52945416e+01] [-1.20812404e-02 -1.28596813e-04 9.99927011e-01 -7.61049329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.284012739 meters 0.026042201014126083 Centerline is valid? [True, True] Translation: X:375.25, Y:-55.30, Z:-7.61 [[ 9.82010197e-01 1.88430015e-01 1.22516274e-02 3.75252021e+02] [-1.88416977e-01 9.82086612e-01 -2.22030002e-03 -5.53029877e+01] [-1.24505304e-02 -1.28057334e-04 9.99922481e-01 -7.61205482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.344012739 meters 0.02360422474735472 Centerline is valid? [True, True] Translation: X:375.31, Y:-55.32, Z:-7.61 [[ 9.82804996e-01 1.84051659e-01 1.48097050e-02 3.75308115e+02] [-1.84032132e-01 9.82916568e-01 -2.68246364e-03 -5.53198305e+01] [-1.50504163e-02 -8.91229236e-05 9.99886732e-01 -7.60744015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.404012739 meters 0.02280253132294398 Centerline is valid? [True, True] Translation: X:375.37, Y:-55.33, Z:-7.61 [[ 9.83328309e-01 1.81309976e-01 1.38610478e-02 3.75365587e+02] [-1.81292609e-01 9.83425997e-01 -2.50982407e-03 -5.53349239e+01] [-1.40863709e-02 -4.49244537e-05 9.99900781e-01 -7.60887154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.464012739 meters 0.023212970141715382 Centerline is valid? [True, True] Translation: X:375.42, Y:-55.35, Z:-7.61 [[ 9.83125357e-01 1.82514505e-01 1.23688457e-02 3.75422991e+02] [-1.82500778e-01 9.83203159e-01 -2.23915246e-03 -5.53455514e+01] [-1.25697660e-02 -5.59564001e-05 9.99920996e-01 -7.61153304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.524012739 meters 0.02377381867810516 Centerline is valid? [True, True] Translation: X:375.48, Y:-55.36, Z:-7.62 [[ 9.83042708e-01 1.83020233e-01 1.14293158e-02 3.75480131e+02] [-1.83008551e-01 9.83109145e-01 -2.06867535e-03 -5.53550491e+01] [-1.16148743e-02 -5.80662993e-05 9.99932543e-01 -7.61517031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.584012739 meters 0.023659631174642013 Centerline is valid? [True, True] Translation: X:375.54, Y:-55.36, Z:-7.61 [[ 9.82924486e-01 1.83547532e-01 1.30291643e-02 3.75538401e+02] [-1.83532411e-01 9.83010833e-01 -2.35715365e-03 -5.53641424e+01] [-1.32404594e-02 -7.43698997e-05 9.99912339e-01 -7.61256950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.644012739 meters 0.023356126036563667 Centerline is valid? [True, True] Translation: X:375.60, Y:-55.37, Z:-7.61 [[ 9.82842117e-01 1.83871774e-01 1.45788936e-02 3.75596266e+02] [-1.83852889e-01 9.82950234e-01 -2.63672374e-03 -5.53749455e+01] [-1.48151459e-02 -8.88885572e-05 9.99890246e-01 -7.60941281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.704012739 meters 0.022759802361603968 Centerline is valid? [True, True] Translation: X:375.65, Y:-55.39, Z:-7.61 [[ 9.83628633e-01 1.79679213e-01 1.37874162e-02 3.75652641e+02] [-1.79661919e-01 9.83725256e-01 -2.49303237e-03 -5.53899935e+01] [-1.40109756e-02 -2.48556238e-05 9.99901841e-01 -7.61388127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.764012739 meters 0.022817508097870323 Centerline is valid? [True, True] Translation: X:375.71, Y:-55.41, Z:-7.62 [[ 9.84169080e-01 1.76757561e-01 1.29609478e-02 3.75709748e+02] [-1.76742036e-01 9.84254421e-01 -2.34268177e-03 -5.54064000e+01] [-1.31709569e-02 1.48506492e-05 9.99913259e-01 -7.61611282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.824012739 meters 0.023951300044580792 Centerline is valid? [True, True] Translation: X:375.77, Y:-55.43, Z:-7.62 [[ 9.84948313e-01 1.72473004e-01 1.13966065e-02 3.75767090e+02] [-1.72460721e-01 9.85014243e-01 -2.05931407e-03 -5.54265059e+01] [-1.15809958e-02 6.28509518e-05 9.99932936e-01 -7.61915722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.884012739 meters 0.02422495563856783 Centerline is valid? [True, True] Translation: X:375.82, Y:-55.45, Z:-7.61 [[ 9.85314133e-01 1.70117385e-01 1.47015205e-02 3.75824214e+02] [-1.70096689e-01 9.85423798e-01 -2.65600809e-03 -5.54451241e+01] [-1.49390613e-02 1.16322342e-04 9.99888399e-01 -7.61226705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.944012739 meters 0.024161554660511248 Centerline is valid? [True, True] Translation: X:375.88, Y:-55.46, Z:-7.61 [[ 9.85417856e-01 1.69401735e-01 1.59593971e-02 3.75883432e+02] [-1.69377262e-01 9.85547073e-01 -2.88264188e-03 -5.54629645e+01] [-1.62170617e-02 1.37447785e-04 9.99868485e-01 -7.61173217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.004012739 meters 0.025242226604448473 Centerline is valid? [True, True] Translation: X:375.94, Y:-55.48, Z:-7.62 [[ 9.85565187e-01 1.68656748e-01 1.47025258e-02 3.75942557e+02] [-1.68635897e-01 9.85674836e-01 -2.65557070e-03 -5.54813770e+01] [-1.49397896e-02 1.37864412e-04 9.99888386e-01 -7.61635743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.064012739 meters 0.02520301756150423 Centerline is valid? [True, True] Translation: X:376.00, Y:-55.50, Z:-7.61 [[ 9.85582008e-01 1.68430462e-01 1.61023580e-02 3.76001746e+02] [-1.68405388e-01 9.85713526e-01 -2.91035019e-03 -5.55010676e+01] [-1.63625037e-02 1.56664941e-04 9.99866113e-01 -7.61367263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.124012739 meters 0.023967870853207746 Centerline is valid? [True, True] Translation: X:376.06, Y:-55.51, Z:-7.62 [[ 9.85224223e-01 1.70622166e-01 1.48763926e-02 3.76062695e+02] [-1.70601022e-01 9.85336523e-01 -2.68832429e-03 -5.55135849e+01] [-1.51169407e-02 1.10674438e-04 9.99885726e-01 -7.61593934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.184012739 meters 0.0225617015293426 Centerline is valid? [True, True] Translation: X:376.12, Y:-55.52, Z:-7.62 [[ 9.84433733e-01 1.75125325e-01 1.48777221e-02 3.76122283e+02] [-1.75104641e-01 9.84546149e-01 -2.69184146e-03 -5.55220232e+01] [-1.51192136e-02 4.47813378e-05 9.99885697e-01 -7.61883271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.244012739 meters 0.022455453816463238 Centerline is valid? [True, True] Translation: X:376.18, Y:-55.53, Z:-7.62 [[ 9.84404970e-01 1.75434021e-01 1.30291601e-02 3.76182785e+02] [-1.75418198e-01 9.84491190e-01 -2.35637070e-03 -5.55343292e+01] [-1.32404809e-02 3.40712466e-05 9.99912340e-01 -7.62128456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30401273900003 meters 0.022650038041183894 Centerline is valid? [True, True] Translation: X:376.24, Y:-55.55, Z:-7.62 [[ 9.84395712e-01 1.75505554e-01 1.27625364e-02 3.76243146e+02] [-1.75490337e-01 9.84478440e-01 -2.31134620e-03 -5.55468866e+01] [-1.29700960e-02 3.55774756e-05 9.99915884e-01 -7.62238585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36401273900003 meters 0.022291487252016937 Centerline is valid? [True, True] Translation: X:376.30, Y:-55.55, Z:-7.62 [[ 9.83950920e-01 1.78022449e-01 1.21899562e-02 3.76302817e+02] [-1.78008753e-01 9.84026426e-01 -2.20821774e-03 -5.55533795e+01] [-1.23883514e-02 2.85896062e-06 9.99923261e-01 -7.62420221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.424012739 meters 0.022144116954968065 Centerline is valid? [True, True] Translation: X:376.36, Y:-55.56, Z:-7.62 [[ 9.83665501e-01 1.79505951e-01 1.34087977e-02 3.76362519e+02] [-1.79489520e-01 9.83756887e-01 -2.42874316e-03 -5.55610439e+01] [-1.36269710e-02 -1.76678207e-05 9.99907148e-01 -7.62291118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.484012739 meters 0.021793212399600137 Centerline is valid? [True, True] Translation: X:376.42, Y:-55.57, Z:-7.62 [[ 9.83418879e-01 1.80680813e-01 1.55483669e-02 3.76421162e+02] [-1.80658869e-01 9.83541785e-01 -2.81621781e-03 -5.55724528e+01] [-1.58013051e-02 -3.94286107e-05 9.99875151e-01 -7.61916752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.544012739 meters 0.021766342593682295 Centerline is valid? [True, True] Translation: X:376.48, Y:-55.59, Z:-7.62 [[ 9.83685404e-01 1.79281327e-01 1.48738757e-02 3.76480247e+02] [-1.79261088e-01 9.83797848e-01 -2.69383616e-03 -5.55876284e+01] [-1.51158414e-02 -1.64198317e-05 9.99885749e-01 -7.62355469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.604012739 meters 0.022003079580642352 Centerline is valid? [True, True] Translation: X:376.54, Y:-55.61, Z:-7.63 [[ 9.84255502e-01 1.76174727e-01 1.42679143e-02 3.76540739e+02] [-1.76155767e-01 9.84358911e-01 -2.58477765e-03 -5.56095772e+01] [-1.45001211e-02 3.07062403e-05 9.99894867e-01 -7.62567120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.664012739 meters 0.022052853100184604 Centerline is valid? [True, True] Translation: X:376.60, Y:-55.63, Z:-7.62 [[ 9.84327656e-01 1.75711544e-01 1.49839340e-02 3.76601088e+02] [-1.75690527e-01 9.84441695e-01 -2.71794085e-03 -5.56255140e+01] [-1.52283830e-02 4.28090765e-05 9.99884041e-01 -7.62443281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.724012739 meters 0.021251476350852384 Centerline is valid? [True, True] Translation: X:376.66, Y:-55.64, Z:-7.62 [[ 9.83757353e-01 1.78516588e-01 1.87962465e-02 3.76662425e+02] [-1.78483973e-01 9.83936902e-01 -3.41224205e-03 -5.56363590e+01] [-1.91034624e-02 1.98944847e-06 9.99817512e-01 -7.61770352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.784012739 meters 0.02153340785835008 Centerline is valid? [True, True] Translation: X:376.72, Y:-55.65, Z:-7.62 [[ 9.83389035e-01 1.80671419e-01 1.74311147e-02 3.76724664e+02] [-1.80643663e-01 9.83543511e-01 -3.16698143e-03 -5.56452907e+01] [-1.77164428e-02 -3.44456013e-05 9.99843051e-01 -7.62244482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.844012739 meters 0.022353882391062837 Centerline is valid? [True, True] Translation: X:376.79, Y:-55.65, Z:-7.63 [[ 9.83055536e-01 1.82743652e-01 1.43725420e-02 3.76785237e+02] [-1.82724971e-01 9.83160594e-01 -2.61354958e-03 -5.56547827e+01] [-1.46081265e-02 -5.69579358e-05 9.99893294e-01 -7.62934576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.904012739 meters 0.021931725280185495 Centerline is valid? [True, True] Translation: X:376.84, Y:-55.66, Z:-7.63 [[ 9.83223084e-01 1.81759692e-01 1.53551624e-02 3.76844506e+02] [-1.81738199e-01 9.83342978e-01 -2.79543604e-03 -5.56642467e+01] [-1.56074887e-02 -4.20823098e-05 9.99878195e-01 -7.62878954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.964012739 meters 0.021900450149370358 Centerline is valid? [True, True] Translation: X:376.91, Y:-55.68, Z:-7.63 [[ 9.83557813e-01 1.79976356e-01 1.49177641e-02 3.76905505e+02] [-1.79955877e-01 9.83670936e-01 -2.71505201e-03 -5.56809688e+01] [-1.51628161e-02 -1.41287002e-05 9.99885038e-01 -7.63056270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.024012739 meters 0.021682328705406703 Centerline is valid? [True, True] Translation: X:376.97, Y:-55.70, Z:-7.63 [[ 9.83958381e-01 1.77609337e-01 1.67578934e-02 3.76966176e+02] [-1.77583087e-01 9.84101073e-01 -3.05362447e-03 -5.56963969e+01] [-1.70338131e-02 2.87209503e-05 9.99854914e-01 -7.62759349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.084012739 meters 0.021680915651486155 Centerline is valid? [True, True] Translation: X:377.03, Y:-55.71, Z:-7.63 [[ 9.83703305e-01 1.79147588e-01 1.52954261e-02 3.77027806e+02] [-1.79125871e-01 9.83822210e-01 -2.78943105e-03 -5.57054064e+01] [-1.55476998e-02 4.16601904e-06 9.99879127e-01 -7.63188608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.144012739 meters 0.022340883016741468 Centerline is valid? [True, True] Translation: X:377.09, Y:-55.71, Z:-7.63 [[ 9.82842288e-01 1.83828313e-01 1.51058997e-02 3.77087626e+02] [-1.83807625e-01 9.82958365e-01 -2.75859086e-03 -5.57078307e+01] [-1.53555776e-02 -6.53198129e-05 9.99882094e-01 -7.63288087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.204012739 meters 0.022321784607951662 Centerline is valid? [True, True] Translation: X:377.15, Y:-55.72, Z:-7.63 [[ 9.82436413e-01 1.85756584e-01 1.76970445e-02 3.77148566e+02] [-1.85728509e-01 9.82595786e-01 -3.23144756e-03 -5.57173713e+01] [-1.79893040e-02 -1.12153924e-04 9.99838173e-01 -7.62890082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.264012739 meters 0.02316592476657141 Centerline is valid? [True, True] Translation: X:377.21, Y:-55.72, Z:-7.63 [[ 9.81940629e-01 1.88314795e-01 1.81697349e-02 3.77210348e+02] [-1.88285629e-01 9.82108707e-01 -3.31821840e-03 -5.57229387e+01] [-1.84695245e-02 -1.62806508e-04 9.99829411e-01 -7.62918007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.324012739 meters 0.025027686601357083 Centerline is valid? [True, True] Translation: X:377.27, Y:-55.73, Z:-7.63 [[ 9.81564575e-01 1.90342707e-01 1.73389438e-02 3.77270488e+02] [-1.90316455e-01 9.81717687e-01 -3.16699982e-03 -5.57255090e+01] [-1.76247631e-02 -1.91271472e-04 9.99844654e-01 -7.63283485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.384012739 meters 0.026109923233710964 Centerline is valid? [True, True] Translation: X:377.33, Y:-55.73, Z:-7.64 [[ 9.81288692e-01 1.91844905e-01 1.63717873e-02 3.77329504e+02] [-1.91821711e-01 9.81425234e-01 -2.99020345e-03 -5.57342911e+01] [-1.66413405e-02 -2.06211428e-04 9.99861502e-01 -7.63519496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.444012739 meters 0.02604266498833318 Centerline is valid? [True, True] Translation: X:377.39, Y:-55.74, Z:-7.64 [[ 9.81274017e-01 1.92017735e-01 1.51820221e-02 3.77388359e+02] [-1.91997815e-01 9.81391437e-01 -2.77258410e-03 -5.57423368e+01] [-1.54318918e-02 -1.94250338e-04 9.99880902e-01 -7.63875135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.504012739 meters 0.02581880220906938 Centerline is valid? [True, True] Translation: X:377.45, Y:-55.75, Z:-7.63 [[ 9.81281778e-01 1.91790869e-01 1.73877829e-02 3.77446913e+02] [-1.91764713e-01 9.81435792e-01 -3.17492998e-03 -5.57487351e+01] [-1.76739151e-02 -2.18862275e-04 9.99843780e-01 -7.63478416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.564012739 meters 0.026148316769498484 Centerline is valid? [True, True] Translation: X:377.50, Y:-55.76, Z:-7.64 [[ 9.81275497e-01 1.91829528e-01 1.73156278e-02 3.77504681e+02] [-1.91803602e-01 9.81428237e-01 -3.16133331e-03 -5.57565245e+01] [-1.76004832e-02 -2.19060877e-04 9.99845076e-01 -7.63619763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.624012739 meters 0.02774994826655739 Centerline is valid? [True, True] Translation: X:377.56, Y:-55.76, Z:-7.64 [[ 9.80944676e-01 1.93671439e-01 1.54569254e-02 3.77564160e+02] [-1.93651015e-01 9.81066421e-01 -2.82158050e-03 -5.57561624e+01] [-1.57107300e-02 -2.25434925e-04 9.99876553e-01 -7.64225031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.684012739 meters 0.025735972724393083 Centerline is valid? [True, True] Translation: X:377.62, Y:-55.76, Z:-7.64 [[ 9.81436132e-01 1.91103031e-01 1.62096106e-02 3.77622868e+02] [-1.91080232e-01 9.81569964e-01 -2.95818504e-03 -5.57635254e+01] [-1.64761850e-02 -1.94066467e-04 9.99864240e-01 -7.64199559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.744012739 meters 0.02202467493621232 Centerline is valid? [True, True] Translation: X:377.68, Y:-55.78, Z:-7.64 [[ 9.82426026e-01 1.85809109e-01 1.77222361e-02 3.77680783e+02] [-1.85781012e-01 9.82585855e-01 -3.23326708e-03 -5.57776657e+01] [-1.80143890e-02 -1.16009224e-04 9.99837721e-01 -7.63884535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80401273900003 meters 0.02157275205954514 Centerline is valid? [True, True] Translation: X:377.74, Y:-55.79, Z:-7.64 [[ 9.82790299e-01 1.83887577e-01 1.75666565e-02 3.77738219e+02] [-1.83859672e-01 9.82947279e-01 -3.20448566e-03 -5.57869560e+01] [-1.78563624e-02 -8.04622853e-05 9.99840559e-01 -7.64053739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86401273900003 meters 0.020975249146603446 Centerline is valid? [True, True] Translation: X:377.80, Y:-55.80, Z:-7.64 [[ 9.83435368e-01 1.80368131e-01 1.79503162e-02 3.77797047e+02] [-1.80338420e-01 9.83599175e-01 -3.27371772e-03 -5.58012512e+01] [-1.82463905e-02 -1.76418637e-05 9.99833521e-01 -7.64107027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.924012739 meters 0.02145467844961502 Centerline is valid? [True, True] Translation: X:377.85, Y:-55.82, Z:-7.64 [[ 9.84393508e-01 1.75029303e-01 1.82801925e-02 3.77854807e+02] [-1.74997569e-01 9.84563221e-01 -3.33385703e-03 -5.58203320e+01] [-1.85815279e-02 8.28379567e-05 9.99827345e-01 -7.64031160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.984012739 meters 0.02235471722178654 Centerline is valid? [True, True] Translation: X:377.91, Y:-55.84, Z:-7.64 [[ 9.84809701e-01 1.72639276e-01 1.85885102e-02 3.77914734e+02] [-1.72606037e-01 9.84985108e-01 -3.39007518e-03 -5.58382686e+01] [-1.88946659e-02 1.30089845e-04 9.99821471e-01 -7.64184778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.044012739 meters 0.02318159557285052 Centerline is valid? [True, True] Translation: X:377.97, Y:-55.85, Z:-7.65 [[ 9.85077419e-01 1.71354421e-01 1.61288873e-02 3.77974700e+02] [-1.71329188e-01 9.85209442e-01 -2.94376856e-03 -5.58549139e+01] [-1.63947598e-02 1.36490778e-04 9.99865588e-01 -7.64703511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.104012739 meters 0.022654290509263642 Centerline is valid? [True, True] Translation: X:378.03, Y:-55.87, Z:-7.64 [[ 9.84985727e-01 1.71722445e-01 1.77346971e-02 3.78034959e+02] [-1.71691935e-01 9.85145360e-01 -3.24022256e-03 -5.58708233e+01] [-1.80276735e-02 1.46668515e-04 9.99837478e-01 -7.64469414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.164012739 meters 0.023567916822742202 Centerline is valid? [True, True] Translation: X:378.09, Y:-55.89, Z:-7.65 [[ 9.85041245e-01 1.71493789e-01 1.68412292e-02 3.78094306e+02] [-1.71466196e-01 9.85185190e-01 -3.07971280e-03 -5.58912071e+01] [-1.71198812e-02 1.45942620e-04 9.99853433e-01 -7.64964371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.224012739 meters 0.023415236226730994 Centerline is valid? [True, True] Translation: X:378.16, Y:-55.91, Z:-7.65 [[ 9.85045213e-01 1.71304169e-01 1.84610426e-02 3.78155626e+02] [-1.71270908e-01 9.85218176e-01 -3.37969390e-03 -5.59079703e+01] [-1.87671103e-02 1.67311762e-04 9.99823868e-01 -7.64721079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.284012739 meters 0.02327093817874734 Centerline is valid? [True, True] Translation: X:378.22, Y:-55.92, Z:-7.65 [[ 9.85028324e-01 1.71506473e-01 1.74565384e-02 3.78216317e+02] [-1.71476710e-01 9.85182980e-01 -3.19892081e-03 -5.59245417e+01] [-1.77465202e-02 1.57637821e-04 9.99842506e-01 -7.65019241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.344012739 meters 0.022630299722132215 Centerline is valid? [True, True] Translation: X:378.28, Y:-55.94, Z:-7.66 [[ 9.84750887e-01 1.73443132e-01 1.35340366e-02 3.78276641e+02] [-1.73425402e-01 9.84843881e-01 -2.48184049e-03 -5.59417855e+01] [-1.37593713e-02 9.68488952e-05 9.99905331e-01 -7.65767494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.404012739 meters 0.020887814352648915 Centerline is valid? [True, True] Translation: X:378.34, Y:-55.94, Z:-7.65 [[ 9.83126092e-01 1.82199881e-01 1.63184311e-02 3.78339281e+02] [-1.82175237e-01 9.83261513e-01 -2.99675415e-03 -5.59427231e+01] [-1.65912935e-02 -2.66268539e-05 9.99862355e-01 -7.65286942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.464012739 meters 0.022866677745619488 Centerline is valid? [True, True] Translation: X:378.40, Y:-55.94, Z:-7.65 [[ 9.81789962e-01 1.89224273e-01 1.68120728e-02 3.78400631e+02] [-1.89199080e-01 9.81933884e-01 -3.09109204e-03 -5.59434604e+01] [-1.70932536e-02 -1.46025580e-04 9.99853889e-01 -7.65269560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.524012739 meters 0.026909863753473474 Centerline is valid? [True, True] Translation: X:378.46, Y:-55.94, Z:-7.66 [[ 9.80678668e-01 1.95006004e-01 1.55566493e-02 3.78462160e+02] [-1.94985160e-01 9.80802022e-01 -2.86026805e-03 -5.59419927e+01] [-1.58157625e-02 -2.28311890e-04 9.99874897e-01 -7.65768203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.584012739 meters 0.024658731420250136 Centerline is valid? [True, True] Translation: X:378.52, Y:-55.95, Z:-7.65 [[ 9.81087413e-01 1.92682278e-01 1.84669595e-02 3.78520499e+02] [-1.92652492e-01 9.81261172e-01 -3.39540190e-03 -5.59543093e+01] [-1.87751441e-02 -2.26519713e-04 9.99823706e-01 -7.65238270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.644012739 meters 0.024290271069798006 Centerline is valid? [True, True] Translation: X:378.58, Y:-55.96, Z:-7.65 [[ 9.81443347e-01 1.90872905e-01 1.83436816e-02 3.78580210e+02] [-1.90843209e-01 9.81614740e-01 -3.37223116e-03 -5.59621420e+01] [-1.86500958e-02 -1.91113236e-04 9.99826054e-01 -7.65452682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.704012739 meters 0.023299860118964583 Centerline is valid? [True, True] Translation: X:378.64, Y:-55.97, Z:-7.66 [[ 9.81681422e-01 1.89889574e-01 1.56055908e-02 3.78639867e+02] [-1.89867955e-01 9.81805443e-01 -2.86907593e-03 -5.59694619e+01] [-1.58664616e-02 -1.46483068e-04 9.99874109e-01 -7.65921250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.764012739 meters 0.0222559696175065 Centerline is valid? [True, True] Translation: X:378.70, Y:-55.98, Z:-7.66 [[ 9.82164690e-01 1.87417159e-01 1.50774486e-02 3.78699816e+02] [-1.87396687e-01 9.82280407e-01 -2.77197740e-03 -5.59794029e+01] [-1.53297985e-02 -1.02925598e-04 9.99882486e-01 -7.66325396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.824012739 meters 0.020823851654046897 Centerline is valid? [True, True] Translation: X:378.76, Y:-56.00, Z:-7.66 [[ 9.83167056e-01 1.81894987e-01 1.72265110e-02 3.78758049e+02] [-1.81867415e-01 9.83317961e-01 -3.16704517e-03 -5.59975108e+01] [-1.75152073e-02 -1.92065470e-05 9.99846597e-01 -7.66035168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.884012739 meters 0.020898257477827777 Centerline is valid? [True, True] Translation: X:378.82, Y:-56.01, Z:-7.66 [[ 9.83611257e-01 1.79412041e-01 1.78945440e-02 3.78818519e+02] [-1.79381874e-01 9.83774018e-01 -3.29006673e-03 -5.60102767e+01] [-1.81944650e-02 2.61898365e-05 9.99834467e-01 -7.65957506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.944012739 meters 0.02063503237218548 Centerline is valid? [True, True] Translation: X:378.88, Y:-56.02, Z:-7.66 [[ 9.83256903e-01 1.81263907e-01 1.86884590e-02 3.78879107e+02] [-1.81231328e-01 9.83434490e-01 -3.43652708e-03 -5.60159631e+01] [-1.90017934e-02 -7.94525601e-06 9.99819450e-01 -7.65854221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.004012739 meters 0.021415649709661408 Centerline is valid? [True, True] Translation: X:378.94, Y:-56.02, Z:-7.66 [[ 9.82370592e-01 1.86058244e-01 1.81755459e-02 3.78940015e+02] [-1.86028248e-01 9.82538712e-01 -3.34225728e-03 -5.60159212e+01] [-1.84800320e-02 -9.78296971e-05 9.99829225e-01 -7.65958998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.064012739 meters 0.022310577216336686 Centerline is valid? [True, True] Translation: X:379.00, Y:-56.02, Z:-7.66 [[ 9.81837406e-01 1.88595107e-01 2.06686908e-02 3.79000261e+02] [-1.88556890e-01 9.82054916e-01 -3.80013408e-03 -5.60157926e+01] [-2.10144761e-02 -1.66110270e-04 9.99779158e-01 -7.65686459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.124012739 meters 0.021494072123760918 Centerline is valid? [True, True] Translation: X:379.06, Y:-56.03, Z:-7.66 [[ 9.82242427e-01 1.86707349e-01 1.84439920e-02 3.79059428e+02] [-1.86676601e-01 9.82415570e-01 -3.39023306e-03 -5.60255501e+01] [-1.87526463e-02 -1.13030983e-04 9.99824147e-01 -7.66268414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.184012739 meters 0.02068265897603643 Centerline is valid? [True, True] Translation: X:379.12, Y:-56.04, Z:-7.67 [[ 9.83212495e-01 1.81652076e-01 1.71963311e-02 3.79116603e+02] [-1.81624573e-01 9.83362864e-01 -3.16093419e-03 -5.60427435e+01] [-1.74844236e-02 -1.54062971e-05 9.99847136e-01 -7.66651589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.244012739 meters 0.02138258795588692 Centerline is valid? [True, True] Translation: X:379.17, Y:-56.06, Z:-7.67 [[ 9.84136977e-01 1.76564467e-01 1.73031727e-02 3.79174729e+02] [-1.76535839e-01 9.84289075e-01 -3.18031999e-03 -5.60608639e+01] [-1.75928554e-02 7.52403876e-05 9.99845231e-01 -7.66744580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30401273900003 meters 0.021472422938243634 Centerline is valid? [True, True] Translation: X:379.23, Y:-56.07, Z:-7.67 [[ 9.83944767e-01 1.77864196e-01 1.47317417e-02 3.79234148e+02] [-1.77843588e-01 9.84055042e-01 -2.70781729e-03 -5.60668246e+01] [-1.49784685e-02 4.43968522e-05 9.99887815e-01 -7.67430782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36401273900003 meters 0.021908499028604488 Centerline is valid? [True, True] Translation: X:379.30, Y:-56.06, Z:-7.67 [[ 9.82308638e-01 1.86594673e-01 1.58798059e-02 3.79295355e+02] [-1.86571871e-01 9.82436980e-01 -2.91854184e-03 -5.60615502e+01] [-1.61454929e-02 -9.58162351e-05 9.99869648e-01 -7.67301775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.424012739 meters 0.024464393027107005 Centerline is valid? [True, True] Translation: X:379.35, Y:-56.06, Z:-7.67 [[ 9.81517073e-01 1.90655015e-01 1.65801517e-02 3.79354163e+02] [-1.90630750e-01 9.81657087e-01 -3.04644543e-03 -5.60619971e+01] [-1.68568435e-02 -1.70548550e-04 9.99857899e-01 -7.67367608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.484012739 meters 0.025097281876242918 Centerline is valid? [True, True] Translation: X:379.41, Y:-56.07, Z:-7.68 [[ 9.81358752e-01 1.91488378e-01 1.63462756e-02 3.79412276e+02] [-1.91464926e-01 9.81494864e-01 -3.00244766e-03 -5.60698959e+01] [-1.66187194e-02 -1.83260164e-04 9.99861883e-01 -7.67604298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.544012739 meters 0.025962627382450854 Centerline is valid? [True, True] Translation: X:379.47, Y:-56.07, Z:-7.68 [[ 9.81207907e-01 1.92200704e-01 1.70274207e-02 3.79470059e+02] [-1.92175377e-01 9.81355617e-01 -3.12680707e-03 -5.60747329e+01] [-1.73109295e-02 -2.04203181e-04 9.99850134e-01 -7.67588332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.604012739 meters 0.026059951711891818 Centerline is valid? [True, True] Translation: X:379.53, Y:-56.08, Z:-7.67 [[ 9.80917250e-01 1.93556266e-01 1.83662792e-02 3.79528511e+02] [-1.93527062e-01 9.81089145e-01 -3.37131640e-03 -5.60807950e+01] [-1.86714966e-02 -2.47389632e-04 9.99825642e-01 -7.67239854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.664012739 meters 0.026697340958548796 Centerline is valid? [True, True] Translation: X:379.59, Y:-56.08, Z:-7.67 [[ 9.80996012e-01 1.92972486e-01 2.02099911e-02 3.79587521e+02] [-1.92937021e-01 9.81204133e-01 -3.70870139e-03 -5.60818937e+01] [-2.05458042e-02 -2.61034221e-04 9.99788879e-01 -7.67183639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.724012739 meters 0.021747128434843128 Centerline is valid? [True, True] Translation: X:379.64, Y:-56.10, Z:-7.68 [[ 9.82235901e-01 1.86823403e-01 1.75968811e-02 3.79644532e+02] [-1.86795546e-01 9.82393507e-01 -3.22824863e-03 -5.60984238e+01] [-1.78901741e-02 -1.16117298e-04 9.99839951e-01 -7.67832143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.784012739 meters 0.02157348207120368 Centerline is valid? [True, True] Translation: X:379.70, Y:-56.13, Z:-7.68 [[ 9.84255148e-01 1.75943125e-01 1.69062180e-02 3.79698978e+02] [-1.75915814e-01 9.84400331e-01 -3.10092039e-03 -5.61250676e+01] [-1.71880722e-02 7.80257582e-05 9.99852271e-01 -7.68054947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.844012739 meters 0.02734203868584729 Centerline is valid? [True, True] Translation: X:379.75, Y:-56.15, Z:-7.68 [[ 9.85599137e-01 1.68088280e-01 1.84572749e-02 3.79754461e+02] [-1.68054358e-01 9.85771918e-01 -3.38488295e-03 -5.61498066e+01] [-1.87636224e-02 2.34312237e-04 9.99823920e-01 -7.67897320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.904012739 meters 0.02945211981095868 Centerline is valid? [True, True] Translation: X:379.81, Y:-56.16, Z:-7.68 [[ 9.85970669e-01 1.65825590e-01 1.90712895e-02 3.79812449e+02] [-1.65788964e-01 9.86155055e-01 -3.49679214e-03 -5.61645042e+01] [-1.93871061e-02 2.85925162e-04 9.99812012e-01 -7.67790839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.964012739 meters 0.023608360274791382 Centerline is valid? [True, True] Translation: X:379.87, Y:-56.16, Z:-7.68 [[ 9.85068089e-01 1.71445494e-01 1.57258778e-02 3.79873940e+02] [-1.71421311e-01 9.85193596e-01 -2.88309292e-03 -5.61614956e+01] [-1.59873274e-02 1.44292235e-04 9.99872184e-01 -7.68492066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.024012739 meters 0.021714970835867632 Centerline is valid? [True, True] Translation: X:379.93, Y:-56.17, Z:-7.68 [[ 9.84538212e-01 1.74319313e-01 1.72419854e-02 3.79932016e+02] [-1.74290685e-01 9.84689172e-01 -3.16093105e-03 -5.61699097e+01] [-1.75290077e-02 1.06939961e-04 9.99846349e-01 -7.68430887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.084012739 meters 0.022403960080974984 Centerline is valid? [True, True] Translation: X:379.99, Y:-56.19, Z:-7.69 [[ 9.84754262e-01 1.73069659e-01 1.74910499e-02 3.79988313e+02] [-1.73040017e-01 9.84909578e-01 -3.20567696e-03 -5.61883198e+01] [-1.77819080e-02 1.30152482e-04 9.99841881e-01 -7.68541382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.144012739 meters 0.02213109180980697 Centerline is valid? [True, True] Translation: X:380.05, Y:-56.20, Z:-7.69 [[ 9.84713932e-01 1.73343749e-01 1.70416340e-02 3.80047518e+02] [-1.73315660e-01 9.84861376e-01 -3.12281326e-03 -5.62020607e+01] [-1.73249673e-02 1.21495673e-04 9.99849904e-01 -7.68723332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.204012739 meters 0.02083637514227887 Centerline is valid? [True, True] Translation: X:380.11, Y:-56.20, Z:-7.69 [[ 9.82817766e-01 1.83690989e-01 1.80792427e-02 3.80107872e+02] [-1.83661120e-01 9.82984037e-01 -3.31305023e-03 -5.61984755e+01] [-1.83801844e-02 -6.43293421e-05 9.99831068e-01 -7.68619233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.264012739 meters 0.027584587480338138 Centerline is valid? [True, True] Translation: X:380.17, Y:-56.19, Z:-7.69 [[ 9.80568653e-01 1.95591635e-01 1.51336807e-02 3.80169496e+02] [-1.95572132e-01 9.80685400e-01 -2.77257449e-03 -5.61909428e+01] [-1.53836720e-02 -2.41026550e-04 9.99881635e-01 -7.69320178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.324012739 meters 0.030435772961122612 Centerline is valid? [True, True] Translation: X:380.23, Y:-56.19, Z:-7.69 [[ 9.79813160e-01 1.99261048e-01 1.61618864e-02 3.80229326e+02] [-1.99239309e-01 9.79946393e-01 -2.96057122e-03 -5.61936628e+01] [-1.64277088e-02 -3.19276434e-04 9.99865005e-01 -7.69363459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.384012739 meters 0.028618876684920684 Centerline is valid? [True, True] Translation: X:380.29, Y:-56.21, Z:-7.69 [[ 9.80356509e-01 1.96406147e-01 1.80482870e-02 3.80285608e+02] [-1.96378565e-01 9.80522582e-01 -3.30546245e-03 -5.62065103e+01] [-1.83459661e-02 -3.03765089e-04 9.99831652e-01 -7.69072446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.444012739 meters 0.02182012558900484 Centerline is valid? [True, True] Translation: X:380.34, Y:-56.23, Z:-7.69 [[ 9.82237962e-01 1.86786717e-01 1.78691915e-02 3.80341608e+02] [-1.86758111e-01 9.82400482e-01 -3.27127987e-03 -5.62315549e+01] [-1.81657340e-02 -1.24041183e-04 9.99834982e-01 -7.69283991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.504012739 meters 0.020648389690291688 Centerline is valid? [True, True] Translation: X:380.40, Y:-56.26, Z:-7.70 [[ 9.83708572e-01 1.79032202e-01 1.62762597e-02 3.80396458e+02] [-1.79007410e-01 9.83843214e-01 -2.97941256e-03 -5.62564706e+01] [-1.65466985e-02 1.73025744e-05 9.99863094e-01 -7.69875875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.564012739 meters 0.022383997452617002 Centerline is valid? [True, True] Translation: X:380.45, Y:-56.28, Z:-7.70 [[ 9.84700810e-01 1.73395308e-01 1.72737151e-02 3.80451847e+02] [-1.73366532e-01 9.84852300e-01 -3.16108929e-03 -5.62789995e+01] [-1.75601761e-02 1.18043107e-04 9.99845801e-01 -7.69695760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.624012739 meters 0.02338282507463235 Centerline is valid? [True, True] Translation: X:380.51, Y:-56.29, Z:-7.70 [[ 9.84986703e-01 1.71701343e-01 1.78841783e-02 3.80509658e+02] [-1.71670227e-01 9.85149037e-01 -3.27222230e-03 -5.62948755e+01] [-1.81804260e-02 1.52914493e-04 9.99834711e-01 -7.69732047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.684012739 meters 0.025179496027123528 Centerline is valid? [True, True] Translation: X:380.57, Y:-56.31, Z:-7.70 [[ 9.85369938e-01 1.69514187e-01 1.76359074e-02 3.80567843e+02] [-1.69483587e-01 9.85527729e-01 -3.22634636e-03 -5.63132480e+01] [-1.79275873e-02 1.90147852e-04 9.99839270e-01 -7.70134682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.744012739 meters 0.025669464682162992 Centerline is valid? [True, True] Translation: X:380.63, Y:-56.33, Z:-7.70 [[ 9.85456066e-01 1.69185400e-01 1.58947259e-02 3.80625449e+02] [-1.69160502e-01 9.85584227e-01 -2.90781130e-03 -5.63306962e+01] [-1.61575504e-02 1.76760475e-04 9.99869443e-01 -7.70442311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80401273900003 meters 0.023734826431188516 Centerline is valid? [True, True] Translation: X:380.68, Y:-56.34, Z:-7.71 [[ 9.84978812e-01 1.71931647e-01 1.60077789e-02 3.80684463e+02] [-1.71906754e-01 9.85108873e-01 -2.92858472e-03 -5.63395988e+01] [-1.62729214e-02 1.32748582e-04 9.99867578e-01 -7.70625310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86401273900003 meters 0.0214428002354663 Centerline is valid? [True, True] Translation: X:380.74, Y:-56.34, Z:-7.71 [[ 9.84058330e-01 1.77190923e-01 1.52505730e-02 3.80742544e+02] [-1.77168963e-01 9.84176496e-01 -2.78989887e-03 -5.63430056e+01] [-1.55036003e-02 4.34950154e-05 9.99879811e-01 -7.70978015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.924012739 meters 0.02096228255754654 Centerline is valid? [True, True] Translation: X:380.80, Y:-56.35, Z:-7.71 [[ 9.83623591e-01 1.79607971e-01 1.50202455e-02 3.80801323e+02] [-1.79586964e-01 9.83738266e-01 -2.74690834e-03 -5.63502944e+01] [-1.52693569e-02 4.48354879e-06 9.99883417e-01 -7.71089792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.984012739 meters 0.020642264293472008 Centerline is valid? [True, True] Translation: X:380.86, Y:-56.36, Z:-7.71 [[ 9.83328111e-01 1.81125708e-01 1.61028987e-02 3.80858644e+02] [-1.81101781e-01 9.83459952e-01 -2.94409182e-03 -5.63623756e+01] [-1.63698067e-02 -2.12553845e-05 9.99866006e-01 -7.70897616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.044012739 meters 0.021462940770731593 Centerline is valid? [True, True] Translation: X:380.92, Y:-56.37, Z:-7.71 [[ 9.82502522e-01 1.85435145e-01 1.73954248e-02 3.80918059e+02] [-1.85407913e-01 9.82656500e-01 -3.17947458e-03 -5.63695557e+01] [-1.76833136e-02 -1.01407626e-04 9.99843633e-01 -7.70637731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.104012739 meters 0.026345040066991128 Centerline is valid? [True, True] Translation: X:380.98, Y:-56.36, Z:-7.70 [[ 9.80749686e-01 1.94293571e-01 1.94951511e-02 3.80978285e+02] [-1.94261125e-01 9.80943384e-01 -3.56272779e-03 -5.63643656e+01] [-1.98158546e-02 -2.93005811e-04 9.99803604e-01 -7.70283640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.164012739 meters 0.03568745237437309 Centerline is valid? [True, True] Translation: X:381.04, Y:-56.36, Z:-7.70 [[ 9.78964924e-01 2.02921099e-01 2.12298113e-02 3.81040227e+02] [-2.02884668e-01 9.79194959e-01 -3.87864366e-03 -5.63575727e+01] [-2.15751829e-02 -5.10147136e-04 9.99767098e-01 -7.70122094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.224012739 meters 0.03623257010517854 Centerline is valid? [True, True] Translation: X:381.10, Y:-56.36, Z:-7.71 [[ 9.78462564e-01 2.05605024e-01 1.83734678e-02 3.81099516e+02] [-2.05578215e-01 9.78634933e-01 -3.35655822e-03 -5.63631447e+01] [-1.86710427e-02 -4.92918145e-04 9.99825559e-01 -7.70743406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.284012739 meters 0.036532274086494766 Centerline is valid? [True, True] Translation: X:381.16, Y:-56.37, Z:-7.71 [[ 9.78604233e-01 2.05077107e-01 1.66473808e-02 3.81157382e+02] [-2.05055026e-01 9.78745722e-01 -3.04099596e-03 -5.63669952e+01] [-1.69171914e-02 -4.37697599e-04 9.99856798e-01 -7.71130697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.344012739 meters 0.03513985150426644 Centerline is valid? [True, True] Translation: X:381.21, Y:-56.38, Z:-7.71 [[ 9.79017600e-01 2.03037036e-01 1.73349337e-02 3.81214027e+02] [-2.03012793e-01 9.79170968e-01 -3.16550223e-03 -5.63769910e+01] [-1.76165780e-02 -4.20130917e-04 9.99844728e-01 -7.71144108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.404012739 meters 0.03125338481036185 Centerline is valid? [True, True] Translation: X:381.27, Y:-56.39, Z:-7.71 [[ 9.79394410e-01 2.01188701e-01 1.75982185e-02 3.81271636e+02] [-2.01163436e-01 9.79552424e-01 -3.21250806e-03 -5.63897960e+01] [-1.78846979e-02 -3.93805670e-04 9.99839978e-01 -7.71269456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.464012739 meters 0.033807072646948204 Centerline is valid? [True, True] Translation: X:381.33, Y:-56.39, Z:-7.72 [[ 9.79432620e-01 2.01062114e-01 1.69047076e-02 3.81329251e+02] [-2.01038794e-01 9.79578422e-01 -3.08528842e-03 -5.63925720e+01] [-1.71798214e-02 -3.76669899e-04 9.99852345e-01 -7.71697306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.524012739 meters 0.033861903663994095 Centerline is valid? [True, True] Translation: X:381.39, Y:-56.40, Z:-7.72 [[ 9.79177515e-01 2.02318880e-01 1.66872715e-02 3.81387692e+02] [-2.02296371e-01 9.79319618e-01 -3.04368651e-03 -5.64006477e+01] [-1.69579676e-02 -3.95465060e-04 9.99856125e-01 -7.71699433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.584012739 meters 0.033268874195088276 Centerline is valid? [True, True] Translation: X:381.44, Y:-56.41, Z:-7.71 [[ 9.79346176e-01 2.01193187e-01 2.00591620e-02 3.81444430e+02] [-2.01160449e-01 9.79551477e-01 -3.65754775e-03 -5.64115108e+01] [-2.03848555e-02 -4.53104626e-04 9.99792105e-01 -7.71099851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.644012739 meters 0.031527915941667005 Centerline is valid? [True, True] Translation: X:381.50, Y:-56.43, Z:-7.71 [[ 9.79828340e-01 1.98629985e-01 2.19670758e-02 3.81500730e+02] [-1.98590109e-01 9.80074454e-01 -4.00403900e-03 -5.64274574e+01] [-2.23246920e-02 -4.39173086e-04 9.99750677e-01 -7.71023218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.704012739 meters 0.02682057279723862 Centerline is valid? [True, True] Translation: X:381.56, Y:-56.45, Z:-7.71 [[ 9.80955499e-01 1.93159047e-01 2.03934098e-02 3.81557532e+02] [-1.93123515e-01 9.81167415e-01 -3.71632462e-03 -5.64478715e+01] [-2.07271909e-02 -2.92897909e-04 9.99785126e-01 -7.71368336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.764012739 meters 0.024736749521658195 Centerline is valid? [True, True] Translation: X:381.61, Y:-56.47, Z:-7.72 [[ 9.81326568e-01 1.91434846e-01 1.87314203e-02 3.81614221e+02] [-1.91404563e-01 9.81505295e-01 -3.41309843e-03 -5.64650495e+01] [-1.90383741e-02 -2.35915136e-04 9.99818726e-01 -7.71665813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.824012739 meters 0.026165079255633637 Centerline is valid? [True, True] Translation: X:381.67, Y:-56.47, Z:-7.72 [[ 9.81007603e-01 1.93077065e-01 1.85830472e-02 3.81672353e+02] [-1.93047571e-01 9.81183559e-01 -3.38517723e-03 -5.64718499e+01] [-1.88869805e-02 -2.66527529e-04 9.99821590e-01 -7.71762623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.884012739 meters 0.033366169886976195 Centerline is valid? [True, True] Translation: X:381.73, Y:-56.47, Z:-7.71 [[ 9.79743142e-01 1.99192676e-01 2.06313719e-02 3.81733594e+02] [-1.99157697e-01 9.79960252e-01 -3.75722873e-03 -5.64650079e+01] [-2.09663369e-02 -4.27777441e-04 9.99780091e-01 -7.71438872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.944012739 meters 0.03692187343519268 Centerline is valid? [True, True] Translation: X:381.80, Y:-56.46, Z:-7.72 [[ 9.78712924e-01 2.04373437e-01 1.87752913e-02 3.81795468e+02] [-2.04345429e-01 9.78892873e-01 -3.41877880e-03 -5.64631357e+01] [-1.90777064e-02 -4.90641956e-04 9.99817884e-01 -7.71910595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.004012739 meters 0.034430829971887573 Centerline is valid? [True, True] Translation: X:381.85, Y:-56.47, Z:-7.72 [[ 9.79104593e-01 2.02474172e-01 1.89316216e-02 3.81854525e+02] [-2.02445341e-01 9.79287496e-01 -3.44728751e-03 -5.64694006e+01] [-1.92374870e-02 -4.57363553e-04 9.99814838e-01 -7.72119789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.064012739 meters 0.02631674410983419 Centerline is valid? [True, True] Translation: X:381.91, Y:-56.48, Z:-7.73 [[ 9.81053256e-01 1.93040056e-01 1.64330973e-02 3.81912625e+02] [-1.93017017e-01 9.81190848e-01 -2.99171999e-03 -5.64843319e+01] [-1.67015265e-02 -2.36830786e-04 9.99860492e-01 -7.72678921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.124012739 meters 0.021133259602937923 Centerline is valid? [True, True] Translation: X:381.97, Y:-56.51, Z:-7.73 [[ 9.82888954e-01 1.83424242e-01 1.68775398e-02 3.81967843e+02] [-1.83398519e-01 9.83033846e-01 -3.07266342e-03 -5.65069832e+01] [-1.71547938e-02 -7.52288717e-05 9.99852843e-01 -7.72773980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.184012739 meters 0.021206767161331692 Centerline is valid? [True, True] Translation: X:382.02, Y:-56.53, Z:-7.72 [[ 9.84649131e-01 1.73460000e-01 1.94349728e-02 3.82023336e+02] [-1.73423962e-01 9.84840909e-01 -3.53746607e-03 -5.65307350e+01] [-1.97539651e-02 1.12672909e-04 9.99804865e-01 -7.72270475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.244012739 meters 0.023715639993069575 Centerline is valid? [True, True] Translation: X:382.08, Y:-56.54, Z:-7.73 [[ 9.85322497e-01 1.69776993e-01 1.77580700e-02 3.82080190e+02] [-1.69746322e-01 9.85482493e-01 -3.23144943e-03 -5.65442719e+01] [-1.80488928e-02 1.69652753e-04 9.99837091e-01 -7.72761522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30401273900003 meters 0.02493538714861375 Centerline is valid? [True, True] Translation: X:382.14, Y:-56.56, Z:-7.73 [[ 9.85769811e-01 1.67487695e-01 1.43440663e-02 3.82138879e+02] [-1.67467448e-01 9.85874152e-01 -2.60976418e-03 -5.65564771e+01] [-1.45785475e-02 1.70462573e-04 9.99893713e-01 -7.73433290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36401273900003 meters 0.02944761885434888 Centerline is valid? [True, True] Translation: X:382.20, Y:-56.58, Z:-7.73 [[ 9.86717813e-01 1.61620868e-01 1.63294741e-02 3.82195542e+02] [-1.61593832e-01 9.86852881e-01 -2.97053822e-03 -5.65799491e+01] [-1.65948895e-02 2.92340693e-04 9.99862253e-01 -7.73304230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.424012739 meters 0.03227632441668432 Centerline is valid? [True, True] Translation: X:382.25, Y:-56.60, Z:-7.73 [[ 9.87212289e-01 1.58380859e-01 1.80941872e-02 3.82253782e+02] [-1.58347128e-01 9.87378021e-01 -3.29104170e-03 -5.65994746e+01] [-1.83870407e-02 3.83794238e-04 9.99830870e-01 -7.73004082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.484012739 meters 0.033240296530421314 Centerline is valid? [True, True] Translation: X:382.31, Y:-56.62, Z:-7.74 [[ 9.87037995e-01 1.59653097e-01 1.63365864e-02 3.82311265e+02] [-1.59625775e-01 9.87173127e-01 -2.97136237e-03 -5.66183902e+01] [-1.66014263e-02 3.25107297e-04 9.99862134e-01 -7.73533812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.544012739 meters 0.023468718454225802 Centerline is valid? [True, True] Translation: X:382.37, Y:-56.62, Z:-7.73 [[ 9.85559888e-01 1.68495752e-01 1.67597437e-02 3.82372167e+02] [-1.68468271e-01 9.85702363e-01 -3.04836841e-03 -5.66188819e+01] [-1.70337561e-02 1.80864568e-04 9.99854899e-01 -7.73431933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.604012739 meters 0.01988656570437913 Centerline is valid? [True, True] Translation: X:382.43, Y:-56.62, Z:-7.73 [[ 9.83616119e-01 1.79351319e-01 1.82328159e-02 3.82431752e+02] [-1.79320660e-01 9.83785090e-01 -3.31612742e-03 -5.66189017e+01] [-1.85319243e-02 -7.72419687e-06 9.99828269e-01 -7.73271301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.664012739 meters 0.02446785980802426 Centerline is valid? [True, True] Translation: X:382.49, Y:-56.61, Z:-7.74 [[ 9.81506820e-01 1.90649415e-01 1.72383899e-02 3.82493388e+02] [-1.90623762e-01 9.81658167e-01 -3.13442362e-03 -5.66130168e+01] [-1.75197822e-02 -2.09588576e-04 9.99846495e-01 -7.73657455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.724012739 meters 0.029945776734389796 Centerline is valid? [True, True] Translation: X:382.55, Y:-56.62, Z:-7.74 [[ 9.80822245e-01 1.94229932e-01 1.62005490e-02 3.82552846e+02] [-1.94207769e-01 9.80955997e-01 -2.94540168e-03 -5.66152018e+01] [-1.64641108e-02 -2.57356978e-04 9.99864424e-01 -7.74103395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.784012739 meters 0.0293948897329815 Centerline is valid? [True, True] Translation: X:382.61, Y:-56.63, Z:-7.74 [[ 9.80774151e-01 1.94339205e-01 1.77295765e-02 3.82609622e+02] [-1.94312689e-01 9.80934347e-01 -3.22276412e-03 -5.66262788e+01] [-1.80178599e-02 -2.84277943e-04 9.99837625e-01 -7.73868345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.844012739 meters 0.028803408103190715 Centerline is valid? [True, True] Translation: X:382.67, Y:-56.63, Z:-7.74 [[ 9.80956061e-01 1.93313634e-01 1.88426679e-02 3.82666619e+02] [-1.93283521e-01 9.81136972e-01 -3.42375656e-03 -5.66348157e+01] [-1.91490969e-02 -2.83422434e-04 9.99816599e-01 -7.73694155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.904012739 meters 0.02800400000262263 Centerline is valid? [True, True] Translation: X:382.73, Y:-56.64, Z:-7.74 [[ 9.80620480e-01 1.95193178e-01 1.68254786e-02 3.82725037e+02] [-1.95169458e-01 9.80764774e-01 -3.05641574e-03 -5.66427690e+01] [-1.70984282e-02 -2.86635654e-04 9.99853770e-01 -7.74191477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.964012739 meters 0.028869366288990266 Centerline is valid? [True, True] Translation: X:382.78, Y:-56.65, Z:-7.74 [[ 9.80526889e-01 1.95634403e-01 1.71522974e-02 3.82783290e+02] [-1.95609834e-01 9.80676853e-01 -3.11497595e-03 -5.66460629e+01] [-1.74302575e-02 -3.00840363e-04 9.99848036e-01 -7.74248220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.024012739 meters 0.02720865105672758 Centerline is valid? [True, True] Translation: X:382.84, Y:-56.65, Z:-7.74 [[ 9.80916723e-01 1.93512042e-01 1.88539850e-02 3.82840331e+02] [-1.93481988e-01 9.81097857e-01 -3.42277912e-03 -5.66540974e+01] [-1.91599533e-02 -2.90445211e-04 9.99816389e-01 -7.74030070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.084012739 meters 0.026623385019002514 Centerline is valid? [True, True] Translation: X:382.90, Y:-56.66, Z:-7.74 [[ 9.81057297e-01 1.92750487e-01 1.93346897e-02 3.82898814e+02] [-1.92718755e-01 9.81247761e-01 -3.50887727e-03 -5.66626029e+01] [-1.96484588e-02 -2.83747673e-04 9.99806910e-01 -7.74068989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.144012739 meters 0.02781808528633372 Centerline is valid? [True, True] Translation: X:382.96, Y:-56.66, Z:-7.74 [[ 9.80903062e-01 1.93620859e-01 1.84430242e-02 3.82958232e+02] [-1.93592156e-01 9.81076388e-01 -3.34624072e-03 -5.66627008e+01] [-1.87419176e-02 -2.88087058e-04 9.99824313e-01 -7.74272720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.204012739 meters 0.028267984267901156 Centerline is valid? [True, True] Translation: X:383.02, Y:-56.66, Z:-7.74 [[ 9.80801216e-01 1.93930188e-01 2.04953072e-02 3.83016969e+02] [-1.93894830e-01 9.81015277e-01 -3.71754502e-03 -5.66640033e+01] [-2.08271537e-02 -3.27761428e-04 9.99783038e-01 -7.73920958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.264012739 meters 0.02720763373966104 Centerline is valid? [True, True] Translation: X:383.08, Y:-56.67, Z:-7.74 [[ 9.80919661e-01 1.93239498e-01 2.13334046e-02 3.83075031e+02] [-1.93201053e-01 9.81151563e-01 -3.86830725e-03 -5.66736704e+01] [-2.16788130e-02 -3.27137593e-04 9.99764933e-01 -7.73837060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.324012739 meters 0.023926257156352798 Centerline is valid? [True, True] Translation: X:383.13, Y:-56.68, Z:-7.74 [[ 9.81416636e-01 1.90655166e-01 2.17254212e-02 3.83133105e+02] [-1.90614684e-01 9.81657034e-01 -3.93835555e-03 -5.66848530e+01] [-2.20777804e-02 -2.76016639e-04 9.99756218e-01 -7.73991935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.384012739 meters 0.02137841463172522 Centerline is valid? [True, True] Translation: X:383.19, Y:-56.70, Z:-7.74 [[ 9.82360061e-01 1.85828218e-01 2.08946049e-02 3.83190633e+02] [-1.85789703e-01 9.82582234e-01 -3.78673793e-03 -5.66981704e+01] [-2.12343504e-02 -1.62062335e-04 9.99774513e-01 -7.74364441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.444012739 meters 0.020274954411512083 Centerline is valid? [True, True] Translation: X:383.25, Y:-56.71, Z:-7.75 [[ 9.83382396e-01 1.80684671e-01 1.76666926e-02 3.83246292e+02] [-1.80656319e-01 9.83541076e-01 -3.20104226e-03 -5.67127304e+01] [-1.79542971e-02 -4.37510553e-05 9.99838808e-01 -7.75111821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.504012739 meters 0.020269498647456214 Centerline is valid? [True, True] Translation: X:383.30, Y:-56.73, Z:-7.75 [[ 9.84046652e-01 1.77144952e-01 1.64879345e-02 3.83301973e+02] [-1.77119775e-01 9.84184772e-01 -2.98656582e-03 -5.67310606e+01] [-1.67562291e-02 1.85808435e-05 9.99859604e-01 -7.75466142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.564012739 meters 0.02107255905264129 Centerline is valid? [True, True] Translation: X:383.36, Y:-56.75, Z:-7.76 [[ 9.84914621e-01 1.72277308e-01 1.62394059e-02 3.83358122e+02] [-1.72252243e-01 9.85048486e-01 -2.94030559e-03 -5.67518238e+01] [-1.65031502e-02 9.86758692e-05 9.99863809e-01 -7.75573401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.624012739 meters 0.02113169998272698 Centerline is valid? [True, True] Translation: X:383.41, Y:-56.76, Z:-7.76 [[ 9.84582953e-01 1.74312689e-01 1.45428777e-02 3.83414923e+02] [-1.74292818e-01 9.84690349e-01 -2.63256893e-03 -5.67630614e+01] [-1.47791214e-02 5.72633602e-05 9.99890781e-01 -7.76164276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.684012739 meters 0.020240425098318762 Centerline is valid? [True, True] Translation: X:383.47, Y:-56.77, Z:-7.76 [[ 9.84029972e-01 1.77254988e-01 1.62998137e-02 3.83472944e+02] [-1.77230450e-01 9.84164960e-01 -2.94936221e-03 -5.67706708e+01] [-1.65644947e-02 1.34374920e-05 9.99862799e-01 -7.75817156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.744012739 meters 0.020643675221392977 Centerline is valid? [True, True] Translation: X:383.53, Y:-56.77, Z:-7.76 [[ 9.83239427e-01 1.81609757e-01 1.60663123e-02 3.83532092e+02] [-1.81586509e-01 9.83370679e-01 -2.90636726e-03 -5.67722534e+01] [-1.63269651e-02 -5.97706948e-05 9.99866704e-01 -7.75928986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80401273900003 meters 0.02093911953311511 Centerline is valid? [True, True] Translation: X:383.59, Y:-56.78, Z:-7.76 [[ 9.83047100e-01 1.82684165e-01 1.56491070e-02 3.83590130e+02] [-1.82662258e-01 9.83171648e-01 -2.83015403e-03 -5.67800989e+01] [-1.59027826e-02 -7.63264964e-05 9.99873540e-01 -7.76118998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86401273900003 meters 0.02023422592606246 Centerline is valid? [True, True] Translation: X:383.65, Y:-56.80, Z:-7.76 [[ 9.83821531e-01 1.78423728e-01 1.61297267e-02 3.83645729e+02] [-1.78399894e-01 9.83953745e-01 -2.91628499e-03 -5.67955541e+01] [-1.63912395e-02 -8.43757226e-06 9.99865655e-01 -7.76220935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.924012739 meters 0.020120569846621854 Centerline is valid? [True, True] Translation: X:383.70, Y:-56.81, Z:-7.76 [[ 9.84249689e-01 1.75801852e-01 1.86080510e-02 3.83701650e+02] [-1.75769686e-01 9.84425572e-01 -3.36303836e-03 -5.68134119e+01] [-1.89094697e-02 3.93381713e-05 9.99821199e-01 -7.75826358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.984012739 meters 0.02049594795890268 Centerline is valid? [True, True] Translation: X:383.76, Y:-56.83, Z:-7.76 [[ 9.84564689e-01 1.74134033e-01 1.75986383e-02 3.83758802e+02] [-1.74105019e-01 9.84721958e-01 -3.17938711e-03 -5.68271709e+01] [-1.78834050e-02 6.63010420e-05 9.99840077e-01 -7.76189111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.044012739 meters 0.021262580515303726 Centerline is valid? [True, True] Translation: X:383.81, Y:-56.84, Z:-7.76 [[ 9.84860502e-01 1.72548403e-01 1.66385344e-02 3.83814200e+02] [-1.72522253e-01 9.85001036e-01 -3.00524074e-03 -5.68445961e+01] [-1.69075231e-02 8.92254595e-05 9.99857054e-01 -7.76464506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.104012739 meters 0.020195344241606485 Centerline is valid? [True, True] Translation: X:383.87, Y:-56.85, Z:-7.76 [[ 9.84462413e-01 1.74525503e-01 1.93547292e-02 3.83872931e+02] [-1.74490530e-01 9.84652652e-01 -3.49432664e-03 -5.68530860e+01] [-1.96675345e-02 6.28162881e-05 9.99806573e-01 -7.75961926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.164012739 meters 0.020417152523382668 Centerline is valid? [True, True] Translation: X:383.93, Y:-56.85, Z:-7.77 [[ 9.83503437e-01 1.80120631e-01 1.66597810e-02 3.83931416e+02] [-1.80095532e-01 9.83644527e-01 -3.00717174e-03 -5.68541356e+01] [-1.69289561e-02 -4.27883843e-05 9.99856694e-01 -7.76575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.224012739 meters 0.022898076478738587 Centerline is valid? [True, True] Translation: X:383.99, Y:-56.85, Z:-7.77 [[ 9.82189623e-01 1.87068057e-01 1.75808752e-02 3.83991668e+02] [-1.87041239e-01 9.82346941e-01 -3.17215265e-03 -5.68533345e+01] [-1.78639275e-02 -1.72693281e-04 9.99840412e-01 -7.76548680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.284012739 meters 0.023024100740874767 Centerline is valid? [True, True] Translation: X:384.05, Y:-56.86, Z:-7.77 [[ 9.82113912e-01 1.87388146e-01 1.83833281e-02 3.84049434e+02] [-1.87358898e-01 9.82285930e-01 -3.31599101e-03 -5.68626673e+01] [-1.86790620e-02 -1.87599191e-04 9.99825514e-01 -7.76502483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.344012739 meters 0.02269962317308631 Centerline is valid? [True, True] Translation: X:384.11, Y:-56.88, Z:-7.77 [[ 9.82372746e-01 1.86135331e-01 1.72460478e-02 3.84105785e+02] [-1.86109409e-01 9.82524104e-01 -3.11015589e-03 -5.68754597e+01] [-1.75235676e-02 -1.54319387e-04 9.99846439e-01 -7.76862133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.404012739 meters 0.021909253677295966 Centerline is valid? [True, True] Translation: X:384.16, Y:-56.89, Z:-7.76 [[ 9.82490263e-01 1.85206264e-01 2.02860147e-02 3.84163568e+02] [-1.85170240e-01 9.82699655e-01 -3.65645551e-03 -5.68890143e+01] [-2.06122581e-02 -1.63934257e-04 9.99787531e-01 -7.76392809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.464012739 meters 0.02278763026036383 Centerline is valid? [True, True] Translation: X:384.22, Y:-56.90, Z:-7.77 [[ 9.82384517e-01 1.86072957e-01 1.72486328e-02 3.84220866e+02] [-1.86047059e-01 9.82535918e-01 -3.10829278e-03 -5.68997718e+01] [-1.75257705e-02 -1.55518704e-04 9.99846400e-01 -7.77224879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.524012739 meters 0.023698104841975435 Centerline is valid? [True, True] Translation: X:384.28, Y:-56.91, Z:-7.77 [[ 9.82091653e-01 1.87593217e-01 1.74576396e-02 3.84278318e+02] [-1.87566942e-01 9.82246787e-01 -3.14512063e-03 -5.69074992e+01] [-1.77377137e-02 -1.85679354e-04 9.99842657e-01 -7.77138711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.584012739 meters 0.02492234695436189 Centerline is valid? [True, True] Translation: X:384.34, Y:-56.91, Z:-7.77 [[ 9.81747267e-01 1.89374195e-01 1.75988331e-02 3.84337344e+02] [-1.89347799e-01 9.81904968e-01 -3.16944724e-03 -5.69130474e+01] [-1.78805932e-02 -2.20704158e-04 9.99840105e-01 -7.77224923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.644012739 meters 0.023007548793415347 Centerline is valid? [True, True] Translation: X:384.39, Y:-56.93, Z:-7.77 [[ 9.82419118e-01 1.85677565e-01 1.94040875e-02 3.84392927e+02] [-1.85644774e-01 9.82610713e-01 -3.49353809e-03 -5.69310996e+01] [-1.97153359e-02 -1.70148837e-04 9.99805619e-01 -7.77096895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.704012739 meters 0.020889589992250105 Centerline is valid? [True, True] Translation: X:384.45, Y:-56.96, Z:-7.78 [[ 9.83527858e-01 1.79988033e-01 1.66511644e-02 3.84447405e+02] [-1.79963085e-01 9.83668799e-01 -2.99703386e-03 -5.69574832e+01] [-1.69186611e-02 -4.89286231e-05 9.99856868e-01 -7.77732107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.764012739 meters 0.020792531497989576 Centerline is valid? [True, True] Translation: X:384.50, Y:-56.98, Z:-7.78 [[ 9.83613521e-01 1.79543288e-01 1.63905119e-02 3.84504115e+02] [-1.79519067e-01 9.83750073e-01 -2.94936889e-03 -5.69757092e+01] [-1.66537066e-02 -4.13702721e-05 9.99861317e-01 -7.77859686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.824012739 meters 0.023523886308681238 Centerline is valid? [True, True] Translation: X:384.56, Y:-56.98, Z:-7.77 [[ 9.82320933e-01 1.86266627e-01 1.87170813e-02 3.84562485e+02] [-1.86236278e-01 9.82499217e-01 -3.36705632e-03 -5.69771577e+01] [-1.90166879e-02 -1.78269643e-04 9.99819151e-01 -7.77413726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.884012739 meters 0.02855176547302632 Centerline is valid? [True, True] Translation: X:384.62, Y:-56.98, Z:-7.78 [[ 9.81188244e-01 1.92193243e-01 1.82040476e-02 3.84621848e+02] [-1.92165581e-01 9.81357058e-01 -3.27325798e-03 -5.69787853e+01] [-1.84937686e-02 -2.86509122e-04 9.99828935e-01 -7.77558234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.944012739 meters 0.03087940348737236 Centerline is valid? [True, True] Translation: X:384.68, Y:-56.99, Z:-7.78 [[ 9.80422652e-01 1.96015413e-01 1.86917231e-02 3.84681483e+02] [-1.95986956e-01 9.80600745e-01 -3.36027397e-03 -5.69853437e+01] [-1.89877831e-02 -3.68845186e-04 9.99819648e-01 -7.77804490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.004012739 meters 0.03076711137275211 Centerline is valid? [True, True] Translation: X:384.74, Y:-57.00, Z:-7.78 [[ 9.80282585e-01 1.96812920e-01 1.76274872e-02 3.84739162e+02] [-1.96787745e-01 9.80440994e-01 -3.16862522e-03 -5.69971641e+01] [-1.79063375e-02 -3.62725348e-04 9.99839603e-01 -7.78014454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.064012739 meters 0.03204228753663381 Centerline is valid? [True, True] Translation: X:384.80, Y:-57.01, Z:-7.78 [[ 9.80327098e-01 1.96584447e-01 1.77012900e-02 3.84796848e+02] [-1.96559039e-01 9.80486831e-01 -3.18106069e-03 -5.70058361e+01] [-1.79812288e-02 -3.60868563e-04 9.99838260e-01 -7.78070519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.124012739 meters 0.03170343742594761 Centerline is valid? [True, True] Translation: X:384.86, Y:-57.01, Z:-7.78 [[ 9.80399695e-01 1.96152012e-01 1.84614765e-02 3.84855080e+02] [-1.96124320e-01 9.80573430e-01 -3.31649382e-03 -5.70149301e+01] [-1.87533703e-02 -3.69255008e-04 9.99824072e-01 -7.78070901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.184012739 meters 0.03178919916120977 Centerline is valid? [True, True] Translation: X:384.91, Y:-57.02, Z:-7.78 [[ 9.80427021e-01 1.96057759e-01 1.80058980e-02 3.84912220e+02] [-1.96031415e-01 9.80592283e-01 -3.23389190e-03 -5.70249595e+01] [-1.82904742e-02 -3.59126650e-04 9.99832651e-01 -7.78279667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.244012739 meters 0.02766163563406714 Centerline is valid? [True, True] Translation: X:384.97, Y:-57.04, Z:-7.78 [[ 9.80989310e-01 1.93264764e-01 1.75699666e-02 3.84968711e+02] [-1.93239255e-01 9.81146595e-01 -3.15436419e-03 -5.70436239e+01] [-1.78483403e-02 -3.00809688e-04 9.99840660e-01 -7.78480448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30401273900003 meters 0.0257378317898905 Centerline is valid? [True, True] Translation: X:385.03, Y:-57.06, Z:-7.78 [[ 9.82007062e-01 1.87885823e-01 1.90012504e-02 3.85025864e+02] [-1.87855000e-01 9.82190852e-01 -3.41028650e-03 -5.70593425e+01] [-1.93035988e-02 -2.20554476e-04 9.99813644e-01 -7.78389045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36401273900003 meters 0.02253682833824605 Centerline is valid? [True, True] Translation: X:385.08, Y:-57.07, Z:-7.78 [[ 9.82503460e-01 1.85320714e-01 1.85252116e-02 3.85083393e+02] [-1.85290967e-01 9.82678078e-01 -3.32445050e-03 -5.70741164e+01] [-1.88204089e-02 -1.66270257e-04 9.99822867e-01 -7.78442475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.424012739 meters 0.022361216404405866 Centerline is valid? [True, True] Translation: X:385.14, Y:-57.08, Z:-7.79 [[ 9.82660754e-01 1.84679564e-01 1.64712342e-02 3.85140958e+02] [-1.84655971e-01 9.82798779e-01 -2.95516665e-03 -5.70839515e+01] [-1.67336678e-02 -1.37585454e-04 9.99859973e-01 -7.79050770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.484012739 meters 0.02100962213732654 Centerline is valid? [True, True] Translation: X:385.20, Y:-57.10, Z:-7.79 [[ 9.83389300e-01 1.80666669e-01 1.74653982e-02 3.85196763e+02] [-1.80639523e-01 9.83544381e-01 -3.13265000e-03 -5.70980094e+01] [-1.77439597e-02 -7.43266973e-05 9.99842561e-01 -7.79045566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.544012739 meters 0.02081490954897207 Centerline is valid? [True, True] Translation: X:385.25, Y:-57.12, Z:-7.79 [[ 9.84849380e-01 1.72382316e-01 1.88688986e-02 3.85252132e+02] [-1.72349134e-01 9.85030117e-01 -3.38311442e-03 -5.71241093e+01] [-1.91696225e-02 7.98198091e-05 9.99816243e-01 -7.78928941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.604012739 meters 0.023112010548684905 Centerline is valid? [True, True] Translation: X:385.31, Y:-57.15, Z:-7.79 [[ 9.85931365e-01 1.66170155e-01 1.80782344e-02 3.85310789e+02] [-1.66138668e-01 9.86097076e-01 -3.24038474e-03 -5.71461690e+01] [-1.83653493e-02 1.91303172e-04 9.99831324e-01 -7.79191576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.664012739 meters 0.027050045432119096 Centerline is valid? [True, True] Translation: X:385.37, Y:-57.18, Z:-7.79 [[ 9.86964686e-01 1.59803195e-01 1.90695362e-02 3.85367333e+02] [-1.59766960e-01 9.87148840e-01 -3.41859279e-03 -5.71767072e+01] [-1.93707726e-02 3.27348541e-04 9.99812315e-01 -7.79180859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.724012739 meters 0.03583544718769056 Centerline is valid? [True, True] Translation: X:385.43, Y:-57.19, Z:-7.79 [[ 9.86766750e-01 1.61244285e-01 1.70780849e-02 3.85427502e+02] [-1.61215444e-01 9.86914489e-01 -3.06128492e-03 -5.71948679e+01] [-1.73482242e-02 2.67523114e-04 9.99849472e-01 -7.78546729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.784012739 meters 0.022743189152584633 Centerline is valid? [True, True] Translation: X:385.49, Y:-57.20, Z:-7.79 [[ 9.85605054e-01 1.68032567e-01 1.86476137e-02 3.85487512e+02] [-1.67999323e-01 9.85781431e-01 -3.34638824e-03 -5.72013608e+01] [-1.89447735e-02 1.65430680e-04 9.99820518e-01 -7.79420683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.844012739 meters 0.020387394369912392 Centerline is valid? [True, True] Translation: X:385.55, Y:-57.20, Z:-7.80 [[ 9.83746550e-01 1.78557881e-01 1.89686432e-02 3.85549038e+02] [-1.78525430e-01 9.83929409e-01 -3.40426458e-03 -5.71989296e+01] [-1.92716642e-02 -3.74516481e-05 9.99814284e-01 -7.79546935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.904012739 meters 0.02394850098129019 Centerline is valid? [True, True] Translation: X:385.61, Y:-57.20, Z:-7.80 [[ 9.82132108e-01 1.87483414e-01 1.63245704e-02 3.85609694e+02] [-1.87460613e-01 9.82267752e-01 -2.92961932e-03 -5.71977571e+01] [-1.65843541e-02 -1.82940772e-04 9.99862453e-01 -7.80186705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.964012739 meters 0.029240645907286558 Centerline is valid? [True, True] Translation: X:385.67, Y:-57.19, Z:-7.80 [[ 9.80738299e-01 1.94611563e-01 1.66951550e-02 3.85669288e+02] [-1.94588751e-01 9.80880341e-01 -2.99578266e-03 -5.71939770e+01] [-1.69589633e-02 -3.10610579e-04 9.99856138e-01 -7.80246583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.024012739 meters 0.03596045538656071 Centerline is valid? [True, True] Translation: X:385.73, Y:-57.19, Z:-7.80 [[ 9.79187060e-01 2.02165147e-01 1.79430934e-02 3.85731649e+02] [-2.02140082e-01 9.79351330e-01 -3.21868167e-03 -5.71862697e+01] [-1.82232976e-02 -4.75326921e-04 9.99833829e-01 -7.80074223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.084012739 meters 0.04121523038274399 Centerline is valid? [True, True] Translation: X:385.79, Y:-57.19, Z:-7.80 [[ 9.78350925e-01 2.06143585e-01 1.82836108e-02 3.85791834e+02] [-2.06118254e-01 9.78521593e-01 -3.27970734e-03 -5.71851848e+01] [-1.85669986e-02 -5.59881221e-04 9.99827462e-01 -7.80205453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.144012739 meters 0.04337558858476021 Centerline is valid? [True, True] Translation: X:385.85, Y:-57.18, Z:-7.80 [[ 9.77727289e-01 2.09045353e-01 1.86919442e-02 3.85852831e+02] [-2.09019415e-01 9.77905744e-01 -3.35251567e-03 -5.71814145e+01] [-1.89797874e-02 -6.29133178e-04 9.99819670e-01 -7.80178258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.204012739 meters 0.04597170768682307 Centerline is valid? [True, True] Translation: X:385.91, Y:-57.18, Z:-7.81 [[ 9.77550614e-01 2.09966843e-01 1.75704967e-02 3.85911844e+02] [-2.09944083e-01 9.77708318e-01 -3.15085298e-03 -5.71804034e+01] [-1.78403954e-02 -6.08703553e-04 9.99840662e-01 -7.80563527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.264012739 meters 0.04087720053951551 Centerline is valid? [True, True] Translation: X:385.97, Y:-57.19, Z:-7.81 [[ 9.78597724e-01 2.04975444e-01 1.82088349e-02 3.85971145e+02] [-2.04950158e-01 9.78766968e-01 -3.26411361e-03 -5.71905891e+01] [-1.84912693e-02 -5.37649449e-04 9.99828877e-01 -7.80651341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.324012739 meters 0.028334005329368847 Centerline is valid? [True, True] Translation: X:386.03, Y:-57.22, Z:-7.81 [[ 9.81209940e-01 1.92007595e-01 1.89772821e-02 3.86026263e+02] [-1.91977702e-01 9.81393392e-01 -3.40172033e-03 -5.72189218e+01] [-1.92773354e-02 -3.05413226e-04 9.99814128e-01 -7.80501176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.384012739 meters 0.020711500868926713 Centerline is valid? [True, True] Translation: X:386.08, Y:-57.25, Z:-7.80 [[ 9.83324025e-01 1.80606971e-01 2.13303445e-02 3.86081833e+02] [-1.80566525e-01 9.83555343e-01 -3.82317253e-03 -5.72492971e+01] [-2.16700659e-02 -9.21287764e-05 9.99765172e-01 -7.80237405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.444012739 meters 0.02040213152025017 Centerline is valid? [True, True] Translation: X:386.14, Y:-57.27, Z:-7.81 [[ 9.84191156e-01 1.76020665e-01 1.96085045e-02 3.86138089e+02] [-1.75985585e-01 9.84386472e-01 -3.51406454e-03 -5.72686660e+01] [-1.99208945e-02 7.69711804e-06 9.99801559e-01 -7.80661964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.504012739 meters 0.020509633444116528 Centerline is valid? [True, True] Translation: X:386.20, Y:-57.28, Z:-7.81 [[ 9.84596803e-01 1.73826574e-01 1.88004792e-02 3.86196017e+02] [-1.73793942e-01 9.84776279e-01 -3.36837943e-03 -5.72811370e+01] [-1.90997798e-02 4.90862312e-05 9.99817581e-01 -7.80902465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.564012739 meters 0.02207739506586874 Centerline is valid? [True, True] Translation: X:386.25, Y:-57.30, Z:-7.81 [[ 9.85354617e-01 1.69419725e-01 1.93192882e-02 3.86251432e+02] [-1.69384438e-01 9.85543981e-01 -3.46035621e-03 -5.73033794e+01] [-1.96262608e-02 1.37291197e-04 9.99807377e-01 -7.81021943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.624012739 meters 0.023273513706548205 Centerline is valid? [True, True] Translation: X:386.31, Y:-57.32, Z:-7.81 [[ 9.85904453e-01 1.66350961e-01 1.78820087e-02 3.86309974e+02] [-1.66320235e-01 9.86066592e-01 -3.20240605e-03 -5.73194932e+01] [-1.81655747e-02 1.83126489e-04 9.99834976e-01 -7.81355289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.684012739 meters 0.026508801014800628 Centerline is valid? [True, True] Translation: X:386.37, Y:-57.35, Z:-7.81 [[ 9.86638688e-01 1.61843348e-01 1.87304389e-02 3.86367276e+02] [-1.61808827e-01 9.86816423e-01 -3.35412437e-03 -5.73467791e+01] [-1.90263474e-02 2.78558519e-04 9.99818944e-01 -7.81265510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.744012739 meters 0.029115877651190284 Centerline is valid? [True, True] Translation: X:386.43, Y:-57.37, Z:-7.82 [[ 9.87159083e-01 1.58701730e-01 1.81853227e-02 3.86425659e+02] [-1.58668601e-01 9.87326517e-01 -3.25951241e-03 -5.73725153e+01] [-1.84721415e-02 3.32217574e-04 9.99829320e-01 -7.81678961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80401273900003 meters 0.027546196892517166 Centerline is valid? [True, True] Translation: X:386.49, Y:-57.39, Z:-7.82 [[ 9.86822502e-01 1.60829082e-01 1.77582943e-02 3.86485047e+02] [-1.60797825e-01 9.86982231e-01 -3.18352258e-03 -5.73921539e+01] [-1.80391239e-02 2.86076620e-04 9.99837241e-01 -7.81719783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86401273900003 meters 0.021883244828012984 Centerline is valid? [True, True] Translation: X:386.55, Y:-57.40, Z:-7.82 [[ 9.85384116e-01 1.69406059e-01 1.78810165e-02 3.86546470e+02] [-1.69375718e-01 9.85546330e-01 -3.20887223e-03 -5.73958754e+01] [-1.81661726e-02 1.33361724e-04 9.99834973e-01 -7.81846417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.924012739 meters 0.02054863662659658 Centerline is valid? [True, True] Translation: X:386.61, Y:-57.40, Z:-7.82 [[ 9.84476060e-01 1.74680285e-01 1.71372659e-02 3.86607350e+02] [-1.74653207e-01 9.84625206e-01 -3.07580341e-03 -5.74031409e+01] [-1.74110662e-02 3.49763625e-05 9.99848415e-01 -7.82187945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.984012739 meters 0.020291102458725355 Centerline is valid? [True, True] Translation: X:386.67, Y:-57.42, Z:-7.82 [[ 9.84298586e-01 1.75589674e-01 1.80155356e-02 3.86666868e+02] [-1.75559892e-01 9.84463441e-01 -3.23390251e-03 -5.74184308e+01] [-1.83034760e-02 2.03201803e-05 9.99832477e-01 -7.82159284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.044012739 meters 0.021851771844763505 Centerline is valid? [True, True] Translation: X:386.72, Y:-57.45, Z:-7.82 [[ 9.85355389e-01 1.69561724e-01 1.79883248e-02 3.86724861e+02] [-1.69531025e-01 9.85519561e-01 -3.22912822e-03 -5.74466981e+01] [-1.82753825e-02 1.32259744e-04 9.99832983e-01 -7.82350397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.104012739 meters 0.022778802571473623 Centerline is valid? [True, True] Translation: X:386.78, Y:-57.46, Z:-7.82 [[ 9.85562091e-01 1.68372094e-01 1.78382567e-02 3.86783729e+02] [-1.68341653e-01 9.85723498e-01 -3.20534303e-03 -5.74628942e+01] [-1.81232791e-02 1.56142965e-04 9.99835748e-01 -7.82433055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.164012739 meters 0.022663868159402353 Centerline is valid? [True, True] Translation: X:386.84, Y:-57.48, Z:-7.82 [[ 9.85417744e-01 1.69065736e-01 1.92001878e-02 3.86843335e+02] [-1.69030535e-01 9.85604765e-01 -3.45341673e-03 -5.74793634e+01] [-1.95076511e-02 1.57640098e-04 9.99809695e-01 -7.82315364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.224012739 meters 0.02134803295714144 Centerline is valid? [True, True] Translation: X:386.90, Y:-57.49, Z:-7.83 [[ 9.84964085e-01 1.71795237e-01 1.82249084e-02 3.86904336e+02] [-1.71763939e-01 9.85132675e-01 -3.28066180e-03 -5.74911514e+01] [-1.85175548e-02 1.00951996e-04 9.99828530e-01 -7.82621449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.284012739 meters 0.021334986180516106 Centerline is valid? [True, True] Translation: X:386.97, Y:-57.51, Z:-7.83 [[ 9.84915535e-01 1.72229604e-01 1.66839238e-02 3.86965813e+02] [-1.72203396e-01 9.85056829e-01 -3.00572057e-03 -5.75068918e+01] [-1.69522871e-02 8.73525453e-05 9.99856296e-01 -7.83034882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.344012739 meters 0.021401079652835865 Centerline is valid? [True, True] Translation: X:387.03, Y:-57.52, Z:-7.83 [[ 9.84831789e-01 1.72694202e-01 1.68243858e-02 3.87025923e+02] [-1.72667562e-01 9.84975485e-01 -3.03437133e-03 -5.75204609e+01] [-1.70956259e-02 8.33196808e-05 9.99853856e-01 -7.83187678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.404012739 meters 0.02022630596150634 Centerline is valid? [True, True] Translation: X:387.09, Y:-57.53, Z:-7.83 [[ 9.84064851e-01 1.76897416e-01 1.79909013e-02 3.87087788e+02] [-1.76867591e-01 9.84229294e-01 -3.24827154e-03 -5.75263297e+01] [-1.82817829e-02 1.45024889e-05 9.99832874e-01 -7.83038225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.464012739 meters 0.02040487440333233 Centerline is valid? [True, True] Translation: X:387.15, Y:-57.53, Z:-7.83 [[ 9.83149154e-01 1.81878831e-01 1.83802001e-02 3.87151003e+02] [-1.81848512e-01 9.83320947e-01 -3.32171403e-03 -5.75316484e+01] [-1.86777852e-02 -7.66716942e-05 9.99825552e-01 -7.83077708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.524012739 meters 0.02198041097494533 Centerline is valid? [True, True] Translation: X:387.21, Y:-57.54, Z:-7.83 [[ 9.82492022e-01 1.85442328e-01 1.79044679e-02 3.87212696e+02] [-1.85414082e-01 9.82655140e-01 -3.23947709e-03 -5.75354083e+01] [-1.81946536e-02 -1.36980083e-04 9.99834454e-01 -7.83381170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.584012739 meters 0.02317426361040108 Centerline is valid? [True, True] Translation: X:387.27, Y:-57.54, Z:-7.83 [[ 9.82020426e-01 1.87880096e-01 1.83562878e-02 3.87274713e+02] [-1.87850768e-01 9.82191955e-01 -3.32464033e-03 -5.75396178e+01] [-1.86540319e-02 -1.83378045e-04 9.99825982e-01 -7.83325181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.644012739 meters 0.02155546366014532 Centerline is valid? [True, True] Translation: X:387.34, Y:-57.55, Z:-7.83 [[ 9.82521945e-01 1.85203604e-01 1.87150269e-02 3.87335018e+02] [-1.85172624e-01 9.82700161e-01 -3.39006292e-03 -5.75494088e+01] [-1.90191118e-02 -1.34699418e-04 9.99819111e-01 -7.83303074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.704012739 meters 0.02187845628273423 Centerline is valid? [True, True] Translation: X:387.40, Y:-57.55, Z:-7.83 [[ 9.82404029e-01 1.85835652e-01 1.86395674e-02 3.87395872e+02] [-1.85805026e-01 9.82580831e-01 -3.37686541e-03 -5.75519784e+01] [-1.89424236e-02 -1.45879123e-04 9.99820566e-01 -7.83488135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.764012739 meters 0.0226436198329354 Centerline is valid? [True, True] Translation: X:387.46, Y:-57.55, Z:-7.84 [[ 9.82298547e-01 1.86488113e-01 1.76564179e-02 3.87455141e+02] [-1.86460737e-01 9.82457206e-01 -3.19884036e-03 -5.75516213e+01] [-1.79432207e-02 -1.50012449e-04 9.99838996e-01 -7.83913294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.824012739 meters 0.022241424429318032 Centerline is valid? [True, True] Translation: X:387.51, Y:-57.55, Z:-7.84 [[ 9.82461231e-01 1.85418148e-01 1.97494372e-02 3.87513265e+02] [-1.85383696e-01 9.82659701e-01 -3.57725031e-03 -5.75548073e+01] [-2.00702631e-02 -1.46713903e-04 9.99798561e-01 -7.83654244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.884012739 meters 0.020885445178063865 Centerline is valid? [True, True] Translation: X:387.57, Y:-57.56, Z:-7.84 [[ 9.82938353e-01 1.83067660e-01 1.78445126e-02 3.87572789e+02] [-1.83039163e-01 9.83100312e-01 -3.23125873e-03 -5.75630550e+01] [-1.81344849e-02 -9.01165240e-05 9.99835553e-01 -7.84182708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.944012739 meters 0.020560383011771113 Centerline is valid? [True, True] Translation: X:387.63, Y:-57.57, Z:-7.85 [[ 9.83516844e-01 1.80035076e-01 1.67925205e-02 3.87630653e+02] [-1.80009409e-01 9.83660190e-01 -3.04016712e-03 -5.75712849e+01] [-1.70654706e-02 -3.27561065e-05 9.99854374e-01 -7.84554668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.004012739 meters 0.02046361473385341 Centerline is valid? [True, True] Translation: X:387.69, Y:-57.58, Z:-7.85 [[ 9.83680359e-01 1.79120126e-01 1.69979728e-02 3.87688957e+02] [-1.79093700e-01 9.83827211e-01 -3.07677799e-03 -5.75806717e+01] [-1.72741810e-02 -1.76637537e-05 9.99850790e-01 -7.84699365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.064012739 meters 0.020451574099017676 Centerline is valid? [True, True] Translation: X:387.75, Y:-57.59, Z:-7.85 [[ 9.83930537e-01 1.77863029e-01 1.56665516e-02 3.87747282e+02] [-1.77840433e-01 9.84055254e-01 -2.83502657e-03 -5.75916139e+01] [-1.59209988e-02 3.32289881e-06 9.99873253e-01 -7.85054796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.124012739 meters 0.020321769187335144 Centerline is valid? [True, True] Translation: X:387.81, Y:-57.60, Z:-7.85 [[ 9.84117620e-01 1.76615461e-01 1.78742790e-02 3.87805326e+02] [-1.76585850e-01 9.84279929e-01 -3.23405921e-03 -5.76025002e+01] [-1.81644790e-02 2.63498881e-05 9.99835012e-01 -7.84812545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.184012739 meters 0.022016511700183553 Centerline is valid? [True, True] Translation: X:387.86, Y:-57.62, Z:-7.85 [[ 9.85114392e-01 1.71077145e-01 1.68001515e-02 3.87863557e+02] [-1.71050193e-01 9.85257629e-01 -3.03894772e-03 -5.76241131e+01] [-1.70723719e-02 1.20041970e-04 9.99854249e-01 -7.85224520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.244012739 meters 0.027281299387663705 Centerline is valid? [True, True] Translation: X:387.92, Y:-57.65, Z:-7.85 [[ 9.86321219e-01 1.63962101e-01 1.69376146e-02 3.87920206e+02] [-1.63933650e-01 9.86466608e-01 -3.06418396e-03 -5.76503291e+01] [-1.72108013e-02 2.45624673e-04 9.99851853e-01 -7.85198256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30401273900003 meters 0.028019010473586375 Centerline is valid? [True, True] Translation: X:387.98, Y:-57.67, Z:-7.85 [[ 9.86411662e-01 1.63170364e-01 1.91694043e-02 3.87980386e+02] [-1.63133758e-01 9.86597864e-01 -3.46858062e-03 -5.76666915e+01] [-1.94784629e-02 2.94271400e-04 9.99810233e-01 -7.84902878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36401273900003 meters 0.025699836454286303 Centerline is valid? [True, True] Translation: X:388.04, Y:-57.68, Z:-7.85 [[ 9.86323441e-01 1.63810369e-01 1.82272246e-02 3.88042170e+02] [-1.63777333e-01 9.86491809e-01 -3.30081741e-03 -5.76768114e+01] [-1.85217159e-02 2.70467351e-04 9.99828422e-01 -7.85072358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.424012739 meters 0.027831529598649363 Centerline is valid? [True, True] Translation: X:388.10, Y:-57.70, Z:-7.85 [[ 9.86210416e-01 1.64571041e-01 1.74753537e-02 3.88100300e+02] [-1.64540742e-01 9.86365201e-01 -3.16759939e-03 -5.76960090e+01] [-1.77583760e-02 2.48511843e-04 9.99842277e-01 -7.85480850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.484012739 meters 0.027361704873037917 Centerline is valid? [True, True] Translation: X:388.16, Y:-57.71, Z:-7.86 [[ 9.86418946e-01 1.63439754e-01 1.62821978e-02 3.88161375e+02] [-1.63413258e-01 9.86553284e-01 -2.95369264e-03 -5.77097696e+01] [-1.65460065e-02 2.52851392e-04 9.99863073e-01 -7.85635569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.544012739 meters 0.024617258215884997 Centerline is valid? [True, True] Translation: X:388.22, Y:-57.71, Z:-7.86 [[ 9.85767042e-01 1.67421622e-01 1.52754275e-02 3.88223547e+02] [-1.67398743e-01 9.85885373e-01 -2.77338845e-03 -5.77131825e+01] [-1.55241457e-02 1.76827565e-04 9.99879478e-01 -7.85828485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.604012739 meters 0.020875029213565467 Centerline is valid? [True, True] Translation: X:388.29, Y:-57.71, Z:-7.85 [[ 9.84582477e-01 1.73661313e-01 2.09545878e-02 3.88286117e+02] [-1.73619568e-01 9.84805430e-01 -3.80916551e-03 -5.77109021e+01] [-2.12976966e-02 1.12311110e-04 9.99773172e-01 -7.84892744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.664012739 meters 0.020005895860231174 Centerline is valid? [True, True] Translation: X:388.35, Y:-57.71, Z:-7.85 [[ 9.83888455e-01 1.77644751e-01 2.01457373e-02 3.88348031e+02] [-1.77606996e-01 9.84094681e-01 -3.66236615e-03 -5.77108539e+01] [-2.04759130e-02 2.53358812e-05 9.99790346e-01 -7.85227702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.724012739 meters 0.02008788132750875 Centerline is valid? [True, True] Translation: X:388.41, Y:-57.71, Z:-7.86 [[ 9.83710227e-01 1.78689277e-01 1.96043649e-02 3.88408483e+02] [-1.78653727e-01 9.83905556e-01 -3.56419944e-03 -5.77097116e+01] [-1.99257277e-02 3.74660358e-06 9.99801463e-01 -7.85553195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.784012739 meters 0.020179156558945754 Centerline is valid? [True, True] Translation: X:388.47, Y:-57.72, Z:-7.86 [[ 9.84162295e-01 1.76153894e-01 1.98590802e-02 3.88468588e+02] [-1.76116908e-01 9.84362638e-01 -3.61001460e-03 -5.77197902e+01] [-2.01844547e-02 5.53204604e-05 9.99796272e-01 -7.85542002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.844012739 meters 0.02138970687114765 Centerline is valid? [True, True] Translation: X:388.53, Y:-57.74, Z:-7.85 [[ 9.84743058e-01 1.72550140e-01 2.25290508e-02 3.88526425e+02] [-1.72501595e-01 9.85000725e-01 -4.09536602e-03 -5.77364083e+01] [-2.28977873e-02 1.46586057e-04 9.99737801e-01 -7.85305186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.904012739 meters 0.0243464895341001 Centerline is valid? [True, True] Translation: X:388.58, Y:-57.76, Z:-7.86 [[ 9.85625790e-01 1.67675742e-01 2.06554365e-02 3.88584311e+02] [-1.67633865e-01 9.85842172e-01 -3.75482066e-03 -5.77572370e+01] [-2.09925927e-02 2.38297427e-04 9.99779603e-01 -7.85766383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.964012739 meters 0.025068183000956704 Centerline is valid? [True, True] Translation: X:388.64, Y:-57.77, Z:-7.86 [[ 9.85877078e-01 1.66216649e-01 2.04551543e-02 3.88644311e+02] [-1.66175231e-01 9.86089222e-01 -3.72010173e-03 -5.77723049e+01] [-2.07889501e-02 2.68423031e-04 9.99783850e-01 -7.85919841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.024012739 meters 0.030580048785058413 Centerline is valid? [True, True] Translation: X:388.70, Y:-57.80, Z:-7.86 [[ 9.86789725e-01 1.60652677e-01 2.08987024e-02 3.88699756e+02] [-1.60608120e-01 9.87010922e-01 -3.80424147e-03 -5.78036457e+01] [-2.12384091e-02 3.97485076e-04 9.99774361e-01 -7.85967573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.084012739 meters 0.03014705620832905 Centerline is valid? [True, True] Translation: X:388.76, Y:-57.82, Z:-7.86 [[ 9.86672824e-01 1.61481937e-01 2.00080782e-02 3.88759539e+02] [-1.61441264e-01 9.86875601e-01 -3.64232940e-03 -5.78203412e+01] [-2.03336546e-02 3.63658001e-04 9.99793184e-01 -7.86227436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.144012739 meters 0.025806637725055332 Centerline is valid? [True, True] Translation: X:388.82, Y:-57.83, Z:-7.86 [[ 9.86098086e-01 1.64866849e-01 2.07240671e-02 3.88820592e+02] [-1.64823888e-01 9.86315785e-01 -3.77605060e-03 -5.78298145e+01] [-2.10630201e-02 3.07734947e-04 9.99778103e-01 -7.86110461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.204012739 meters 0.024392085600468436 Centerline is valid? [True, True] Translation: X:388.88, Y:-57.84, Z:-7.87 [[ 9.85685128e-01 1.67597562e-01 1.83271937e-02 3.88881397e+02] [-1.67564430e-01 9.85855470e-01 -3.33966956e-03 -5.78438404e+01] [-1.86276846e-02 2.20876856e-04 9.99826465e-01 -7.86841992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.264012739 meters 0.024331555805278605 Centerline is valid? [True, True] Translation: X:388.94, Y:-57.86, Z:-7.87 [[ 9.85405973e-01 1.69401719e-01 1.66771035e-02 3.88941261e+02] [-1.69374500e-01 9.85547070e-01 -3.04156040e-03 -5.78579733e+01] [-1.69513161e-02 1.72495729e-04 9.99856301e-01 -7.87277108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.324012739 meters 0.022822070745223588 Centerline is valid? [True, True] Translation: X:389.00, Y:-57.87, Z:-7.87 [[ 9.85157360e-01 1.70729674e-01 1.77863775e-02 3.89002395e+02] [-1.70698870e-01 9.85317894e-01 -3.24710109e-03 -5.78723985e+01] [-1.80796126e-02 1.62790983e-04 9.99836537e-01 -7.87111428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.384012739 meters 0.021246534556116012 Centerline is valid? [True, True] Translation: X:389.06, Y:-57.88, Z:-7.88 [[ 9.84300988e-01 1.75801433e-01 1.56659309e-02 3.89062892e+02] [-1.75778172e-01 9.84425646e-01 -2.86036735e-03 -5.78798000e+01] [-1.59248009e-02 6.17336995e-05 9.99873190e-01 -7.87839603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.444012739 meters 0.02032676822239095 Centerline is valid? [True, True] Translation: X:389.12, Y:-57.89, Z:-7.88 [[ 9.83475705e-01 1.80217591e-01 1.72382801e-02 3.89124653e+02] [-1.80190053e-01 9.83626769e-01 -3.15039231e-03 -5.78875498e+01] [-1.75237898e-02 -7.83230144e-06 9.99846447e-01 -7.87595660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.504012739 meters 0.020329573280773967 Centerline is valid? [True, True] Translation: X:389.19, Y:-57.90, Z:-7.87 [[ 9.82851152e-01 1.83400904e-01 1.91760760e-02 3.89186092e+02] [-1.83367361e-01 9.83038201e-01 -3.50814641e-03 -5.78976758e+01] [-1.94942125e-02 -6.82807088e-05 9.99809967e-01 -7.87298343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.564012739 meters 0.02300655261211213 Centerline is valid? [True, True] Translation: X:389.25, Y:-57.90, Z:-7.88 [[ 9.81788347e-01 1.89081947e-01 1.84298488e-02 3.89246116e+02] [-1.89051903e-01 9.81961297e-01 -3.37487210e-03 -5.79018712e+01] [-1.87355256e-02 -1.70787884e-04 9.99824460e-01 -7.87713935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.624012739 meters 0.026371652516601358 Centerline is valid? [True, True] Translation: X:389.31, Y:-57.90, Z:-7.87 [[ 9.80515793e-01 1.95368173e-01 2.04952676e-02 3.89307035e+02] [-1.95332389e-01 9.80729918e-01 -3.75308686e-03 -5.79024578e+01] [-2.08335558e-02 -3.23428637e-04 9.99782906e-01 -7.87317657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.684012739 meters 0.03291037450596641 Centerline is valid? [True, True] Translation: X:389.37, Y:-57.90, Z:-7.88 [[ 9.79496263e-01 2.00818629e-01 1.60918734e-02 3.89367476e+02] [-2.00797308e-01 9.79628378e-01 -2.94651370e-03 -5.78991340e+01] [-1.63557707e-02 -3.45105713e-04 9.99866176e-01 -7.88326099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.744012739 meters 0.03217936724238665 Centerline is valid? [True, True] Translation: X:389.43, Y:-57.91, Z:-7.88 [[ 9.79584472e-01 2.00124660e-01 1.90887971e-02 3.89425690e+02] [-2.00094521e-01 9.79770363e-01 -3.49550594e-03 -5.79075172e+01] [-1.94021746e-02 -3.95420374e-04 9.99811682e-01 -7.87925766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80401273900003 meters 0.02781207565265546 Centerline is valid? [True, True] Translation: X:389.48, Y:-57.92, Z:-7.87 [[ 9.80500137e-01 1.95287648e-01 2.19594076e-02 3.89482521e+02] [-1.95246572e-01 9.80745948e-01 -4.02008762e-03 -5.79226510e+01] [-2.23216734e-02 -3.45802585e-04 9.99750781e-01 -7.87430666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86401273900003 meters 0.02432424310996398 Centerline is valid? [True, True] Translation: X:389.54, Y:-57.94, Z:-7.88 [[ 9.81445338e-01 1.90651851e-01 2.04186362e-02 3.89539893e+02] [-1.90615336e-01 9.81657691e-01 -3.73792058e-03 -5.79402978e+01] [-2.07567527e-02 -2.23540463e-04 9.99784530e-01 -7.87844549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.924012739 meters 0.02129110009913346 Centerline is valid? [True, True] Translation: X:389.60, Y:-57.96, Z:-7.88 [[ 9.82382706e-01 1.85925169e-01 1.88692824e-02 3.89598712e+02] [-1.85893118e-01 9.82563900e-01 -3.45404975e-03 -5.79592072e+01] [-1.91824705e-02 -1.14470998e-04 9.99815993e-01 -7.88333672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.984012739 meters 0.020930592008330345 Centerline is valid? [True, True] Translation: X:389.66, Y:-57.97, Z:-7.88 [[ 9.82544255e-01 1.85066402e-01 1.89001211e-02 3.89658929e+02] [-1.85034078e-01 9.82726013e-01 -3.46013298e-03 -5.79718923e+01] [-1.92139950e-02 -9.74327109e-05 9.99815389e-01 -7.88419168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.044012739 meters 0.02183841488472652 Centerline is valid? [True, True] Translation: X:389.72, Y:-57.98, Z:-7.88 [[ 9.82229346e-01 1.86696198e-01 1.92364352e-02 3.89717396e+02] [-1.86663016e-01 9.82417687e-01 -3.52221270e-03 -5.79761563e+01] [-1.95557979e-02 -1.31110338e-04 9.99808759e-01 -7.88491296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.104012739 meters 0.021600025525964475 Centerline is valid? [True, True] Translation: X:389.78, Y:-57.99, Z:-7.89 [[ 9.82448848e-01 1.85778307e-01 1.67535873e-02 3.89776006e+02] [-1.85753014e-01 9.82591681e-01 -3.06706918e-03 -5.79858232e+01] [-1.70317304e-02 -9.87907450e-05 9.99854945e-01 -7.89171443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.164012739 meters 0.021291347152611564 Centerline is valid? [True, True] Translation: X:389.83, Y:-58.00, Z:-7.90 [[ 9.82962351e-01 1.83269646e-01 1.40447168e-02 3.89833467e+02] [-1.83251617e-01 9.83062681e-01 -2.57098126e-03 -5.79966128e+01] [-1.42780198e-02 -4.65392760e-05 9.99898063e-01 -7.89732890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.224012739 meters 0.0199109239628342 Centerline is valid? [True, True] Translation: X:389.89, Y:-58.01, Z:-7.89 [[ 9.83396311e-01 1.80404562e-01 1.96440454e-02 3.89892394e+02] [-1.80368738e-01 9.83592494e-01 -3.59503761e-03 -5.80097501e+01] [-1.99702968e-02 -7.82496288e-06 9.99800574e-01 -7.88668748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.284012739 meters 0.0198959191181751 Centerline is valid? [True, True] Translation: X:389.95, Y:-58.02, Z:-7.89 [[ 9.83462340e-01 1.80026730e-01 1.98041200e-02 3.89953632e+02] [-1.79990249e-01 9.83661719e-01 -3.62404663e-03 -5.80191855e+01] [-2.01329799e-02 -4.35102116e-07 9.99797311e-01 -7.88806466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.344012739 meters 0.020594328269655945 Centerline is valid? [True, True] Translation: X:390.01, Y:-58.03, Z:-7.90 [[ 9.83861285e-01 1.78236171e-01 1.57746103e-02 3.90013118e+02] [-1.78212763e-01 9.83987737e-01 -2.88873240e-03 -5.80330207e+01] [-1.60368997e-02 3.08750785e-05 9.99871400e-01 -7.89782856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.404012739 meters 0.020880711728020515 Centerline is valid? [True, True] Translation: X:390.07, Y:-58.05, Z:-7.89 [[ 9.84217479e-01 1.76100277e-01 1.74541538e-02 3.90072578e+02] [-1.76071221e-01 9.84372230e-01 -3.19975080e-03 -5.80486809e+01] [-1.77448613e-02 7.60764896e-05 9.99842545e-01 -7.89436754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.464012739 meters 0.023876884636957824 Centerline is valid? [True, True] Translation: X:390.13, Y:-58.07, Z:-7.89 [[ 9.85020593e-01 1.71449465e-01 1.84258720e-02 3.90129738e+02] [-1.71416265e-01 9.85192901e-01 -3.37813324e-03 -5.80747432e+01] [-1.87322174e-02 1.69036642e-04 9.99824522e-01 -7.89481107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.524012739 meters 0.024600838662910022 Centerline is valid? [True, True] Translation: X:390.19, Y:-58.09, Z:-7.89 [[ 9.85379654e-01 1.69246412e-01 1.95598954e-02 3.90190127e+02] [-1.69208502e-01 9.85573742e-01 -3.58918887e-03 -5.80927348e+01] [-1.98851766e-02 2.27013074e-04 9.99802245e-01 -7.89374156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.584012739 meters 0.022831575648522666 Centerline is valid? [True, True] Translation: X:390.25, Y:-58.11, Z:-7.90 [[ 9.84981637e-01 1.72000753e-01 1.50637464e-02 3.90250082e+02] [-1.71978565e-01 9.85096809e-01 -2.76584566e-03 -5.81082721e+01] [-1.53149761e-02 1.33665687e-04 9.99882710e-01 -7.90219843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.644012739 meters 0.02045450155378249 Centerline is valid? [True, True] Translation: X:390.31, Y:-58.12, Z:-7.90 [[ 9.83745169e-01 1.78808839e-01 1.65179316e-02 3.90312492e+02] [-1.78783059e-01 9.83883833e-01 -3.03642703e-03 -5.81150855e+01] [-1.67946659e-02 3.39440737e-05 9.99858959e-01 -7.90069470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.704012739 meters 0.020975181104653046 Centerline is valid? [True, True] Translation: X:390.37, Y:-58.12, Z:-7.90 [[ 9.82548403e-01 1.85332157e-01 1.58312288e-02 3.90373896e+02] [-1.85309314e-01 9.82675931e-01 -2.91071568e-03 -5.81186206e+01] [-1.60964167e-02 -7.37550954e-05 9.99870442e-01 -7.90404733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.764012739 meters 0.022041801472171964 Centerline is valid? [True, True] Translation: X:390.44, Y:-58.13, Z:-7.91 [[ 9.81969478e-01 1.88412687e-01 1.53819198e-02 3.90435058e+02] [-1.88391462e-01 9.82089937e-01 -2.83047543e-03 -5.81287158e+01] [-1.56397262e-02 -1.18381897e-04 9.99877685e-01 -7.90571668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.824012739 meters 0.02116671609580356 Centerline is valid? [True, True] Translation: X:390.49, Y:-58.15, Z:-7.90 [[ 9.82204315e-01 1.86891556e-01 1.86072380e-02 3.90494681e+02] [-1.86860146e-01 9.82380545e-01 -3.42804021e-03 -5.81456201e+01] [-1.89200603e-02 -1.09915325e-04 9.99820994e-01 -7.90041011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.884012739 meters 0.02200754467589272 Centerline is valid? [True, True] Translation: X:390.56, Y:-58.15, Z:-7.90 [[ 9.81834149e-01 1.88884790e-01 1.80066776e-02 3.90555164e+02] [-1.88855681e-01 9.81999244e-01 -3.31898098e-03 -5.81542968e+01] [-1.83094489e-02 -1.41974510e-04 9.99832358e-01 -7.90317296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.944012739 meters 0.02311294909118608 Centerline is valid? [True, True] Translation: X:390.62, Y:-58.16, Z:-7.90 [[ 9.81434212e-01 1.90951491e-01 1.80115233e-02 3.90616172e+02] [-1.90922658e-01 9.81599458e-01 -3.32295723e-03 -5.81608152e+01] [-1.83146252e-02 -1.77544004e-04 9.99832257e-01 -7.90396845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.004012739 meters 0.026148546372539258 Centerline is valid? [True, True] Translation: X:390.68, Y:-58.16, Z:-7.91 [[ 9.80673457e-01 1.94955692e-01 1.64878293e-02 3.90676283e+02] [-1.94932088e-01 9.80812023e-01 -3.04237700e-03 -5.81592877e+01] [-1.67645900e-02 -2.30428623e-04 9.99859438e-01 -7.90795104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.064012739 meters 0.027261306233555105 Centerline is valid? [True, True] Translation: X:390.73, Y:-58.16, Z:-7.91 [[ 9.80458466e-01 1.96038402e-01 1.64359968e-02 3.90734544e+02] [-1.96015103e-01 9.80596188e-01 -3.03250912e-03 -5.81638525e+01] [-1.67115640e-02 -2.48454359e-04 9.99860321e-01 -7.90909381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.124012739 meters 0.02944136985248851 Centerline is valid? [True, True] Translation: X:390.79, Y:-58.16, Z:-7.91 [[ 9.79901635e-01 1.98571199e-01 1.90332373e-02 3.90794825e+02] [-1.98540452e-01 9.80086406e-01 -3.51066711e-03 -5.81615931e+01] [-1.93513346e-02 -3.38759099e-04 9.99812688e-01 -7.90522923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.184012739 meters 0.03264766392809716 Centerline is valid? [True, True] Translation: X:390.85, Y:-58.16, Z:-7.91 [[ 9.79392625e-01 2.01131108e-01 1.83402238e-02 3.90854915e+02] [-2.01103023e-01 9.79564258e-01 -3.38204111e-03 -5.81561828e+01] [-1.86456614e-02 -3.75928315e-04 9.99826084e-01 -7.90903543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.244012739 meters 0.030535158279540852 Centerline is valid? [True, True] Translation: X:390.91, Y:-58.16, Z:-7.91 [[ 9.79952148e-01 1.98578719e-01 1.61331611e-02 3.90914150e+02] [-1.98556656e-01 9.80084899e-01 -2.97417037e-03 -5.81609996e+01] [-1.64024746e-02 -2.88801879e-04 9.99865429e-01 -7.91497189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30401273900003 meters 0.026071284424075098 Centerline is valid? [True, True] Translation: X:390.97, Y:-58.17, Z:-7.91 [[ 9.80748724e-01 1.94588471e-01 1.63483195e-02 3.90972342e+02] [-1.94565268e-01 9.80884945e-01 -3.01332253e-03 -5.81698457e+01] [-1.66221783e-02 -2.25502943e-04 9.99861817e-01 -7.91452636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36401273900003 meters 0.023957465274513475 Centerline is valid? [True, True] Translation: X:391.03, Y:-58.18, Z:-7.91 [[ 9.81493383e-01 1.90652871e-01 1.79505112e-02 3.91029847e+02] [-1.90624256e-01 9.81657502e-01 -3.30771302e-03 -5.81750231e+01] [-1.82518790e-02 -1.75304405e-04 9.99833405e-01 -7.91422631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.424012739 meters 0.021969892242480783 Centerline is valid? [True, True] Translation: X:391.09, Y:-58.19, Z:-7.91 [[ 9.82148061e-01 1.87169361e-01 1.87834267e-02 3.91086642e+02] [-1.87137414e-01 9.82327652e-01 -3.46002064e-03 -5.81868953e+01] [-1.90990893e-02 -1.16829334e-04 9.99817589e-01 -7.91340534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.484012739 meters 0.021227374282150425 Centerline is valid? [True, True] Translation: X:391.14, Y:-58.20, Z:-7.92 [[ 9.82825956e-01 1.83913075e-01 1.51367487e-02 3.91142786e+02] [-1.83891952e-01 9.82942511e-01 -2.78763882e-03 -5.82015251e+01] [-1.53912370e-02 -4.37624794e-05 9.99881547e-01 -7.92299565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.544012739 meters 0.02142321509302817 Centerline is valid? [True, True] Translation: X:391.20, Y:-58.21, Z:-7.93 [[ 9.83263415e-01 1.81734772e-01 1.28658185e-02 3.91200708e+02] [-1.81719334e-01 9.83347585e-01 -2.36879033e-03 -5.82121071e+01] [-1.30820631e-02 -8.82309268e-06 9.99914426e-01 -7.92928114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.604012739 meters 0.021110545850051076 Centerline is valid? [True, True] Translation: X:391.26, Y:-58.23, Z:-7.92 [[ 9.83943605e-01 1.77706995e-01 1.65893558e-02 3.91257330e+02] [-1.77680771e-01 9.84083442e-01 -3.05336643e-03 -5.82321242e+01] [-1.68679150e-02 5.67308398e-05 9.99857725e-01 -7.92088130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.664012739 meters 0.020759894591240256 Centerline is valid? [True, True] Translation: X:391.32, Y:-58.24, Z:-7.92 [[ 9.83556531e-01 1.79846899e-01 1.64815795e-02 3.91316937e+02] [-1.79821328e-01 9.83694614e-01 -3.03269505e-03 -5.82390557e+01] [-1.67582618e-02 1.90875059e-05 9.99859570e-01 -7.92185154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.724012739 meters 0.020885584406247056 Centerline is valid? [True, True] Translation: X:391.38, Y:-58.25, Z:-7.93 [[ 9.83505761e-01 1.80170861e-01 1.59649296e-02 3.91375105e+02] [-1.80146917e-01 9.83635329e-01 -2.93729575e-03 -5.82482178e+01] [-1.62328839e-02 1.28144491e-05 9.99868238e-01 -7.92588624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.784012739 meters 0.02064698036965639 Centerline is valid? [True, True] Translation: X:391.43, Y:-58.26, Z:-7.92 [[ 9.83275289e-01 1.81267979e-01 1.76529524e-02 3.91432972e+02] [-1.81238893e-01 9.83433739e-01 -3.24715425e-03 -5.82571666e+01] [-1.79491141e-02 -6.55501824e-06 9.99838902e-01 -7.92120261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.844012739 meters 0.020475125748273208 Centerline is valid? [True, True] Translation: X:391.49, Y:-58.26, Z:-7.92 [[ 9.83109897e-01 1.82140063e-01 1.78865352e-02 3.91491980e+02] [-1.82110362e-01 9.83272595e-01 -3.28923943e-03 -5.82631467e+01] [-1.81864422e-02 -2.36395711e-05 9.99834613e-01 -7.92083148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.904012739 meters 0.020626651273966307 Centerline is valid? [True, True] Translation: X:391.55, Y:-58.27, Z:-7.92 [[ 9.82777714e-01 1.83755445e-01 1.95422776e-02 3.91550880e+02] [-1.83720330e-01 9.82971990e-01 -3.59267637e-03 -5.82664813e+01] [-1.98696854e-02 -5.95114296e-05 9.99802577e-01 -7.91965889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.964012739 meters 0.020738892288169594 Centerline is valid? [True, True] Translation: X:391.61, Y:-58.27, Z:-7.92 [[ 9.82863870e-01 1.83411675e-01 1.84057063e-02 3.91609372e+02] [-1.83380482e-01 9.83036192e-01 -3.38288060e-03 -5.82738294e+01] [-1.87139352e-02 -5.03361827e-05 9.99824878e-01 -7.92295959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.024012739 meters 0.02070056922671617 Centerline is valid? [True, True] Translation: X:391.67, Y:-58.29, Z:-7.93 [[ 9.83392335e-01 1.80780487e-01 1.60602596e-02 3.91667209e+02] [-1.80756397e-01 9.83523470e-01 -2.95114184e-03 -5.82862110e+01] [-1.63291511e-02 -8.64393161e-07 9.99866671e-01 -7.92819476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.084012739 meters 0.020502038854752068 Centerline is valid? [True, True] Translation: X:391.73, Y:-58.29, Z:-7.93 [[ 9.83500439e-01 1.80162014e-01 1.63870612e-02 3.91725602e+02] [-1.80136861e-01 9.83636950e-01 -3.01037403e-03 -5.82923978e+01] [-1.66612740e-02 8.79039518e-06 9.99861191e-01 -7.92796872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.144012739 meters 0.020707888213312375 Centerline is valid? [True, True] Translation: X:391.78, Y:-58.30, Z:-7.93 [[ 9.83608482e-01 1.79623037e-01 1.58088199e-02 3.91782482e+02] [-1.79599571e-01 9.83735515e-01 -2.90345676e-03 -5.83006320e+01] [-1.60732253e-02 1.66074345e-05 9.99870817e-01 -7.93171600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.204012739 meters 0.02115237779235599 Centerline is valid? [True, True] Translation: X:391.84, Y:-58.32, Z:-7.93 [[ 9.84122363e-01 1.76794890e-01 1.57079936e-02 3.91839401e+02] [-1.76771377e-01 9.84247714e-01 -2.88394249e-03 -5.83157654e+01] [-1.59704231e-02 6.14286223e-05 9.99872463e-01 -7.93245560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.264012739 meters 0.021434967040508388 Centerline is valid? [True, True] Translation: X:391.90, Y:-58.33, Z:-7.93 [[ 9.84289752e-01 1.75709394e-01 1.73174218e-02 3.91895695e+02] [-1.75680663e-01 9.84442076e-01 -3.17851519e-03 -5.83283637e+01] [-1.76064936e-02 8.62437747e-05 9.99844990e-01 -7.93017155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.324012739 meters 0.021666279669690935 Centerline is valid? [True, True] Translation: X:391.95, Y:-58.34, Z:-7.93 [[ 9.84488797e-01 1.74520406e-01 1.80121003e-02 3.91952911e+02] [-1.74489147e-01 9.84653551e-01 -3.30486063e-03 -5.83423595e+01] [-1.83124441e-02 1.10682260e-04 9.99832307e-01 -7.92994179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.384012739 meters 0.021756785437096717 Centerline is valid? [True, True] Translation: X:392.01, Y:-58.36, Z:-7.93 [[ 9.84455249e-01 1.74775016e-01 1.73653936e-02 3.92009205e+02] [-1.74746014e-01 9.84608391e-01 -3.18544572e-03 -5.83555241e+01] [-1.76548486e-02 1.01395439e-04 9.99844136e-01 -7.93283457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.444012739 meters 0.021454017857855147 Centerline is valid? [True, True] Translation: X:392.07, Y:-58.37, Z:-7.93 [[ 9.84289274e-01 1.75798517e-01 1.64166512e-02 3.92066020e+02] [-1.75772755e-01 9.84426166e-01 -3.01050490e-03 -5.83656350e+01] [-1.66902233e-02 7.76076669e-05 9.99860706e-01 -7.93485744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.504012739 meters 0.02064610816767366 Centerline is valid? [True, True] Translation: X:392.12, Y:-58.37, Z:-7.93 [[ 9.83891038e-01 1.77925632e-01 1.73463141e-02 3.92124310e+02] [-1.77897219e-01 9.84043936e-01 -3.17992634e-03 -5.83734013e+01] [-1.76353256e-02 4.28399856e-05 9.99844485e-01 -7.93405184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.564012739 meters 0.020291562985356577 Centerline is valid? [True, True] Translation: X:392.18, Y:-58.38, Z:-7.93 [[ 9.83473130e-01 1.80073063e-01 1.88227008e-02 3.92183450e+02] [-1.80040018e-01 9.83653238e-01 -3.44964193e-03 -5.83761625e+01] [-1.91361982e-02 3.79074923e-06 9.99816886e-01 -7.93167296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.624012739 meters 0.020717330108571082 Centerline is valid? [True, True] Translation: X:392.24, Y:-58.38, Z:-7.94 [[ 9.83269652e-01 1.81408318e-01 1.64868026e-02 3.92241792e+02] [-1.81383165e-01 9.83407861e-01 -3.02086334e-03 -5.83831728e+01] [-1.67612610e-02 -2.01051945e-05 9.99859520e-01 -7.93782828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.684012739 meters 0.02062080676103002 Centerline is valid? [True, True] Translation: X:392.30, Y:-58.39, Z:-7.94 [[ 9.83463057e-01 1.80384107e-01 1.61860713e-02 3.92300040e+02] [-1.80359738e-01 9.83596245e-01 -2.96498521e-03 -5.83914256e+01] [-1.64553952e-02 -3.36214793e-06 9.99864601e-01 -7.93971950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.744012739 meters 0.020706933909110006 Centerline is valid? [True, True] Translation: X:392.36, Y:-58.40, Z:-7.94 [[ 9.83786786e-01 1.78436602e-01 1.79982920e-02 3.92356910e+02] [-1.78406161e-01 9.83951410e-01 -3.29599571e-03 -5.84014426e+01] [-1.82975711e-02 3.15508428e-05 9.99832585e-01 -7.93776492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80401273900003 meters 0.021014835699742312 Centerline is valid? [True, True] Translation: X:392.41, Y:-58.42, Z:-7.94 [[ 9.84046239e-01 1.77022853e-01 1.77738037e-02 3.92413417e+02] [-1.76992955e-01 9.84206740e-01 -3.25385064e-03 -5.84163764e+01] [-1.80691033e-02 5.61014572e-05 9.99836739e-01 -7.93983925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.864012739 meters 0.021767384004528472 Centerline is valid? [True, True] Translation: X:392.47, Y:-58.43, Z:-7.95 [[ 9.84426193e-01 1.75110589e-01 1.55355216e-02 3.92470550e+02] [-1.75087523e-01 9.84548767e-01 -2.84317483e-03 -5.84307850e+01] [-1.57933487e-02 7.88197766e-05 9.99875274e-01 -7.94528354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.924012739 meters 0.022006150306286287 Centerline is valid? [True, True] Translation: X:392.53, Y:-58.45, Z:-7.94 [[ 9.84530245e-01 1.74423282e-01 1.66347520e-02 3.92527117e+02] [-1.74396753e-01 9.84670762e-01 -3.04350259e-03 -5.84471084e+01] [-1.69106117e-02 9.53736036e-05 9.99857001e-01 -7.94366837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.984012739 meters 0.021322085141715255 Centerline is valid? [True, True] Translation: X:392.58, Y:-58.46, Z:-7.94 [[ 9.84313804e-01 1.75389290e-01 1.91031916e-02 3.92584243e+02] [-1.75354505e-01 9.84499156e-01 -3.49410138e-03 -5.84603784e+01] [-1.94199040e-02 8.94615158e-05 9.99811412e-01 -7.94047211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.044012739 meters 0.02172253238548421 Centerline is valid? [True, True] Translation: X:392.64, Y:-58.48, Z:-7.95 [[ 9.84505366e-01 1.74590572e-01 1.63498128e-02 3.92641931e+02] [-1.74564993e-01 9.84641114e-01 -2.98978914e-03 -5.84774157e+01] [-1.66206869e-02 8.93584953e-05 9.99861863e-01 -7.94733927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.104012739 meters 0.023433833339662067 Centerline is valid? [True, True] Translation: X:392.70, Y:-58.50, Z:-7.95 [[ 9.84909824e-01 1.72404171e-01 1.51472568e-02 3.92698154e+02] [-1.72381963e-01 9.85026288e-01 -2.76961412e-03 -5.84973800e+01] [-1.53979392e-02 1.16706292e-04 9.99881438e-01 -7.95153058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.164012739 meters 0.023109330351136315 Centerline is valid? [True, True] Translation: X:392.76, Y:-58.51, Z:-7.95 [[ 9.84871607e-01 1.72666590e-01 1.46344615e-02 3.92755555e+02] [-1.72645895e-01 9.84980323e-01 -2.67540450e-03 -5.85113529e+01] [-1.48766096e-02 1.08350214e-04 9.99889331e-01 -7.95311010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.224012739 meters 0.020939736979572802 Centerline is valid? [True, True] Translation: X:392.82, Y:-58.51, Z:-7.95 [[ 9.83993378e-01 1.77496649e-01 1.58736089e-02 3.92815295e+02] [-1.77472942e-01 9.84121404e-01 -2.90116789e-03 -5.85114794e+01] [-1.61365059e-02 3.75939119e-05 9.99869797e-01 -7.94830512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.284012739 meters 0.021563070766851627 Centerline is valid? [True, True] Translation: X:392.87, Y:-58.51, Z:-7.95 [[ 9.82593414e-01 1.84898206e-01 1.79676478e-02 3.92874840e+02] [-1.84869085e-01 9.82757673e-01 -3.28289151e-03 -5.85081644e+01] [-1.82648445e-02 -9.59150423e-05 9.99833179e-01 -7.94754274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.344012739 meters 0.021663900284983783 Centerline is valid? [True, True] Translation: X:392.93, Y:-58.52, Z:-7.95 [[ 9.82466900e-01 1.85602791e-01 1.76180101e-02 3.92933547e+02] [-1.85574925e-01 9.82624848e-01 -3.21791859e-03 -5.85151340e+01] [-1.79091492e-02 -1.07962410e-04 9.99839612e-01 -7.94998626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.404012739 meters 0.021284038647939547 Centerline is valid? [True, True] Translation: X:392.99, Y:-58.52, Z:-7.95 [[ 9.82712684e-01 1.84264850e-01 1.79511967e-02 3.92992184e+02] [-1.84235713e-01 9.82876624e-01 -3.27786444e-03 -5.85224754e+01] [-1.82478068e-02 -8.60525679e-05 9.99833491e-01 -7.95002231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.464012739 meters 0.022710112415363616 Centerline is valid? [True, True] Translation: X:393.05, Y:-58.52, Z:-7.96 [[ 9.82316147e-01 1.86597228e-01 1.53772871e-02 3.93049978e+02] [-1.86576142e-01 9.82436493e-01 -2.80736926e-03 -5.85241117e+01] [-1.56310553e-02 -1.11310735e-04 9.99877821e-01 -7.95713308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.524012739 meters 0.025294976948745378 Centerline is valid? [True, True] Translation: X:393.11, Y:-58.52, Z:-7.95 [[ 9.81437671e-01 1.91039507e-01 1.68524449e-02 3.93108879e+02] [-1.91014858e-01 9.81582328e-01 -3.07530616e-03 -5.85213249e+01] [-1.71295671e-02 -2.00846055e-04 9.99853258e-01 -7.95443896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.584012739 meters 0.026853819229358575 Centerline is valid? [True, True] Translation: X:393.17, Y:-58.52, Z:-7.96 [[ 9.81128502e-01 1.92865018e-01 1.37821754e-02 3.93167705e+02] [-1.92848725e-01 9.81225279e-01 -2.51415574e-03 -5.85247663e+01] [-1.40083116e-02 -1.91165096e-04 9.99901861e-01 -7.96297513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.644012739 meters 0.0261350943368457 Centerline is valid? [True, True] Translation: X:393.23, Y:-58.53, Z:-7.96 [[ 9.81005054e-01 1.93399270e-01 1.50268641e-02 3.93225881e+02] [-1.93379974e-01 9.81120112e-01 -2.74055118e-03 -5.85303851e+01] [-1.52731792e-02 -2.17400022e-04 9.99883335e-01 -7.96041758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.704012739 meters 0.025921494834760844 Centerline is valid? [True, True] Translation: X:393.28, Y:-58.53, Z:-7.95 [[ 9.80879553e-01 1.93536836e-01 2.04644811e-02 3.93284910e+02] [-1.93501120e-01 9.81092963e-01 -3.73015496e-03 -5.85338831e+01] [-2.07994807e-02 -3.01067270e-04 9.99783622e-01 -7.95126817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.764012739 meters 0.026302418922844344 Centerline is valid? [True, True] Translation: X:393.34, Y:-58.54, Z:-7.96 [[ 9.81031331e-01 1.93180590e-01 1.60868910e-02 3.93342422e+02] [-1.93158482e-01 9.81163190e-01 -2.93168835e-03 -5.85372022e+01] [-1.63502106e-02 -2.31241319e-04 9.99866300e-01 -7.95984332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.824012739 meters 0.02767749767932342 Centerline is valid? [True, True] Translation: X:393.40, Y:-58.54, Z:-7.96 [[ 9.80676848e-01 1.95034045e-01 1.53179991e-02 3.93401789e+02] [-1.95014241e-01 9.80796441e-01 -2.79061412e-03 -5.85402094e+01] [-1.55681038e-02 -2.50537314e-04 9.99878778e-01 -7.96185621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.884012739 meters 0.028445754737104964 Centerline is valid? [True, True] Translation: X:393.46, Y:-58.54, Z:-7.96 [[ 9.80367025e-01 1.96263788e-01 1.90005585e-02 3.93460616e+02] [-1.96233569e-01 9.80551076e-01 -3.46032957e-03 -5.85419553e+01] [-1.93101554e-02 -3.36154393e-04 9.99813485e-01 -7.95503994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.944012739 meters 0.02566782886117128 Centerline is valid? [True, True] Translation: X:393.52, Y:-58.55, Z:-7.96 [[ 9.81166248e-01 1.92279545e-01 1.84761898e-02 3.93518460e+02] [-1.92250286e-01 9.81340162e-01 -3.36371593e-03 -5.85533474e+01] [-1.87782009e-02 -2.51688232e-04 9.99823642e-01 -7.95951931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.004012739 meters 0.022378898321774726 Centerline is valid? [True, True] Translation: X:393.58, Y:-58.57, Z:-7.96 [[ 9.82238233e-01 1.86721300e-01 1.85259125e-02 3.93575396e+02] [-1.86690910e-01 9.82412915e-01 -3.37186365e-03 -5.85685257e+01] [-1.88296945e-02 -1.46646072e-04 9.99822695e-01 -7.96033951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.064012739 meters 0.020770953608761696 Centerline is valid? [True, True] Translation: X:393.63, Y:-58.59, Z:-7.97 [[ 9.83802989e-01 1.78541777e-01 1.59534607e-02 3.93630873e+02] [-1.78518175e-01 9.83932332e-01 -2.90301557e-03 -5.85896413e+01] [-1.62154354e-02 8.01269593e-06 9.99868521e-01 -7.96525873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.124012739 meters 0.02115676582313133 Centerline is valid? [True, True] Translation: X:393.69, Y:-58.60, Z:-7.97 [[ 9.84463967e-01 1.74827403e-01 1.63118444e-02 3.93687510e+02] [-1.74802231e-01 9.84599093e-01 -2.96746911e-03 -5.86002736e+01] [-1.65794222e-02 7.00196132e-05 9.99862549e-01 -7.96555367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.184012739 meters 0.021339139992750094 Centerline is valid? [True, True] Translation: X:393.74, Y:-58.61, Z:-7.96 [[ 9.84639707e-01 1.73585365e-01 1.87821228e-02 3.93743771e+02] [-1.73551788e-01 9.84818821e-01 -3.41560389e-03 -5.86109291e+01] [-1.90898868e-02 1.03468223e-04 9.99817766e-01 -7.96139748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.244012739 meters 0.022302711952429582 Centerline is valid? [True, True] Translation: X:393.80, Y:-58.62, Z:-7.96 [[ 9.85014743e-01 1.71528528e-01 1.79977902e-02 3.93801629e+02] [-1.71497381e-01 9.85179144e-01 -3.27150082e-03 -5.86226984e+01] [-1.82922033e-02 1.35902663e-04 9.99832674e-01 -7.96316038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30401273900003 meters 0.02305952161110664 Centerline is valid? [True, True] Translation: X:393.86, Y:-58.63, Z:-7.97 [[ 9.85180615e-01 1.70734993e-01 1.63926295e-02 3.93858129e+02] [-1.70709055e-01 9.85316976e-01 -2.97910005e-03 -5.86322864e+01] [-1.66605728e-02 1.36581324e-04 9.99861194e-01 -7.96745460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.364012739 meters 0.021723917277515974 Centerline is valid? [True, True] Translation: X:393.92, Y:-58.64, Z:-7.96 [[ 9.84989706e-01 1.71687572e-01 1.78509408e-02 3.93916831e+02] [-1.71656990e-01 9.85151441e-01 -3.24299582e-03 -5.86366603e+01] [-1.81426621e-02 1.30078731e-04 9.99835400e-01 -7.96479879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.424012739 meters 0.021127560860219215 Centerline is valid? [True, True] Translation: X:393.98, Y:-58.64, Z:-7.96 [[ 9.84685417e-01 1.73283545e-01 1.91687847e-02 3.93975507e+02] [-1.73248603e-01 9.84871972e-01 -3.48140313e-03 -5.86413880e+01] [-1.94820687e-02 1.07121725e-04 9.99810201e-01 -7.96320049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.484012739 meters 0.022196619059243056 Centerline is valid? [True, True] Translation: X:394.03, Y:-58.65, Z:-7.97 [[ 9.85201044e-01 1.70456905e-01 1.79818551e-02 3.94031789e+02] [-1.70425700e-01 9.85365120e-01 -3.26502932e-03 -5.86534486e+01] [-1.82752396e-02 1.52140059e-04 9.99832982e-01 -7.96593078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.544012739 meters 0.02499899411372278 Centerline is valid? [True, True] Translation: X:394.09, Y:-58.67, Z:-7.97 [[ 9.85999543e-01 1.66019339e-01 1.55718044e-02 3.94088945e+02] [-1.65995399e-01 9.86122476e-01 -2.82652107e-03 -5.86676959e+01] [-1.58249634e-02 2.02100606e-04 9.99874757e-01 -7.97134093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.604012739 meters 0.028500238140617345 Centerline is valid? [True, True] Translation: X:394.15, Y:-58.68, Z:-7.97 [[ 9.86854179e-01 1.60722160e-01 1.69474458e-02 3.94146742e+02] [-1.60693034e-01 9.86999640e-01 -3.07550401e-03 -5.86844107e+01] [-1.72214246e-02 3.11737494e-04 9.99851652e-01 -7.96917257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.664012739 meters 0.03233171098483643 Centerline is valid? [True, True] Translation: X:394.20, Y:-58.70, Z:-7.96 [[ 9.87555573e-01 1.55799645e-01 2.14583314e-02 3.94204058e+02] [-1.55751800e-01 9.87788549e-01 -3.89346602e-03 -5.87044007e+01] [-2.18028946e-02 5.02840346e-04 9.99762162e-01 -7.96284274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.724012739 meters 0.0340821067228821 Centerline is valid? [True, True] Translation: X:394.26, Y:-58.72, Z:-7.96 [[ 9.87918528e-01 1.53456199e-01 2.16373756e-02 3.94261128e+02] [-1.53407002e-01 9.88155293e-01 -3.92541482e-03 -5.87205305e+01] [-2.19834665e-02 5.58665093e-04 9.99758178e-01 -7.96361089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.784012739 meters 0.045590116364609794 Centerline is valid? [True, True] Translation: X:394.31, Y:-58.76, Z:-7.97 [[ 9.89455442e-01 1.43590839e-01 1.89631052e-02 3.94314629e+02] [-1.43551252e-01 9.89636907e-01 -3.43960332e-03 -5.87598621e+01] [-1.92604843e-02 6.81156727e-04 9.99814268e-01 -7.96929943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.844012739 meters 0.04671918304971335 Centerline is valid? [True, True] Translation: X:394.37, Y:-58.79, Z:-7.97 [[ 9.90099053e-01 1.39178843e-01 1.82514139e-02 3.94371176e+02] [-1.39141418e-01 9.90266986e-01 -3.31081773e-03 -5.87858385e+01] [-1.85345684e-02 7.38509899e-04 9.99827947e-01 -7.97197722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.904012739 meters 0.04481575604049095 Centerline is valid? [True, True] Translation: X:394.43, Y:-58.81, Z:-7.97 [[ 9.89538418e-01 1.43082738e-01 1.84675422e-02 3.94427869e+02] [-1.43045099e-01 9.89710501e-01 -3.35007183e-03 -5.88098341e+01] [-1.87568579e-02 6.73333382e-04 9.99823848e-01 -7.97313697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.964012739 meters 0.037997203351621774 Centerline is valid? [True, True] Translation: X:394.49, Y:-58.82, Z:-7.97 [[ 9.88106856e-01 1.52552054e-01 1.93057721e-02 3.94486147e+02] [-1.52512723e-01 9.88295302e-01 -3.50213056e-03 -5.88231905e+01] [-1.96140611e-02 5.16103350e-04 9.99807493e-01 -7.97304356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.024012739 meters 0.029356005123485622 Centerline is valid? [True, True] Translation: X:394.55, Y:-58.83, Z:-7.97 [[ 9.86941050e-01 1.59918864e-01 1.93214921e-02 3.94547233e+02] [-1.59880878e-01 9.87130093e-01 -3.50495238e-03 -5.88279726e+01] [-1.96333343e-02 3.70044249e-04 9.99807179e-01 -7.97418065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.084012739 meters 0.02301906041130882 Centerline is valid? [True, True] Translation: X:394.61, Y:-58.83, Z:-7.98 [[ 9.85507893e-01 1.68787884e-01 1.68772695e-02 3.94606896e+02] [-1.68760199e-01 9.85652384e-01 -3.06166410e-03 -5.88344505e+01] [-1.71518927e-02 1.69082788e-04 9.99852881e-01 -7.98005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.144012739 meters 0.02023390665241618 Centerline is valid? [True, True] Translation: X:394.67, Y:-58.83, Z:-7.98 [[ 9.83754588e-01 1.78830936e-01 1.56973713e-02 3.94666011e+02] [-1.78808262e-01 9.83879818e-01 -2.84766071e-03 -5.88334625e+01] [-1.59535767e-02 -5.42040232e-06 9.99872734e-01 -7.98443542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.204012739 meters 0.022543366837517734 Centerline is valid? [True, True] Translation: X:394.73, Y:-58.83, Z:-7.98 [[ 9.82305922e-01 1.86524105e-01 1.68473765e-02 3.94725478e+02] [-1.86499135e-01 9.82450375e-01 -3.05516650e-03 -5.88347492e+01] [-1.71215735e-02 -1.40912997e-04 9.99853405e-01 -7.98369849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.264012739 meters 0.02445983971339151 Centerline is valid? [True, True] Translation: X:394.78, Y:-58.84, Z:-7.99 [[ 9.81878281e-01 1.88772653e-01 1.67309918e-02 3.94783055e+02] [-1.88748366e-01 9.82020801e-01 -3.03332164e-03 -5.88416438e+01] [-1.70027901e-02 -1.79594724e-04 9.99855426e-01 -7.98596983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.324012739 meters 0.02524380371364325 Centerline is valid? [True, True] Translation: X:394.84, Y:-58.85, Z:-7.99 [[ 9.81707136e-01 1.89691751e-01 1.63749241e-02 3.94840875e+02] [-1.89668631e-01 9.81843675e-01 -2.96779433e-03 -5.88525439e+01] [-1.66405818e-02 -1.92304573e-04 9.99861517e-01 -7.98826902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.384012739 meters 0.025249045339767868 Centerline is valid? [True, True] Translation: X:394.90, Y:-58.86, Z:-7.99 [[ 9.81293594e-01 1.91765456e-01 1.69968564e-02 3.94899665e+02] [-1.91740871e-01 9.81440754e-01 -3.07970435e-03 -5.88606488e+01] [-1.72719884e-02 -2.36897895e-04 9.99850800e-01 -7.98701510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.444012739 meters 0.025048681031760132 Centerline is valid? [True, True] Translation: X:394.96, Y:-58.87, Z:-7.98 [[ 9.81368974e-01 1.91139051e-01 1.95141050e-02 3.94956529e+02] [-1.91106543e-01 9.81562935e-01 -3.53470038e-03 -5.88711792e+01] [-1.98299414e-02 -2.60427843e-04 9.99803333e-01 -7.98457651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.504012739 meters 0.02470979774643795 Centerline is valid? [True, True] Translation: X:395.01, Y:-58.88, Z:-7.99 [[ 9.81624070e-01 1.90032635e-01 1.73719128e-02 3.95014257e+02] [-1.90006719e-01 9.81777751e-01 -3.14553584e-03 -5.88801920e+01] [-1.76531119e-02 -2.13046469e-04 9.99844149e-01 -7.99020080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.564012739 meters 0.021595069708043386 Centerline is valid? [True, True] Translation: X:395.07, Y:-58.90, Z:-7.99 [[ 9.82897316e-01 1.83266652e-01 1.80609941e-02 3.95069948e+02] [-1.83237513e-01 9.83063236e-01 -3.26939202e-03 -5.89003433e+01] [-1.83542698e-02 -9.59749902e-05 9.99831542e-01 -7.99024119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.624012739 meters 0.020296347955185784 Centerline is valid? [True, True] Translation: X:395.13, Y:-58.92, Z:-7.99 [[ 9.84015803e-01 1.77071775e-01 1.89337010e-02 3.95125615e+02] [-1.77038622e-01 9.84197941e-01 -3.42640729e-03 -5.89235551e+01] [-1.92412296e-02 1.96425817e-05 9.99814870e-01 -7.99016620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.684012739 meters 0.022275715498781996 Centerline is valid? [True, True] Translation: X:395.18, Y:-58.95, Z:-7.99 [[ 9.85170146e-01 1.70627835e-01 1.80534022e-02 3.95182006e+02] [-1.70596627e-01 9.85335538e-01 -3.26619782e-03 -5.89500091e+01] [-1.83459630e-02 1.37911062e-04 9.99831689e-01 -7.99287014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.744012739 meters 0.021484740058680615 Centerline is valid? [True, True] Translation: X:395.24, Y:-58.96, Z:-7.99 [[ 9.84867520e-01 1.72283899e-01 1.88208828e-02 3.95240309e+02] [-1.72250282e-01 9.85047332e-01 -3.40509471e-03 -5.89592856e+01] [-1.91261034e-02 1.11664811e-04 9.99817073e-01 -7.99182393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80401273900003 meters 0.020692439193158062 Centerline is valid? [True, True] Translation: X:395.30, Y:-58.96, Z:-8.00 [[ 9.84174722e-01 1.76366342e-01 1.71764283e-02 3.95299398e+02] [-1.76338973e-01 9.84324597e-01 -3.10707899e-03 -5.89617501e+01] [-1.74551650e-02 2.90348794e-05 9.99847647e-01 -7.99797306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.864012739 meters 0.02059220786911897 Centerline is valid? [True, True] Translation: X:395.36, Y:-58.97, Z:-8.00 [[ 9.83948967e-01 1.77680524e-01 1.65547930e-02 3.95358693e+02] [-1.77655300e-01 9.84088223e-01 -2.99382795e-03 -5.89696322e+01] [-1.68233218e-02 4.72718397e-06 9.99858478e-01 -7.99891244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.924012739 meters 0.020650369074856886 Centerline is valid? [True, True] Translation: X:395.42, Y:-58.98, Z:-8.00 [[ 9.84425022e-01 1.74981861e-01 1.69918662e-02 3.95416480e+02] [-1.74954893e-01 9.84571656e-01 -3.07244069e-03 -5.89828666e+01] [-1.72673313e-02 5.17773643e-05 9.99850907e-01 -7.99885711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.984012739 meters 0.02048043140009742 Centerline is valid? [True, True] Translation: X:395.48, Y:-58.99, Z:-8.00 [[ 9.84439275e-01 1.74679908e-01 1.91375095e-02 3.95475392e+02] [-1.74645652e-01 9.84625272e-01 -3.45988578e-03 -5.89931531e+01] [-1.94476480e-02 6.37646290e-05 9.99810875e-01 -7.99579333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.044012739 meters 0.020237243655824678 Centerline is valid? [True, True] Translation: X:395.53, Y:-58.99, Z:-8.00 [[ 9.83690339e-01 1.78775602e-01 1.98141482e-02 3.95533763e+02] [-1.78739720e-01 9.83889874e-01 -3.58171929e-03 -5.89948617e+01] [-2.01352638e-02 -1.82726239e-05 9.99797265e-01 -7.99576908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.104012739 meters 0.02206405330732134 Centerline is valid? [True, True] Translation: X:395.59, Y:-58.99, Z:-8.00 [[ 9.82746225e-01 1.84206711e-01 1.66656497e-02 3.95593022e+02] [-1.84182122e-01 9.82887519e-01 -3.01174273e-03 -5.89942772e+01] [-1.69352423e-02 -1.09735917e-04 9.99856582e-01 -8.00295058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.164012739 meters 0.021710490126746175 Centerline is valid? [True, True] Translation: X:395.65, Y:-59.00, Z:-8.00 [[ 9.82661022e-01 1.84497302e-01 1.83864472e-02 3.95651348e+02] [-1.84467445e-01 9.82833012e-01 -3.32149835e-03 -5.90020911e+01] [-1.86836147e-02 -1.27793968e-04 9.99825438e-01 -8.00049934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.224012739 meters 0.020668202158670844 Centerline is valid? [True, True] Translation: X:395.71, Y:-59.01, Z:-8.00 [[ 9.83087148e-01 1.81903244e-01 2.12336586e-02 3.95708095e+02] [-1.81862845e-01 9.83316430e-01 -3.83463066e-03 -5.90139875e+01] [-2.15769371e-02 -9.18374315e-05 9.99767187e-01 -7.99699977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.284012739 meters 0.020750272331981973 Centerline is valid? [True, True] Translation: X:395.77, Y:-59.02, Z:-8.00 [[ 9.83222403e-01 1.81244795e-01 2.05919930e-02 3.95765892e+02] [-1.81206682e-01 9.83438009e-01 -3.71753339e-03 -5.90230802e+01] [-2.09247322e-02 -7.62446137e-05 9.99781051e-01 -8.00039136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.344012739 meters 0.021543548210150264 Centerline is valid? [True, True] Translation: X:395.82, Y:-59.03, Z:-8.01 [[ 9.82850941e-01 1.83450141e-01 1.87102640e-02 3.95823620e+02] [-1.83419090e-01 9.83029009e-01 -3.37700424e-03 -5.90282048e+01] [-1.90122442e-02 -1.12727801e-04 9.99819245e-01 -8.00557101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.404012739 meters 0.02415289463473943 Centerline is valid? [True, True] Translation: X:395.88, Y:-59.02, Z:-8.01 [[ 9.81959720e-01 1.88177253e-01 1.85588135e-02 3.95882729e+02] [-1.88147570e-01 9.82135062e-01 -3.34841869e-03 -5.90248739e+01] [-1.88573576e-02 -2.03783375e-04 9.99822163e-01 -8.00656020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.464012739 meters 0.026079882090245254 Centerline is valid? [True, True] Translation: X:395.94, Y:-59.03, Z:-8.00 [[ 9.81310012e-01 1.91268754e-01 2.11405885e-02 3.95942874e+02] [-1.91230993e-01 9.81537657e-01 -3.81242114e-03 -5.90250580e+01] [-2.14794808e-02 -3.01568693e-04 9.99769244e-01 -8.00291227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.524012739 meters 0.026066341115378235 Centerline is valid? [True, True] Translation: X:396.00, Y:-59.03, Z:-8.01 [[ 9.81493186e-01 1.90769681e-01 1.66749901e-02 3.96000976e+02] [-1.90746126e-01 9.81634798e-01 -3.00658720e-03 -5.90298754e+01] [-1.69423163e-02 -2.29744919e-04 9.99856442e-01 -8.01361959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.584012739 meters 0.024979335779517844 Centerline is valid? [True, True] Translation: X:396.06, Y:-59.04, Z:-8.02 [[ 9.81927330e-01 1.88576319e-01 1.60527415e-02 3.96057996e+02] [-1.88554215e-01 9.82058520e-01 -2.89322076e-03 -5.90394376e+01] [-1.63103245e-02 -1.85879529e-04 9.99866961e-01 -8.01547896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.644012739 meters 0.02371137376730648 Centerline is valid? [True, True] Translation: X:396.12, Y:-59.05, Z:-8.01 [[ 9.82120789e-01 1.87156090e-01 2.02818489e-02 3.96115898e+02] [-1.87120532e-01 9.82330166e-01 -3.65390134e-03 -5.90518257e+01] [-2.06073219e-02 -2.06577891e-04 9.99787625e-01 -8.00811987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.704012739 meters 0.02215624050730071 Centerline is valid? [True, True] Translation: X:396.17, Y:-59.07, Z:-8.01 [[ 9.82697950e-01 1.84072454e-01 2.05443520e-02 3.96172901e+02] [-1.84035317e-01 9.82912667e-01 -3.70020357e-03 -5.90695338e+01] [-2.08744093e-02 -1.44703862e-04 9.99782095e-01 -8.01073979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.764012739 meters 0.022373647610816755 Centerline is valid? [True, True] Translation: X:396.23, Y:-59.08, Z:-8.02 [[ 9.82763143e-01 1.84104066e-01 1.68017128e-02 3.96229749e+02] [-1.84079240e-01 9.82906750e-01 -3.02569817e-03 -5.90838310e+01] [-1.70715602e-02 -1.19301878e-04 9.99854263e-01 -8.01785100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.824012739 meters 0.026270388739456738 Centerline is valid? [True, True] Translation: X:396.29, Y:-59.09, Z:-8.02 [[ 9.81670678e-01 1.89701681e-01 1.83290109e-02 3.96287765e+02] [-1.89673128e-01 9.81841747e-01 -3.29978937e-03 -5.90850795e+01] [-1.86221637e-02 -2.37214365e-04 9.99826564e-01 -8.01595726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.884012739 meters 0.030046133139297923 Centerline is valid? [True, True] Translation: X:396.35, Y:-59.09, Z:-8.02 [[ 9.80524445e-01 1.95413189e-01 1.96341362e-02 3.96347557e+02] [-1.95381599e-01 9.80720933e-01 -3.53319056e-03 -5.90859298e+01] [-1.99460404e-02 -3.71769216e-04 9.99800989e-01 -8.01617880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.944012739 meters 0.03233909120902372 Centerline is valid? [True, True] Translation: X:396.41, Y:-59.09, Z:-8.01 [[ 9.80145307e-01 1.97196998e-01 2.07007334e-02 3.96405152e+02] [-1.97162297e-01 9.80363789e-01 -3.72429434e-03 -5.90903967e+01] [-2.10286691e-02 -4.31054538e-04 9.99778780e-01 -8.01488741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.004012739 meters 0.0390707290507593 Centerline is valid? [True, True] Translation: X:396.47, Y:-59.08, Z:-8.02 [[ 9.78545841e-01 2.05213499e-01 1.83154868e-02 3.96468415e+02] [-2.05187770e-01 9.78717085e-01 -3.29329473e-03 -5.90797572e+01] [-1.86015084e-02 -5.35474040e-04 9.99826834e-01 -8.01876341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.064012739 meters 0.04298146781175426 Centerline is valid? [True, True] Translation: X:396.53, Y:-59.07, Z:-8.02 [[ 9.77489960e-01 2.10116436e-01 1.90908551e-02 3.96530450e+02] [-2.10089415e-01 9.77676150e-01 -3.43271479e-03 -5.90733198e+01] [-1.93859435e-02 -6.55342335e-04 9.99811860e-01 -8.01865986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.124012739 meters 0.04663942510128584 Centerline is valid? [True, True] Translation: X:396.59, Y:-59.06, Z:-8.02 [[ 9.76913653e-01 2.12596084e-01 2.10385481e-02 3.96591915e+02] [-2.12563849e-01 9.77139858e-01 -3.78260613e-03 -5.90611711e+01] [-2.13617711e-02 -7.76755188e-04 9.99771510e-01 -8.01738949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.184012739 meters 0.03792302265972972 Centerline is valid? [True, True] Translation: X:396.65, Y:-59.07, Z:-8.02 [[ 9.78955134e-01 2.03256551e-01 1.82652848e-02 3.96651422e+02] [-2.03230646e-01 9.79125388e-01 -3.28301844e-03 -5.90713252e+01] [-1.85512991e-02 -4.98137882e-04 9.99827786e-01 -8.02353156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.244012739 meters 0.026550449662164636 Centerline is valid? [True, True] Translation: X:396.71, Y:-59.09, Z:-8.03 [[ 9.81345544e-01 1.91432455e-01 1.77352214e-02 3.96709887e+02] [-1.91406102e-01 9.81505753e-01 -3.18747040e-03 -5.90876008e+01] [-1.80174071e-02 -2.66619726e-04 9.99837638e-01 -8.02507140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30401273900003 meters 0.021562637413908955 Centerline is valid? [True, True] Translation: X:396.77, Y:-59.10, Z:-8.02 [[ 9.82984857e-01 1.82672204e-01 1.92778970e-02 3.96767166e+02] [-1.82639382e-01 9.83173867e-01 -3.46460923e-03 -5.91009388e+01] [-1.95864124e-02 -1.15244789e-04 9.99808161e-01 -8.02280202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.364012739 meters 0.02072594843797 Centerline is valid? [True, True] Translation: X:396.82, Y:-59.11, Z:-8.03 [[ 9.83832276e-01 1.78247694e-01 1.73727523e-02 3.96823620e+02] [-1.78220358e-01 9.83985650e-01 -3.12171324e-03 -5.91143214e+01] [-1.76509771e-02 -2.49358938e-05 9.99844209e-01 -8.02728069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.424012739 meters 0.023551919077087816 Centerline is valid? [True, True] Translation: X:396.88, Y:-59.14, Z:-8.02 [[ 9.85704693e-01 1.67113250e-01 2.14341034e-02 3.96876780e+02] [-1.67069034e-01 9.85937684e-01 -3.84992118e-03 -5.91446174e+01] [-2.17760631e-02 2.13910407e-04 9.99762851e-01 -8.02176139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.484012739 meters 0.026475727147404027 Centerline is valid? [True, True] Translation: X:396.93, Y:-59.16, Z:-8.02 [[ 9.86332422e-01 1.63120718e-01 2.32375760e-02 3.96933100e+02] [-1.63067686e-01 9.86606064e-01 -4.17185631e-03 -5.91612049e+01] [-2.36068496e-02 3.25539394e-04 9.99721266e-01 -8.01968907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.544012739 meters 0.026825770537699956 Centerline is valid? [True, True] Translation: X:396.99, Y:-59.17, Z:-8.03 [[ 9.86753349e-01 1.61055153e-01 1.94696028e-02 3.96990274e+02] [-1.61017543e-01 9.86945358e-01 -3.49447371e-03 -5.91726321e+01] [-1.97782371e-02 3.13236034e-04 9.99804342e-01 -8.02717448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.604012739 meters 0.02808167676983178 Centerline is valid? [True, True] Translation: X:397.05, Y:-59.19, Z:-8.03 [[ 9.86942455e-01 1.59953062e-01 1.89633419e-02 3.97045819e+02] [-1.59917195e-01 9.87124568e-01 -3.40274491e-03 -5.91876718e+01] [-1.92634601e-02 3.25748961e-04 9.99814389e-01 -8.02884021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.664012739 meters 0.029108040759279592 Centerline is valid? [True, True] Translation: X:397.10, Y:-59.21, Z:-8.03 [[ 9.87563992e-01 1.55834009e-01 2.08116367e-02 3.97102755e+02] [-1.55789929e-01 9.87783157e-01 -3.73278559e-03 -5.92052159e+01] [-2.11390791e-02 4.44121242e-04 9.99776446e-01 -8.02919965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.724012739 meters 0.03207846032424304 Centerline is valid? [True, True] Translation: X:397.16, Y:-59.22, Z:-8.04 [[ 9.87902131e-01 1.54168422e-01 1.67772687e-02 3.97159122e+02] [-1.54139545e-01 9.88044507e-01 -3.00868696e-03 -5.92215413e+01] [-1.70405327e-02 3.86247685e-04 9.99854725e-01 -8.03813363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.784012739 meters 0.03244206556468763 Centerline is valid? [True, True] Translation: X:397.22, Y:-59.24, Z:-8.04 [[ 9.87949910e-01 1.54000163e-01 1.54572026e-02 3.97215809e+02] [-1.53975639e-01 9.88070757e-01 -2.77148708e-03 -5.92367817e+01] [-1.56996194e-02 3.58057770e-04 9.99876689e-01 -8.04146713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.844012739 meters 0.02945905835518216 Centerline is valid? [True, True] Translation: X:397.27, Y:-59.25, Z:-8.04 [[ 9.87094172e-01 1.59399867e-01 1.53876227e-02 3.97274260e+02] [-1.59376231e-01 9.87214065e-01 -2.75815927e-03 -5.92468857e+01] [-1.56305278e-02 2.70141629e-04 9.99877799e-01 -8.04248679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.904012739 meters 0.0257212215666095 Centerline is valid? [True, True] Translation: X:397.33, Y:-59.25, Z:-8.04 [[ 9.86438100e-01 1.63220994e-01 1.72852850e-02 3.97333623e+02] [-1.63191762e-01 9.86589505e-01 -3.09786771e-03 -5.92524738e+01] [-1.75591178e-02 2.35038621e-04 9.99845799e-01 -8.04027477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.964012739 meters 0.022919021362263158 Centerline is valid? [True, True] Translation: X:397.39, Y:-59.26, Z:-8.04 [[ 9.85728683e-01 1.67327458e-01 1.84522419e-02 3.97392219e+02] [-1.67294877e-01 9.85901360e-01 -3.30632423e-03 -5.92571791e+01] [-1.87453292e-02 1.72173075e-04 9.99824276e-01 -8.03869358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.024012739 meters 0.021375819051590684 Centerline is valid? [True, True] Translation: X:397.45, Y:-59.26, Z:-8.04 [[ 9.85072953e-01 1.70959628e-01 2.01018329e-02 3.97450958e+02] [-1.70921739e-01 9.85278028e-01 -3.60082256e-03 -5.92625657e+01] [-2.04214896e-02 1.11232662e-04 9.99791453e-01 -8.03723715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.084012739 meters 0.0206896639012102 Centerline is valid? [True, True] Translation: X:397.51, Y:-59.26, Z:-8.04 [[ 9.84480084e-01 1.74337693e-01 2.01329112e-02 3.97509618e+02] [-1.74300413e-01 9.84685923e-01 -3.60538557e-03 -5.92647069e+01] [-2.04531489e-02 4.02555441e-05 9.99790812e-01 -8.03923090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.144012739 meters 0.02082932593149761 Centerline is valid? [True, True] Translation: X:397.57, Y:-59.27, Z:-8.04 [[ 9.84657200e-01 1.73260315e-01 2.07620138e-02 3.97567599e+02] [-1.73220457e-01 9.84876063e-01 -3.71673835e-03 -5.92733808e+01] [-2.10919737e-02 6.33076477e-05 9.99777538e-01 -8.03861380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.204012739 meters 0.02082575494455068 Centerline is valid? [True, True] Translation: X:397.63, Y:-59.28, Z:-8.04 [[ 9.84661528e-01 1.73328297e-01 1.99743969e-02 3.97625157e+02] [-1.73291439e-01 9.84864101e-01 -3.57482575e-03 -5.92788954e+01] [-2.02916849e-02 5.86013999e-05 9.99794101e-01 -8.04098561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.264012739 meters 0.021075277709348677 Centerline is valid? [True, True] Translation: X:397.68, Y:-59.29, Z:-8.05 [[ 9.84673128e-01 1.73549561e-01 1.73026124e-02 3.97683249e+02] [-1.73521958e-01 9.84825136e-01 -3.09553639e-03 -5.92860426e+01] [-1.75772766e-02 4.57082999e-05 9.99845507e-01 -8.04752287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.324012739 meters 0.021300305345480164 Centerline is valid? [True, True] Translation: X:397.74, Y:-59.29, Z:-8.04 [[ 9.85081295e-01 1.71052170e-01 1.88678866e-02 3.97741099e+02] [-1.71018907e-01 9.85261968e-01 -3.37458917e-03 -5.92944806e+01] [-1.91670419e-02 9.74793266e-05 9.99816291e-01 -8.04404845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.384012739 meters 0.02186328594231755 Centerline is valid? [True, True] Translation: X:397.80, Y:-59.31, Z:-8.05 [[ 9.85255180e-01 1.70172405e-01 1.77082841e-02 3.97797538e+02] [-1.70142977e-01 9.85414299e-01 -3.16642005e-03 -5.93070702e+01] [-1.79888337e-02 1.06791585e-04 9.99838182e-01 -8.04902478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.444012739 meters 0.02189070332208851 Centerline is valid? [True, True] Translation: X:397.86, Y:-59.31, Z:-8.05 [[ 9.85305974e-01 1.69978725e-01 1.67143966e-02 3.97856441e+02] [-1.69952497e-01 9.85447727e-01 -2.98773173e-03 -5.93134420e+01] [-1.69790150e-02 1.03176486e-04 9.99855841e-01 -8.05226952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.504012739 meters 0.021863434142699305 Centerline is valid? [True, True] Translation: X:397.91, Y:-59.33, Z:-8.05 [[ 9.85327571e-01 1.69566056e-01 1.94147236e-02 3.97913305e+02] [-1.69530608e-01 9.85518816e-01 -3.46935605e-03 -5.93256333e+01] [-1.97218604e-02 1.27062283e-04 9.99805497e-01 -8.04718184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.564012739 meters 0.02193489226664225 Centerline is valid? [True, True] Translation: X:397.97, Y:-59.34, Z:-8.05 [[ 9.85413294e-01 1.69174846e-01 1.84529521e-02 3.97970763e+02] [-1.69142775e-01 9.85586047e-01 -3.29645062e-03 -5.93365276e+01] [-1.87446486e-02 1.27182743e-04 9.99824296e-01 -8.04965453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.624012739 meters 0.022427249082984404 Centerline is valid? [True, True] Translation: X:398.03, Y:-59.35, Z:-8.05 [[ 9.85697132e-01 1.67516945e-01 1.84184095e-02 3.98028131e+02] [-1.67484720e-01 9.85869184e-01 -3.28940728e-03 -5.93478182e+01] [-1.87091738e-02 1.57557173e-04 9.99824956e-01 -8.05176845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.684012739 meters 0.022301682473127107 Centerline is valid? [True, True] Translation: X:398.09, Y:-59.36, Z:-8.05 [[ 9.85743395e-01 1.67022379e-01 2.03343279e-02 3.98086108e+02] [-1.66983018e-01 9.85953088e-01 -3.63049648e-03 -5.93592128e+01] [-2.06550675e-02 1.83250486e-04 9.99786645e-01 -8.04837084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.744012739 meters 0.022430324477044142 Centerline is valid? [True, True] Translation: X:398.14, Y:-59.37, Z:-8.05 [[ 9.85631135e-01 1.67874552e-01 1.86922456e-02 3.98142904e+02] [-1.67841460e-01 9.85808355e-01 -3.33649900e-03 -5.93675280e+01] [-1.89870852e-02 1.51223497e-04 9.99819718e-01 -8.05410358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80401273900003 meters 0.024450156501879663 Centerline is valid? [True, True] Translation: X:398.20, Y:-59.39, Z:-8.06 [[ 9.86326878e-01 1.63685800e-01 1.91375964e-02 3.98199102e+02] [-1.63650347e-01 9.86512495e-01 -3.41479045e-03 -5.93858199e+01] [-1.94384307e-02 2.36225309e-04 9.99811028e-01 -8.05552660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.864012739 meters 0.02842090212845799 Centerline is valid? [True, True] Translation: X:398.25, Y:-59.41, Z:-8.06 [[ 9.87222694e-01 1.58184859e-01 1.92068368e-02 3.98254811e+02] [-1.58148125e-01 9.87409455e-01 -3.42622036e-03 -5.94056952e+01] [-1.95069884e-02 3.44917273e-04 9.99809661e-01 -8.05580487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.924012739 meters 0.032664124215190146 Centerline is valid? [True, True] Translation: X:398.31, Y:-59.43, Z:-8.06 [[ 9.87989848e-01 1.53647467e-01 1.63864321e-02 3.98310991e+02] [-1.53620117e-01 9.88125659e-01 -2.92244122e-03 -5.94276057e+01] [-1.66408797e-02 3.70056627e-04 9.99861462e-01 -8.06309221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.984012739 meters 0.03176288522937784 Centerline is valid? [True, True] Translation: X:398.37, Y:-59.44, Z:-8.06 [[ 9.87900855e-01 1.54079811e-01 1.76440773e-02 3.98368943e+02] [-1.54048184e-01 9.88058328e-01 -3.14597032e-03 -5.94398298e+01] [-1.79181081e-02 3.89868686e-04 9.99839382e-01 -8.06102708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.044012739 meters 0.03162173033554627 Centerline is valid? [True, True] Translation: X:398.43, Y:-59.45, Z:-8.06 [[ 9.87422752e-01 1.57158648e-01 1.72472748e-02 3.98425346e+02] [-1.57128910e-01 9.87573315e-01 -3.07445965e-03 -5.94534683e+01] [-1.75161262e-02 3.25745927e-04 9.99846528e-01 -8.06397820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.104012739 meters 0.030246544421401286 Centerline is valid? [True, True] Translation: X:398.48, Y:-59.46, Z:-8.07 [[ 9.87360896e-01 1.57562949e-01 1.70990466e-02 3.98482949e+02] [-1.57533799e-01 9.87508895e-01 -3.04700714e-03 -5.94628683e+01] [-1.73655561e-02 3.14817930e-04 9.99849158e-01 -8.06676438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.164012739 meters 0.029850159295000744 Centerline is valid? [True, True] Translation: X:398.54, Y:-59.47, Z:-8.06 [[ 9.87575637e-01 1.56037921e-01 1.86152808e-02 3.98540977e+02] [-1.56003118e-01 9.87750996e-01 -3.31627535e-03 -5.94740151e+01] [-1.89047269e-02 3.71030886e-04 9.99821221e-01 -8.06414963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.224012739 meters 0.03385003720922751 Centerline is valid? [True, True] Translation: X:398.60, Y:-59.49, Z:-8.07 [[ 9.88227038e-01 1.51897185e-01 1.82911609e-02 3.98598237e+02] [-1.51862890e-01 9.88396201e-01 -3.25763615e-03 -5.94914627e+01] [-1.85737397e-02 4.41535572e-04 9.99827396e-01 -8.06771720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.284012739 meters 0.04690378805804705 Centerline is valid? [True, True] Translation: X:398.65, Y:-59.53, Z:-8.07 [[ 9.89595612e-01 1.42679347e-01 1.85237129e-02 3.98652597e+02] [-1.42642568e-01 9.89768770e-01 -3.29858872e-03 -5.95260628e+01] [-1.88048330e-02 6.21998938e-04 9.99822980e-01 -8.06895610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.344012739 meters 0.04941169544713923 Centerline is valid? [True, True] Translation: X:398.71, Y:-59.55, Z:-8.07 [[ 9.90581484e-01 1.35734589e-01 1.80123539e-02 3.98710671e+02] [-1.35698669e-01 9.90744964e-01 -3.20731939e-03 -5.95469289e+01] [-1.82809931e-02 7.32858746e-04 9.99832620e-01 -8.07059161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.404012739 meters 0.05245305896331576 Centerline is valid? [True, True] Translation: X:398.77, Y:-59.57, Z:-8.06 [[ 9.90909997e-01 1.32904220e-01 2.08289815e-02 3.98768214e+02] [-1.32855558e-01 9.91128470e-01 -3.70904412e-03 -5.95702520e+01] [-2.11371441e-02 9.08082944e-04 9.99776173e-01 -8.06463120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.464012739 meters 0.053942568906715886 Centerline is valid? [True, True] Translation: X:398.83, Y:-59.59, Z:-8.07 [[ 9.90990490e-01 1.32354885e-01 2.04947290e-02 3.98827970e+02] [-1.32307649e-01 9.91201980e-01 -3.64981044e-03 -5.95904902e+01] [-2.07974862e-02 9.05318033e-04 9.99783299e-01 -8.06794467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.524012739 meters 0.05696398613774726 Centerline is valid? [True, True] Translation: X:398.88, Y:-59.62, Z:-8.07 [[ 9.91626455e-01 1.27825641e-01 1.83733495e-02 3.98884552e+02] [-1.27786849e-01 9.91796247e-01 -3.27492896e-03 -5.96196998e+01] [-1.86412390e-02 8.99633761e-04 9.99825832e-01 -8.07373356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.584012739 meters 0.06335337692427603 Centerline is valid? [True, True] Translation: X:398.94, Y:-59.65, Z:-8.08 [[ 9.92376607e-01 1.22053085e-01 1.70796216e-02 3.98939749e+02] [-1.22018711e-01 9.92523131e-01 -3.04436304e-03 -5.96538379e+01] [-1.73234935e-02 9.37121259e-04 9.99849498e-01 -8.07692135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.644012739 meters 0.06279468251815822 Centerline is valid? [True, True] Translation: X:399.00, Y:-59.68, Z:-8.08 [[ 9.92427058e-01 1.21540516e-01 1.77886841e-02 3.98998029e+02] [-1.21503151e-01 9.92585983e-01 -3.17039971e-03 -5.96821007e+01] [-1.80421305e-02 9.85009279e-04 9.99836742e-01 -8.07687887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.704012739 meters 0.057430179963556656 Centerline is valid? [True, True] Translation: X:399.06, Y:-59.70, Z:-8.07 [[ 9.91592369e-01 1.27699213e-01 2.09161264e-02 3.99056140e+02] [-1.27648835e-01 9.91812406e-01 -3.73172774e-03 -5.97020033e+01] [-2.12214124e-02 1.03043358e-03 9.99774269e-01 -8.07348724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.764012739 meters 0.04801077261321015 Centerline is valid? [True, True] Translation: X:399.12, Y:-59.71, Z:-8.08 [[ 9.90320153e-01 1.37776048e-01 1.68450549e-02 3.99115742e+02] [-1.37744825e-01 9.90463190e-01 -3.00551825e-03 -5.97126479e+01] [-1.70984952e-02 6.56106164e-04 9.99853595e-01 -8.08133201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.824012739 meters 0.03870986364399268 Centerline is valid? [True, True] Translation: X:399.18, Y:-59.72, Z:-8.08 [[ 9.88915356e-01 1.47356428e-01 1.82346307e-02 3.99175655e+02] [-1.47321462e-01 9.89083314e-01 -3.25357632e-03 -5.97216226e+01] [-1.85150043e-02 5.31159134e-04 9.99828442e-01 -8.07898010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.884012739 meters 0.03249067572047314 Centerline is valid? [True, True] Translation: X:399.24, Y:-59.73, Z:-8.07 [[ 9.87883099e-01 1.53730419e-01 2.13059032e-02 3.99235679e+02] [-1.53684158e-01 9.88112709e-01 -3.80173160e-03 -5.97291240e+01] [-2.16370755e-02 4.81286612e-04 9.99765775e-01 -8.07462649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.944012739 meters 0.02576535827705895 Centerline is valid? [True, True] Translation: X:399.30, Y:-59.73, Z:-8.08 [[ 9.86411194e-01 1.63089710e-01 1.98671352e-02 3.99295786e+02] [-1.63051379e-01 9.86611210e-01 -3.54512424e-03 -5.97319762e+01] [-2.01793116e-02 2.57586449e-04 9.99796344e-01 -8.07808995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.004012739 meters 0.022785410979278466 Centerline is valid? [True, True] Translation: X:399.36, Y:-59.74, Z:-8.08 [[ 9.85821635e-01 1.66644247e-01 1.96315799e-02 3.99357916e+02] [-1.66607528e-01 9.86017070e-01 -3.50287778e-03 -5.97406932e+01] [-1.99408073e-02 1.82443711e-04 9.99801146e-01 -8.08103343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.064012739 meters 0.020728555861686836 Centerline is valid? [True, True] Translation: X:399.42, Y:-59.74, Z:-8.08 [[ 9.84964174e-01 1.71620346e-01 1.97998096e-02 3.99419410e+02] [-1.71583962e-01 9.85163159e-01 -3.53470004e-03 -5.97441167e+01] [-2.01126694e-02 8.42231236e-05 9.99797716e-01 -8.08219238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.124012739 meters 0.020646051635845757 Centerline is valid? [True, True] Translation: X:399.48, Y:-59.74, Z:-8.08 [[ 9.83583507e-01 1.79415244e-01 1.93301631e-02 3.99481619e+02] [-1.79382010e-01 9.83773432e-01 -3.45387006e-03 -5.97407615e+01] [-1.96361778e-02 -7.03138749e-05 9.99807189e-01 -8.08372812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.184012739 meters 0.024935767596832505 Centerline is valid? [True, True] Translation: X:399.54, Y:-59.74, Z:-8.09 [[ 9.82227346e-01 1.86839170e-01 1.79043631e-02 3.99542070e+02] [-1.86811889e-01 9.82390494e-01 -3.19916263e-03 -5.97373426e+01] [-1.81868050e-02 -2.02442863e-04 9.99834586e-01 -8.08913201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.244012739 meters 0.028635719595257476 Centerline is valid? [True, True] Translation: X:399.60, Y:-59.74, Z:-8.09 [[ 9.81357753e-01 1.91306355e-01 1.84075773e-02 3.99602586e+02] [-1.91278312e-01 9.81530332e-01 -3.28864152e-03 -5.97378005e+01] [-1.86967335e-02 -2.93636464e-04 9.99825158e-01 -8.08867701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30401273900003 meters 0.02785538306501322 Centerline is valid? [True, True] Translation: X:399.66, Y:-59.74, Z:-8.09 [[ 9.81236528e-01 1.91961746e-01 1.80434232e-02 3.99661315e+02] [-1.91934918e-01 9.81402363e-01 -3.22323305e-03 -5.97446724e+01] [-1.83265956e-02 -3.00408948e-04 9.99832009e-01 -8.08978890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.364012739 meters 0.02944222701318352 Centerline is valid? [True, True] Translation: X:399.72, Y:-59.75, Z:-8.09 [[ 9.81430943e-01 1.91044321e-01 1.71863609e-02 3.99719559e+02] [-1.91019854e-01 9.81581374e-01 -3.06939171e-03 -5.97473427e+01] [-1.74562016e-02 -2.70540138e-04 9.99847592e-01 -8.09368443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.424012739 meters 0.024759363078340226 Centerline is valid? [True, True] Translation: X:399.78, Y:-59.76, Z:-8.09 [[ 9.82042199e-01 1.87831053e-01 1.76808924e-02 3.99777100e+02] [-1.87804659e-01 9.82201327e-01 -3.15647869e-03 -5.97633433e+01] [-1.79590807e-02 -2.20758696e-04 9.99838698e-01 -8.09240634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.484012739 meters 0.020166121788201992 Centerline is valid? [True, True] Translation: X:399.83, Y:-59.79, Z:-8.09 [[ 9.84156832e-01 1.76318397e-01 1.86320137e-02 3.99833405e+02] [-1.76287029e-01 9.84333187e-01 -3.32574319e-03 -5.97908838e+01] [-1.89264992e-02 -1.15294651e-05 9.99820878e-01 -8.09265628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.544012739 meters 0.02151780001156738 Centerline is valid? [True, True] Translation: X:399.89, Y:-59.81, Z:-8.09 [[ 9.85252113e-01 1.69821687e-01 2.09491961e-02 3.99891616e+02] [-1.69780554e-01 9.85474798e-01 -3.73964471e-03 -5.98131224e+01] [-2.12799776e-02 1.27726723e-04 9.99773547e-01 -8.09004412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.604012739 meters 0.02277478029135854 Centerline is valid? [True, True] Translation: X:399.95, Y:-59.83, Z:-8.10 [[ 9.85799445e-01 1.67049493e-01 1.71441377e-02 3.99950769e+02] [-1.67021530e-01 9.85948499e-01 -3.06026518e-03 -5.98337061e+01] [-1.74144526e-02 1.53367614e-04 9.99848345e-01 -8.09694366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.664012739 meters 0.021447033745443073 Centerline is valid? [True, True] Translation: X:400.01, Y:-59.84, Z:-8.10 [[ 9.85308009e-01 1.69800791e-01 1.83253810e-02 4.00012747e+02] [-1.69769251e-01 9.85478401e-01 -3.27463171e-03 -5.98435207e+01] [-1.86153022e-02 1.15434637e-04 9.99826714e-01 -8.09598102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.724012739 meters 0.020685326275752196 Centerline is valid? [True, True] Translation: X:400.07, Y:-59.84, Z:-8.09 [[ 9.83420333e-01 1.80128690e-01 2.09309302e-02 4.00073860e+02] [-1.80089848e-01 9.83643049e-01 -3.74159218e-03 -5.98428758e+01] [-2.12625321e-02 -8.98902304e-05 9.99773923e-01 -8.09195488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.784012739 meters 0.0225122271255498 Centerline is valid? [True, True] Translation: X:400.13, Y:-59.85, Z:-8.10 [[ 9.82597285e-01 1.84811723e-01 1.86333994e-02 4.00134675e+02] [-1.84781787e-01 9.82773930e-01 -3.33065716e-03 -5.98484094e+01] [-1.89279637e-02 -1.70418151e-04 9.99820836e-01 -8.09684654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.844012739 meters 0.029868638969732048 Centerline is valid? [True, True] Translation: X:400.20, Y:-59.84, Z:-8.10 [[ 9.80807756e-01 1.94170184e-01 1.77224729e-02 4.00195956e+02] [-1.94144622e-01 9.80967802e-01 -3.16812580e-03 -5.98421687e+01] [-1.80003308e-02 -3.33400449e-04 9.99837925e-01 -8.10037878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.904012739 meters 0.03448348208034477 Centerline is valid? [True, True] Translation: X:400.26, Y:-59.84, Z:-8.10 [[ 9.79461819e-01 2.00768685e-01 1.86139886e-02 4.00258210e+02] [-2.00741686e-01 9.79638559e-01 -3.32700248e-03 -5.98372482e+01] [-1.89029389e-02 -4.77931548e-04 9.99821209e-01 -8.09912249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.964012739 meters 0.03907437432283675 Centerline is valid? [True, True] Translation: X:400.32, Y:-59.83, Z:-8.11 [[ 9.78931819e-01 2.03527878e-01 1.63980595e-02 4.00317920e+02] [-2.03507312e-01 9.79069039e-01 -2.93089780e-03 -5.98323160e+01] [-1.66513518e-02 -4.67975895e-04 9.99861247e-01 -8.10572471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.024012739 meters 0.03494373730189605 Centerline is valid? [True, True] Translation: X:400.38, Y:-59.84, Z:-8.10 [[ 9.79908078e-01 1.98658800e-01 1.77437080e-02 4.00375887e+02] [-1.98633939e-01 9.80068623e-01 -3.17041198e-03 -5.98428120e+01] [-1.80198817e-02 -4.17790305e-04 9.99837541e-01 -8.10448593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.084012739 meters 0.02991663219221064 Centerline is valid? [True, True] Translation: X:400.44, Y:-59.85, Z:-8.11 [[ 9.80720164e-01 1.94657959e-01 1.72115792e-02 4.00435290e+02] [-1.94633958e-01 9.80871127e-01 -3.07491129e-03 -5.98508091e+01] [-1.74808970e-02 -3.34330276e-04 9.99847142e-01 -8.10583943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.144012739 meters 0.02820215322236865 Centerline is valid? [True, True] Translation: X:400.49, Y:-59.86, Z:-8.11 [[ 9.81199610e-01 1.92307969e-01 1.62779114e-02 4.00493556e+02] [-1.92286179e-01 9.81334585e-01 -2.90806404e-03 -5.98571437e+01] [-1.65333214e-02 -2.76626091e-04 9.99863277e-01 -8.10949713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.204012739 meters 0.026296365993092 Centerline is valid? [True, True] Translation: X:400.55, Y:-59.87, Z:-8.11 [[ 9.81701783e-01 1.89646097e-01 1.72037023e-02 4.00551571e+02] [-1.89621365e-01 9.81852483e-01 -3.07253040e-03 -5.98694547e+01] [-1.74741912e-02 -2.45880946e-04 9.99847284e-01 -8.10844650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.264012739 meters 0.025398654801646797 Centerline is valid? [True, True] Translation: X:400.61, Y:-59.88, Z:-8.11 [[ 9.81714520e-01 1.89474883e-01 1.83267621e-02 4.00609600e+02] [-1.89446799e-01 9.81885534e-01 -3.27241577e-03 -5.98769028e+01] [-1.86148231e-02 -2.59368334e-04 9.99826696e-01 -8.10704306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.324012739 meters 0.025897119903313576 Centerline is valid? [True, True] Translation: X:400.67, Y:-59.89, Z:-8.11 [[ 9.81832908e-01 1.88863782e-01 1.82923979e-02 4.00666399e+02] [-1.88835714e-01 9.82003264e-01 -3.26538189e-03 -5.98850042e+01] [-1.85799068e-02 -2.48198622e-04 9.99827348e-01 -8.10974746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.384012739 meters 0.023568734700723796 Centerline is valid? [True, True] Translation: X:400.72, Y:-59.90, Z:-8.11 [[ 9.82425988e-01 1.85737688e-01 1.84578036e-02 4.00723971e+02] [-1.85708581e-01 9.82599346e-01 -3.29370815e-03 -5.99004712e+01] [-1.87483915e-02 -1.91948026e-04 9.99824215e-01 -8.11000637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.444012739 meters 0.020480796408959716 Centerline is valid? [True, True] Translation: X:400.78, Y:-59.93, Z:-8.11 [[ 9.83725393e-01 1.78547568e-01 2.01275392e-02 4.00780165e+02] [-1.78511466e-01 9.83931279e-01 -3.59086058e-03 -5.99258415e+01] [-2.04452548e-02 -6.05757911e-05 9.99790972e-01 -8.10828383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.504012739 meters 0.020433676585333148 Centerline is valid? [True, True] Translation: X:400.84, Y:-59.95, Z:-8.11 [[ 9.84664057e-01 1.73326585e-01 1.98642665e-02 4.00837208e+02] [-1.73290368e-01 9.84864403e-01 -3.54339073e-03 -5.99470230e+01] [-2.01777728e-02 4.67634434e-05 9.99796407e-01 -8.11043509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.564012739 meters 0.021053318679624712 Centerline is valid? [True, True] Translation: X:400.90, Y:-59.96, Z:-8.12 [[ 9.84733147e-01 1.73367353e-01 1.56330090e-02 4.00895450e+02] [-1.73344931e-01 9.84857228e-01 -2.78841986e-03 -5.99620211e+01] [-1.58797029e-02 3.59466041e-05 9.99873909e-01 -8.11884539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.624012739 meters 0.021117794620445086 Centerline is valid? [True, True] Translation: X:400.95, Y:-59.97, Z:-8.12 [[ 9.84624038e-01 1.74074597e-01 1.46129244e-02 4.00952744e+02] [-1.74055081e-01 9.84732468e-01 -2.60666927e-03 -5.99740540e+01] [-1.48435760e-02 2.31354777e-05 9.99889828e-01 -8.12254742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.684012739 meters 0.02033244308139341 Centerline is valid? [True, True] Translation: X:401.01, Y:-59.99, Z:-8.11 [[ 9.84550556e-01 1.74068892e-01 1.89795764e-02 4.01010728e+02] [-1.74035984e-01 9.84733477e-01 -3.38470917e-03 -5.99875513e+01] [-1.92789969e-02 2.92880265e-05 9.99814142e-01 -8.11455020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.744012739 meters 0.020395439910221046 Centerline is valid? [True, True] Translation: X:401.07, Y:-60.00, Z:-8.12 [[ 9.84615979e-01 1.73731936e-01 1.86705230e-02 4.01069861e+02] [-1.73700048e-01 9.84792980e-01 -3.32865779e-03 -6.00004985e+01] [-1.89648942e-02 3.43788963e-05 9.99820150e-01 -8.11604063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80401273900003 meters 0.02054329629096433 Centerline is valid? [True, True] Translation: X:401.13, Y:-60.01, Z:-8.12 [[ 9.84229881e-01 1.76106550e-01 1.66740826e-02 4.01129905e+02] [-1.76081458e-01 9.84371110e-01 -2.97272416e-03 -6.00088449e+01] [-1.69370014e-02 -1.01528318e-05 9.99856559e-01 -8.12107627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.864012739 meters 0.020515412868612002 Centerline is valid? [True, True] Translation: X:401.19, Y:-60.02, Z:-8.12 [[ 9.83738371e-01 1.78723920e-01 1.77926495e-02 4.01189524e+02] [-1.78695776e-01 9.83899262e-01 -3.17220663e-03 -6.00167001e+01] [-1.80731239e-02 -5.88499207e-05 9.99836666e-01 -8.11843949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.924012739 meters 0.021393442780197662 Centerline is valid? [True, True] Translation: X:401.25, Y:-60.02, Z:-8.12 [[ 9.83280575e-01 1.81157089e-01 1.84775517e-02 4.01248099e+02] [-1.81127174e-01 9.83454166e-01 -3.29384663e-03 -6.00249926e+01] [-1.87685288e-02 -1.08011316e-04 9.99823850e-01 -8.11943814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.984012739 meters 0.023390602140790487 Centerline is valid? [True, True] Translation: X:401.31, Y:-60.03, Z:-8.13 [[ 9.82718790e-01 1.84426893e-01 1.58271922e-02 4.01307253e+02] [-1.84405377e-01 9.82846224e-01 -2.82089148e-03 -6.00278042e+01] [-1.60759443e-02 -1.46476283e-04 9.99870763e-01 -8.12600466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.044012739 meters 0.02681586993617466 Centerline is valid? [True, True] Translation: X:401.37, Y:-60.03, Z:-8.12 [[ 9.81713046e-01 1.89542174e-01 1.76991592e-02 4.01367558e+02] [-1.89516110e-01 9.81872547e-01 -3.15378853e-03 -6.00290989e+01] [-1.79760944e-02 -2.58160460e-04 9.99838384e-01 -8.12161854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.104012739 meters 0.030712412658186795 Centerline is valid? [True, True] Translation: X:401.43, Y:-60.03, Z:-8.12 [[ 9.80954459e-01 1.93368090e-01 1.83611139e-02 4.01427141e+02] [-1.93340717e-01 9.81126223e-01 -3.27131130e-03 -6.00293819e+01] [-1.86471376e-02 -3.40943526e-04 9.99826069e-01 -8.12282404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.164012739 meters 0.037306916586361406 Centerline is valid? [True, True] Translation: X:401.49, Y:-60.03, Z:-8.12 [[ 9.79723236e-01 1.99391638e-01 1.96304934e-02 4.01488336e+02] [-1.99361571e-01 9.79919760e-01 -3.49672567e-03 -6.00258308e+01] [-1.99335263e-02 -4.87742631e-04 9.99801189e-01 -8.12127647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.224012739 meters 0.04021055893790569 Centerline is valid? [True, True] Translation: X:401.55, Y:-60.03, Z:-8.12 [[ 9.79318263e-01 2.01458065e-01 1.87186412e-02 4.01548529e+02] [-2.01431107e-01 9.79497010e-01 -3.33411362e-03 -6.00282330e+01] [-1.90065372e-02 -5.05358273e-04 9.99819232e-01 -8.12411616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.284012739 meters 0.03641439995098283 Centerline is valid? [True, True] Translation: X:401.61, Y:-60.04, Z:-8.13 [[ 9.79485827e-01 2.00665776e-01 1.84596926e-02 4.01605849e+02] [-2.00639426e-01 9.79659641e-01 -3.28762388e-03 -6.00440587e+01] [-1.87439295e-02 -4.83561134e-04 9.99824200e-01 -8.12576479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.344012739 meters 0.03220840481077798 Centerline is valid? [True, True] Translation: X:401.66, Y:-60.06, Z:-8.13 [[ 9.80475725e-01 1.95769673e-01 1.84821135e-02 4.01664330e+02] [-1.95742406e-01 9.80649826e-01 -3.29067337e-03 -6.00600517e+01] [-1.87686954e-02 -3.91308000e-04 9.99823776e-01 -8.12750526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.404012739 meters 0.025923112169220743 Centerline is valid? [True, True] Translation: X:401.72, Y:-60.08, Z:-8.13 [[ 9.82016437e-01 1.87873838e-01 1.86316550e-02 4.01720461e+02] [-1.87844709e-01 9.82193139e-01 -3.31709409e-03 -6.00835970e+01] [-1.89230789e-02 -2.42416881e-04 9.99820913e-01 -8.12790474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.464012739 meters 0.02449160849570128 Centerline is valid? [True, True] Translation: X:401.78, Y:-60.10, Z:-8.13 [[ 9.82450929e-01 1.85741222e-01 1.70402424e-02 4.01777968e+02] [-1.85716541e-01 9.82598679e-01 -3.03347764e-03 -6.00954129e+01] [-1.73071615e-02 -1.84411940e-04 9.99850203e-01 -8.13258478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.524012739 meters 0.027306313523395673 Centerline is valid? [True, True] Translation: X:401.84, Y:-60.10, Z:-8.13 [[ 9.81774857e-01 1.89153086e-01 1.84185012e-02 4.01835283e+02] [-1.89124867e-01 9.81947575e-01 -3.27791999e-03 -6.01017898e+01] [-1.87060312e-02 -2.65217160e-04 9.99824992e-01 -8.13067357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.584012739 meters 0.029959416530090797 Centerline is valid? [True, True] Translation: X:401.89, Y:-60.11, Z:-8.13 [[ 9.81080812e-01 1.92703049e-01 1.86004000e-02 4.01894607e+02] [-1.92674930e-01 9.81257062e-01 -3.30915664e-03 -6.01081705e+01] [-1.88894585e-02 -3.37280689e-04 9.99821521e-01 -8.13170815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.644012739 meters 0.03178722742159787 Centerline is valid? [True, True] Translation: X:401.95, Y:-60.12, Z:-8.13 [[ 9.80743451e-01 1.94299559e-01 1.97475101e-02 4.01952039e+02] [-1.94268196e-01 9.80942164e-01 -3.51276503e-03 -6.01188991e+01] [-2.00536940e-02 -3.91191879e-04 9.99798828e-01 -8.13015681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.704012739 meters 0.04050482796234754 Centerline is valid? [True, True] Translation: X:402.01, Y:-60.11, Z:-8.13 [[ 9.79130544e-01 2.02321519e-01 1.92192695e-02 4.02014156e+02] [-2.02293381e-01 9.79319003e-01 -3.41742372e-03 -6.01129231e+01] [-1.95132142e-02 -5.41827060e-04 9.99809452e-01 -8.13244541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.764012739 meters 0.0479360066866356 Centerline is valid? [True, True] Translation: X:402.08, Y:-60.11, Z:-8.14 [[ 9.77596145e-01 2.09858567e-01 1.62837111e-02 4.02075811e+02] [-2.09839410e-01 9.77731578e-01 -2.89548254e-03 -6.01087960e+01] [-1.65287403e-02 -5.86351753e-04 9.99863219e-01 -8.13877123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.824012739 meters 0.057216260448288064 Centerline is valid? [True, True] Translation: X:402.14, Y:-60.10, Z:-8.14 [[ 9.76517000e-01 2.14886337e-01 1.54405383e-02 4.02137972e+02] [-2.14869743e-01 9.76638857e-01 -2.74535953e-03 -6.00982632e+01] [-1.56697700e-02 -6.36814258e-04 9.99877019e-01 -8.14242724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.884012739 meters 0.04253913860658505 Centerline is valid? [True, True] Translation: X:402.19, Y:-60.12, Z:-8.13 [[ 9.77775388e-01 2.08765104e-01 1.92982231e-02 4.02194704e+02] [-2.08737991e-01 9.77965581e-01 -3.43122339e-03 -6.01210350e+01] [-1.95893177e-02 -6.73306541e-04 9.99807884e-01 -8.13435013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.944012739 meters 0.04135496569055977 Centerline is valid? [True, True] Translation: X:402.25, Y:-60.13, Z:-8.14 [[ 9.79392280e-01 2.01065773e-01 1.90608806e-02 4.02253493e+02] [-2.01037870e-01 9.79577609e-01 -3.38866931e-03 -6.01298071e+01] [-1.93529572e-02 -5.13122269e-04 9.99812582e-01 -8.13769666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.004012739 meters 0.036961035216290246 Centerline is valid? [True, True] Translation: X:402.31, Y:-60.14, Z:-8.15 [[ 9.80015352e-01 1.98334335e-01 1.52774967e-02 4.02310997e+02] [-1.98316080e-01 9.80134356e-01 -2.71597982e-03 -6.01404034e+01] [-1.55126714e-02 -3.68071323e-04 9.99879604e-01 -8.14578350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.064012739 meters 0.03327121803890382 Centerline is valid? [True, True] Translation: X:402.37, Y:-60.15, Z:-8.14 [[ 9.80909910e-01 1.93638055e-01 1.78900160e-02 4.02368870e+02] [-1.93612258e-01 9.81072976e-01 -3.17940195e-03 -6.01547543e+01] [-1.81670645e-02 -3.45019526e-04 9.99834906e-01 -8.14325178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.124012739 meters 0.022765389590061892 Centerline is valid? [True, True] Translation: X:402.42, Y:-60.19, Z:-8.15 [[ 9.82832950e-01 1.83794654e-01 1.60908946e-02 4.02423539e+02] [-1.83772470e-01 9.82964650e-01 -2.85930402e-03 -6.01891399e+01] [-1.63423054e-02 -1.46845237e-04 9.99866445e-01 -8.14828740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.184012739 meters 0.020294221024046342 Centerline is valid? [True, True] Translation: X:402.48, Y:-60.22, Z:-8.15 [[ 9.84553839e-01 1.74347289e-01 1.60237315e-02 4.02477480e+02] [-1.74324038e-01 9.84684225e-01 -2.84727328e-03 -6.02185903e+01] [-1.62747300e-02 9.97225137e-06 9.99867558e-01 -8.14938654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.244012739 meters 0.021663106442682125 Centerline is valid? [True, True] Translation: X:402.53, Y:-60.25, Z:-8.15 [[ 9.85643930e-01 1.67843366e-01 1.82933573e-02 4.02531750e+02] [-1.67811956e-01 9.85813667e-01 -3.24973023e-03 -6.02516277e+01] [-1.85792873e-02 1.33232809e-04 9.99827381e-01 -8.14550138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30401273900003 meters 0.021624943658777707 Centerline is valid? [True, True] Translation: X:402.59, Y:-60.27, Z:-8.15 [[ 9.85638646e-01 1.68065992e-01 1.64402372e-02 4.02589937e+02] [-1.68040660e-01 9.85775740e-01 -2.92022209e-03 -6.02739169e+01] [-1.66971770e-02 1.15655441e-04 9.99860586e-01 -8.14991474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.364012739 meters 0.019769387493136108 Centerline is valid? [True, True] Translation: X:402.65, Y:-60.28, Z:-8.14 [[ 9.84153370e-01 1.76199590e-01 1.98959321e-02 4.02647630e+02] [-1.76164135e-01 9.84354460e-01 -3.53465108e-03 -6.02837890e+01] [-2.02074536e-02 -2.63109038e-05 9.99795808e-01 -8.14286033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.424012739 meters 0.02378670128443772 Centerline is valid? [True, True] Translation: X:402.71, Y:-60.29, Z:-8.15 [[ 9.82372208e-01 1.85983579e-01 1.88401979e-02 4.02706885e+02] [-1.85953596e-01 9.82552829e-01 -3.34644545e-03 -6.02878710e+01] [-1.91338736e-02 -2.15947527e-04 9.99816907e-01 -8.14725240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.484012739 meters 0.02992366135553216 Centerline is valid? [True, True] Translation: X:402.77, Y:-60.29, Z:-8.15 [[ 9.81018843e-01 1.93304581e-01 1.53417113e-02 4.02766263e+02] [-1.93285601e-01 9.81138753e-01 -2.72454901e-03 -6.02890592e+01] [-1.55790154e-02 -2.92497975e-04 9.99878597e-01 -8.15455374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.544012739 meters 0.03389664875815735 Centerline is valid? [True, True] Translation: X:402.83, Y:-60.29, Z:-8.15 [[ 9.80067622e-01 1.97869757e-01 1.77486650e-02 4.02825782e+02] [-1.97845110e-01 9.80228229e-01 -3.15152570e-03 -6.02922888e+01] [-1.80213341e-02 -4.22778273e-04 9.99837513e-01 -8.15038907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.604012739 meters 0.04282490243637427 Centerline is valid? [True, True] Translation: X:402.89, Y:-60.28, Z:-8.15 [[ 9.78310906e-01 2.06449369e-01 1.69242242e-02 4.02888388e+02] [-2.06428249e-01 9.78457128e-01 -3.00448310e-03 -6.02825962e+01] [-1.71799014e-02 -5.54319394e-04 9.99852261e-01 -8.15463438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.664012739 meters 0.04708079240885482 Centerline is valid? [True, True] Translation: X:402.95, Y:-60.28, Z:-8.16 [[ 9.77903107e-01 2.08405363e-01 1.65141501e-02 4.02947231e+02] [-2.08385534e-01 9.78042369e-01 -2.93165446e-03 -6.02848349e+01] [-1.67625110e-02 -5.74435974e-04 9.99859334e-01 -8.15653902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.724012739 meters 0.03980012001281495 Centerline is valid? [True, True] Translation: X:403.01, Y:-60.30, Z:-8.16 [[ 9.79287472e-01 2.01777641e-01 1.67878192e-02 4.03006033e+02] [-2.01756192e-01 9.79431245e-01 -2.97920259e-03 -6.02985595e+01] [-1.70436512e-02 -4.69550710e-04 9.99854636e-01 -8.15697641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.784012739 meters 0.03232577362836455 Centerline is valid? [True, True] Translation: X:403.06, Y:-60.32, Z:-8.15 [[ 9.80200533e-01 1.97104938e-01 1.88827430e-02 4.03063568e+02] [-1.97076936e-01 9.80382299e-01 -3.35092155e-03 -6.03168297e+01] [-1.91727902e-02 -4.36778042e-04 9.99816090e-01 -8.15359342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.844012739 meters 0.030661291153915665 Centerline is valid? [True, True] Translation: X:403.12, Y:-60.33, Z:-8.15 [[ 9.80651027e-01 1.94862252e-01 1.87687522e-02 4.03121955e+02] [-1.94834184e-01 9.80830541e-01 -3.33030442e-03 -6.03276241e+01] [-1.90579160e-02 -3.90928066e-04 9.99818305e-01 -8.15444403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.904012739 meters 0.024305470822037583 Centerline is valid? [True, True] Translation: X:403.18, Y:-60.35, Z:-8.16 [[ 9.82256059e-01 1.86651199e-01 1.82856449e-02 4.03178536e+02] [-1.86623158e-01 9.82426220e-01 -3.24320592e-03 -6.03492672e+01] [-1.85696453e-02 -2.26866127e-04 9.99827544e-01 -8.15668757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.964012739 meters 0.02147908968875137 Centerline is valid? [True, True] Translation: X:403.24, Y:-60.37, Z:-8.16 [[ 9.83243016e-01 1.81276555e-01 1.92868461e-02 4.03235184e+02] [-1.81244334e-01 9.83432150e-01 -3.42029108e-03 -6.03692625e+01] [-1.95873231e-02 -1.32654258e-04 9.99808141e-01 -8.15564309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.024012739 meters 0.02100120150710999 Centerline is valid? [True, True] Translation: X:403.29, Y:-60.38, Z:-8.16 [[ 9.83481548e-01 1.80058423e-01 1.85205102e-02 4.03292551e+02] [-1.80028503e-01 9.83655912e-01 -3.28400580e-03 -6.03804133e+01] [-1.88091222e-02 -1.04460606e-04 9.99823087e-01 -8.15895139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.084012739 meters 0.021549451655730825 Centerline is valid? [True, True] Translation: X:403.35, Y:-60.39, Z:-8.16 [[ 9.83210539e-01 1.81561364e-01 1.82348027e-02 4.03350146e+02] [-1.81532635e-01 9.83379608e-01 -3.23245484e-03 -6.03946012e+01] [-1.85186220e-02 -1.32028117e-04 9.99828507e-01 -8.16028724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.144012739 meters 0.022042566027495828 Centerline is valid? [True, True] Translation: X:403.41, Y:-60.41, Z:-8.16 [[ 9.83240162e-01 1.81562101e-01 1.65525471e-02 4.03407414e+02] [-1.81538434e-01 9.83379474e-01 -2.93392808e-03 -6.04076271e+01] [-1.68101252e-02 -1.20167553e-04 9.99858693e-01 -8.16467882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.204012739 meters 0.023101675430111053 Centerline is valid? [True, True] Translation: X:403.47, Y:-60.41, Z:-8.17 [[ 9.82891246e-01 1.83452465e-01 1.64314236e-02 4.03465867e+02] [-1.83429417e-01 9.83028570e-01 -2.91191025e-03 -6.04138506e+01] [-1.66867560e-02 -1.51915360e-04 9.99860755e-01 -8.16544643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.264012739 meters 0.026835902762862275 Centerline is valid? [True, True] Translation: X:403.53, Y:-60.42, Z:-8.16 [[ 9.81725837e-01 1.89456459e-01 1.79061678e-02 4.03525986e+02] [-1.89430101e-01 9.81889084e-01 -3.17231537e-03 -6.04150866e+01] [-1.81828864e-02 -2.77623228e-04 9.99834639e-01 -8.16372496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.324012739 meters 0.03090628973475411 Centerline is valid? [True, True] Translation: X:403.59, Y:-60.41, Z:-8.16 [[ 9.80773315e-01 1.94370559e-01 1.74295858e-02 4.03586863e+02] [-1.94346372e-01 9.80928110e-01 -3.08724030e-03 -6.04133698e+01] [-1.76972393e-02 -3.59493869e-04 9.99843327e-01 -8.16488000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.384012739 meters 0.034245999112507274 Centerline is valid? [True, True] Translation: X:403.65, Y:-60.41, Z:-8.17 [[ 9.80304571e-01 1.96784936e-01 1.66924331e-02 4.03646336e+02] [-1.96763107e-01 9.80446602e-01 -2.95636716e-03 -6.04115424e+01] [-1.69478078e-02 -3.86314754e-04 9.99856301e-01 -8.16832213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.444012739 meters 0.03231554642557107 Centerline is valid? [True, True] Translation: X:403.70, Y:-60.42, Z:-8.17 [[ 9.80684955e-01 1.94763597e-01 1.80044585e-02 4.03704714e+02] [-1.94737877e-01 9.80850140e-01 -3.18782404e-03 -6.04184468e+01] [-1.82805477e-02 -3.79898949e-04 9.99832825e-01 -8.16654038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.504012739 meters 0.028499992423780464 Centerline is valid? [True, True] Translation: X:403.76, Y:-60.42, Z:-8.17 [[ 9.81522620e-01 1.90395833e-01 1.90466287e-02 4.03763119e+02] [-1.90366245e-01 9.81707353e-01 -3.37138949e-03 -6.04245103e+01] [-1.93401139e-02 -3.16740136e-04 9.99812912e-01 -8.16534143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.564012739 meters 0.027453585329554133 Centerline is valid? [True, True] Translation: X:403.82, Y:-60.43, Z:-8.17 [[ 9.81802578e-01 1.89011240e-01 1.83969749e-02 4.03821281e+02] [-1.88983404e-01 9.81974884e-01 -3.25580088e-03 -6.04326645e+01] [-1.86807503e-02 -2.80169249e-04 9.99825460e-01 -8.16826650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.624012739 meters 0.023043609049304633 Centerline is valid? [True, True] Translation: X:403.88, Y:-60.45, Z:-8.17 [[ 9.82497681e-01 1.85245615e-01 1.95542540e-02 4.03878237e+02] [-1.85213440e-01 9.82692227e-01 -3.45965210e-03 -6.04480409e+01] [-1.98566988e-02 -2.22610482e-04 9.99802812e-01 -8.16634736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.684012739 meters 0.021699759458729567 Centerline is valid? [True, True] Translation: X:403.93, Y:-60.47, Z:-8.17 [[ 9.83282621e-01 1.80992750e-01 1.99226421e-02 4.03933699e+02] [-1.80958498e-01 9.83484420e-01 -3.52381054e-03 -6.04662840e+01] [-2.02313923e-02 -1.40269732e-04 9.99795315e-01 -8.16876597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.744012739 meters 0.020765900854485254 Centerline is valid? [True, True] Translation: X:403.99, Y:-60.48, Z:-8.17 [[ 9.83606178e-01 1.79287378e-01 1.93629205e-02 4.03990593e+02] [-1.79254717e-01 9.83796740e-01 -3.42364226e-03 -6.04808652e+01] [-1.96629939e-02 -1.03379144e-04 9.99806659e-01 -8.17107858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80401273900003 meters 0.020618283221450064 Centerline is valid? [True, True] Translation: X:404.05, Y:-60.50, Z:-8.17 [[ 9.83805076e-01 1.78288873e-01 1.84567307e-02 4.04046109e+02] [-1.78259036e-01 9.83978186e-01 -3.26262301e-03 -6.04989240e+01] [-1.87427098e-02 -8.02939484e-05 9.99824337e-01 -8.17392173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.864012739 meters 0.020430314967029926 Centerline is valid? [True, True] Translation: X:404.10, Y:-60.52, Z:-8.18 [[ 9.84156945e-01 1.76691771e-01 1.46671496e-02 4.04102212e+02] [-1.76672764e-01 9.84266233e-01 -2.59187586e-03 -6.05208789e+01] [-1.48943432e-02 -4.04732376e-05 9.99889072e-01 -8.18275006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.924012739 meters 0.020389520083203137 Centerline is valid? [True, True] Translation: X:404.16, Y:-60.54, Z:-8.18 [[ 9.84173274e-01 1.76604975e-01 1.46167908e-02 4.04159247e+02] [-1.76586092e-01 9.84281810e-01 -2.58276284e-03 -6.05366417e+01] [-1.48431701e-02 -3.92358187e-05 9.99889833e-01 -8.18297550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.984012739 meters 0.021005991328877177 Centerline is valid? [True, True] Translation: X:404.22, Y:-60.55, Z:-8.18 [[ 9.83757150e-01 1.78820235e-01 1.56586634e-02 4.04216785e+02] [-1.78798858e-01 9.83881760e-01 -2.76602918e-03 -6.05509867e+01] [-1.59008953e-02 -7.86501452e-05 9.99873570e-01 -8.18282502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.044012739 meters 0.02792667981609001 Centerline is valid? [True, True] Translation: X:404.28, Y:-60.55, Z:-8.19 [[ 9.81821563e-01 1.89228706e-01 1.47958072e-02 4.04277356e+02] [-1.89210812e-01 9.81933013e-01 -2.61274965e-03 -6.05501372e+01] [-1.50228988e-02 -2.34272755e-04 9.99887122e-01 -8.18659571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.104012739 meters 0.03230565884414069 Centerline is valid? [True, True] Translation: X:404.34, Y:-60.55, Z:-8.19 [[ 9.80911078e-01 1.93798155e-01 1.59916440e-02 4.04336903e+02] [-1.93777861e-01 9.81041369e-01 -2.82380245e-03 -6.05526011e+01] [-1.62357120e-02 -3.28927465e-04 9.99868138e-01 -8.18549234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.164012739 meters 0.033991355093720754 Centerline is valid? [True, True] Translation: X:404.39, Y:-60.56, Z:-8.19 [[ 9.80513691e-01 1.95773865e-01 1.62940555e-02 4.04394282e+02] [-1.95753076e-01 9.80648998e-01 -2.87676779e-03 -6.05630147e+01] [-1.65419451e-02 -3.68901267e-04 9.99863105e-01 -8.18634421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.224012739 meters 0.032173460840248705 Centerline is valid? [True, True] Translation: X:404.45, Y:-60.58, Z:-8.18 [[ 9.80814507e-01 1.93798852e-01 2.10928304e-02 4.04451610e+02] [-1.93763597e-01 9.81041189e-01 -3.72208236e-03 -6.05756473e+01] [-2.14142707e-02 -4.36350308e-04 9.99770593e-01 -8.17682918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.284012739 meters 0.033030783600712085 Centerline is valid? [True, True] Translation: X:404.51, Y:-60.58, Z:-8.18 [[ 9.80508966e-01 1.95289500e-01 2.15448258e-02 4.04510072e+02] [-1.95253099e-01 9.80745523e-01 -3.80083295e-03 -6.05838226e+01] [-2.18722542e-02 -4.79943219e-04 9.99760658e-01 -8.17576947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.344012739 meters 0.036004621107675126 Centerline is valid? [True, True] Translation: X:404.57, Y:-60.59, Z:-8.19 [[ 9.79589544e-01 2.00283226e-01 1.70573851e-02 4.04570637e+02] [-2.00261178e-01 9.79737929e-01 -3.00847832e-03 -6.05864360e+01] [-1.73143149e-02 -4.68858135e-04 9.99849986e-01 -8.18572452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.404012739 meters 0.03733798411715045 Centerline is valid? [True, True] Translation: X:404.63, Y:-60.59, Z:-8.18 [[ 9.79271305e-01 2.01581527e-01 1.98141210e-02 4.04629892e+02] [-2.01552047e-01 9.79471573e-01 -3.49442745e-03 -6.05898369e+01] [-2.01117802e-02 -5.71584098e-04 9.99797574e-01 -8.18099327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.464012739 meters 0.03685110816579007 Centerline is valid? [True, True] Translation: X:404.69, Y:-60.60, Z:-8.19 [[ 9.79595542e-01 2.00194629e-01 1.77393526e-02 4.04688420e+02] [-2.00170786e-01 9.79756027e-01 -3.12776538e-03 -6.05954218e+01] [-1.80063994e-02 -4.86955129e-04 9.99837753e-01 -8.18746193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.524012739 meters 0.0316956233849673 Centerline is valid? [True, True] Translation: X:404.75, Y:-60.61, Z:-8.19 [[ 9.81033840e-01 1.93218105e-01 1.54715403e-02 4.04745667e+02] [-1.93199116e-01 9.81155780e-01 -2.72691315e-03 -6.06096997e+01] [-1.57068802e-02 -3.13893829e-04 9.99876590e-01 -8.19255198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.584012739 meters 0.023406622103072854 Centerline is valid? [True, True] Translation: X:404.80, Y:-60.63, Z:-8.19 [[ 9.82690645e-01 1.84263548e-01 1.91322101e-02 4.04803572e+02] [-1.84232794e-01 9.82876849e-01 -3.37295845e-03 -6.06313667e+01] [-1.94261197e-02 -2.10205810e-04 9.99811273e-01 -8.18785089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.644012739 meters 0.01993629837889381 Centerline is valid? [True, True] Translation: X:404.86, Y:-60.65, Z:-8.19 [[ 9.84118068e-01 1.76592831e-01 1.80720761e-02 4.04859794e+02] [-1.76564098e-01 9.84283988e-01 -3.18598196e-03 -6.06547148e+01] [-1.83506767e-02 -5.54974066e-05 9.99831611e-01 -8.18980003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.704012739 meters 0.019955360388895747 Centerline is valid? [True, True] Translation: X:404.92, Y:-60.68, Z:-8.19 [[ 9.85176868e-01 1.70668661e-01 1.72842882e-02 4.04916590e+02] [-1.70641473e-01 9.85328476e-01 -3.04666284e-03 -6.06764120e+01] [-1.75506712e-02 5.20853531e-05 9.99845974e-01 -8.19244404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.764012739 meters 0.02093352713437007 Centerline is valid? [True, True] Translation: X:404.97, Y:-60.70, Z:-8.20 [[ 9.85647283e-01 1.67991512e-01 1.66818653e-02 4.04974339e+02] [-1.67965807e-01 9.85788437e-01 -2.94023808e-03 -6.06988343e+01] [-1.69387250e-02 9.60546943e-05 9.99856525e-01 -8.19596907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.824012739 meters 0.0217650074864168 Centerline is valid? [True, True] Translation: X:405.03, Y:-60.72, Z:-8.20 [[ 9.85961857e-01 1.66308262e-01 1.48585969e-02 4.05033497e+02] [-1.66287691e-01 9.86073806e-01 -2.61798049e-03 -6.07203201e+01] [-1.50870650e-02 1.10427128e-04 9.99886178e-01 -8.19924222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.884012739 meters 0.021310902574561353 Centerline is valid? [True, True] Translation: X:405.09, Y:-60.74, Z:-8.20 [[ 9.85843606e-01 1.66927298e-01 1.57372477e-02 4.05092070e+02] [-1.66904250e-01 9.85969201e-01 -2.77600206e-03 -6.07417297e+01] [-1.59798320e-02 1.10090363e-04 9.99872308e-01 -8.19852183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.944012739 meters 0.02045663945374114 Centerline is valid? [True, True] Translation: X:405.15, Y:-60.76, Z:-8.19 [[ 9.85479294e-01 1.68691342e-01 1.93337272e-02 4.05151073e+02] [-1.68656850e-01 9.85668920e-01 -3.41265058e-03 -6.07616103e+01] [-1.96323386e-02 1.02330959e-04 9.99807262e-01 -8.19421347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.004012739 meters 0.019999998196592973 Centerline is valid? [True, True] Translation: X:405.21, Y:-60.78, Z:-8.20 [[ 9.85229465e-01 1.70228834e-01 1.85754275e-02 4.05211231e+02] [-1.70197217e-01 9.85404556e-01 -3.28149337e-03 -6.07816515e+01] [-1.88629157e-02 7.15378863e-05 9.99822077e-01 -8.19680219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.064012739 meters 0.019638557204705084 Centerline is valid? [True, True] Translation: X:405.27, Y:-60.79, Z:-8.20 [[ 9.84557170e-01 1.74280358e-01 1.65389327e-02 4.05273131e+02] [-1.74255818e-01 9.84696073e-01 -2.92451589e-03 -6.07947325e+01] [-1.67955077e-02 -2.65215907e-06 9.99858946e-01 -8.20113380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.124012739 meters 0.019321132811983176 Centerline is valid? [True, True] Translation: X:405.33, Y:-60.81, Z:-8.20 [[ 9.84166596e-01 1.76202888e-01 1.92003474e-02 4.05333559e+02] [-1.76170093e-01 9.84353870e-01 -3.39965807e-03 -6.08107690e+01] [-1.94989658e-02 -3.66970642e-05 9.99809876e-01 -8.19640945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.184012739 meters 0.019288644544096865 Centerline is valid? [True, True] Translation: X:405.39, Y:-60.82, Z:-8.20 [[ 9.84200558e-01 1.76072760e-01 1.86452284e-02 4.05394798e+02] [-1.76041747e-01 9.84377154e-01 -3.30472225e-03 -6.08235220e+01] [-1.89358084e-02 -2.98290849e-05 9.99820701e-01 -8.19892840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.244012739 meters 0.019545538693811874 Centerline is valid? [True, True] Translation: X:405.45, Y:-60.84, Z:-8.20 [[ 9.84035768e-01 1.77015224e-01 1.84178912e-02 4.05454953e+02] [-1.76985062e-01 9.84208113e-01 -3.26791724e-03 -6.08417965e+01] [-1.87055090e-02 -4.39441592e-05 9.99825036e-01 -8.20067542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30401273900003 meters 0.020056538745719714 Centerline is valid? [True, True] Translation: X:405.52, Y:-60.86, Z:-8.20 [[ 9.83668676e-01 1.79162356e-01 1.72274716e-02 4.05515531e+02] [-1.79136247e-01 9.83819518e-01 -3.05955329e-03 -6.08552456e+01] [-1.74968796e-02 -7.64778665e-05 9.99846915e-01 -8.20497353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.364012739 meters 0.020492036254710168 Centerline is valid? [True, True] Translation: X:405.58, Y:-60.88, Z:-8.21 [[ 9.83590941e-01 1.79765678e-01 1.52696396e-02 4.05575340e+02] [-1.79745205e-01 9.83709457e-01 -2.71397121e-03 -6.08758068e+01] [-1.55087678e-02 -7.52070157e-05 9.99879729e-01 -8.21036245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.424012739 meters 0.020701203563137135 Centerline is valid? [True, True] Translation: X:405.64, Y:-60.89, Z:-8.21 [[ 9.83223432e-01 1.81504953e-01 1.81006897e-02 4.05636295e+02] [-1.81476416e-01 9.83390023e-01 -3.22062868e-03 -6.08909678e+01] [-1.83845977e-02 -1.18250711e-04 9.99830982e-01 -8.20595555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.484012739 meters 0.02897560157242548 Centerline is valid? [True, True] Translation: X:405.70, Y:-60.89, Z:-8.21 [[ 9.81323596e-01 1.91694647e-01 1.60362544e-02 4.05698232e+02] [-1.91673553e-01 9.81454578e-01 -2.85657675e-03 -6.08872406e+01] [-1.62864458e-02 -2.70499688e-04 9.99867330e-01 -8.21173412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.544012739 meters 0.03913479647260539 Centerline is valid? [True, True] Translation: X:405.76, Y:-60.88, Z:-8.21 [[ 9.79114437e-01 2.02549711e-01 1.75651235e-02 4.05761384e+02] [-2.02526139e-01 9.79271858e-01 -3.12916839e-03 -6.08799095e+01] [-1.78348433e-02 -4.93582711e-04 9.99840825e-01 -8.20865971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.604012739 meters 0.04143767526038586 Centerline is valid? [True, True] Translation: X:405.82, Y:-60.89, Z:-8.21 [[ 9.77883745e-01 2.08447468e-01 1.71182312e-02 4.05821802e+02] [-2.08425982e-01 9.78033389e-01 -3.04956773e-03 -6.08856123e+01] [-1.73778764e-02 -5.85761454e-04 9.99848822e-01 -8.21044976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.664012739 meters 0.04343983069625834 Centerline is valid? [True, True] Translation: X:405.88, Y:-60.89, Z:-8.21 [[ 9.77710649e-01 2.09213941e-01 1.76468979e-02 4.05881617e+02] [-2.09191231e-01 9.77869698e-01 -3.14382135e-03 -6.08867077e+01] [-1.79140980e-02 -6.17828676e-04 9.99839339e-01 -8.21151875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.724012739 meters 0.04934621031592072 Centerline is valid? [True, True] Translation: X:405.94, Y:-60.88, Z:-8.21 [[ 9.77186727e-01 2.11688600e-01 1.71475275e-02 4.05941248e+02] [-2.11667539e-01 9.77336954e-01 -3.05476584e-03 -6.08831661e+01] [-1.74055714e-02 -6.44498304e-04 9.99848304e-01 -8.21354942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.784012739 meters 0.05557827142616592 Centerline is valid? [True, True] Translation: X:406.00, Y:-60.88, Z:-8.22 [[ 9.76231617e-01 2.16252872e-01 1.43709977e-02 4.06002172e+02] [-2.16238587e-01 9.76337198e-01 -2.55917345e-03 -6.08773316e+01] [-1.45843683e-02 -6.09218209e-04 9.99893457e-01 -8.21964771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.844012739 meters 0.05690805350590959 Centerline is valid? [True, True] Translation: X:406.06, Y:-60.88, Z:-8.22 [[ 9.75455004e-01 2.19656524e-01 1.54449393e-02 4.06062456e+02] [-2.19640439e-01 9.75577013e-01 -2.75110538e-03 -6.08795764e+01] [-1.56720260e-02 -7.08753741e-04 9.99876935e-01 -8.21808586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.904012739 meters 0.05306913447779572 Centerline is valid? [True, True] Translation: X:406.12, Y:-60.89, Z:-8.22 [[ 9.75006355e-01 2.21482661e-01 1.75510072e-02 4.06121918e+02] [-2.21462189e-01 9.75163949e-01 -3.12604472e-03 -6.08850939e+01] [-1.78074742e-02 -8.38970986e-04 9.99841082e-01 -8.21527448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.964012739 meters 0.05787937137277168 Centerline is valid? [True, True] Translation: X:406.18, Y:-60.88, Z:-8.21 [[ 9.74814392e-01 2.22210804e-01 1.89541358e-02 4.06182143e+02] [-2.22187073e-01 9.74998211e-01 -3.37549920e-03 -6.08781694e+01] [-1.92303209e-02 -9.20878756e-04 9.99814656e-01 -8.21351274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.024012739 meters 0.058172907191366544 Centerline is valid? [True, True] Translation: X:406.24, Y:-60.88, Z:-8.22 [[ 9.74348632e-01 2.24269483e-01 1.86532330e-02 4.06242695e+02] [-2.24246897e-01 9.74526706e-01 -3.32077027e-03 -6.08770030e+01] [-1.89228212e-02 -9.47341670e-04 9.99820499e-01 -8.21619289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.084012739 meters 0.05527776503523909 Centerline is valid? [True, True] Translation: X:406.30, Y:-60.88, Z:-8.22 [[ 9.74920847e-01 2.21978007e-01 1.59720379e-02 4.06302583e+02] [-2.21961149e-01 9.75051366e-01 -2.84289031e-03 -6.08820219e+01] [-1.62046165e-02 -7.73578858e-04 9.99868397e-01 -8.22187650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.144012739 meters 0.06211109381270407 Centerline is valid? [True, True] Translation: X:406.36, Y:-60.88, Z:-8.22 [[ 9.75772577e-01 2.18161699e-01 1.65333410e-02 4.06364244e+02] [-2.18143092e-01 9.75912359e-01 -2.94260067e-03 -6.08750108e+01] [-1.67770545e-02 -7.35325087e-04 9.99858985e-01 -8.22313444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.204012739 meters 0.050710421435128876 Centerline is valid? [True, True] Translation: X:406.42, Y:-60.89, Z:-8.22 [[ 9.76479807e-01 2.14696379e-01 1.98154472e-02 4.06422754e+02] [-2.14668945e-01 9.76680505e-01 -3.52639111e-03 -6.08916281e+01] [-2.01104644e-02 -8.10311447e-04 9.99797436e-01 -8.21775444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.264012739 meters 0.04343628489094082 Centerline is valid? [True, True] Translation: X:406.48, Y:-60.91, Z:-8.21 [[ 9.77573669e-01 2.09386949e-01 2.25128361e-02 4.06481739e+02] [-2.09350134e-01 9.77832537e-01 -4.00631277e-03 -6.09058207e+01] [-2.28526533e-02 -7.96599389e-04 9.99738527e-01 -8.21384128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.324012739 meters 0.04510194456989028 Centerline is valid? [True, True] Translation: X:406.54, Y:-60.91, Z:-8.21 [[ 9.77672007e-01 2.08887839e-01 2.28761338e-02 4.06540363e+02] [-2.08849694e-01 9.77939279e-01 -4.07075847e-03 -6.09059023e+01] [-2.32218017e-02 -7.97806931e-04 9.99730019e-01 -8.21421932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.384012739 meters 0.05204915757667197 Centerline is valid? [True, True] Translation: X:406.60, Y:-60.89, Z:-8.22 [[ 9.76720215e-01 2.13791942e-01 1.76245875e-02 4.06603108e+02] [-2.13770113e-01 9.76878963e-01 -3.13536903e-03 -6.08932084e+01] [-1.78874054e-02 -7.05231756e-04 9.99839759e-01 -8.22498078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.444012739 meters 0.05343993269655539 Centerline is valid? [True, True] Translation: X:406.66, Y:-60.89, Z:-8.22 [[ 9.76478431e-01 2.14728491e-01 1.95332933e-02 4.06663296e+02] [-2.14701868e-01 9.76673453e-01 -3.47473121e-03 -6.08893601e+01] [-1.98237728e-02 -8.00834481e-04 9.99803169e-01 -8.22263313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.504012739 meters 0.042576794013903456 Centerline is valid? [True, True] Translation: X:406.72, Y:-60.90, Z:-8.22 [[ 9.77990949e-01 2.07656758e-01 2.03070151e-02 4.06722036e+02] [-2.07626529e-01 9.78201513e-01 -3.60899587e-03 -6.09040500e+01] [-2.06137853e-02 -6.86709776e-04 9.99787278e-01 -8.22195996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.564012739 meters 0.03449234186601455 Centerline is valid? [True, True] Translation: X:406.78, Y:-60.92, Z:-8.23 [[ 9.79896396e-01 1.98758559e-01 1.72652417e-02 4.06779401e+02] [-1.98735332e-01 9.80048394e-01 -3.06803376e-03 -6.09208013e+01] [-1.75305703e-02 -4.24858312e-04 9.99846237e-01 -8.22858705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.624012739 meters 0.029728014614197114 Centerline is valid? [True, True] Translation: X:406.84, Y:-60.93, Z:-8.23 [[ 9.80816261e-01 1.94248017e-01 1.63453590e-02 4.06838207e+02] [-1.94226579e-01 9.80952395e-01 -2.90421249e-03 -6.09319174e+01] [-1.65981566e-02 -3.26204345e-04 9.99862188e-01 -8.23165650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.684012739 meters 0.028134407924094905 Centerline is valid? [True, True] Translation: X:406.89, Y:-60.95, Z:-8.23 [[ 9.81406893e-01 1.91196535e-01 1.68640379e-02 4.06894158e+02] [-1.91173264e-01 9.81551733e-01 -2.99639004e-03 -6.09458588e+01] [-1.71258250e-02 -2.83275328e-04 9.99853302e-01 -8.23088511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.744012739 meters 0.02803297793873316 Centerline is valid? [True, True] Translation: X:406.95, Y:-60.95, Z:-8.23 [[ 9.81495395e-01 1.90582276e-01 1.85791727e-02 4.06953100e+02] [-1.90553954e-01 9.81671180e-01 -3.29935170e-03 -6.09525124e+01] [-1.88674363e-02 -3.02036319e-04 9.99821948e-01 -8.22947994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80401273900003 meters 0.030002630746051126 Centerline is valid? [True, True] Translation: X:407.01, Y:-60.96, Z:-8.23 [[ 9.80985617e-01 1.93104870e-01 1.94352399e-02 4.07011331e+02] [-1.93074391e-01 9.81178054e-01 -3.45045441e-03 -6.09586671e+01] [-1.97357304e-02 -3.67600956e-04 9.99805164e-01 -8.22881921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.864012739 meters 0.029842812962181116 Centerline is valid? [True, True] Translation: X:407.07, Y:-60.97, Z:-8.23 [[ 9.80679010e-01 1.94467725e-01 2.12363497e-02 4.07069282e+02] [-1.94431696e-01 9.80908821e-01 -3.76820790e-03 -6.09667363e+01] [-2.15637176e-02 -4.33617109e-04 9.99767382e-01 -8.22776953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.924012739 meters 0.032527358148327294 Centerline is valid? [True, True] Translation: X:407.13, Y:-60.97, Z:-8.23 [[ 9.80626214e-01 1.94694801e-01 2.15907850e-02 4.07127769e+02] [-1.94657640e-01 9.80863770e-01 -3.83000022e-03 -6.09698730e+01] [-2.19232999e-02 -4.47012623e-04 9.99759556e-01 -8.22776177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.984012739 meters 0.031056152906099862 Centerline is valid? [True, True] Translation: X:407.19, Y:-60.98, Z:-8.23 [[ 9.80693445e-01 1.94516027e-01 2.00968356e-02 4.07185833e+02] [-1.94483816e-01 9.80899253e-01 -3.56384818e-03 -6.09792011e+01] [-2.04061966e-02 -4.13466727e-04 9.99791686e-01 -8.23240008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.044012739 meters 0.031947597750835395 Centerline is valid? [True, True] Translation: X:407.24, Y:-60.99, Z:-8.23 [[ 9.80926680e-01 1.93413580e-01 1.93399818e-02 4.07242610e+02] [-1.93383553e-01 9.81117243e-01 -3.42875426e-03 -6.09881663e+01] [-1.96379572e-02 -3.76677843e-04 9.99807086e-01 -8.23472363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.104012739 meters 0.02679635874853316 Centerline is valid? [True, True] Translation: X:407.30, Y:-61.01, Z:-8.24 [[ 9.81630947e-01 1.89856423e-01 1.88473278e-02 4.07299820e+02] [-1.89827272e-01 9.81811820e-01 -3.34029791e-03 -6.10051387e+01] [-1.91387062e-02 -2.98797012e-04 9.99816794e-01 -8.23652408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.164012739 meters 0.02854456654882527 Centerline is valid? [True, True] Translation: X:407.36, Y:-61.02, Z:-8.24 [[ 9.81676024e-01 1.89780136e-01 1.71954307e-02 4.07355958e+02] [-1.89755868e-01 9.81826576e-01 -3.04704342e-03 -6.10171998e+01] [-1.74611992e-02 -2.71724414e-04 9.99847505e-01 -8.24159440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.224012739 meters 0.029477475687677054 Centerline is valid? [True, True] Translation: X:407.41, Y:-61.03, Z:-8.24 [[ 9.80963142e-01 1.93434435e-01 1.71590509e-02 4.07414964e+02] [-1.93410848e-01 9.81113146e-01 -3.03946153e-03 -6.10266744e+01] [-1.74229070e-02 -3.37146860e-04 9.99848153e-01 -8.24193954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.284012739 meters 0.030931168619604925 Centerline is valid? [True, True] Translation: X:407.47, Y:-61.04, Z:-8.24 [[ 9.80727465e-01 1.94289128e-01 2.06246204e-02 4.07471866e+02] [-1.94255252e-01 9.80944216e-01 -3.65270597e-03 -6.10392023e+01] [-2.09412831e-02 -4.24131764e-04 9.99780617e-01 -8.23847312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.344012739 meters 0.03343785293692708 Centerline is valid? [True, True] Translation: X:407.53, Y:-61.05, Z:-8.24 [[ 9.80368064e-01 1.96172245e-01 1.98723046e-02 4.07529085e+02] [-1.96141205e-01 9.80569349e-01 -3.51830133e-03 -6.10479774e+01] [-2.01763659e-02 -4.48547522e-04 9.99796336e-01 -8.24123916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.404012739 meters 0.03489607771755719 Centerline is valid? [True, True] Translation: X:407.59, Y:-61.06, Z:-8.24 [[ 9.79863149e-01 1.98762636e-01 1.90164318e-02 4.07587745e+02] [-1.98734721e-01 9.80047541e-01 -3.36566975e-03 -6.10557543e+01] [-1.93059766e-02 -4.81329514e-04 9.99813506e-01 -8.24380684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.464012739 meters 0.035978835966533236 Centerline is valid? [True, True] Translation: X:407.65, Y:-61.06, Z:-8.25 [[ 9.79614014e-01 2.00014173e-01 1.87273431e-02 4.07646357e+02] [-1.99987341e-01 9.79792877e-01 -3.31385199e-03 -6.10634130e+01] [-1.90117347e-02 -4.98935698e-04 9.99819136e-01 -8.24620055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.524012739 meters 0.038561428058807405 Centerline is valid? [True, True] Translation: X:407.70, Y:-61.07, Z:-8.25 [[ 9.79281264e-01 2.01676370e-01 1.82988445e-02 4.07704064e+02] [-2.01651058e-01 9.79452077e-01 -3.23718303e-03 -6.10671453e+01] [-1.85757045e-02 -5.19868647e-04 9.99827322e-01 -8.24718978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.584012739 meters 0.03800972288541325 Centerline is valid? [True, True] Translation: X:407.76, Y:-61.08, Z:-8.25 [[ 9.79239726e-01 2.01975317e-01 1.71910044e-02 4.07761819e+02] [-2.01953039e-01 9.79390487e-01 -3.04024361e-03 -6.10750961e+01] [-1.74507603e-02 -4.94648263e-04 9.99847602e-01 -8.25128059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.644012739 meters 0.03721978674211441 Centerline is valid? [True, True] Translation: X:407.82, Y:-61.08, Z:-8.25 [[ 9.79533362e-01 2.00532611e-01 1.73511997e-02 4.07819097e+02] [-2.00509709e-01 9.79686913e-01 -3.06751122e-03 -6.10814549e+01] [-1.76138793e-02 -4.74354427e-04 9.99844751e-01 -8.25065575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.704012739 meters 0.03616913555842981 Centerline is valid? [True, True] Translation: X:407.88, Y:-61.09, Z:-8.25 [[ 9.79824103e-01 1.99001498e-01 1.85237785e-02 4.07877747e+02] [-1.98975142e-01 9.79999069e-01 -3.27379014e-03 -6.10881265e+01] [-1.88047748e-02 -4.78032972e-04 9.99823060e-01 -8.25011940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.764012739 meters 0.035910356061321015 Centerline is valid? [True, True] Translation: X:407.94, Y:-61.09, Z:-8.25 [[ 9.79967207e-01 1.98237318e-01 1.91373773e-02 4.07937185e+02] [-1.98209105e-01 9.80153934e-01 -3.37892252e-03 -6.10900498e+01] [-1.94274041e-02 -4.81969154e-04 9.99811154e-01 -8.25038389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.824012739 meters 0.038308772413512784 Centerline is valid? [True, True] Translation: X:408.00, Y:-61.09, Z:-8.25 [[ 9.79716975e-01 1.99594336e-01 1.77974561e-02 4.07995497e+02] [-1.99570213e-01 9.79878500e-01 -3.13940155e-03 -6.10896384e+01] [-1.80659513e-02 -4.76117099e-04 9.99836684e-01 -8.25348647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.884012739 meters 0.03722223755535884 Centerline is valid? [True, True] Translation: X:408.05, Y:-61.09, Z:-8.25 [[ 9.79920373e-01 1.98499686e-01 1.88132237e-02 4.08054320e+02] [-1.98472554e-01 9.80100832e-01 -3.31729962e-03 -6.10941373e+01] [-1.90973391e-02 -4.83219073e-04 9.99817512e-01 -8.25441315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.944012739 meters 0.02731224886803877 Centerline is valid? [True, True] Translation: X:408.11, Y:-61.12, Z:-8.26 [[ 9.82077555e-01 1.87503669e-01 1.91324278e-02 4.08110460e+02] [-1.87473582e-01 9.82263863e-01 -3.37025374e-03 -6.11163758e+01] [-1.94250274e-02 -2.76974224e-04 9.99811278e-01 -8.25546946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.004012739 meters 0.020245047414943585 Centerline is valid? [True, True] Translation: X:408.17, Y:-61.15, Z:-8.26 [[ 9.84514074e-01 1.74305933e-01 1.86943810e-02 4.08165402e+02] [-1.74274834e-01 9.84691546e-01 -3.29256064e-03 -6.11473048e+01] [-1.89821118e-02 -1.63878633e-05 9.99819823e-01 -8.25565870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.064012739 meters 0.021114031493806387 Centerline is valid? [True, True] Translation: X:408.22, Y:-61.17, Z:-8.25 [[ 9.85594602e-01 1.67925519e-01 2.01072409e-02 4.08220863e+02] [-1.67888222e-01 9.85799679e-01 -3.54088524e-03 -6.11657632e+01] [-2.04163166e-02 1.14108452e-04 9.99791559e-01 -8.25188025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.124012739 meters 0.020793131840350428 Centerline is valid? [True, True] Translation: X:408.28, Y:-61.17, Z:-8.25 [[ 9.85401612e-01 1.69041436e-01 2.02152301e-02 4.08279714e+02] [-1.69003997e-01 9.85608941e-01 -3.55870804e-03 -6.11700054e+01] [-2.05258806e-02 9.03019651e-05 9.99789318e-01 -8.25460525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.184012739 meters 0.023196681585069944 Centerline is valid? [True, True] Translation: X:408.33, Y:-61.19, Z:-8.26 [[ 9.86237553e-01 1.64104963e-01 2.01258569e-02 4.08334506e+02] [-1.64066845e-01 9.86442864e-01 -3.54199727e-03 -6.11905604e+01] [-2.04342673e-02 1.91264877e-04 9.99791180e-01 -8.25712216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.244012739 meters 0.03167781466528499 Centerline is valid? [True, True] Translation: X:408.39, Y:-61.22, Z:-8.25 [[ 9.87924007e-01 1.53426446e-01 2.15981777e-02 4.08389829e+02] [-1.53380019e-01 9.88159972e-01 -3.79980226e-03 -6.12243340e+01] [-2.19254448e-02 4.41186969e-04 9.99759511e-01 -8.25497125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30401273900003 meters 0.042985899265391314 Centerline is valid? [True, True] Translation: X:408.44, Y:-61.26, Z:-8.26 [[ 9.90097667e-01 1.39039166e-01 1.93576874e-02 4.08444265e+02] [-1.38999121e-01 9.90286649e-01 -3.40554580e-03 -6.12624508e+01] [-1.96431636e-02 6.81121411e-04 9.99806822e-01 -8.26052755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.364012739 meters 0.05683038601947478 Centerline is valid? [True, True] Translation: X:408.50, Y:-61.31, Z:-8.26 [[ 9.91349338e-01 1.29849466e-01 1.91208286e-02 4.08497201e+02] [-1.29808687e-01 9.91533352e-01 -3.36388481e-03 -6.13071354e+01] [-1.93957379e-02 8.52735312e-04 9.99811521e-01 -8.26226306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.424012739 meters 0.05427033588103561 Centerline is valid? [True, True] Translation: X:408.56, Y:-61.33, Z:-8.27 [[ 9.91457657e-01 1.29375182e-01 1.65461733e-02 4.08556344e+02] [-1.29344588e-01 9.91595435e-01 -2.91049728e-03 -6.13276716e+01] [-1.67836560e-02 7.45476845e-04 9.99858867e-01 -8.26737187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.484012739 meters 0.05058312113002918 Centerline is valid? [True, True] Translation: X:408.61, Y:-61.35, Z:-8.27 [[ 9.90800357e-01 1.34576296e-01 1.42783822e-02 4.08613370e+02] [-1.34554011e-01 9.90903071e-01 -2.51450767e-03 -6.13471449e+01] [-1.44868859e-02 5.70161509e-04 9.99894897e-01 -8.27398239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.544012739 meters 0.0422025054652512 Centerline is valid? [True, True] Translation: X:408.67, Y:-61.36, Z:-8.27 [[ 9.89910724e-01 1.40632134e-01 1.73020660e-02 4.08673273e+02] [-1.40600338e-01 9.90061747e-01 -3.04669357e-03 -6.13596660e+01] [-1.75585767e-02 5.83278318e-04 9.99845666e-01 -8.26839107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.604012739 meters 0.04125557388657159 Centerline is valid? [True, True] Translation: X:408.73, Y:-61.38, Z:-8.27 [[ 9.89311517e-01 1.44745062e-01 1.76519060e-02 4.08730699e+02] [-1.44712618e-01 9.89468845e-01 -3.10840334e-03 -6.13767446e+01] [-1.79159371e-02 5.20725686e-04 9.99839361e-01 -8.27000706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.664012739 meters 0.029369028221223475 Centerline is valid? [True, True] Translation: X:408.79, Y:-61.38, Z:-8.27 [[ 9.87649823e-01 1.55515034e-01 1.90499744e-02 4.08790832e+02] [-1.55479250e-01 9.87833463e-01 -3.35433784e-03 -6.13838699e+01] [-1.93398521e-02 3.51035433e-04 9.99812906e-01 -8.26824945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.724012739 meters 0.024673127689023404 Centerline is valid? [True, True] Translation: X:408.85, Y:-61.39, Z:-8.27 [[ 9.86497427e-01 1.62701957e-01 1.87322962e-02 4.08850313e+02] [-1.62668652e-01 9.86675241e-01 -3.29840046e-03 -6.13890461e+01] [-1.90193491e-02 2.06706195e-04 9.99819094e-01 -8.27051465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.784012739 meters 0.020120693169184925 Centerline is valid? [True, True] Translation: X:408.91, Y:-61.38, Z:-8.27 [[ 9.84594378e-01 1.73835470e-01 1.88451712e-02 4.08912037e+02] [-1.73803800e-01 9.84774710e-01 -3.31806852e-03 -6.13826117e+01] [-1.91350460e-02 -8.41075693e-06 9.99816908e-01 -8.27138020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.844012739 meters 0.02337672060947912 Centerline is valid? [True, True] Translation: X:408.98, Y:-61.37, Z:-8.27 [[ 9.82818962e-01 1.83651658e-01 1.84107947e-02 4.08975221e+02] [-1.83623159e-01 9.82991368e-01 -3.24117148e-03 -6.13687307e+01] [-1.86928988e-02 -1.95163490e-04 9.99825253e-01 -8.27297076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.904012739 meters 0.024331473634014014 Centerline is valid? [True, True] Translation: X:409.03, Y:-61.37, Z:-8.27 [[ 9.82437658e-01 1.85579345e-01 1.94050198e-02 4.09034295e+02] [-1.85548069e-01 9.82629252e-01 -3.41573520e-03 -6.13702365e+01] [-1.97018300e-02 -2.44817067e-04 9.99805870e-01 -8.27094305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.964012739 meters 0.02310759834174851 Centerline is valid? [True, True] Translation: X:409.09, Y:-61.38, Z:-8.27 [[ 9.82820437e-01 1.83533600e-01 1.94783384e-02 4.09092131e+02] [-1.83501709e-01 9.83013416e-01 -3.42744600e-03 -6.13760134e+01] [-1.97765195e-02 -2.05744415e-04 9.99804404e-01 -8.27249180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.024012739 meters 0.01984871373320437 Centerline is valid? [True, True] Translation: X:409.15, Y:-61.39, Z:-8.28 [[ 9.84707695e-01 1.73172354e-01 1.90286932e-02 4.09149435e+02] [-1.73140003e-01 9.84891535e-01 -3.34716169e-03 -6.13930317e+01] [-1.93208347e-02 1.34787849e-06 9.99813335e-01 -8.27584276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.084012739 meters 0.022949146232212503 Centerline is valid? [True, True] Translation: X:409.21, Y:-61.41, Z:-8.28 [[ 9.86266566e-01 1.64315994e-01 1.66887769e-02 4.09206440e+02] [-1.64289846e-01 9.86407741e-01 -2.93526547e-03 -6.14085023e+01] [-1.69442498e-02 1.53157602e-04 9.99856424e-01 -8.28065482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.144012739 meters 0.027214835716188393 Centerline is valid? [True, True] Translation: X:409.26, Y:-61.42, Z:-8.28 [[ 9.87368775e-01 1.57386301e-01 1.82333216e-02 4.09264466e+02] [-1.57353920e-01 9.87537070e-01 -3.20615757e-03 -6.14248696e+01] [-1.85106863e-02 2.96575243e-04 9.99828619e-01 -8.27836628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.204012739 meters 0.033713875326889554 Centerline is valid? [True, True] Translation: X:409.32, Y:-61.45, Z:-8.27 [[ 9.88405588e-01 1.50298578e-01 2.15576085e-02 4.09321302e+02] [-1.50251631e-01 9.88640521e-01 -3.79041550e-03 -6.14465554e+01] [-2.18824194e-02 5.07402012e-04 9.99760422e-01 -8.27365604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.264012739 meters 0.03689700925177357 Centerline is valid? [True, True] Translation: X:409.38, Y:-61.47, Z:-8.28 [[ 9.89108850e-01 1.45827075e-01 1.99536422e-02 4.09379432e+02] [-1.45785946e-01 9.89309936e-01 -3.50839213e-03 -6.14674517e+01] [-2.02519551e-02 5.61221110e-04 9.99794751e-01 -8.27880896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.324012739 meters 0.03985675631910602 Centerline is valid? [True, True] Translation: X:409.44, Y:-61.49, Z:-8.28 [[ 9.89656754e-01 1.42159782e-01 1.92381483e-02 4.09437305e+02] [-1.42120853e-01 9.89843533e-01 -3.38279898e-03 -6.14922778e+01] [-1.95236547e-02 6.13667801e-04 9.99809207e-01 -8.28118235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.384012739 meters 0.041177298246911825 Centerline is valid? [True, True] Translation: X:409.50, Y:-61.52, Z:-8.28 [[ 9.89482755e-01 1.43203810e-01 2.04094862e-02 4.09495103e+02] [-1.43160206e-01 9.89693019e-01 -3.58932037e-03 -6.15163186e+01] [-2.07131304e-02 6.29744372e-04 9.99785262e-01 -8.27925925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.444012739 meters 0.03246936803881191 Centerline is valid? [True, True] Translation: X:409.56, Y:-61.52, Z:-8.29 [[ 9.88392562e-01 1.50970628e-01 1.69709408e-02 4.09555631e+02] [-1.50941578e-01 9.88538172e-01 -2.98720423e-03 -6.15213195e+01] [-1.72274028e-02 3.90909858e-04 9.99851521e-01 -8.28697228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.504012739 meters 0.024489194635521017 Centerline is valid? [True, True] Translation: X:409.62, Y:-61.52, Z:-8.29 [[ 9.86752212e-01 1.61490273e-01 1.55230181e-02 4.09616343e+02] [-1.61467268e-01 9.86874286e-01 -2.73233704e-03 -6.15230215e+01] [-1.57605133e-02 1.89680289e-04 9.99875777e-01 -8.28934000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.564012739 meters 0.01994961378171428 Centerline is valid? [True, True] Translation: X:409.68, Y:-61.52, Z:-8.29 [[ 9.84776798e-01 1.72876842e-01 1.81178386e-02 4.09678030e+02] [-1.72847424e-01 9.84943449e-01 -3.18916928e-03 -6.15178137e+01] [-1.83963799e-02 8.99819986e-06 9.99830772e-01 -8.28765704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.624012739 meters 0.02354690542566271 Centerline is valid? [True, True] Translation: X:409.74, Y:-61.51, Z:-8.29 [[ 9.82685099e-01 1.84399609e-01 1.80770682e-02 4.09740242e+02] [-1.84372276e-01 9.82851332e-01 -3.18156244e-03 -6.15101652e+01] [-1.83537495e-02 -2.06436218e-04 9.99831534e-01 -8.28766928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.684012739 meters 0.03191896523885846 Centerline is valid? [True, True] Translation: X:409.80, Y:-61.50, Z:-8.29 [[ 9.80952525e-01 1.93255093e-01 1.96115405e-02 4.09802767e+02] [-1.93224699e-01 9.81148463e-01 -3.45110066e-03 -6.14989062e+01] [-1.99087756e-02 -4.04068094e-04 9.99801719e-01 -8.28766428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.744012739 meters 0.03370126220101191 Centerline is valid? [True, True] Translation: X:409.86, Y:-61.50, Z:-8.29 [[ 9.80368021e-01 1.96383366e-01 1.76668371e-02 4.09862787e+02] [-1.96359211e-01 9.80527101e-01 -3.10872497e-03 -6.15019778e+01] [-1.79333144e-02 -4.21351648e-04 9.99839096e-01 -8.29190562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80401273900003 meters 0.0376426428781154 Centerline is valid? [True, True] Translation: X:409.93, Y:-61.49, Z:-8.29 [[ 9.79619144e-01 1.99988568e-01 1.87324609e-02 4.09925448e+02] [-1.99962078e-01 9.79798094e-01 -3.29575746e-03 -6.14895798e+01] [-1.90131433e-02 -5.17194713e-04 9.99819100e-01 -8.29015136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.864012739 meters 0.03811129033104577 Centerline is valid? [True, True] Translation: X:409.98, Y:-61.49, Z:-8.30 [[ 9.79717355e-01 1.99624750e-01 1.74316948e-02 4.09983682e+02] [-1.99601756e-01 9.79872305e-01 -3.06680313e-03 -6.14885120e+01] [-1.76930448e-02 -4.74796641e-04 9.99843353e-01 -8.29517613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.924012739 meters 0.037735920602194 Centerline is valid? [True, True] Translation: X:410.04, Y:-61.49, Z:-8.29 [[ 9.79856557e-01 1.98879616e-01 1.81114799e-02 4.10043836e+02] [-1.98854714e-01 9.80023809e-01 -3.18383444e-03 -6.14878930e+01] [-1.83828813e-02 -4.81852097e-04 9.99830904e-01 -8.29400553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.984012739 meters 0.040325817382704764 Centerline is valid? [True, True] Translation: X:410.10, Y:-61.49, Z:-8.29 [[ 9.79466912e-01 2.00632826e-01 1.97746894e-02 4.10102662e+02] [-2.00603516e-01 9.79666347e-01 -3.47521203e-03 -6.14859768e+01] [-2.00698393e-02 -5.63017026e-04 9.99798422e-01 -8.29232117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.044012739 meters 0.041332610467098865 Centerline is valid? [True, True] Translation: X:410.16, Y:-61.49, Z:-8.29 [[ 9.79305325e-01 2.01376695e-01 2.02115720e-02 4.10161767e+02] [-2.01346258e-01 9.79513694e-01 -3.55080099e-03 -6.14867521e+01] [-2.05125602e-02 -5.92206092e-04 9.99789420e-01 -8.29210087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.104012739 meters 0.043392576894256046 Centerline is valid? [True, True] Translation: X:410.22, Y:-61.48, Z:-8.30 [[ 9.79200198e-01 2.02096748e-01 1.79966010e-02 4.10221134e+02] [-2.02072764e-01 9.79365412e-01 -3.16027741e-03 -6.14790890e+01] [-1.82639303e-02 -5.42078629e-04 9.99833054e-01 -8.29846940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.164012739 meters 0.03305998163323341 Centerline is valid? [True, True] Translation: X:410.28, Y:-61.49, Z:-8.30 [[ 9.80296284e-01 1.96533549e-01 1.98433694e-02 4.10279683e+02] [-1.96503281e-01 9.80496981e-01 -3.48306559e-03 -6.14946978e+01] [-2.01409030e-02 -4.84850935e-04 9.99797034e-01 -8.29712301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.224012739 meters 0.026564154977699195 Centerline is valid? [True, True] Translation: X:410.34, Y:-61.51, Z:-8.30 [[ 9.81902640e-01 1.88565135e-01 1.76180630e-02 4.10338574e+02] [-1.88539994e-01 9.82060644e-01 -3.09231626e-03 -6.15077146e+01] [-1.78851093e-02 -2.85355993e-04 9.99840008e-01 -8.30182477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.284012739 meters 0.02645266972363215 Centerline is valid? [True, True] Translation: X:410.40, Y:-61.51, Z:-8.30 [[ 9.82127256e-01 1.87154565e-01 1.99805164e-02 4.10396872e+02] [-1.87121939e-01 9.82330434e-01 -3.50682725e-03 -6.15101849e+01] [-2.02837881e-02 -2.94642345e-04 9.99794219e-01 -8.29654057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.344012739 meters 0.027603673399610965 Centerline is valid? [True, True] Translation: X:410.46, Y:-61.51, Z:-8.30 [[ 9.81687751e-01 1.89556499e-01 1.89074959e-02 4.10455539e+02] [-1.89527750e-01 9.81869761e-01 -3.31740703e-03 -6.15125810e+01] [-1.91935345e-02 -3.26837304e-04 9.99815734e-01 -8.30014796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.404012739 meters 0.027637104690733903 Centerline is valid? [True, True] Translation: X:410.51, Y:-61.51, Z:-8.30 [[ 9.81755289e-01 1.89334146e-01 1.75822162e-02 4.10514135e+02] [-1.89309262e-01 9.81912670e-01 -3.08424238e-03 -6.15142929e+01] [-1.78481532e-02 -3.00505091e-04 9.99840664e-01 -8.30379982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.464012739 meters 0.026617431324041554 Centerline is valid? [True, True] Translation: X:410.57, Y:-61.52, Z:-8.30 [[ 9.82009713e-01 1.87900804e-01 1.87139376e-02 4.10572822e+02] [-1.87872427e-01 9.82187966e-01 -3.27882734e-03 -6.15215644e+01] [-1.89966986e-02 -2.95992586e-04 9.99819503e-01 -8.30293608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.524012739 meters 0.024498419530160853 Centerline is valid? [True, True] Translation: X:410.63, Y:-61.53, Z:-8.30 [[ 9.82544143e-01 1.85155700e-01 1.80103603e-02 4.10631404e+02] [-1.85129009e-01 9.82709169e-01 -3.15262754e-03 -6.15295142e+01] [-1.82826731e-02 -2.36644430e-04 9.99832830e-01 -8.30498959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.584012739 meters 0.025377471311586002 Centerline is valid? [True, True] Translation: X:410.69, Y:-61.53, Z:-8.30 [[ 9.82374535e-01 1.85987616e-01 1.86783269e-02 4.10689263e+02] [-1.85959126e-01 9.82552053e-01 -3.26604194e-03 -6.15334589e+01] [-1.89598718e-02 -2.64928900e-04 9.99820210e-01 -8.30493147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.644012739 meters 0.026090456114976776 Centerline is valid? [True, True] Translation: X:410.75, Y:-61.54, Z:-8.30 [[ 9.82097339e-01 1.87251187e-01 2.05380083e-02 4.10747863e+02] [-1.87217046e-01 9.82312013e-01 -3.58984864e-03 -6.15374769e+01] [-2.08469357e-02 -3.19484446e-04 9.99782628e-01 -8.30276176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.704012739 meters 0.02511468346084214 Centerline is valid? [True, True] Translation: X:410.81, Y:-61.55, Z:-8.31 [[ 9.82460955e-01 1.85625809e-01 1.77068206e-02 4.10805997e+02] [-1.85600180e-01 9.82620475e-01 -3.09435574e-03 -6.15460533e+01] [-1.79734767e-02 -2.46305383e-04 9.99838434e-01 -8.31007657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.764012739 meters 0.02379329057557215 Centerline is valid? [True, True] Translation: X:410.86, Y:-61.56, Z:-8.31 [[ 9.82862421e-01 1.83434722e-01 1.82528071e-02 4.10862902e+02] [-1.83407172e-01 9.83031869e-01 -3.18635053e-03 -6.15555057e+01] [-1.85275784e-02 -2.15951544e-04 9.99828326e-01 -8.30933938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.824012739 meters 0.021390035312865593 Centerline is valid? [True, True] Translation: X:410.92, Y:-61.57, Z:-8.31 [[ 9.83607574e-01 1.79227150e-01 1.98436053e-02 4.10919861e+02] [-1.79193758e-01 9.83807708e-01 -3.46278784e-03 -6.15697912e+01] [-2.01429174e-02 -1.49825858e-04 9.99797100e-01 -8.30733025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.884012739 meters 0.019644778360968708 Centerline is valid? [True, True] Translation: X:410.98, Y:-61.59, Z:-8.31 [[ 9.84596353e-01 1.73836488e-01 1.87322197e-02 4.10976403e+02] [-1.73805814e-01 9.84774529e-01 -3.26577139e-03 -6.15898845e+01] [-1.90147231e-02 -4.03020989e-05 9.99819203e-01 -8.31058999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.944012739 meters 0.020549314903709582 Centerline is valid? [True, True] Translation: X:411.03, Y:-61.61, Z:-8.31 [[ 9.85893782e-01 1.66494120e-01 1.71218943e-02 4.11031453e+02] [-1.66467397e-01 9.86042443e-01 -2.98434843e-03 -6.16131097e+01] [-1.73797909e-02 9.20133934e-05 9.99848956e-01 -8.31472262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.004012739 meters 0.023748031515567605 Centerline is valid? [True, True] Translation: X:411.09, Y:-61.64, Z:-8.31 [[ 9.86809212e-01 1.60825787e-01 1.85106753e-02 4.11086118e+02] [-1.60793577e-01 9.86982788e-01 -3.22517017e-03 -6.16378501e+01] [-1.87884085e-02 2.06229935e-04 9.99823461e-01 -8.31212763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.064012739 meters 0.023183959276914856 Centerline is valid? [True, True] Translation: X:411.14, Y:-61.65, Z:-8.31 [[ 9.86915168e-01 1.60257529e-01 1.77756806e-02 4.11143439e+02] [-1.60227754e-01 9.87075216e-01 -3.09604911e-03 -6.16533084e+01] [-1.80420990e-02 2.07380450e-04 9.99837207e-01 -8.31469138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.124012739 meters 0.022700995745637883 Centerline is valid? [True, True] Translation: X:411.20, Y:-61.67, Z:-8.32 [[ 9.86626119e-01 1.62327206e-01 1.47911868e-02 4.11199638e+02] [-1.62306830e-01 9.86736975e-01 -2.57573931e-03 -6.16661319e+01] [-1.50131234e-02 1.40581041e-04 9.99887287e-01 -8.32169335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.184012739 meters 0.022427071385026084 Centerline is valid? [True, True] Translation: X:411.26, Y:-61.69, Z:-8.32 [[ 9.86612749e-01 1.62169595e-01 1.72135508e-02 4.11256643e+02] [-1.62141997e-01 9.86762887e-01 -2.99626710e-03 -6.16851075e+01] [-1.74715966e-02 1.65115816e-04 9.99847346e-01 -8.31838982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.244012739 meters 0.022237648852893907 Centerline is valid? [True, True] Translation: X:411.31, Y:-61.70, Z:-8.32 [[ 9.86560800e-01 1.62348377e-01 1.84605473e-02 4.11312755e+02] [-1.62316679e-01 9.86733487e-01 -3.21263804e-03 -6.17037436e+01] [-1.87372068e-02 1.73008022e-04 9.99824428e-01 -8.31743913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30401273900003 meters 0.019612340315603556 Centerline is valid? [True, True] Translation: X:411.37, Y:-61.71, Z:-8.31 [[ 9.85688128e-01 1.67036946e-01 2.27502333e-02 4.11370729e+02] [-1.66990081e-01 9.85950632e-01 -3.95786251e-03 -6.17128742e+01] [-2.30917161e-02 1.02154794e-04 9.99733346e-01 -8.30966722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.364012739 meters 0.019247274112290273 Centerline is valid? [True, True] Translation: X:411.43, Y:-61.72, Z:-8.32 [[ 9.84911087e-01 1.71845985e-01 2.04721284e-02 4.11428858e+02] [-1.71809092e-01 9.85123829e-01 -3.56065944e-03 -6.17179882e+01] [-2.07794666e-02 -1.03648472e-05 9.99784084e-01 -8.31541595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.424012739 meters 0.019792211029041343 Centerline is valid? [True, True] Translation: X:411.49, Y:-61.73, Z:-8.33 [[ 9.85026933e-01 1.71683616e-01 1.57059835e-02 4.11486965e+02] [-1.71661894e-01 9.85152138e-01 -2.73099120e-03 -6.17272156e+01] [-1.59416496e-02 -6.01897514e-06 9.99872924e-01 -8.32520312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.484012739 meters 0.01994153040335843 Centerline is valid? [True, True] Translation: X:411.54, Y:-61.74, Z:-8.32 [[ 9.85777212e-01 1.67037748e-01 1.84845654e-02 4.11542680e+02] [-1.67006860e-01 9.85950498e-01 -3.21316805e-03 -6.17435173e+01] [-1.87615868e-02 8.04186137e-05 9.99823983e-01 -8.32031161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.544012739 meters 0.020258013047646288 Centerline is valid? [True, True] Translation: X:411.60, Y:-61.75, Z:-8.32 [[ 9.86012506e-01 1.65658357e-01 1.83479584e-02 4.11600829e+02] [-1.65627710e-01 9.86183197e-01 -3.18805063e-03 -6.17527676e+01] [-1.86225755e-02 1.04527464e-04 9.99826579e-01 -8.32070011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.604012739 meters 0.021446893939369542 Centerline is valid? [True, True] Translation: X:411.66, Y:-61.76, Z:-8.32 [[ 9.86397515e-01 1.63468526e-01 1.72622218e-02 4.11658266e+02] [-1.63441078e-01 9.86548540e-01 -2.99862347e-03 -6.17632890e+01] [-1.75202003e-02 1.36478606e-04 9.99846500e-01 -8.32468515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.664012739 meters 0.025534039737844544 Centerline is valid? [True, True] Translation: X:411.71, Y:-61.78, Z:-8.32 [[ 9.87429530e-01 1.57055832e-01 1.77873355e-02 4.11714402e+02] [-1.57025663e-01 9.87589692e-01 -3.08895795e-03 -6.17848668e+01] [-1.80517281e-02 2.57060137e-04 9.99837021e-01 -8.32435651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.724012739 meters 0.032852509759158266 Centerline is valid? [True, True] Translation: X:411.77, Y:-61.81, Z:-8.32 [[ 9.88586880e-01 1.49458196e-01 1.89269114e-02 4.11769532e+02] [-1.49422663e-01 9.88767956e-01 -3.28585413e-03 -6.18109431e+01] [-1.92054214e-02 4.20242784e-04 9.99815471e-01 -8.32246126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.784012739 meters 0.036156361405576015 Centerline is valid? [True, True] Translation: X:411.83, Y:-61.83, Z:-8.32 [[ 9.89166453e-01 1.45328950e-01 2.07177425e-02 4.11827424e+02] [-1.45285473e-01 9.89383240e-01 -3.59653392e-03 -6.18305190e+01] [-2.10204678e-02 5.47583682e-04 9.99778896e-01 -8.32157150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.844012739 meters 0.03905350741886275 Centerline is valid? [True, True] Translation: X:411.89, Y:-61.85, Z:-8.32 [[ 9.89782964e-01 1.41160903e-01 2.00819183e-02 4.11885199e+02] [-1.41119196e-01 9.89986474e-01 -3.48615598e-03 -6.18543462e+01] [-2.03729364e-02 6.16593629e-04 9.99792260e-01 -8.32274462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.904012739 meters 0.036449008079443804 Centerline is valid? [True, True] Translation: X:411.94, Y:-61.87, Z:-8.32 [[ 9.89510814e-01 1.42941216e-01 2.08843879e-02 4.11943324e+02] [-1.42896500e-01 9.89730996e-01 -3.62570824e-03 -6.18723478e+01] [-2.11881891e-02 6.03371592e-04 9.99775323e-01 -8.32294937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.964012739 meters 0.034698105054480635 Centerline is valid? [True, True] Translation: X:412.00, Y:-61.89, Z:-8.32 [[ 9.88909635e-01 1.46945217e-01 2.15600919e-02 4.12001375e+02] [-1.46898510e-01 9.89144488e-01 -3.74299967e-03 -6.18852522e+01] [-2.18760619e-02 5.34343062e-04 9.99760548e-01 -8.32182564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.024012739 meters 0.02940405073639183 Centerline is valid? [True, True] Translation: X:412.06, Y:-61.89, Z:-8.33 [[ 9.88209154e-01 1.51917117e-01 1.90750356e-02 4.12060863e+02] [-1.51881487e-01 9.88393165e-01 -3.31136624e-03 -6.18940630e+01] [-1.93566880e-02 3.75177666e-04 9.99812571e-01 -8.32849777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.084012739 meters 0.024399906785973858 Centerline is valid? [True, True] Translation: X:412.12, Y:-61.91, Z:-8.33 [[ 9.87242454e-01 1.58252473e-01 1.75639201e-02 4.12119137e+02] [-1.58223266e-01 9.87398654e-01 -3.04906395e-03 -6.19070697e+01] [-1.78251130e-02 2.31144585e-04 9.99841093e-01 -8.33319622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.144012739 meters 0.02226071537612643 Centerline is valid? [True, True] Translation: X:412.18, Y:-61.92, Z:-8.33 [[ 9.86725007e-01 1.61314742e-01 1.87433765e-02 4.12177684e+02] [-1.61282042e-01 9.86902994e-01 -3.25333891e-03 -6.19209811e+01] [-1.90227059e-02 1.87180831e-04 9.99819034e-01 -8.33174273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.204012739 meters 0.020650407888245587 Centerline is valid? [True, True] Translation: X:412.24, Y:-61.93, Z:-8.34 [[ 9.86132588e-01 1.65083074e-01 1.70322734e-02 4.12236354e+02] [-1.65056638e-01 9.86279660e-01 -2.95611409e-03 -6.19291152e+01] [-1.72865892e-02 1.03830660e-04 9.99850570e-01 -8.33646504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.264012739 meters 0.01964274901176901 Centerline is valid? [True, True] Translation: X:412.30, Y:-61.93, Z:-8.34 [[ 9.84697748e-01 1.73392359e-01 1.74767129e-02 4.12296379e+02] [-1.73365855e-01 9.84852825e-01 -3.03194324e-03 -6.19289577e+01] [-1.77377059e-02 -4.43175899e-05 9.99842674e-01 -8.33694605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.324012739 meters 0.022503890014803206 Centerline is valid? [True, True] Translation: X:412.35, Y:-61.93, Z:-8.34 [[ 9.83489187e-01 1.80143635e-01 1.72420749e-02 4.12354900e+02] [-1.80118887e-01 9.83640302e-01 -2.99049340e-03 -6.19265791e+01] [-1.74987181e-02 -1.64505411e-04 9.99846872e-01 -8.33854781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.384012739 meters 0.022097343996494483 Centerline is valid? [True, True] Translation: X:412.41, Y:-61.93, Z:-8.33 [[ 9.83498417e-01 1.79758608e-01 2.04378787e-02 4.12413288e+02] [-1.79723786e-01 9.83710734e-01 -3.54305098e-03 -6.19347694e+01] [-2.07418546e-02 -1.88587920e-04 9.99784847e-01 -8.33413699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.444012739 meters 0.019954948253845306 Centerline is valid? [True, True] Translation: X:412.47, Y:-61.95, Z:-8.33 [[ 9.84326254e-01 1.74834977e-01 2.31204654e-02 4.12469166e+02] [-1.74789084e-01 9.84597746e-01 -4.00683222e-03 -6.19490932e+01] [-2.34648925e-02 -9.71748144e-05 9.99724657e-01 -8.33116315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.504012739 meters 0.01990716223771922 Centerline is valid? [True, True] Translation: X:412.53, Y:-61.96, Z:-8.34 [[ 9.84480118e-01 1.74407231e-01 1.95195904e-02 4.12527696e+02] [-1.74374456e-01 9.84673607e-01 -3.38181207e-03 -6.19561306e+01] [-1.98102380e-02 -7.43912185e-05 9.99803755e-01 -8.33866696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.564012739 meters 0.022582084491532105 Centerline is valid? [True, True] Translation: X:412.59, Y:-61.95, Z:-8.33 [[ 9.83395077e-01 1.80130864e-01 2.20679267e-02 4.12588496e+02] [-1.80090437e-01 9.83642631e-01 -3.82218430e-03 -6.19497977e+01] [-2.23954468e-02 -2.15505336e-04 9.99749167e-01 -8.33381705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.624012739 meters 0.026599224791198448 Centerline is valid? [True, True] Translation: X:412.65, Y:-61.95, Z:-8.34 [[ 9.82537397e-01 1.84797550e-01 2.16824730e-02 4.12650175e+02] [-1.84759680e-01 9.82776559e-01 -3.75447179e-03 -6.19450282e+01] [-2.20028434e-02 -3.17137828e-04 9.99757858e-01 -8.33662068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.684012739 meters 0.02861863148471227 Centerline is valid? [True, True] Translation: X:412.71, Y:-61.94, Z:-8.34 [[ 9.82377702e-01 1.85806836e-01 2.02452574e-02 4.12709302e+02] [-1.85774042e-01 9.82586240e-01 -3.50516835e-03 -6.19404306e+01] [-2.05439956e-02 -3.17644083e-04 9.99788899e-01 -8.34220161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.744012739 meters 0.023658244922999495 Centerline is valid? [True, True] Translation: X:412.77, Y:-61.96, Z:-8.34 [[ 9.83152566e-01 1.81682091e-01 2.00661345e-02 4.12766400e+02] [-1.81649039e-01 9.83357293e-01 -3.47301751e-03 -6.19555892e+01] [-2.03631648e-02 -2.30487982e-04 9.99792623e-01 -8.34379659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80401273900003 meters 0.02088419441043587 Centerline is valid? [True, True] Translation: X:412.82, Y:-61.97, Z:-8.35 [[ 9.84194364e-01 1.75991259e-01 1.97111869e-02 4.12822624e+02] [-1.75958243e-01 9.84391723e-01 -3.41064622e-03 -6.19705787e+01] [-2.00037731e-02 -1.11607015e-04 9.99799898e-01 -8.34518251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.864012739 meters 0.021103865887472553 Centerline is valid? [True, True] Translation: X:412.88, Y:-62.00, Z:-8.34 [[ 9.86170897e-01 1.64320484e-01 2.15810009e-02 4.12877405e+02] [-1.64278137e-01 9.86406995e-01 -3.73278318e-03 -6.20006762e+01] [-2.19010230e-02 1.35875519e-04 9.99760135e-01 -8.34496869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.924012739 meters 0.02602619633432985 Centerline is valid? [True, True] Translation: X:412.93, Y:-62.03, Z:-8.35 [[ 9.87552232e-01 1.56025749e-01 1.99136584e-02 4.12932668e+02] [-1.55988024e-01 9.87752944e-01 -3.44347026e-03 -6.20266057e+01] [-2.02070448e-02 2.94314522e-04 9.99795774e-01 -8.34921936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.984012739 meters 0.026206042619159695 Centerline is valid? [True, True] Translation: X:412.99, Y:-62.05, Z:-8.35 [[ 9.87582483e-01 1.55853130e-01 1.97646225e-02 4.12989681e+02] [-1.55815924e-01 9.87780195e-01 -3.41810024e-03 -6.20464977e+01] [-2.00558243e-02 2.96012989e-04 9.99798818e-01 -8.34977273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.044012739 meters 0.025032174223482386 Centerline is valid? [True, True] Translation: X:413.05, Y:-62.06, Z:-8.35 [[ 9.87321201e-01 1.57092490e-01 2.27770927e-02 4.13048002e+02] [-1.57043420e-01 9.87583846e-01 -3.93845922e-03 -6.20601947e+01] [-2.31129912e-02 3.11531743e-04 9.99732811e-01 -8.34561395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.104012739 meters 0.022017043537945175 Centerline is valid? [True, True] Translation: X:413.11, Y:-62.07, Z:-8.35 [[ 9.86443011e-01 1.62880977e-01 1.99993191e-02 4.13105293e+02] [-1.62844345e-01 9.86645713e-01 -3.45772375e-03 -6.20717034e+01] [-2.02954398e-02 1.54071420e-04 9.99794014e-01 -8.35201287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.164012739 meters 0.020399455335824185 Centerline is valid? [True, True] Translation: X:413.16, Y:-62.07, Z:-8.36 [[ 9.85420474e-01 1.69281872e-01 1.70334119e-02 4.13164733e+02] [-1.69256263e-01 9.85567678e-01 -2.94447667e-03 -6.20738390e+01] [-1.72860267e-02 1.85359668e-05 9.99850585e-01 -8.35853454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.224012739 meters 0.0209161090536377 Centerline is valid? [True, True] Translation: X:413.22, Y:-62.08, Z:-8.36 [[ 9.84466588e-01 1.74470788e-01 1.96336647e-02 4.13223103e+02] [-1.74437815e-01 9.84662347e-01 -3.39289756e-03 -6.20786719e+01] [-1.99244918e-02 -8.46592876e-05 9.99801484e-01 -8.35537250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.284012739 meters 0.02051952944975497 Centerline is valid? [True, True] Translation: X:413.28, Y:-62.09, Z:-8.35 [[ 9.84591903e-01 1.73309576e-01 2.32932387e-02 4.13280686e+02] [-1.73262876e-01 9.84867395e-01 -4.02375610e-03 -6.20915301e+01] [-2.36381068e-02 -7.40958434e-05 9.99720578e-01 -8.35122180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.344012739 meters 0.020090615943851062 Centerline is valid? [True, True] Translation: X:413.34, Y:-62.11, Z:-8.35 [[ 9.85204779e-01 1.69560948e-01 2.49124051e-02 4.13336773e+02] [-1.69506361e-01 9.85519703e-01 -4.30223065e-03 -6.21132887e+01] [-2.52811564e-02 1.57670762e-05 9.99680380e-01 -8.34896686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.404012739 meters 0.020829406101404536 Centerline is valid? [True, True] Translation: X:413.39, Y:-62.13, Z:-8.36 [[ 9.85915805e-01 1.65852125e-01 2.15197277e-02 4.13393962e+02] [-1.65810528e-01 9.86150629e-01 -3.71551439e-03 -6.21331731e+01] [-2.18379189e-02 9.49869459e-05 9.99761520e-01 -8.35559531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.464012739 meters 0.02006129559072951 Centerline is valid? [True, True] Translation: X:413.45, Y:-62.14, Z:-8.36 [[ 9.85243831e-01 1.69769031e-01 2.17501821e-02 4.13453661e+02] [-1.69727499e-01 9.85483879e-01 -3.75503222e-03 -6.21390854e+01] [-2.20719420e-02 8.01832132e-06 9.99756385e-01 -8.35644929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.524012739 meters 0.021704806346793785 Centerline is valid? [True, True] Translation: X:413.51, Y:-62.14, Z:-8.36 [[ 9.84153168e-01 1.76028529e-01 2.13658326e-02 4.13513057e+02] [-1.75989937e-01 9.84385057e-01 -3.68811495e-03 -6.21371940e+01] [-2.16814197e-02 -1.30501507e-04 9.99764922e-01 -8.35870512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.584012739 meters 0.02353210616776635 Centerline is valid? [True, True] Translation: X:413.57, Y:-62.14, Z:-8.36 [[ 9.83423971e-01 1.80280689e-01 1.93950087e-02 4.13572596e+02] [-1.80249736e-01 9.83615185e-01 -3.34683335e-03 -6.21381445e+01] [-1.96805945e-02 -2.04589065e-04 9.99806297e-01 -8.36343803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.644012739 meters 0.025444412101743353 Centerline is valid? [True, True] Translation: X:413.63, Y:-62.14, Z:-8.36 [[ 9.83095176e-01 1.82014226e-01 1.98669495e-02 4.13631941e+02] [-1.81982122e-01 9.83295867e-01 -3.42728136e-03 -6.21369622e+01] [-2.01589033e-02 -2.46085842e-04 9.99796758e-01 -8.36393723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.704012739 meters 0.023265494308105965 Centerline is valid? [True, True] Translation: X:413.69, Y:-62.15, Z:-8.36 [[ 9.83440657e-01 1.79626371e-01 2.40591284e-02 4.13689480e+02] [-1.79578613e-01 9.83734877e-01 -4.14881852e-03 -6.21488148e+01] [-2.44130409e-02 -2.40388103e-04 9.99701928e-01 -8.35732829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.764012739 meters 0.020217751036468043 Centerline is valid? [True, True] Translation: X:413.75, Y:-62.17, Z:-8.37 [[ 9.85113253e-01 1.70595196e-01 2.11933487e-02 4.13746043e+02] [-1.70556064e-01 9.85341199e-01 -3.65377884e-03 -6.21745484e+01] [-2.15059968e-02 -1.52681820e-05 9.99768719e-01 -8.36507247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.824012739 meters 0.02113998589361563 Centerline is valid? [True, True] Translation: X:413.80, Y:-62.20, Z:-8.36 [[ 9.86170424e-01 1.64053812e-01 2.35423445e-02 4.13802145e+02] [-1.64003666e-01 9.86451381e-01 -4.05840260e-03 -6.21997205e+01] [-2.38891747e-02 1.41245803e-04 9.99714603e-01 -8.36080559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.884012739 meters 0.022234684348329238 Centerline is valid? [True, True] Translation: X:413.86, Y:-62.22, Z:-8.37 [[ 9.86524561e-01 1.62375407e-01 2.00877697e-02 4.13859342e+02] [-1.62338560e-01 9.86729043e-01 -3.46246327e-03 -6.22171422e+01] [-2.03834046e-02 1.54785460e-04 9.99792225e-01 -8.36886636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.944012739 meters 0.02029285952394982 Centerline is valid? [True, True] Translation: X:413.92, Y:-62.22, Z:-8.37 [[ 9.85643543e-01 1.67335009e-01 2.24900326e-02 4.13918861e+02] [-1.67290121e-01 9.85900092e-01 -3.87610312e-03 -6.22211941e+01] [-2.28215330e-02 5.80957302e-05 9.99739553e-01 -8.36539105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.004012739 meters 0.02021176456002319 Centerline is valid? [True, True] Translation: X:413.98, Y:-62.23, Z:-8.37 [[ 9.85360857e-01 1.68993671e-01 2.24749075e-02 4.13977928e+02] [-1.68949308e-01 9.85617136e-01 -3.87204347e-03 -6.22316228e+01] [-2.28060048e-02 1.82400093e-05 9.99739909e-01 -8.36692261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.064012739 meters 0.02062092348539401 Centerline is valid? [True, True] Translation: X:414.03, Y:-62.25, Z:-8.37 [[ 9.85765513e-01 1.66657101e-01 2.21757519e-02 4.14034807e+02] [-1.66613330e-01 9.86014912e-01 -3.82000792e-03 -6.22504628e+01] [-2.25022535e-02 7.08561950e-05 9.99746790e-01 -8.37019914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.124012739 meters 0.02079465577996981 Centerline is valid? [True, True] Translation: X:414.09, Y:-62.27, Z:-8.37 [[ 9.85916136e-01 1.65866713e-01 2.13917238e-02 4.14092250e+02] [-1.65825802e-01 9.86148177e-01 -3.68470716e-03 -6.22660679e+01] [-2.17065797e-02 8.55124883e-05 9.99764381e-01 -8.37335788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.184012739 meters 0.020324445497445085 Centerline is valid? [True, True] Translation: X:414.15, Y:-62.27, Z:-8.38 [[ 9.85093800e-01 1.70890721e-01 1.96612871e-02 4.14152432e+02] [-1.70857166e-01 9.85289988e-01 -3.38643856e-03 -6.22655927e+01] [-1.99507803e-02 -2.33121598e-05 9.99800963e-01 -8.37558608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.244012739 meters 0.02042450652311982 Centerline is valid? [True, True] Translation: X:414.21, Y:-62.27, Z:-8.38 [[ 9.84689081e-01 1.73042557e-01 2.10638644e-02 4.14211173e+02] [-1.73004547e-01 9.84914346e-01 -3.62747343e-03 -6.22718551e+01] [-2.13738095e-02 -7.22108483e-05 9.99771551e-01 -8.37502354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30401273900003 meters 0.02050777494355271 Centerline is valid? [True, True] Translation: X:414.27, Y:-62.28, Z:-8.37 [[ 9.84830612e-01 1.72106125e-01 2.20940728e-02 4.14268877e+02] [-1.72064094e-01 9.85078412e-01 -3.80379856e-03 -6.22815882e+01] [-2.24190512e-02 -5.54993670e-05 9.99748660e-01 -8.37456775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.364012739 meters 0.0205809849436556 Centerline is valid? [True, True] Translation: X:414.33, Y:-62.29, Z:-8.38 [[ 9.84726258e-01 1.72960819e-01 1.99687756e-02 4.14327456e+02] [-1.72926675e-01 9.84928703e-01 -3.43725174e-03 -6.22895909e+01] [-2.02623301e-02 -6.83819129e-05 9.99794696e-01 -8.37941715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.424012739 meters 0.021966688157125845 Centerline is valid? [True, True] Translation: X:414.39, Y:-62.29, Z:-8.38 [[ 9.84003998e-01 1.77247088e-01 1.78774149e-02 4.14387247e+02] [-1.77220434e-01 9.84166373e-01 -3.07694403e-03 -6.22892981e+01] [-1.81397300e-02 -1.40518009e-04 9.99835452e-01 -8.38302671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.484012739 meters 0.02269162373566615 Centerline is valid? [True, True] Translation: X:414.45, Y:-62.29, Z:-8.38 [[ 9.83604990e-01 1.78883199e-01 2.28478542e-02 4.14445608e+02] [-1.78840137e-01 9.83870293e-01 -3.93098255e-03 -6.22918375e+01] [-2.31825118e-02 -2.19579326e-04 9.99731225e-01 -8.37523257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.544012739 meters 0.022750887467823607 Centerline is valid? [True, True] Translation: X:414.50, Y:-62.30, Z:-8.37 [[ 9.83838391e-01 1.77373787e-01 2.45063265e-02 4.14502980e+02] [-1.77323817e-01 9.84143536e-01 -4.21472132e-03 -6.22989495e+01] [-2.48653239e-02 -1.98950706e-04 9.99690790e-01 -8.37273262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.604012739 meters 0.022350867851242302 Centerline is valid? [True, True] Translation: X:414.56, Y:-62.30, Z:-8.38 [[ 9.83787396e-01 1.78233252e-01 1.98813493e-02 4.14561367e+02] [-1.78200561e-01 9.83988250e-01 -3.41825613e-03 -6.23039955e+01] [-2.01722610e-02 -1.80030307e-04 9.99796503e-01 -8.38369310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.664012739 meters 0.022811223296893175 Centerline is valid? [True, True] Translation: X:414.62, Y:-62.31, Z:-8.38 [[ 9.83680770e-01 1.78890947e-01 1.92398591e-02 4.14620260e+02] [-1.78860476e-01 9.83868891e-01 -3.30704100e-03 -6.23095959e+01] [-1.95210986e-02 -1.88177719e-04 9.99809427e-01 -8.38489106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.724012739 meters 0.02146739797911009 Centerline is valid? [True, True] Translation: X:414.68, Y:-62.32, Z:-8.38 [[ 9.83997844e-01 1.76854938e-01 2.16927113e-02 4.14678644e+02] [-1.76815733e-01 9.84236914e-01 -3.72745334e-03 -6.23184010e+01] [-2.20099857e-02 -1.67806599e-04 9.99757737e-01 -8.38186207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.784012739 meters 0.021088890457487297 Centerline is valid? [True, True] Translation: X:414.74, Y:-62.33, Z:-8.39 [[ 9.84422020e-01 1.74594433e-01 2.07381584e-02 4.14735530e+02] [-1.74558122e-01 9.84640427e-01 -3.56244095e-03 -6.23305550e+01] [-2.10416116e-02 -1.13068676e-04 9.99778594e-01 -8.38566442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.844012739 meters 0.020651774189920858 Centerline is valid? [True, True] Translation: X:414.79, Y:-62.35, Z:-8.39 [[ 9.84689085e-01 1.73249757e-01 1.92853999e-02 4.14792186e+02] [-1.73218119e-01 9.84877919e-01 -3.31177543e-03 -6.23465534e+01] [-1.95675288e-02 -7.95115793e-05 9.99808534e-01 -8.38956849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.904012739 meters 0.021308361237726798 Centerline is valid? [True, True] Translation: X:414.85, Y:-62.36, Z:-8.39 [[ 9.84342166e-01 1.75200749e-01 1.93700398e-02 4.14849454e+02] [-1.75169228e-01 9.84532723e-01 -3.32537560e-03 -6.23565356e+01] [-1.96530463e-02 -1.19727503e-04 9.99806853e-01 -8.39034036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.964012739 meters 0.023702706783332285 Centerline is valid? [True, True] Translation: X:414.91, Y:-62.36, Z:-8.39 [[ 9.83530376e-01 1.79803371e-01 1.84050823e-02 4.14908024e+02] [-1.79775738e-01 9.83702550e-01 -3.15865473e-03 -6.23606901e+01] [-1.86730631e-02 -2.02154378e-04 9.99825623e-01 -8.39321834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.024012739 meters 0.023891339481809836 Centerline is valid? [True, True] Translation: X:414.97, Y:-62.37, Z:-8.39 [[ 9.83412613e-01 1.80410437e-01 1.87538476e-02 4.14966505e+02] [-1.80381875e-01 9.83591392e-01 -3.21757457e-03 -6.23703049e+01] [-1.90266071e-02 -2.18650779e-04 9.99818954e-01 -8.39435346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.084012739 meters 0.02371111201851725 Centerline is valid? [True, True] Translation: X:415.02, Y:-62.38, Z:-8.39 [[ 9.83487607e-01 1.79618485e-01 2.21207237e-02 4.15023848e+02] [-1.79578575e-01 9.83736317e-01 -3.79391720e-03 -6.23777207e+01] [-2.24424169e-02 -2.41137485e-04 9.99748108e-01 -8.38802589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.144012739 meters 0.020061740979566773 Centerline is valid? [True, True] Translation: X:415.08, Y:-62.40, Z:-8.39 [[ 9.84969669e-01 1.71117886e-01 2.35248685e-02 4.15080029e+02] [-1.71070359e-01 9.85250560e-01 -4.03308726e-03 -6.24012143e+01] [-2.38680232e-02 -5.19390732e-05 9.99715117e-01 -8.38742774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.204012739 meters 0.020346228545657034 Centerline is valid? [True, True] Translation: X:415.14, Y:-62.42, Z:-8.39 [[ 9.85940738e-01 1.65664437e-01 2.18209788e-02 4.15137519e+02] [-1.65622225e-01 9.86182178e-01 -3.74029633e-03 -6.24225815e+01] [-2.21390945e-02 7.36714580e-05 9.99754897e-01 -8.39252287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.264012739 meters 0.02075737105674945 Centerline is valid? [True, True] Translation: X:415.20, Y:-62.44, Z:-8.40 [[ 9.86118564e-01 1.64934521e-01 1.91515264e-02 4.15195091e+02] [-1.64901869e-01 9.86304516e-01 -3.28271785e-03 -6.24360991e+01] [-1.94306705e-02 7.90265194e-05 9.99811204e-01 -8.39753503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.324012739 meters 0.019992990407735327 Centerline is valid? [True, True] Translation: X:415.25, Y:-62.44, Z:-8.40 [[ 9.85321808e-01 1.69535523e-01 1.99659828e-02 4.15254796e+02] [-1.69500972e-01 9.85524077e-01 -3.42259120e-03 -6.24392324e+01] [-2.02572075e-02 -1.18997390e-05 9.99794802e-01 -8.39612113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.384012739 meters 0.021489804372476013 Centerline is valid? [True, True] Translation: X:415.31, Y:-62.44, Z:-8.40 [[ 9.84270057e-01 1.75491648e-01 2.03749058e-02 4.15313157e+02] [-1.75456975e-01 9.84480910e-01 -3.49109742e-03 -6.24382939e+01] [-2.06713642e-02 -1.38736683e-04 9.99786315e-01 -8.39768953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.444012739 meters 0.022569192201249942 Centerline is valid? [True, True] Translation: X:415.37, Y:-62.44, Z:-8.40 [[ 9.83913766e-01 1.77445058e-01 2.06628120e-02 4.15371140e+02] [-1.77409860e-01 9.84130691e-01 -3.53887788e-03 -6.24424557e+01] [-2.09628638e-02 -1.83835927e-04 9.99780238e-01 -8.39885166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.504012739 meters 0.020821046262109035 Centerline is valid? [True, True] Translation: X:415.43, Y:-62.46, Z:-8.40 [[ 9.84631089e-01 1.73346955e-01 2.12709080e-02 4.15427517e+02] [-1.73308726e-01 9.84860814e-01 -3.64172052e-03 -6.24586025e+01] [-2.15801649e-02 -1.00682725e-04 9.99767116e-01 -8.39803999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.564012739 meters 0.02041027763032614 Centerline is valid? [True, True] Translation: X:415.48, Y:-62.49, Z:-8.40 [[ 9.85959719e-01 1.65589882e-01 2.15272698e-02 4.15482953e+02] [-1.65548897e-01 9.86194700e-01 -3.68460861e-03 -6.24856352e+01] [-2.18402133e-02 6.90598925e-05 9.99761472e-01 -8.40036476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.624012739 meters 0.020734591045508816 Centerline is valid? [True, True] Translation: X:415.54, Y:-62.50, Z:-8.40 [[ 9.86181207e-01 1.64125493e-01 2.25709869e-02 4.15539835e+02] [-1.64080066e-01 9.86439462e-01 -3.86271324e-03 -6.25042195e+01] [-2.28988819e-02 1.05886187e-04 9.99737781e-01 -8.39902460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.684012739 meters 0.02075038557067415 Centerline is valid? [True, True] Translation: X:415.60, Y:-62.50, Z:-8.40 [[ 9.84727874e-01 1.72784578e-01 2.13659300e-02 4.15599841e+02] [-1.72745914e-01 9.84959634e-01 -3.65620073e-03 -6.25037517e+01] [-2.16763137e-02 -9.05143378e-05 9.99765037e-01 -8.40282980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.744012739 meters 0.027513567982661476 Centerline is valid? [True, True] Translation: X:415.66, Y:-62.50, Z:-8.41 [[ 9.82680016e-01 1.84207837e-01 2.01856266e-02 4.15661852e+02] [-1.84175750e-01 9.82887261e-01 -3.45332174e-03 -6.24975575e+01] [-2.04763242e-02 -3.24192656e-04 9.99790286e-01 -8.40579465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80401273900003 meters 0.03455623705840168 Centerline is valid? [True, True] Translation: X:415.72, Y:-62.49, Z:-8.41 [[ 9.81354279e-01 1.91258570e-01 1.90771747e-02 4.15722815e+02] [-1.91231244e-01 9.81539587e-01 -3.26347481e-03 -6.24894309e+01] [-1.93491697e-02 -4.45526893e-04 9.99812688e-01 -8.40929225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.864012739 meters 0.031104813628536326 Centerline is valid? [True, True] Translation: X:415.78, Y:-62.50, Z:-8.41 [[ 9.81692989e-01 1.89620283e-01 1.79728611e-02 4.15781347e+02] [-1.89595755e-01 9.81857422e-01 -3.07453445e-03 -6.24987963e+01] [-1.82297811e-02 -3.89329250e-04 9.99833748e-01 -8.41323707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.924012739 meters 0.027959423310062338 Centerline is valid? [True, True] Translation: X:415.84, Y:-62.51, Z:-8.41 [[ 9.82744060e-01 1.83610505e-01 2.23896076e-02 4.15839173e+02] [-1.83570931e-01 9.82999014e-01 -3.82781513e-03 -6.25089136e+01] [-2.27117893e-02 -3.48318530e-04 9.99741993e-01 -8.40685161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.984012739 meters 0.0215810788223288 Centerline is valid? [True, True] Translation: X:415.90, Y:-62.53, Z:-8.41 [[ 9.84441325e-01 1.74492472e-01 2.06798047e-02 4.15895546e+02] [-1.74456711e-01 9.84658500e-01 -3.53480905e-03 -6.25346324e+01] [-2.09793431e-02 -1.27918619e-04 9.99779901e-01 -8.41215917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.044012739 meters 0.02029439058134742 Centerline is valid? [True, True] Translation: X:415.95, Y:-62.56, Z:-8.41 [[ 9.85774103e-01 1.66910269e-01 1.97580500e-02 4.15950850e+02] [-1.66876105e-01 9.85972089e-01 -3.37705158e-03 -6.25554698e+01] [-2.00445504e-02 3.18635668e-05 9.99799087e-01 -8.41462710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.104012739 meters 0.021578979594507868 Centerline is valid? [True, True] Translation: X:416.01, Y:-62.57, Z:-8.42 [[ 9.86527824e-01 1.62405954e-01 1.96763312e-02 4.16007695e+02] [-1.62371199e-01 9.86724020e-01 -3.36194444e-03 -6.25714820e+01] [-1.99611084e-02 1.21782256e-04 9.99800750e-01 -8.41503478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.164012739 meters 0.022582270326259573 Centerline is valid? [True, True] Translation: X:416.07, Y:-62.58, Z:-8.42 [[ 9.86881090e-01 1.60355230e-01 1.87594031e-02 4.16066511e+02] [-1.60323284e-01 9.87059358e-01 -3.20442459e-03 -6.25808725e+01] [-1.90304907e-02 1.54816907e-04 9.99818892e-01 -8.41777791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.224012739 meters 0.02251491629894379 Centerline is valid? [True, True] Translation: X:416.13, Y:-62.59, Z:-8.42 [[ 9.86911345e-01 1.60018045e-01 2.00055588e-02 4.16125912e+02] [-1.59981654e-01 9.87114074e-01 -3.41678438e-03 -6.25865286e+01] [-2.02945158e-02 1.71540874e-04 9.99794030e-01 -8.41735151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.284012739 meters 0.023582371737468147 Centerline is valid? [True, True] Translation: X:416.18, Y:-62.60, Z:-8.41 [[ 9.87173528e-01 1.58087345e-01 2.22893768e-02 4.16184453e+02] [-1.58041692e-01 9.87425104e-01 -3.80625499e-03 -6.25962893e+01] [-2.26108110e-02 2.34783360e-04 9.99744315e-01 -8.41403834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.344012739 meters 0.026185094114887234 Centerline is valid? [True, True] Translation: X:416.24, Y:-62.61, Z:-8.42 [[ 9.87768191e-01 1.54502698e-01 2.10455820e-02 4.16243892e+02] [-1.54461194e-01 9.87992321e-01 -3.59340830e-03 -6.26066890e+01] [-2.13480647e-02 2.98728689e-04 9.99772059e-01 -8.41809151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.404012739 meters 0.03753002582928591 Centerline is valid? [True, True] Translation: X:416.30, Y:-62.64, Z:-8.42 [[ 9.89572646e-01 1.42443382e-01 2.13508992e-02 4.16299244e+02] [-1.42397854e-01 9.89802789e-01 -3.64554783e-03 -6.26386441e+01] [-2.16524637e-02 5.67212190e-04 9.99765397e-01 -8.41855455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.464012739 meters 0.044139334687332284 Centerline is valid? [True, True] Translation: X:416.36, Y:-62.67, Z:-8.42 [[ 9.90448876e-01 1.36371380e-01 2.03438182e-02 4.16356301e+02] [-1.36328762e-01 9.90657560e-01 -3.47373171e-03 -6.26657339e+01] [-2.06274749e-02 6.67106107e-04 9.99787008e-01 -8.42149829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.524012739 meters 0.04469286255192464 Centerline is valid? [True, True] Translation: X:416.42, Y:-62.69, Z:-8.42 [[ 9.90353091e-01 1.37124935e-01 1.99376079e-02 4.16415223e+02] [-1.37084155e-01 9.90553555e-01 -3.40438989e-03 -6.26856905e+01] [-2.02160952e-02 6.38417906e-04 9.99795430e-01 -8.42408545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.584012739 meters 0.0423850485128237 Centerline is valid? [True, True] Translation: X:416.48, Y:-62.70, Z:-8.42 [[ 9.90056109e-01 1.39225995e-01 2.01251995e-02 4.16475496e+02] [-1.39184840e-01 9.90260450e-01 -3.43824639e-03 -6.26964065e+01] [-2.04078824e-02 6.02934172e-04 9.99791556e-01 -8.42481593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.644012739 meters 0.028727150458347627 Centerline is valid? [True, True] Translation: X:416.54, Y:-62.70, Z:-8.43 [[ 9.88068277e-01 1.52996179e-01 1.76988459e-02 4.16536540e+02] [-1.52966546e-01 9.88226740e-01 -3.02410788e-03 -6.26977480e+01] [-1.79531497e-02 2.80693738e-04 9.99838790e-01 -8.42986737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.704012739 meters 0.024036188249055398 Centerline is valid? [True, True] Translation: X:416.60, Y:-62.71, Z:-8.43 [[ 9.87116692e-01 1.58769270e-01 1.98230775e-02 4.16595621e+02] [-1.58733257e-01 9.87315694e-01 -3.38717366e-03 -6.27086605e+01] [-2.01094146e-02 1.96954004e-04 9.99797766e-01 -8.42834378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.764012739 meters 0.025122296615830677 Centerline is valid? [True, True] Translation: X:416.65, Y:-62.73, Z:-8.43 [[ 9.87323026e-01 1.57640786e-01 1.85101583e-02 4.16654304e+02] [-1.57609194e-01 9.87496502e-01 -3.16248638e-03 -6.27306061e+01] [-1.87772534e-02 2.05024492e-04 9.99823671e-01 -8.43188280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.824012739 meters 0.026200095585882533 Centerline is valid? [True, True] Translation: X:416.71, Y:-62.75, Z:-8.43 [[ 9.87467898e-01 1.56759206e-01 1.82675048e-02 4.16713377e+02] [-1.56728260e-01 9.87636827e-01 -3.12242044e-03 -6.27526660e+01] [-1.85311286e-02 2.20255707e-04 9.99828260e-01 -8.43443453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.884012739 meters 0.023193602602292605 Centerline is valid? [True, True] Translation: X:416.77, Y:-62.76, Z:-8.43 [[ 9.87052094e-01 1.58834539e-01 2.23551469e-02 4.16774652e+02] [-1.58788631e-01 9.87305190e-01 -3.82524784e-03 -6.27641030e+01] [-2.26789340e-02 2.25975726e-04 9.99742774e-01 -8.42786817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.944012739 meters 0.02328859450916199 Centerline is valid? [True, True] Translation: X:416.83, Y:-62.78, Z:-8.44 [[ 9.86805381e-01 1.60904873e-01 1.80211569e-02 4.16834891e+02] [-1.60875342e-01 9.86969909e-01 -3.08605721e-03 -6.27761548e+01] [-1.82829012e-02 1.46178085e-04 9.99832843e-01 -8.43743475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.004012739 meters 0.023082221059594066 Centerline is valid? [True, True] Translation: X:416.90, Y:-62.79, Z:-8.44 [[ 9.87022540e-01 1.59527885e-01 1.83673741e-02 4.16895908e+02] [-1.59496916e-01 9.87193407e-01 -3.14824981e-03 -6.27852250e+01] [-1.86343842e-02 1.77854010e-04 9.99826349e-01 -8.43698851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.064012739 meters 0.022770269974600292 Centerline is valid? [True, True] Translation: X:416.96, Y:-62.79, Z:-8.43 [[ 9.86905830e-01 1.60017443e-01 2.02805386e-02 4.16958433e+02] [-1.59979717e-01 9.87114169e-01 -3.47967928e-03 -6.27934417e+01] [-2.05760164e-02 1.89640941e-04 9.99788273e-01 -8.43451165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.124012739 meters 0.02231033291892672 Centerline is valid? [True, True] Translation: X:417.02, Y:-62.80, Z:-8.44 [[ 9.86759298e-01 1.61119938e-01 1.86132679e-02 4.17020173e+02] [-1.61088294e-01 9.86934821e-01 -3.19691556e-03 -6.27999151e+01] [-1.88851691e-02 1.56206582e-04 9.99821647e-01 -8.43987755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.184012739 meters 0.022260106794675997 Centerline is valid? [True, True] Translation: X:417.08, Y:-62.81, Z:-8.44 [[ 9.86879014e-01 1.60491042e-01 1.76758749e-02 4.17080913e+02] [-1.60462354e-01 9.87037284e-01 -3.03871852e-03 -6.28122904e+01] [-1.79344346e-02 1.62535047e-04 9.99839152e-01 -8.44057736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.244012739 meters 0.02135807874269733 Centerline is valid? [True, True] Translation: X:417.14, Y:-62.82, Z:-8.44 [[ 9.86298987e-01 1.63786977e-01 1.97011292e-02 4.17141855e+02] [-1.63751916e-01 9.86495723e-01 -3.39081368e-03 -6.28167399e+01] [-1.99904509e-02 1.18258430e-04 9.99800164e-01 -8.43897640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30401273900003 meters 0.019922380278833935 Centerline is valid? [True, True] Translation: X:417.20, Y:-62.82, Z:-8.44 [[ 9.85484497e-01 1.68371815e-01 2.17080095e-02 4.17203822e+02] [-1.68330277e-01 9.85723557e-01 -3.73989085e-03 -6.28182158e+01] [-2.20277885e-02 3.14892024e-05 9.99757358e-01 -8.43755036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.364012739 meters 0.0201011839932828 Centerline is valid? [True, True] Translation: X:417.27, Y:-62.82, Z:-8.45 [[ 9.85344752e-01 1.69596468e-01 1.82416361e-02 4.17265274e+02] [-1.69567341e-01 9.85513591e-01 -3.14306153e-03 -6.28212209e+01] [-1.85104324e-02 3.81344771e-06 9.99828667e-01 -8.44699125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.424012739 meters 0.020068117006694825 Centerline is valid? [True, True] Translation: X:417.33, Y:-62.83, Z:-8.45 [[ 9.85333131e-01 1.69769589e-01 1.72310190e-02 4.17325518e+02] [-1.69743619e-01 9.85483783e-01 -2.96938911e-03 -6.28294698e+01] [-1.74850018e-02 9.81943934e-07 9.99847126e-01 -8.44837514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.484012739 meters 0.02084407514782709 Centerline is valid? [True, True] Translation: X:417.39, Y:-62.82, Z:-8.45 [[ 9.84604983e-01 1.73906497e-01 1.75942514e-02 4.17385735e+02] [-1.73880077e-01 9.84762167e-01 -3.03213949e-03 -6.28231967e+01] [-1.78534619e-02 -7.38301307e-05 9.99840612e-01 -8.44784653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.544012739 meters 0.023289175656645733 Centerline is valid? [True, True] Translation: X:417.45, Y:-62.81, Z:-8.45 [[ 9.83535100e-01 1.79705641e-01 1.90942270e-02 4.17447031e+02] [-1.79675640e-01 9.83720410e-01 -3.28936850e-03 -6.28143601e+01] [-1.93744989e-02 -1.95558092e-04 9.99812278e-01 -8.44592515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.604012739 meters 0.022627075531121296 Centerline is valid? [True, True] Translation: X:417.51, Y:-62.82, Z:-8.45 [[ 9.83776828e-01 1.78587438e-01 1.70199867e-02 4.17506586e+02] [-1.78563446e-01 9.83924033e-01 -2.93133582e-03 -6.28168417e+01] [-1.72698737e-02 -1.55367219e-04 9.99850853e-01 -8.45101063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.664012739 meters 0.02010050612561629 Centerline is valid? [True, True] Translation: X:417.56, Y:-62.83, Z:-8.45 [[ 9.85048921e-01 1.71267788e-01 1.86002227e-02 4.17564805e+02] [-1.71237846e-01 9.85224514e-01 -3.20250204e-03 -6.28261327e+01] [-1.88738809e-02 -3.04409008e-05 9.99821872e-01 -8.45066767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.724012739 meters 0.02137812746487657 Centerline is valid? [True, True] Translation: X:417.62, Y:-62.84, Z:-8.45 [[ 9.86426938e-01 1.63162052e-01 1.84402108e-02 4.17621967e+02] [-1.63131223e-01 9.86599275e-01 -3.17402285e-03 -6.28417259e+01] [-1.87109787e-02 1.22767509e-04 9.99824927e-01 -8.45138129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.784012739 meters 0.026228487628200476 Centerline is valid? [True, True] Translation: X:417.68, Y:-62.86, Z:-8.46 [[ 9.87810938e-01 1.54757285e-01 1.67252401e-02 4.17679729e+02] [-1.54730730e-01 9.87952487e-01 -2.87816111e-03 -6.28615541e+01] [-1.69691590e-02 2.55170423e-04 9.99855981e-01 -8.45630529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.844012739 meters 0.03331034541520693 Centerline is valid? [True, True] Translation: X:417.74, Y:-62.89, Z:-8.46 [[ 9.88994623e-01 1.47026385e-01 1.65190400e-02 4.17736075e+02] [-1.46999403e-01 9.89132496e-01 -2.84255197e-03 -6.28892893e+01] [-1.67574494e-02 3.82979594e-04 9.99859511e-01 -8.45717715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.904012739 meters 0.034883106752462124 Centerline is valid? [True, True] Translation: X:417.79, Y:-62.91, Z:-8.45 [[ 9.88923188e-01 1.46973782e-01 2.07276534e-02 4.17794187e+02] [-1.46931267e-01 9.89140270e-01 -3.56766264e-03 -6.29087965e+01] [-2.10269096e-02 4.82603931e-04 9.99778794e-01 -8.45068473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.964012739 meters 0.030289719289179926 Centerline is valid? [True, True] Translation: X:417.86, Y:-62.92, Z:-8.46 [[ 9.88441170e-01 1.50381311e-01 1.92227598e-02 4.17855047e+02] [-1.50345368e-01 9.88627997e-01 -3.30973871e-03 -6.29194225e+01] [-1.95018813e-02 3.81429107e-04 9.99809747e-01 -8.45518625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.024012739 meters 0.02713049265958667 Centerline is valid? [True, True] Translation: X:417.92, Y:-62.93, Z:-8.46 [[ 9.87696128e-01 1.55249186e-01 1.88162093e-02 4.17915039e+02] [-1.55215617e-01 9.87875302e-01 -3.24040756e-03 -6.29280144e+01] [-1.90911390e-02 2.79968466e-04 9.99817708e-01 -8.45554150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.084012739 meters 0.023587112890834896 Centerline is valid? [True, True] Translation: X:417.98, Y:-62.93, Z:-8.46 [[ 9.87021605e-01 1.59443527e-01 1.91340785e-02 4.17975314e+02] [-1.59409592e-01 9.87207030e-01 -3.29563135e-03 -6.29337236e+01] [-1.94147639e-02 2.02703697e-04 9.99811495e-01 -8.45572310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.144012739 meters 0.022718421920538513 Centerline is valid? [True, True] Translation: X:418.03, Y:-62.94, Z:-8.46 [[ 9.86736578e-01 1.61492414e-01 1.64659092e-02 4.18033926e+02] [-1.61467568e-01 9.86873944e-01 -2.83615397e-03 -6.29409163e+01] [-1.67077941e-02 1.39826549e-04 9.99860405e-01 -8.46335247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.204012739 meters 0.022531473863352473 Centerline is valid? [True, True] Translation: X:418.09, Y:-62.95, Z:-8.46 [[ 9.86675559e-01 1.61663839e-01 1.83342155e-02 4.18092234e+02] [-1.61633073e-01 9.86845874e-01 -3.15750442e-03 -6.29511786e+01] [-1.86034992e-02 1.52016848e-04 9.99826928e-01 -8.46069540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.264012739 meters 0.021905057778014138 Centerline is valid? [True, True] Translation: X:418.15, Y:-62.96, Z:-8.47 [[ 9.86432103e-01 1.63323207e-01 1.66504200e-02 4.18151850e+02] [-1.63298078e-01 9.86572612e-01 -2.86697932e-03 -6.29566774e+01] [-1.68950926e-02 1.09098839e-04 9.99857262e-01 -8.46562398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.324012739 meters 0.02104008748423841 Centerline is valid? [True, True] Translation: X:418.21, Y:-62.96, Z:-8.46 [[ 9.86352109e-01 1.63611020e-01 1.84648581e-02 4.18211388e+02] [-1.63580174e-01 9.86524922e-01 -3.17893921e-03 -6.29629866e+01] [-1.87361522e-02 1.15068680e-04 9.99824456e-01 -8.46257022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.384012739 meters 0.022449352375424777 Centerline is valid? [True, True] Translation: X:418.27, Y:-62.98, Z:-8.47 [[ 9.86585106e-01 1.62288494e-01 1.76712696e-02 4.18269865e+02] [-1.62260040e-01 9.86743344e-01 -3.04181793e-03 -6.29751514e+01] [-1.79306597e-02 1.33671364e-04 9.99839224e-01 -8.46501138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.444012739 meters 0.022757118944981187 Centerline is valid? [True, True] Translation: X:418.33, Y:-62.98, Z:-8.46 [[ 9.86679568e-01 1.61654211e-01 1.82029176e-02 4.18328799e+02] [-1.61623906e-01 9.86847452e-01 -3.13361788e-03 -6.29814670e+01] [-1.84700654e-02 1.49850103e-04 9.99829403e-01 -8.46494057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.504012739 meters 0.02411780323626685 Centerline is valid? [True, True] Translation: X:418.39, Y:-62.99, Z:-8.46 [[ 9.86956905e-01 1.59677814e-01 2.04710412e-02 4.18386935e+02] [-1.59639080e-01 9.87169161e-01 -3.52306867e-03 -6.29935751e+01] [-2.07709364e-02 2.09138767e-04 9.99784239e-01 -8.46139765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.564012739 meters 0.024933838832332543 Centerline is valid? [True, True] Translation: X:418.45, Y:-63.01, Z:-8.46 [[ 9.87609388e-01 1.55537235e-01 2.08773809e-02 4.18446807e+02] [-1.55496041e-01 9.87829984e-01 -3.59212517e-03 -6.30061558e+01] [-2.11820121e-02 3.01266457e-04 9.99775591e-01 -8.46140749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.624012739 meters 0.027213867434673928 Centerline is valid? [True, True] Translation: X:418.51, Y:-63.02, Z:-8.47 [[ 9.88062688e-01 1.52982175e-01 1.81267491e-02 4.18507700e+02] [-1.52950690e-01 9.88228900e-01 -3.11894060e-03 -6.30199855e+01] [-1.83905196e-02 3.09210044e-04 9.99830832e-01 -8.46753828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.684012739 meters 0.02976384271969817 Centerline is valid? [True, True] Translation: X:418.57, Y:-63.04, Z:-8.47 [[ 9.88274663e-01 1.51488447e-01 1.90903570e-02 4.18566013e+02] [-1.51453177e-01 9.88458963e-01 -3.28833685e-03 -6.30356385e+01] [-1.93681796e-02 3.58484772e-04 9.99812355e-01 -8.46613972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.744012739 meters 0.035308253501532105 Centerline is valid? [True, True] Translation: X:418.62, Y:-63.06, Z:-8.47 [[ 9.89341850e-01 1.44186937e-01 2.03182589e-02 4.18623816e+02] [-1.44145421e-01 9.89550323e-01 -3.50094240e-03 -6.30603352e+01] [-2.06107298e-02 5.34844859e-04 9.99787433e-01 -8.46508680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80401273900003 meters 0.04298347105536714 Centerline is valid? [True, True] Translation: X:418.68, Y:-63.10, Z:-8.47 [[ 9.90312209e-01 1.37457588e-01 1.96759022e-02 4.18678072e+02] [-1.37417321e-01 9.90507438e-01 -3.39055574e-03 -6.30951459e+01] [-1.99551851e-02 6.53898962e-04 9.99800662e-01 -8.46670256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.864012739 meters 0.037593792870883845 Centerline is valid? [True, True] Translation: X:418.74, Y:-63.11, Z:-8.47 [[ 9.89513955e-01 1.43222597e-01 1.86927884e-02 4.18737419e+02] [-1.43187285e-01 9.89690369e-01 -3.22095465e-03 -6.31075297e+01] [-1.89613862e-02 5.10609953e-04 9.99820086e-01 -8.46927569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.924012739 meters 0.028222561394484428 Centerline is valid? [True, True] Translation: X:418.80, Y:-63.11, Z:-8.47 [[ 9.87951393e-01 1.53789266e-01 1.73466884e-02 4.18799288e+02] [-1.53760482e-01 9.88103628e-01 -2.98901502e-03 -6.31079723e+01] [-1.76000042e-02 2.85766384e-04 9.99845067e-01 -8.47263546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.984012739 meters 0.02171732156666367 Centerline is valid? [True, True] Translation: X:418.86, Y:-63.11, Z:-8.47 [[ 9.86435999e-01 1.63110590e-01 1.84107512e-02 4.18860529e+02] [-1.63079783e-01 9.86607784e-01 -3.17259321e-03 -6.31086177e+01] [-1.86816740e-02 1.27138842e-04 9.99825474e-01 -8.47209042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.044012739 meters 0.02006069204335209 Centerline is valid? [True, True] Translation: X:418.92, Y:-63.11, Z:-8.48 [[ 9.85426804e-01 1.69156922e-01 1.78871536e-02 4.18921543e+02] [-1.69128836e-01 9.85589131e-01 -3.08241750e-03 -6.31050427e+01] [-1.81507965e-02 1.22633587e-05 9.99835261e-01 -8.47513446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.104012739 meters 0.019832625064401987 Centerline is valid? [True, True] Translation: X:418.98, Y:-63.11, Z:-8.47 [[ 9.85154965e-01 1.70540769e-01 1.96351764e-02 4.18980842e+02] [-1.70507209e-01 9.85350621e-01 -3.38315265e-03 -6.31134145e+01] [-1.99244987e-02 -1.50095027e-05 9.99801487e-01 -8.47221450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.164012739 meters 0.020172336051459898 Centerline is valid? [True, True] Translation: X:419.04, Y:-63.13, Z:-8.48 [[ 9.85706083e-01 1.67435498e-01 1.86781299e-02 4.19039726e+02] [-1.67404582e-01 9.85883032e-01 -3.21776248e-03 -6.31286869e+01] [-1.89532189e-02 4.49635276e-05 9.99820371e-01 -8.47633676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.224012739 meters 0.020722505316361897 Centerline is valid? [True, True] Translation: X:419.10, Y:-63.15, Z:-8.48 [[ 9.86075208e-01 1.65290152e-01 1.82989129e-02 4.19098777e+02] [-1.65260105e-01 9.86244979e-01 -3.15262828e-03 -6.31475074e+01] [-1.85683094e-02 8.46483088e-05 9.99827590e-01 -8.47736393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.284012739 meters 0.02017447307664864 Centerline is valid? [True, True] Translation: X:419.16, Y:-63.15, Z:-8.48 [[ 9.85376278e-01 1.69433616e-01 1.80510452e-02 4.19159088e+02] [-1.69405064e-01 9.85541602e-01 -3.11040313e-03 -6.31528320e+01] [-1.83170629e-02 6.97899700e-06 9.99832229e-01 -8.47887903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.344012739 meters 0.023711548048252564 Centerline is valid? [True, True] Translation: X:419.22, Y:-63.14, Z:-8.48 [[ 9.83584714e-01 1.79505915e-01 1.84047818e-02 4.19219517e+02] [-1.79477991e-01 9.83756877e-01 -3.17146141e-03 -6.31426448e+01] [-1.86751268e-02 -1.83852308e-04 9.99825588e-01 -8.47942291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.404012739 meters 0.02473402626741697 Centerline is valid? [True, True] Translation: X:419.28, Y:-63.15, Z:-8.48 [[ 9.83053034e-01 1.82282449e-01 1.94895196e-02 4.19278214e+02] [-1.82251706e-01 9.83246177e-01 -3.35713281e-03 -6.31461893e+01] [-1.97749420e-02 -2.51758602e-04 9.99804425e-01 -8.47930842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.464012739 meters 0.022057646595913544 Centerline is valid? [True, True] Translation: X:419.34, Y:-63.16, Z:-8.48 [[ 9.83875620e-01 1.77797547e-01 1.94112695e-02 4.19335837e+02] [-1.77766195e-01 9.84067074e-01 -3.34268754e-03 -6.31618438e+01] [-1.96963128e-02 -1.61878753e-04 9.99805996e-01 -8.48119345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.524012739 meters 0.02037122517392092 Centerline is valid? [True, True] Translation: X:419.39, Y:-63.19, Z:-8.48 [[ 9.85629785e-01 1.67908878e-01 1.84535876e-02 4.19393806e+02] [-1.67878822e-01 9.85802520e-01 -3.17700712e-03 -6.31863214e+01] [-1.87250409e-02 3.33862934e-05 9.99824670e-01 -8.48389927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.584012739 meters 0.021330926853436714 Centerline is valid? [True, True] Translation: X:419.45, Y:-63.20, Z:-8.49 [[ 9.86221697e-01 1.64652607e-01 1.60088426e-02 4.19453840e+02] [-1.64629514e-01 9.86351617e-01 -2.75886721e-03 -6.32013143e+01] [-1.62446025e-02 8.53267310e-05 9.99868044e-01 -8.48842395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.644012739 meters 0.020768712589359136 Centerline is valid? [True, True] Translation: X:419.51, Y:-63.22, Z:-8.48 [[ 9.86041507e-01 1.65471000e-01 1.84795673e-02 4.19512605e+02] [-1.65440362e-01 9.86214653e-01 -3.18522294e-03 -6.32150932e+01] [-1.87518820e-02 8.34957396e-05 9.99824165e-01 -8.48393346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.704012739 meters 0.02041072632503006 Centerline is valid? [True, True] Translation: X:419.57, Y:-63.23, Z:-8.48 [[ 9.85738559e-01 1.67131293e-01 1.96627662e-02 4.19571987e+02] [-1.67096936e-01 9.85934647e-01 -3.38915209e-03 -6.32301193e+01] [-1.99526358e-02 5.52299197e-05 9.99800925e-01 -8.48270645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.764012739 meters 0.02031776655636251 Centerline is valid? [True, True] Translation: X:419.63, Y:-63.24, Z:-8.48 [[ 9.84893753e-01 1.72016603e-01 1.98641450e-02 4.19632220e+02] [-1.71982520e-01 9.85094050e-01 -3.42436714e-03 -6.32375850e+01] [-2.01570990e-02 -4.36479150e-05 9.99796824e-01 -8.48478510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.824012739 meters 0.02287320883926783 Centerline is valid? [True, True] Translation: X:419.69, Y:-63.24, Z:-8.49 [[ 9.83734678e-01 1.78683858e-01 1.83891801e-02 4.19692030e+02] [-1.78655807e-01 9.83906526e-01 -3.17037181e-03 -6.32404561e+01] [-1.86597286e-02 -1.66529123e-04 9.99825878e-01 -8.48777346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.884012739 meters 0.026233398120494796 Centerline is valid? [True, True] Translation: X:419.75, Y:-63.24, Z:-8.49 [[ 9.82850635e-01 1.83486382e-01 1.83678120e-02 4.19752417e+02] [-1.83459243e-01 9.83022218e-01 -3.16624776e-03 -6.32414710e+01] [-1.86369307e-02 -2.57796270e-04 9.99826284e-01 -8.48826274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.944012739 meters 0.027225488837853255 Centerline is valid? [True, True] Translation: X:419.81, Y:-63.25, Z:-8.49 [[ 9.82524855e-01 1.85180809e-01 1.87877028e-02 4.19811429e+02] [-1.85152733e-01 9.82704421e-01 -3.23820663e-03 -6.32451500e+01] [-1.90624123e-02 -2.96976015e-04 9.99818252e-01 -8.49030104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.004012739 meters 0.02732086987482657 Centerline is valid? [True, True] Translation: X:419.87, Y:-63.25, Z:-8.49 [[ 9.82396352e-01 1.85790089e-01 1.94795085e-02 4.19870166e+02] [-1.85760045e-01 9.82589406e-01 -3.35648433e-03 -6.32479812e+01] [-1.97639602e-02 -3.21116404e-04 9.99804622e-01 -8.48907313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.064012739 meters 0.02890168869652502 Centerline is valid? [True, True] Translation: X:419.93, Y:-63.25, Z:-8.49 [[ 9.81788566e-01 1.88898372e-01 2.02142514e-02 4.19930924e+02] [-1.88866706e-01 9.81996561e-01 -3.48168573e-03 -6.32471572e+01] [-2.05080102e-02 -3.99519842e-04 9.99789609e-01 -8.48920882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.124012739 meters 0.03289686644260591 Centerline is valid? [True, True] Translation: X:419.99, Y:-63.24, Z:-8.49 [[ 9.81188714e-01 1.92038233e-01 1.97490307e-02 4.19991901e+02] [-1.92008653e-01 9.81387339e-01 -3.40108212e-03 -6.32362794e+01] [-2.00345865e-02 -4.54881392e-04 9.99799184e-01 -8.49047464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.184012739 meters 0.02784046552630896 Centerline is valid? [True, True] Translation: X:420.05, Y:-63.25, Z:-8.49 [[ 9.82396031e-01 1.85774295e-01 1.96456009e-02 4.20051031e+02] [-1.85743789e-01 9.82592390e-01 -3.38232500e-03 -6.32459980e+01] [-1.99319670e-02 -3.26265697e-04 9.99801285e-01 -8.49261722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.244012739 meters 0.02177986061901537 Centerline is valid? [True, True] Translation: X:420.11, Y:-63.26, Z:-8.50 [[ 9.84231001e-01 1.76064315e-01 1.70497220e-02 4.20108858e+02] [-1.76039881e-01 9.84378659e-01 -2.93526548e-03 -6.32605788e+01] [-1.73001780e-02 -1.12451752e-04 9.99850334e-01 -8.49729009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30401273900003 meters 0.020556334069731265 Centerline is valid? [True, True] Translation: X:420.17, Y:-63.27, Z:-8.50 [[ 9.85252145e-01 1.70238743e-01 1.72331133e-02 4.20166792e+02] [-1.70212896e-01 9.85402847e-01 -2.96648816e-03 -6.32708979e+01] [-1.74865701e-02 -1.05592875e-05 9.99847098e-01 -8.49853670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.364012739 meters 0.020266294687076462 Centerline is valid? [True, True] Translation: X:420.23, Y:-63.28, Z:-8.49 [[ 9.85442755e-01 1.68819955e-01 2.00598961e-02 4.20225048e+02] [-1.68784661e-01 9.85646906e-01 -3.45194026e-03 -6.32772146e+01] [-2.03547309e-02 1.58867654e-05 9.99792821e-01 -8.49391994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.424012739 meters 0.020938827703865383 Centerline is valid? [True, True] Translation: X:420.28, Y:-63.29, Z:-8.49 [[ 9.86186135e-01 1.64298010e-01 2.10492328e-02 4.20282440e+02] [-1.64258140e-01 9.86410742e-01 -3.62111045e-03 -6.32924944e+01] [-2.13581306e-02 1.13581088e-04 9.99771883e-01 -8.49228999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.484012739 meters 0.02250615579018834 Centerline is valid? [True, True] Translation: X:420.34, Y:-63.31, Z:-8.49 [[ 9.86804986e-01 1.60097413e-01 2.41813747e-02 4.20339515e+02] [-1.60043561e-01 9.87101192e-01 -4.15872038e-03 -6.33148496e+01] [-2.45352641e-02 2.33772698e-04 9.99698938e-01 -8.48803529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.544012739 meters 0.022587196740961945 Centerline is valid? [True, True] Translation: X:420.40, Y:-63.33, Z:-8.50 [[ 9.86801248e-01 1.60700885e-01 1.99630220e-02 4.20397551e+02] [-1.60664316e-01 9.87003137e-01 -3.43283882e-03 -6.33275431e+01] [-2.02552256e-02 1.80184351e-04 9.99794826e-01 -8.49648194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.604012739 meters 0.021414101337656942 Centerline is valid? [True, True] Translation: X:420.46, Y:-63.34, Z:-8.50 [[ 9.86437666e-01 1.62942953e-01 1.97566508e-02 4.20455780e+02] [-1.62907580e-01 9.86635483e-01 -3.39766313e-03 -6.33421104e+01] [-2.00462379e-02 1.33074729e-04 9.99799045e-01 -8.49750706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.664012739 meters 0.020691759285977076 Centerline is valid? [True, True] Translation: X:420.51, Y:-63.35, Z:-8.50 [[ 9.86049858e-01 1.65390969e-01 1.87484751e-02 4.20514652e+02] [-1.65359564e-01 9.86228078e-01 -3.22385735e-03 -6.33539678e+01] [-1.90234694e-02 7.86444130e-05 9.99819034e-01 -8.50226535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.724012739 meters 0.020324722784474718 Centerline is valid? [True, True] Translation: X:420.57, Y:-63.37, Z:-8.51 [[ 9.85688461e-01 1.67682331e-01 1.73462994e-02 4.20572950e+02] [-1.67655810e-01 9.85841080e-01 -2.98236986e-03 -6.33659873e+01] [-1.76007852e-02 3.14796909e-05 9.99845094e-01 -8.50551655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.784012739 meters 0.020505569981231184 Centerline is valid? [True, True] Translation: X:420.63, Y:-63.38, Z:-8.51 [[ 9.84889244e-01 1.72297447e-01 1.75147407e-02 4.20630578e+02] [-1.72271144e-01 9.85044967e-01 -3.01097422e-03 -6.33757887e+01] [-1.77715903e-02 -5.18082950e-05 9.99842071e-01 -8.50651272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.844012739 meters 0.022966901624557525 Centerline is valid? [True, True] Translation: X:420.69, Y:-63.38, Z:-8.51 [[ 9.83930945e-01 1.77776322e-01 1.65974026e-02 4.20688866e+02] [-1.77753493e-01 9.84070911e-01 -2.85256100e-03 -6.33797377e+01] [-1.68401389e-02 -1.43523243e-04 9.99858185e-01 -8.50948744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.904012739 meters 0.02412153012184499 Centerline is valid? [True, True] Translation: X:420.75, Y:-63.39, Z:-8.50 [[ 9.83354609e-01 1.80375657e-01 2.18708984e-02 4.20747533e+02] [-1.80336694e-01 9.83597763e-01 -3.75721773e-03 -6.33887127e+01] [-2.21898774e-02 -2.49448145e-04 9.99753743e-01 -8.50024867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.964012739 meters 0.024098799822622724 Centerline is valid? [True, True] Translation: X:420.80, Y:-63.40, Z:-8.50 [[ 9.83376805e-01 1.80362594e-01 2.09617280e-02 4.20804918e+02] [-1.80326820e-01 9.83600161e-01 -3.60007807e-03 -6.34007812e+01] [-2.12672784e-02 -2.39728479e-04 9.99773797e-01 -8.50441414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.024012739 meters 0.025028758198056746 Centerline is valid? [True, True] Translation: X:420.86, Y:-63.41, Z:-8.51 [[ 9.83197299e-01 1.81482925e-01 1.96728242e-02 4.20861410e+02] [-1.81451657e-01 9.83394065e-01 -3.37784217e-03 -6.34108448e+01] [-1.99591592e-02 -2.48581261e-04 9.99800765e-01 -8.50790997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.084012739 meters 0.028520928201225697 Centerline is valid? [True, True] Translation: X:420.92, Y:-63.42, Z:-8.51 [[ 9.82582484e-01 1.85004220e-01 1.74671630e-02 4.20920183e+02] [-1.84980146e-01 9.82737685e-01 -2.99804838e-03 -6.34168541e+01] [-1.77202909e-02 -2.85248534e-04 9.99842943e-01 -8.51242663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.144012739 meters 0.02835747217509283 Centerline is valid? [True, True] Translation: X:420.98, Y:-63.43, Z:-8.51 [[ 9.82255037e-01 1.86695124e-01 1.78877661e-02 4.20977625e+02] [-1.86670167e-01 9.82417847e-01 -3.06965736e-03 -6.34272465e+01] [-1.81463508e-02 -3.23925895e-04 9.99835289e-01 -8.51286682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.204012739 meters 0.028447583092835328 Centerline is valid? [True, True] Translation: X:421.04, Y:-63.44, Z:-8.51 [[ 9.82218895e-01 1.86756823e-01 1.91815630e-02 4.21035502e+02] [-1.86728162e-01 9.82406111e-01 -3.29040056e-03 -6.34380706e+01] [-1.94585894e-02 -3.49844396e-04 9.99810603e-01 -8.51075906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.264012739 meters 0.030450932130372546 Centerline is valid? [True, True] Translation: X:421.09, Y:-63.44, Z:-8.51 [[ 9.81874004e-01 1.88582088e-01 1.89798890e-02 4.21093002e+02] [-1.88554385e-01 9.82057355e-01 -3.25490588e-03 -6.34441471e+01] [-1.92531566e-02 -3.82833830e-04 9.99814568e-01 -8.51159482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.324012739 meters 0.03561154926919907 Centerline is valid? [True, True] Translation: X:421.15, Y:-63.44, Z:-8.51 [[ 9.80851129e-01 1.93945910e-01 1.77777255e-02 4.21154665e+02] [-1.93922505e-01 9.81012117e-01 -3.04761013e-03 -6.34425926e+01] [-1.80312357e-02 -4.58249242e-04 9.99837319e-01 -8.51457931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.384012739 meters 0.04432920796429976 Centerline is valid? [True, True] Translation: X:421.22, Y:-63.43, Z:-8.52 [[ 9.79294462e-01 2.01651048e-01 1.78665071e-02 4.21216923e+02] [-2.01628687e-01 9.79457243e-01 -3.06285546e-03 -6.34329517e+01] [-1.81171078e-02 -6.02962979e-04 9.99835690e-01 -8.51503729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.444012739 meters 0.047970577172706065 Centerline is valid? [True, True] Translation: X:421.28, Y:-63.43, Z:-8.52 [[ 9.78591269e-01 2.05011095e-01 1.81543260e-02 4.21278984e+02] [-2.04988589e-01 9.78759416e-01 -3.11196764e-03 -6.34300551e+01] [-1.84067054e-02 -6.76085308e-04 9.99830354e-01 -8.51702687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.504012739 meters 0.054114523871724315 Centerline is valid? [True, True] Translation: X:421.34, Y:-63.42, Z:-8.51 [[ 9.78178431e-01 2.06692063e-01 2.11032894e-02 4.21340598e+02] [-2.06662043e-01 9.78405700e-01 -3.61743882e-03 -6.34174097e+01] [-2.13952745e-02 -8.22748267e-04 9.99770756e-01 -8.51109529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.564012739 meters 0.04944446214153896 Centerline is valid? [True, True] Translation: X:421.40, Y:-63.42, Z:-8.51 [[ 9.78589650e-01 2.04784242e-01 2.06327869e-02 4.21399732e+02] [-2.04755137e-01 9.78806840e-01 -3.53608348e-03 -6.34211021e+01] [-2.09196471e-02 -7.64294417e-04 9.99780868e-01 -8.51438911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.624012739 meters 0.04166200504364012 Centerline is valid? [True, True] Translation: X:421.46, Y:-63.43, Z:-8.52 [[ 9.79630301e-01 1.99847947e-01 1.96283433e-02 4.21459237e+02] [-1.99820634e-01 9.79826721e-01 -3.36307599e-03 -6.34311595e+01] [-1.99044791e-02 -6.27576859e-04 9.99801689e-01 -8.51824766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.684012739 meters 0.03784535453085412 Centerline is valid? [True, True] Translation: X:421.52, Y:-63.44, Z:-8.52 [[ 9.80958652e-01 1.93181606e-01 2.00247188e-02 4.21518455e+02] [-1.93151791e-01 9.81162889e-01 -3.43084758e-03 -6.34377016e+01] [-2.03102876e-02 -5.02290694e-04 9.99793599e-01 -8.51874701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.744012739 meters 0.030686470913464433 Centerline is valid? [True, True] Translation: X:421.58, Y:-63.45, Z:-8.52 [[ 9.82388050e-01 1.85781875e-01 1.99703155e-02 4.21575862e+02] [-1.85750698e-01 9.82590949e-01 -3.42122572e-03 -6.34540602e+01] [-2.02582530e-02 -3.48528772e-04 9.99794720e-01 -8.52189555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80401273900003 meters 0.0268507859252809 Centerline is valid? [True, True] Translation: X:421.63, Y:-63.47, Z:-8.53 [[ 9.83249653e-01 1.81403493e-01 1.76887683e-02 4.21631925e+02] [-1.81378327e-01 9.83408725e-01 -3.03020686e-03 -6.34711109e+01] [-1.79449792e-02 -2.28909371e-04 9.99838950e-01 -8.52713576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.864012739 meters 0.025045802922591627 Centerline is valid? [True, True] Translation: X:421.69, Y:-63.49, Z:-8.53 [[ 9.83643420e-01 1.79200592e-01 1.82419632e-02 4.21688836e+02] [-1.79173464e-01 9.83812538e-01 -3.12413731e-03 -6.34886373e+01] [-1.85065193e-02 -1.95438626e-04 9.99828721e-01 -8.52768014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.924012739 meters 0.022786052876363153 Centerline is valid? [True, True] Translation: X:421.75, Y:-63.51, Z:-8.53 [[ 9.84064346e-01 1.76731556e-01 1.95785707e-02 4.21745923e+02] [-1.76699836e-01 9.84259077e-01 -3.35212315e-03 -6.35063182e+01] [-1.98628118e-02 -1.60825344e-04 9.99802702e-01 -8.52590667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.984012739 meters 0.0223557132283374 Centerline is valid? [True, True] Translation: X:421.80, Y:-63.52, Z:-8.53 [[ 9.84198887e-01 1.75974698e-01 1.96330346e-02 4.21802834e+02] [-1.75942668e-01 9.84394679e-01 -3.36055083e-03 -6.35202527e+01] [-1.99180267e-02 -1.46838109e-04 9.99801606e-01 -8.52571358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.044012739 meters 0.021352895028939785 Centerline is valid? [True, True] Translation: X:421.86, Y:-63.53, Z:-8.53 [[ 9.84636748e-01 1.73455080e-01 2.00950329e-02 4.21859663e+02] [-1.73421019e-01 9.84841777e-01 -3.43870354e-03 -6.35334808e+01] [-2.03868885e-02 -9.90272005e-05 9.99792161e-01 -8.52607302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.104012739 meters 0.020473562881281097 Centerline is valid? [True, True] Translation: X:421.92, Y:-63.55, Z:-8.53 [[ 9.84779990e-01 1.72561678e-01 2.07566520e-02 4.21916427e+02] [-1.72525164e-01 9.84998711e-01 -3.55072729e-03 -6.35509172e+01] [-2.10579949e-02 -8.43595948e-05 9.99778252e-01 -8.52606959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.164012739 meters 0.020939592584287632 Centerline is valid? [True, True] Translation: X:421.97, Y:-63.56, Z:-8.53 [[ 9.84577883e-01 1.73671083e-01 2.10890444e-02 4.21973436e+02] [-1.73633667e-01 9.84803708e-01 -3.60650365e-03 -6.35589825e+01] [-2.13949145e-02 -1.10884391e-04 9.99771096e-01 -8.52594318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.224012739 meters 0.022044519960353632 Centerline is valid? [True, True] Translation: X:422.03, Y:-63.57, Z:-8.53 [[ 9.84298046e-01 1.75589398e-01 1.80476991e-02 4.22030673e+02] [-1.75562337e-01 9.84463481e-01 -3.08544715e-03 -6.35661942e+01] [-1.83090725e-02 -1.31496630e-04 9.99832366e-01 -8.53246959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.284012739 meters 0.022566648772740523 Centerline is valid? [True, True] Translation: X:422.09, Y:-63.57, Z:-8.53 [[ 9.84126303e-01 1.76557910e-01 1.79645469e-02 4.22089475e+02] [-1.76531279e-01 9.84290243e-01 -3.07014689e-03 -6.35737238e+01] [-1.82243869e-02 -1.49892126e-04 9.99833911e-01 -8.53383062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.344012739 meters 0.02306213638923759 Centerline is valid? [True, True] Translation: X:422.15, Y:-63.58, Z:-8.53 [[ 9.83865332e-01 1.77990436e-01 1.81221788e-02 4.22148502e+02] [-1.77963594e-01 9.84032201e-01 -3.09622667e-03 -6.35794964e+01] [-1.83839062e-02 -1.78817983e-04 9.99830986e-01 -8.53463103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.404012739 meters 0.02262585959482345 Centerline is valid? [True, True] Translation: X:422.21, Y:-63.58, Z:-8.53 [[ 9.83958610e-01 1.77391643e-01 1.89118894e-02 4.22207254e+02] [-1.77362318e-01 9.84140322e-01 -3.23018156e-03 -6.35848512e+01] [-1.91849601e-02 -1.75891574e-04 9.99815936e-01 -8.53367342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.464012739 meters 0.021010920475253346 Centerline is valid? [True, True] Translation: X:422.26, Y:-63.60, Z:-8.53 [[ 9.84635807e-01 1.73458263e-01 2.01136408e-02 4.22263940e+02] [-1.73424293e-01 9.84841215e-01 -3.43439251e-03 -6.35958791e+01] [-2.04044662e-02 -1.06568084e-04 9.99791802e-01 -8.53303446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.524012739 meters 0.021236630431635335 Centerline is valid? [True, True] Translation: X:422.32, Y:-63.60, Z:-8.54 [[ 9.84675386e-01 1.73537082e-01 1.72993056e-02 4.22322667e+02] [-1.73511982e-01 9.84827331e-01 -2.95293424e-03 -6.36035273e+01] [-1.75492725e-02 -9.39551433e-05 9.99845995e-01 -8.53855563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.584012739 meters 0.023550537027578325 Centerline is valid? [True, True] Translation: X:422.38, Y:-63.60, Z:-8.54 [[ 9.83731147e-01 1.78686800e-01 1.85487761e-02 4.22382937e+02] [-1.78658875e-01 9.83905985e-01 -3.16524813e-03 -6.35990234e+01] [-1.88158399e-02 -2.00150305e-04 9.99822946e-01 -8.53645432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.644012739 meters 0.031058212641255616 Centerline is valid? [True, True] Translation: X:422.44, Y:-63.59, Z:-8.54 [[ 9.82892236e-01 1.83093208e-01 1.99932297e-02 4.22444216e+02] [-1.83061696e-01 9.83095510e-01 -3.41069563e-03 -6.35862590e+01] [-2.02797295e-02 -3.07648284e-04 9.99794298e-01 -8.53507283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.704012739 meters 0.023596877831674242 Centerline is valid? [True, True] Translation: X:422.50, Y:-63.61, Z:-8.54 [[ 9.83676298e-01 1.78736753e-01 2.08353876e-02 4.22500510e+02] [-1.78701576e-01 9.83896906e-01 -3.55324490e-03 -6.36051336e+01] [-2.11349688e-02 -2.28073823e-04 9.99776606e-01 -8.53563016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.764012739 meters 0.019899978548585957 Centerline is valid? [True, True] Translation: X:422.56, Y:-63.62, Z:-8.54 [[ 9.85284522e-01 1.69843911e-01 1.91691312e-02 4.22556804e+02] [-1.69812467e-01 9.85470976e-01 -3.26824813e-03 -6.36230828e+01] [-1.94457145e-02 -3.50031635e-05 9.99810914e-01 -8.53919164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.824012739 meters 0.020035763461195556 Centerline is valid? [True, True] Translation: X:422.61, Y:-63.64, Z:-8.54 [[ 9.86138968e-01 1.64638642e-01 2.05925635e-02 4.22612881e+02] [-1.64601240e-01 9.86353949e-01 -3.50986790e-03 -6.36404715e+01] [-2.08894162e-02 7.16560195e-05 9.99781790e-01 -8.53712264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.884012739 meters 0.01959799303099443 Centerline is valid? [True, True] Translation: X:422.67, Y:-63.64, Z:-8.54 [[ 9.85503359e-01 1.68392452e-01 2.06666860e-02 4.22672109e+02] [-1.68355631e-01 9.85720032e-01 -3.52127531e-03 -6.36401463e+01] [-2.09645226e-02 -9.12433622e-06 9.99780220e-01 -8.53705889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.944012739 meters 0.021570471689942236 Centerline is valid? [True, True] Translation: X:422.73, Y:-63.64, Z:-8.54 [[ 9.84268780e-01 1.75622895e-01 1.92760993e-02 4.22732176e+02] [-1.75592264e-01 9.84457503e-01 -3.28351942e-03 -6.36365310e+01] [-1.95531617e-02 -1.52868251e-04 9.99808807e-01 -8.54275965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.004012739 meters 0.02216053620877457 Centerline is valid? [True, True] Translation: X:422.79, Y:-63.64, Z:-8.54 [[ 9.84164873e-01 1.76219061e-01 1.91401744e-02 4.22790197e+02] [-1.76188991e-01 9.84350962e-01 -3.25944404e-03 -6.36402990e+01] [-1.94150253e-02 -1.64457692e-04 9.99811497e-01 -8.54323067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.064012739 meters 0.020454398925676253 Centerline is valid? [True, True] Translation: X:422.85, Y:-63.65, Z:-8.54 [[ 9.84666218e-01 1.73359651e-01 1.94645905e-02 4.22847739e+02] [-1.73328018e-01 9.84858578e-01 -3.31347225e-03 -6.36520888e+01] [-1.97442913e-02 -1.11094693e-04 9.99805056e-01 -8.54435262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.124012739 meters 0.01944226943279438 Centerline is valid? [True, True] Translation: X:422.90, Y:-63.67, Z:-8.54 [[ 9.85592597e-01 1.67860739e-01 2.07365535e-02 4.22903527e+02] [-1.67823642e-01 9.85810718e-01 -3.52889136e-03 -6.36664549e+01] [-2.10346790e-02 -2.03472430e-06 9.99778747e-01 -8.54322361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.184012739 meters 0.01964997631731052 Centerline is valid? [True, True] Translation: X:422.96, Y:-63.68, Z:-8.54 [[ 9.86147333e-01 1.64592324e-01 2.05622209e-02 4.22960456e+02] [-1.64555163e-01 9.86361679e-01 -3.49797677e-03 -6.36830094e+01] [-2.08575269e-02 6.59008564e-05 9.99782456e-01 -8.54404303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.244012739 meters 0.019517684830226804 Centerline is valid? [True, True] Translation: X:423.02, Y:-63.69, Z:-8.54 [[ 9.86062971e-01 1.64868802e-01 2.23180556e-02 4.23018363e+02] [-1.64825121e-01 9.86315504e-01 -3.79544438e-03 -6.36896618e+01] [-2.26383947e-02 6.39709392e-05 9.99743717e-01 -8.54221923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30401273900003 meters 0.019961398057200163 Centerline is valid? [True, True] Translation: X:423.07, Y:-63.70, Z:-8.55 [[ 9.86350392e-01 1.63420273e-01 2.01672825e-02 4.23074452e+02] [-1.63384331e-01 9.86556540e-01 -3.42833085e-03 -6.37033629e+01] [-2.04564233e-02 8.65175089e-05 9.99790742e-01 -8.54701084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.364012739 meters 0.02046329751959241 Centerline is valid? [True, True] Translation: X:423.13, Y:-63.72, Z:-8.55 [[ 9.86617629e-01 1.61652780e-01 2.13080631e-02 4.23130907e+02] [-1.61612273e-01 9.86847689e-01 -3.62088801e-03 -6.37172069e+01] [-2.16131395e-02 1.28787414e-04 9.99766401e-01 -8.54568679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.424012739 meters 0.021546571351888207 Centerline is valid? [True, True] Translation: X:423.19, Y:-63.73, Z:-8.55 [[ 9.87079008e-01 1.58866473e-01 2.08920172e-02 4.23187395e+02] [-1.58826935e-01 9.87300060e-01 -3.54898142e-03 -6.37331743e+01] [-2.11905040e-02 1.84909991e-04 9.99775439e-01 -8.54844134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.484012739 meters 0.024473953904582686 Centerline is valid? [True, True] Translation: X:423.24, Y:-63.76, Z:-8.55 [[ 9.87831037e-01 1.54363447e-01 1.90202058e-02 4.23243023e+02] [-1.54329858e-01 9.88014100e-01 -3.23018475e-03 -6.37551152e+01] [-1.92908539e-02 2.55491099e-04 9.99813882e-01 -8.55379716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.544012739 meters 0.02811965208013151 Centerline is valid? [True, True] Translation: X:423.30, Y:-63.78, Z:-8.56 [[ 9.88553868e-01 1.49746893e-01 1.83607581e-02 4.23299417e+02] [-1.49714812e-01 9.88724308e-01 -3.11731043e-03 -6.37777876e+01] [-1.86205354e-02 3.32751830e-04 9.99826567e-01 -8.55679299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.604012739 meters 0.031256012681726474 Centerline is valid? [True, True] Translation: X:423.35, Y:-63.80, Z:-8.56 [[ 9.89042701e-01 1.46566313e-01 1.76876207e-02 4.23354197e+02] [-1.46536041e-01 9.89200775e-01 -3.00261446e-03 -6.38027743e+01] [-1.79366902e-02 3.77840016e-04 9.99839053e-01 -8.55731080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.664012739 meters 0.027384272887498087 Centerline is valid? [True, True] Translation: X:423.41, Y:-63.82, Z:-8.55 [[ 9.88317732e-01 1.50998448e-01 2.06768008e-02 4.23412563e+02] [-1.50958056e-01 9.88533939e-01 -3.50957398e-03 -6.38154951e+01] [-2.09696596e-02 3.47244544e-04 9.99780052e-01 -8.55404785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.724012739 meters 0.021895196779137902 Centerline is valid? [True, True] Translation: X:423.47, Y:-63.82, Z:-8.56 [[ 9.87289854e-01 1.57794975e-01 1.89602143e-02 4.23473334e+02] [-1.57762272e-01 9.87471879e-01 -3.21779771e-03 -6.38177958e+01] [-1.92304307e-02 1.85692547e-04 9.99815061e-01 -8.55760800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.784012739 meters 0.01954437620926686 Centerline is valid? [True, True] Translation: X:423.53, Y:-63.82, Z:-8.56 [[ 9.86247996e-01 1.64141936e-01 1.92954698e-02 4.23531229e+02] [-1.64109283e-01 9.86436729e-01 -3.27449788e-03 -6.38203476e+01] [-1.95712425e-02 6.29012593e-05 9.99808463e-01 -8.55797154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.844012739 meters 0.01904168219668833 Centerline is valid? [True, True] Translation: X:423.59, Y:-63.82, Z:-8.56 [[ 9.85581691e-01 1.67904864e-01 2.08970531e-02 4.23590453e+02] [-1.67867438e-01 9.85803204e-01 -3.54493881e-03 -6.38234415e+01] [-2.11955943e-02 -1.41079818e-05 9.99775348e-01 -8.55672015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.904012739 meters 0.019271636523400994 Centerline is valid? [True, True] Translation: X:423.65, Y:-63.83, Z:-8.56 [[ 9.85826407e-01 1.66645320e-01 1.93812423e-02 4.23647404e+02] [-1.66612900e-01 9.86016905e-01 -3.28699868e-03 -6.38297976e+01] [-1.96579954e-02 1.12451138e-05 9.99806763e-01 -8.56200668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.964012739 meters 0.01947658208954759 Centerline is valid? [True, True] Translation: X:423.71, Y:-63.84, Z:-8.56 [[ 9.86218369e-01 1.64369271e-01 1.88698415e-02 4.23705280e+02] [-1.64338151e-01 9.86398875e-01 -3.19875280e-03 -6.38404692e+01] [-1.91389671e-02 5.36338870e-05 9.99816832e-01 -8.56314976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.024012739 meters 0.021085647476265908 Centerline is valid? [True, True] Translation: X:423.76, Y:-63.85, Z:-8.56 [[ 9.86936606e-01 1.59894317e-01 1.97470017e-02 4.23761565e+02] [-1.59859360e-01 9.87134128e-01 -3.34645150e-03 -6.38516322e+01] [-2.00280179e-02 1.45992427e-04 9.99799408e-01 -8.56215131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.084012739 meters 0.022815016188023705 Centerline is valid? [True, True] Translation: X:423.82, Y:-63.86, Z:-8.56 [[ 9.87512090e-01 1.56112226e-01 2.11859817e-02 4.23820029e+02] [-1.56071153e-01 9.87739296e-01 -3.58870626e-03 -6.38613710e+01] [-2.14864676e-02 2.37370237e-04 9.99769111e-01 -8.56136937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.144012739 meters 0.023986572136879297 Centerline is valid? [True, True] Translation: X:423.88, Y:-63.87, Z:-8.57 [[ 9.87842459e-01 1.54224163e-01 1.95495312e-02 4.23878168e+02] [-1.54188838e-01 9.88035851e-01 -3.31064614e-03 -6.38684265e+01] [-1.98262193e-02 2.56077329e-04 9.99803408e-01 -8.56600622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.204012739 meters 0.025477179887971664 Centerline is valid? [True, True] Translation: X:423.94, Y:-63.88, Z:-8.57 [[ 9.88052087e-01 1.52913686e-01 1.92478138e-02 4.23935123e+02] [-1.52879212e-01 9.88239509e-01 -3.25865124e-03 -6.38803834e+01] [-1.95197424e-02 2.77126550e-04 9.99809433e-01 -8.56820909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.264012739 meters 0.02858532973821016 Centerline is valid? [True, True] Translation: X:423.99, Y:-63.90, Z:-8.57 [[ 9.88882917e-01 1.47511417e-01 1.87338742e-02 4.23993182e+02] [-1.47477811e-01 9.89060283e-01 -3.17051162e-03 -6.38957999e+01] [-1.89966176e-02 3.72434026e-04 9.99819479e-01 -8.56972444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.324012739 meters 0.02988897266509368 Centerline is valid? [True, True] Translation: X:424.05, Y:-63.91, Z:-8.57 [[ 9.89195496e-01 1.45263434e-01 1.97687831e-02 4.24051037e+02] [-1.45225573e-01 9.89392916e-01 -3.34515201e-03 -6.39100270e+01] [-2.00450223e-02 4.38076435e-04 9.99798982e-01 -8.56980018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.384012739 meters 0.030059394697668253 Centerline is valid? [True, True] Translation: X:424.11, Y:-63.92, Z:-8.57 [[ 9.88941439e-01 1.46816557e-01 2.09696970e-02 4.24108377e+02] [-1.46774317e-01 9.89163643e-01 -3.54779347e-03 -6.39186640e+01] [-2.12633367e-02 4.30747032e-04 9.99773817e-01 -8.56897639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.444012739 meters 0.027262503567744935 Centerline is valid? [True, True] Translation: X:424.17, Y:-63.92, Z:-8.57 [[ 9.88479845e-01 1.50089721e-01 1.95108048e-02 4.24166922e+02] [-1.50053813e-01 9.88672324e-01 -3.29987002e-03 -6.39249583e+01] [-1.97850693e-02 3.34184350e-04 9.99804201e-01 -8.57277262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.504012739 meters 0.024470716358345745 Centerline is valid? [True, True] Translation: X:424.23, Y:-63.93, Z:-8.57 [[ 9.87917060e-01 1.53615329e-01 2.05478186e-02 4.24226083e+02] [-1.53576285e-01 9.88130687e-01 -3.47423620e-03 -6.39287443e+01] [-2.08376260e-02 2.76599562e-04 9.99782835e-01 -8.57169473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.564012739 meters 0.021928889247720382 Centerline is valid? [True, True] Translation: X:424.29, Y:-63.93, Z:-8.57 [[ 9.87307577e-01 1.57569747e-01 1.98877577e-02 4.24285612e+02] [-1.57533992e-01 9.87507843e-01 -3.36171182e-03 -6.39293347e+01] [-2.01690208e-02 1.86045700e-04 9.99796567e-01 -8.57460967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.624012739 meters 0.02140314095501551 Centerline is valid? [True, True] Translation: X:424.34, Y:-63.93, Z:-8.58 [[ 9.86961802e-01 1.59780562e-01 1.94055204e-02 4.24343499e+02] [-1.59746966e-01 9.87152548e-01 -3.27927026e-03 -6.39321128e+01] [-1.96801726e-02 1.36541479e-04 9.99806317e-01 -8.57731921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.684012739 meters 0.02255436787704854 Centerline is valid? [True, True] Translation: X:424.40, Y:-63.94, Z:-8.58 [[ 9.87262101e-01 1.58059601e-01 1.81853320e-02 4.24400254e+02] [-1.58029824e-01 9.87429561e-01 -3.07205804e-03 -6.39446532e+01] [-1.84423026e-02 1.59101666e-04 9.99829914e-01 -8.58223923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.744012739 meters 0.027084006559092492 Centerline is valid? [True, True] Translation: X:424.46, Y:-63.96, Z:-8.58 [[ 9.88399628e-01 1.50648689e-01 1.92652181e-02 4.24457354e+02] [-1.50613891e-01 9.88587312e-01 -3.25294203e-03 -6.39644549e+01] [-1.95354017e-02 3.13597228e-04 9.99809117e-01 -8.58150872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80401273900003 meters 0.036431234669674656 Centerline is valid? [True, True] Translation: X:424.51, Y:-63.99, Z:-8.58 [[ 9.89844070e-01 1.40472811e-01 2.18198434e-02 4.24512600e+02] [-1.40425709e-01 9.90084365e-01 -3.68373290e-03 -6.39929716e+01] [-2.21209501e-02 5.82254180e-04 9.99755132e-01 -8.57920282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.864012739 meters 0.04093936122176697 Centerline is valid? [True, True] Translation: X:424.57, Y:-64.01, Z:-8.58 [[ 9.90900459e-01 1.32926625e-01 2.11374497e-02 4.24570436e+02] [-1.32880711e-01 9.91125614e-01 -3.56833311e-03 -6.40141150e+01] [-2.14241943e-02 7.27103570e-04 9.99770211e-01 -8.58113212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.924012739 meters 0.05093207666889289 Centerline is valid? [True, True] Translation: X:424.63, Y:-64.04, Z:-8.57 [[ 9.92091468e-01 1.23689000e-01 2.13436133e-02 4.24627143e+02] [-1.23640036e-01 9.92320591e-01 -3.60373035e-03 -6.40408307e+01] [-2.16254488e-02 9.36305007e-04 9.99765704e-01 -8.57350794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.984012739 meters 0.05924424696822495 Centerline is valid? [True, True] Translation: X:424.68, Y:-64.08, Z:-8.58 [[ 9.92486939e-01 1.20563722e-01 2.08342418e-02 4.24682044e+02] [-1.20516378e-01 9.92705106e-01 -3.51782950e-03 -6.40769255e+01] [-2.11063809e-02 9.80532479e-04 9.99776755e-01 -8.58292878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.044012739 meters 0.053021099463432704 Centerline is valid? [True, True] Translation: X:424.74, Y:-64.09, Z:-8.58 [[ 9.92298904e-01 1.22025353e-01 2.12766928e-02 4.24743066e+02] [-1.21976299e-01 9.92526509e-01 -3.59311363e-03 -6.40876617e+01] [-2.15561326e-02 9.70190466e-04 9.99767169e-01 -8.58274162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.104012739 meters 0.04616270549131072 Centerline is valid? [True, True] Translation: X:424.80, Y:-64.10, Z:-8.58 [[ 9.91548669e-01 1.28012931e-01 2.10695847e-02 4.24802153e+02] [-1.27966155e-01 9.91772149e-01 -3.55909889e-03 -6.41014588e+01] [-2.13518380e-02 8.32826008e-04 9.99771677e-01 -8.58447034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.164012739 meters 0.04144523407332098 Centerline is valid? [True, True] Translation: X:424.86, Y:-64.11, Z:-8.59 [[ 9.91231416e-01 1.30792150e-01 1.88067360e-02 4.24862744e+02] [-1.30755382e-01 9.91409571e-01 -3.17691065e-03 -6.41134342e+01] [-1.90606931e-02 6.89971688e-04 9.99818090e-01 -8.58969721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.224012739 meters 0.03737623862872559 Centerline is valid? [True, True] Translation: X:424.92, Y:-64.13, Z:-8.59 [[ 9.90215535e-01 1.37980298e-01 2.08478020e-02 4.24919870e+02] [-1.37936686e-01 9.90434785e-01 -3.52252521e-03 -6.41308934e+01] [-2.11344274e-02 6.12382461e-04 9.99776455e-01 -8.58614067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.284012739 meters 0.02821765874820984 Centerline is valid? [True, True] Translation: X:424.98, Y:-64.13, Z:-8.59 [[ 9.88409954e-01 1.50369831e-01 2.08489169e-02 4.24980718e+02] [-1.50328969e-01 9.88629755e-01 -3.52245002e-03 -6.41309643e+01] [-2.11415299e-02 3.47428468e-04 9.99776433e-01 -8.58628518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.344012739 meters 0.020826673243884507 Centerline is valid? [True, True] Translation: X:425.04, Y:-64.12, Z:-8.59 [[ 9.86686004e-01 1.61234072e-01 2.13143964e-02 4.25042490e+02] [-1.61193897e-01 9.86916187e-01 -3.60105700e-03 -6.41248597e+01] [-2.16161359e-02 1.17361934e-04 9.99766337e-01 -8.58806505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.404012739 meters 0.02005686193925203 Centerline is valid? [True, True] Translation: X:425.10, Y:-64.12, Z:-8.59 [[ 9.85721114e-01 1.67147034e-01 2.03900637e-02 4.25103299e+02] [-1.67111536e-01 9.85931980e-01 -3.44465175e-03 -6.41205270e+01] [-2.06789792e-02 -1.19488973e-05 9.99786167e-01 -8.59088071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.464012739 meters 0.019999374760125175 Centerline is valid? [True, True] Translation: X:425.16, Y:-64.12, Z:-8.59 [[ 9.85583485e-01 1.67798220e-01 2.16552741e-02 4.25161911e+02] [-1.67758355e-01 9.85821361e-01 -3.65755194e-03 -6.41242399e+01] [-2.19619625e-02 -2.80303655e-05 9.99758807e-01 -8.58977921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.524012739 meters 0.020190970725648683 Centerline is valid? [True, True] Translation: X:425.22, Y:-64.13, Z:-8.59 [[ 9.86076641e-01 1.64902464e-01 2.14484306e-02 4.25220009e+02] [-1.64862694e-01 9.86309878e-01 -3.62159496e-03 -6.41345626e+01] [-2.17520090e-02 3.51241315e-05 9.99763396e-01 -8.59308500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.584012739 meters 0.02046841742888924 Centerline is valid? [True, True] Translation: X:425.28, Y:-64.15, Z:-8.60 [[ 9.86384813e-01 1.63309860e-01 1.93620852e-02 4.25278075e+02] [-1.63277161e-01 9.86574825e-01 -3.26846355e-03 -6.41466828e+01] [-1.96359181e-02 6.25765073e-05 9.99807195e-01 -8.59692442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.644012739 meters 0.020548105308525192 Centerline is valid? [True, True] Translation: X:425.34, Y:-64.16, Z:-8.60 [[ 9.86445124e-01 1.63042517e-01 1.85244385e-02 4.25336482e+02] [-1.63012547e-01 9.86619042e-01 -3.12668677e-03 -6.41568233e+01] [-1.87863466e-02 6.45890286e-05 9.99823519e-01 -8.59952651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.704012739 meters 0.0202255864508344 Centerline is valid? [True, True] Translation: X:425.39, Y:-64.17, Z:-8.60 [[ 9.86223688e-01 1.64231069e-01 1.97735588e-02 4.25393063e+02] [-1.64197180e-01 9.86421895e-01 -3.33649708e-03 -6.41683608e+01] [-2.00530278e-02 4.37698619e-05 9.99798917e-01 -8.59924712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.764012739 meters 0.02007824919839891 Centerline is valid? [True, True] Translation: X:425.45, Y:-64.18, Z:-8.60 [[ 9.85844647e-01 1.66588170e-01 1.89397614e-02 4.25451474e+02] [-1.66557535e-01 9.86026562e-01 -3.19467294e-03 -6.41815919e+01] [-1.92073026e-02 -5.10876344e-06 9.99815523e-01 -8.60209046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.824012739 meters 0.020412842288558462 Centerline is valid? [True, True] Translation: X:425.51, Y:-64.19, Z:-8.60 [[ 9.85412351e-01 1.69273600e-01 1.75768904e-02 4.25508548e+02] [-1.69247648e-01 9.85569097e-01 -2.96448679e-03 -6.41922070e+01] [-1.78250494e-02 -5.36054664e-05 9.99841120e-01 -8.60476708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.884012739 meters 0.02359115942492949 Centerline is valid? [True, True] Translation: X:425.57, Y:-64.19, Z:-8.60 [[ 9.83978784e-01 1.77192213e-01 1.97147841e-02 4.25568398e+02] [-1.77161177e-01 9.84176240e-01 -3.32369841e-03 -6.41943966e+01] [-1.99917555e-02 -2.22245625e-04 9.99800120e-01 -8.60070048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.944012739 meters 0.034283958655951116 Centerline is valid? [True, True] Translation: X:425.63, Y:-64.19, Z:-8.60 [[ 9.81554882e-01 1.89956565e-01 2.15990142e-02 4.25629778e+02] [-1.89922416e-01 9.81792353e-01 -3.64034455e-03 -6.41862545e+01] [-2.18972543e-02 -5.28938997e-04 9.99760086e-01 -8.59895639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.004012739 meters 0.04538723313982812 Centerline is valid? [True, True] Translation: X:425.69, Y:-64.17, Z:-8.60 [[ 9.79584856e-01 1.99811789e-01 2.21078943e-02 4.25691796e+02] [-1.99778504e-01 9.79833997e-01 -3.72659689e-03 -6.41738908e+01] [-2.24066845e-02 -7.66164181e-04 9.99748645e-01 -8.59830083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.064012739 meters 0.04916259769649946 Centerline is valid? [True, True] Translation: X:425.75, Y:-64.17, Z:-8.60 [[ 9.78462492e-01 2.05293872e-01 2.15772299e-02 4.25753861e+02] [-2.05263496e-01 9.78699989e-01 -3.63709830e-03 -6.41699933e+01] [-2.18643086e-02 -8.70253374e-04 9.99760569e-01 -8.60093486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.124012739 meters 0.05160196670199046 Centerline is valid? [True, True] Translation: X:425.81, Y:-64.17, Z:-8.60 [[ 9.78225554e-01 2.06371571e-01 2.20349909e-02 4.25812547e+02] [-2.06340169e-01 9.78473270e-01 -3.71409091e-03 -6.41716095e+01] [-2.23271324e-02 -9.13485114e-04 9.99750301e-01 -8.60143033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.184012739 meters 0.05251863087208875 Centerline is valid? [True, True] Translation: X:425.87, Y:-64.17, Z:-8.60 [[ 9.77814419e-01 2.08173048e-01 2.33011527e-02 4.25873071e+02] [-2.08138490e-01 9.78091488e-01 -3.92554076e-03 -6.41715706e+01] [-2.36078509e-02 -1.01141640e-03 9.99720784e-01 -8.60171265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.244012739 meters 0.05112388596207444 Centerline is valid? [True, True] Translation: X:425.93, Y:-64.17, Z:-8.61 [[ 9.78328083e-01 2.06092041e-01 2.00057982e-02 4.25933198e+02] [-2.06066140e-01 9.78532263e-01 -3.36996609e-03 -6.41720332e+01] [-2.02708421e-02 -8.25585152e-04 9.99794185e-01 -8.60792611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30401273900003 meters 0.04745663089350667 Centerline is valid? [True, True] Translation: X:425.99, Y:-64.17, Z:-8.61 [[ 9.78630341e-01 2.04596275e-01 2.05674387e-02 4.25992895e+02] [-2.04568581e-01 9.78846104e-01 -3.46402234e-03 -6.41745098e+01] [-2.08410833e-02 -8.17454386e-04 9.99782467e-01 -8.60783333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.364012739 meters 0.049869536687551584 Centerline is valid? [True, True] Translation: X:426.05, Y:-64.17, Z:-8.61 [[ 9.79098900e-01 2.02325603e-01 2.07290607e-02 4.26053110e+02] [-2.02297032e-01 9.79318000e-01 -3.48799988e-03 -6.41716591e+01] [-2.10060539e-02 -7.78330612e-04 9.99779046e-01 -8.60935166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.424012739 meters 0.04162929945036978 Centerline is valid? [True, True] Translation: X:426.11, Y:-64.18, Z:-8.62 [[ 9.80636668e-01 1.94978683e-01 1.83040714e-02 4.26111557e+02] [-1.94955133e-01 9.80807327e-01 -3.07956053e-03 -6.41835053e+01] [-1.85532160e-02 -5.48542702e-04 9.99827724e-01 -8.61616388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.484012739 meters 0.029867780402451898 Centerline is valid? [True, True] Translation: X:426.17, Y:-64.21, Z:-8.61 [[ 9.82659361e-01 1.84359746e-01 1.98005954e-02 4.26168821e+02] [-1.84330037e-01 9.82858760e-01 -3.33093667e-03 -6.42073733e+01] [-2.00752793e-02 -3.76668385e-04 9.99798400e-01 -8.61441841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.544012739 meters 0.02604602957049477 Centerline is valid? [True, True] Translation: X:426.23, Y:-64.22, Z:-8.62 [[ 9.83759310e-01 1.78524532e-01 1.86174870e-02 4.26226254e+02] [-1.78497231e-01 9.83935431e-01 -3.13145679e-03 -6.42209684e+01] [-1.88774470e-02 -2.42570105e-04 9.99821776e-01 -8.61735115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.604012739 meters 0.026172792992280054 Centerline is valid? [True, True] Translation: X:426.29, Y:-64.22, Z:-8.61 [[ 9.83554546e-01 1.79455805e-01 2.03977544e-02 4.26285287e+02] [-1.79423243e-01 9.83765995e-01 -3.43035876e-03 -6.42244443e+01] [-2.06822150e-02 -2.85886304e-04 9.99786059e-01 -8.61497981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.664012739 meters 0.024490468164541142 Centerline is valid? [True, True] Translation: X:426.34, Y:-64.24, Z:-8.61 [[ 9.83871113e-01 1.77558236e-01 2.16957619e-02 4.26342713e+02] [-1.77520961e-01 9.84110260e-01 -3.64755578e-03 -6.42355177e+01] [-2.19986754e-02 -2.62727731e-04 9.99757965e-01 -8.61424452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.724012739 meters 0.02026070104517843 Centerline is valid? [True, True] Translation: X:426.40, Y:-64.26, Z:-8.62 [[ 9.85606806e-01 1.67638573e-01 2.18296413e-02 4.26398159e+02] [-1.67598422e-01 9.85848521e-01 -3.66902497e-03 -6.42631541e+01] [-2.21357897e-02 -4.23974531e-05 9.99754972e-01 -8.61529186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.784012739 meters 0.022975377252740768 Centerline is valid? [True, True] Translation: X:426.45, Y:-64.29, Z:-8.62 [[ 9.87410446e-01 1.56813974e-01 2.07361817e-02 4.26451887e+02] [-1.56775371e-01 9.87628139e-01 -3.48447724e-03 -6.42939047e+01] [-2.10260513e-02 1.89686646e-04 9.99778910e-01 -8.61760833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.844012739 meters 0.02475230793321346 Centerline is valid? [True, True] Translation: X:426.51, Y:-64.31, Z:-8.62 [[ 9.87815499e-01 1.54132886e-01 2.15312116e-02 4.26508169e+02] [-1.54090663e-01 9.88050094e-01 -3.61650843e-03 -6.43117540e+01] [-2.18313385e-02 2.54684414e-04 9.99761635e-01 -8.61745999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.904012739 meters 0.02529993831466716 Centerline is valid? [True, True] Translation: X:426.56, Y:-64.33, Z:-8.63 [[ 9.87941034e-01 1.53664154e-01 1.89694789e-02 4.26564776e+02] [-1.53631309e-01 9.88123107e-01 -3.18547241e-03 -6.43283245e+01] [-1.92336733e-02 2.32753038e-04 9.99814989e-01 -8.62518238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.964012739 meters 0.027573449384612755 Centerline is valid? [True, True] Translation: X:426.62, Y:-64.35, Z:-8.63 [[ 9.88295778e-01 1.51492872e-01 1.79266704e-02 4.26620305e+02] [-1.51463196e-01 9.88458316e-01 -3.00962403e-03 -6.43472949e+01] [-1.81757030e-02 2.59167936e-04 9.99834775e-01 -8.62824080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.024012739 meters 0.028317422510491148 Centerline is valid? [True, True] Translation: X:426.68, Y:-64.37, Z:-8.63 [[ 9.88690941e-01 1.48786913e-01 1.87797303e-02 4.26676972e+02] [-1.48753878e-01 9.88869228e-01 -3.15170473e-03 -6.43667292e+01] [-1.90396299e-02 3.22504204e-04 9.99818678e-01 -8.62724059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.084012739 meters 0.028977934032036367 Centerline is valid? [True, True] Translation: X:426.73, Y:-64.39, Z:-8.63 [[ 9.88474019e-01 1.50441780e-01 1.69228904e-02 4.26733092e+02] [-1.50415205e-01 9.88618836e-01 -2.83962486e-03 -6.43863178e+01] [-1.71574865e-02 2.61435360e-04 9.99852765e-01 -8.63232172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.144012739 meters 0.02447266088856179 Centerline is valid? [True, True] Translation: X:426.79, Y:-64.40, Z:-8.63 [[ 9.88010325e-01 1.53276208e-01 1.84933006e-02 4.26791545e+02] [-1.53244981e-01 9.88183359e-01 -3.10245483e-03 -6.43956279e+01] [-1.87503044e-02 2.31251909e-04 9.99824171e-01 -8.62970342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.204012739 meters 0.02267323097697559 Centerline is valid? [True, True] Translation: X:426.85, Y:-64.41, Z:-8.63 [[ 9.87461867e-01 1.56859035e-01 1.77286334e-02 4.26848436e+02] [-1.56830928e-01 9.87620990e-01 -2.97336171e-03 -6.44082454e+01] [-1.79755691e-02 1.55683274e-04 9.99838414e-01 -8.63225075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.264012739 meters 0.021022639637552288 Centerline is valid? [True, True] Translation: X:426.91, Y:-64.42, Z:-8.63 [[ 9.86926364e-01 1.60232841e-01 1.73720841e-02 4.26907142e+02] [-1.60206391e-01 9.87079241e-01 -2.91272835e-03 -6.44168550e+01] [-1.76143383e-02 9.15295030e-05 9.99844851e-01 -8.63367169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.324012739 meters 0.01991261086704989 Centerline is valid? [True, True] Translation: X:426.96, Y:-64.43, Z:-8.63 [[ 9.85953481e-01 1.65661611e-01 2.12594302e-02 4.26964478e+02] [-1.65623279e-01 9.86182656e-01 -3.56352197e-03 -6.44253544e+01] [-2.15560201e-02 -7.58964232e-06 9.99767642e-01 -8.62775818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.384012739 meters 0.020291941064990583 Centerline is valid? [True, True] Translation: X:427.02, Y:-64.44, Z:-8.62 [[ 9.85452727e-01 1.68208892e-01 2.42629570e-02 4.27021864e+02] [-1.68159776e-01 9.85751370e-01 -4.06528688e-03 -6.44352242e+01] [-2.46010605e-02 -7.39053652e-05 9.99697345e-01 -8.62380243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.444012739 meters 0.02071462263960368 Centerline is valid? [True, True] Translation: X:427.08, Y:-64.44, Z:-8.63 [[ 9.85327736e-01 1.69373222e-01 2.10229717e-02 4.27080353e+02] [-1.69336639e-01 9.85551979e-01 -3.52123728e-03 -6.44436963e+01] [-2.13156347e-02 -9.03866161e-05 9.99772792e-01 -8.63089826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.504012739 meters 0.020073096851680943 Centerline is valid? [True, True] Translation: X:427.14, Y:-64.46, Z:-8.63 [[ 9.86153707e-01 1.64437106e-01 2.14779889e-02 4.27138005e+02] [-1.64397762e-01 9.86387570e-01 -3.59692539e-03 -6.44613210e+01] [-2.17770893e-02 1.61879870e-05 9.99762851e-01 -8.63224061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.564012739 meters 0.021402471454777736 Centerline is valid? [True, True] Translation: X:427.20, Y:-64.48, Z:-8.64 [[ 9.87038366e-01 1.59149753e-01 2.06547616e-02 4.27195383e+02] [-1.59112219e-01 9.87254445e-01 -3.45858943e-03 -6.44820253e+01] [-2.09419388e-02 1.27335514e-04 9.99780685e-01 -8.63506468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.624012739 meters 0.02551062862751045 Centerline is valid? [True, True] Translation: X:427.25, Y:-64.51, Z:-8.64 [[ 9.87939511e-01 1.53714802e-01 1.86354932e-02 4.27253191e+02] [-1.53683290e-01 9.88115232e-01 -3.12001482e-03 -6.45056896e+01] [-1.88936072e-02 2.18422009e-04 9.99821476e-01 -8.63978365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.684012739 meters 0.025427476432868995 Centerline is valid? [True, True] Translation: X:427.31, Y:-64.52, Z:-8.64 [[ 9.88048443e-01 1.53210892e-01 1.69321335e-02 4.27311608e+02] [-1.53184755e-01 9.88193492e-01 -2.83763548e-03 -6.45203188e+01] [-1.71669808e-02 2.09976583e-04 9.99852614e-01 -8.64406549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.744012739 meters 0.02384494865970175 Centerline is valid? [True, True] Translation: X:427.37, Y:-64.53, Z:-8.65 [[ 9.87810281e-01 1.54935246e-01 1.50305800e-02 4.27371667e+02] [-1.54914850e-01 9.87924615e-01 -2.51895645e-03 -6.45295744e+01] [-1.52393551e-02 1.59791039e-04 9.99883862e-01 -8.64884391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80401273900003 meters 0.022805940356787263 Centerline is valid? [True, True] Translation: X:427.43, Y:-64.54, Z:-8.65 [[ 9.87411418e-01 1.57441966e-01 1.51894470e-02 4.27430714e+02] [-1.57421433e-01 9.87528234e-01 -2.54558078e-03 -6.45403445e+01] [-1.54007890e-02 1.22391011e-04 9.99881393e-01 -8.65008048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.864012739 meters 0.020307405365679602 Centerline is valid? [True, True] Translation: X:427.49, Y:-64.54, Z:-8.64 [[ 9.86330602e-01 1.63699289e-01 1.88278080e-02 4.27490606e+02] [-1.63668878e-01 9.86510285e-01 -3.15539200e-03 -6.45393969e+01] [-1.90903616e-02 3.07334886e-05 9.99817762e-01 -8.64366906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.924012739 meters 0.02265102142891554 Centerline is valid? [True, True] Translation: X:427.55, Y:-64.53, Z:-8.64 [[ 9.84658473e-01 1.73286133e-01 2.04843447e-02 4.27551496e+02] [-1.73252227e-01 9.84871508e-01 -3.43197919e-03 -6.45308454e+01] [-2.07691618e-02 -1.69630939e-04 9.99784283e-01 -8.64044135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.984012739 meters 0.02371467611127959 Centerline is valid? [True, True] Translation: X:427.61, Y:-64.54, Z:-8.64 [[ 9.84087101e-01 1.76613570e-01 1.94993709e-02 4.27610087e+02] [-1.76583516e-01 9.84280242e-01 -3.26610181e-03 -6.45354675e+01] [-1.97696834e-02 -2.29138814e-04 9.99804534e-01 -8.64302183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.044012739 meters 0.029434602210393315 Centerline is valid? [True, True] Translation: X:427.67, Y:-64.53, Z:-8.65 [[ 9.82464411e-01 1.85699145e-01 1.67185318e-02 4.27671823e+02] [-1.85678379e-01 9.82606586e-01 -2.79949502e-03 -6.45295309e+01] [-1.69476033e-02 -3.53865660e-04 9.99856316e-01 -8.64996322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.104012739 meters 0.03725989874273071 Centerline is valid? [True, True] Translation: X:427.73, Y:-64.52, Z:-8.65 [[ 9.81366548e-01 1.91239264e-01 1.86344512e-02 4.27734014e+02] [-1.91214468e-01 9.81543322e-01 -3.12004301e-03 -6.45198958e+01] [-1.88871958e-02 -5.01270820e-04 9.99821495e-01 -8.64719483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.164012739 meters 0.03608715146513149 Centerline is valid? [True, True] Translation: X:427.79, Y:-64.52, Z:-8.65 [[ 9.81323364e-01 1.91356159e-01 1.96793241e-02 4.27792654e+02] [-1.91328533e-01 9.81520523e-01 -3.29474409e-03 -6.45247978e+01] [-1.99461300e-02 -5.32006848e-04 9.99800915e-01 -8.64634838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.224012739 meters 0.03337661819723087 Centerline is valid? [True, True] Translation: X:427.85, Y:-64.53, Z:-8.65 [[ 9.82206749e-01 1.86812230e-01 1.92637514e-02 4.27851352e+02] [-1.86784902e-01 9.82395544e-01 -3.22424058e-03 -6.45296211e+01] [-1.95269511e-02 -4.31307063e-04 9.99809238e-01 -8.64989726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.284012739 meters 0.027659592467396247 Centerline is valid? [True, True] Translation: X:427.91, Y:-64.54, Z:-8.65 [[ 9.83132939e-01 1.81938029e-01 1.86595278e-02 4.27911069e+02] [-1.81911523e-01 9.83309945e-01 -3.12242076e-03 -6.45384147e+01] [-1.89161864e-02 -3.24628430e-04 9.99821020e-01 -8.65205452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.344012739 meters 0.024322958553849243 Centerline is valid? [True, True] Translation: X:427.97, Y:-64.54, Z:-8.65 [[ 9.84063258e-01 1.76618813e-01 2.06227677e-02 4.27969341e+02] [-1.76585273e-01 9.84279297e-01 -3.45062940e-03 -6.45423545e+01] [-2.09080094e-02 -2.46039466e-04 9.99781373e-01 -8.64943166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.404012739 meters 0.02091304796724648 Centerline is valid? [True, True] Translation: X:428.03, Y:-64.55, Z:-8.66 [[ 9.85516245e-01 1.68659673e-01 1.76534605e-02 4.28025952e+02] [-1.68633841e-01 9.85674343e-01 -2.95254301e-03 -6.45542695e+01] [-1.78985380e-02 -6.71917367e-05 9.99839806e-01 -8.65697744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.464012739 meters 0.020382599434190685 Centerline is valid? [True, True] Translation: X:428.08, Y:-64.56, Z:-8.66 [[ 9.86376576e-01 1.63417199e-01 1.88697988e-02 4.28083522e+02] [-1.63386748e-01 9.86557053e-01 -3.15475565e-03 -6.45646629e+01] [-1.91316744e-02 2.87020169e-05 9.99816972e-01 -8.65526778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.524012739 meters 0.02129940555326096 Centerline is valid? [True, True] Translation: X:428.14, Y:-64.57, Z:-8.65 [[ 9.87170933e-01 1.58261293e-01 2.11403080e-02 4.28141762e+02] [-1.58221913e-01 9.87397257e-01 -3.53322118e-03 -6.45740137e+01] [-2.14330543e-02 1.43033288e-04 9.99770275e-01 -8.65323789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.584012739 meters 0.024568459724831654 Centerline is valid? [True, True] Translation: X:428.20, Y:-64.59, Z:-8.66 [[ 9.88144146e-01 1.52178605e-01 2.03179537e-02 4.28199112e+02] [-1.52140962e-01 9.88352975e-01 -3.39482572e-03 -6.45861100e+01] [-2.05979298e-02 2.63384141e-04 9.99787805e-01 -8.65618420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.644012739 meters 0.03312134466292359 Centerline is valid? [True, True] Translation: X:428.26, Y:-64.61, Z:-8.66 [[ 9.89745227e-01 1.41253902e-01 2.12537433e-02 4.28256586e+02] [-1.41210206e-01 9.89973268e-01 -3.55041460e-03 -6.46101916e+01] [-2.15421476e-02 5.12760436e-04 9.99767810e-01 -8.65622374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.704012739 meters 0.04406622985317268 Centerline is valid? [True, True] Translation: X:428.31, Y:-64.64, Z:-8.66 [[ 9.91224070e-01 1.30641039e-01 2.01931127e-02 4.28311966e+02] [-1.30599394e-01 9.91429483e-01 -3.37317447e-03 -6.46379329e+01] [-2.04607223e-02 7.06363442e-04 9.99790408e-01 -8.65994399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.764012739 meters 0.04674468708567948 Centerline is valid? [True, True] Translation: X:428.37, Y:-64.65, Z:-8.66 [[ 9.91444994e-01 1.29186380e-01 1.86468138e-02 4.28370013e+02] [-1.29150608e-01 9.91620097e-01 -3.11511099e-03 -6.46527010e+01] [-1.88929853e-02 6.80213843e-04 9.99821280e-01 -8.66291285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.824012739 meters 0.04726140066508847 Centerline is valid? [True, True] Translation: X:428.43, Y:-64.67, Z:-8.67 [[ 9.91545731e-01 1.28611648e-01 1.72077831e-02 4.28428898e+02] [-1.28581079e-01 9.91694830e-01 -2.87577903e-03 -6.46667584e+01] [-1.74347282e-02 6.38871093e-04 9.99847799e-01 -8.66712476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.884012739 meters 0.048449385920441575 Centerline is valid? [True, True] Translation: X:428.49, Y:-64.68, Z:-8.67 [[ 9.91628411e-01 1.27891230e-01 1.78024717e-02 4.28487020e+02] [-1.27858396e-01 9.91787971e-01 -2.97519091e-03 -6.46832339e+01] [-1.80367781e-02 6.74088357e-04 9.99837097e-01 -8.66819167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.944012739 meters 0.048646270252925346 Centerline is valid? [True, True] Translation: X:428.55, Y:-64.70, Z:-8.67 [[ 9.91564306e-01 1.28421566e-01 1.75535863e-02 4.28546228e+02] [-1.28389732e-01 9.91719452e-01 -2.93331093e-03 -6.47032355e+01] [-1.77849334e-02 6.54866183e-04 9.99841621e-01 -8.66890726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.004012739 meters 0.04732196607323092 Centerline is valid? [True, True] Translation: X:428.60, Y:-64.72, Z:-8.67 [[ 9.91302607e-01 1.30343641e-01 1.81569999e-02 4.28603991e+02] [-1.30309893e-01 9.91468670e-01 -3.03459377e-03 -6.47242087e+01] [-1.83976366e-02 6.42163989e-04 9.99830543e-01 -8.66977719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.064012739 meters 0.04292999687531033 Centerline is valid? [True, True] Translation: X:428.66, Y:-64.74, Z:-8.67 [[ 9.90661483e-01 1.35090672e-01 1.84482073e-02 4.28661703e+02] [-1.35056651e-01 9.90833080e-01 -3.08350900e-03 -6.47379921e+01] [-1.86956474e-02 5.63160509e-04 9.99825063e-01 -8.67075790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.124012739 meters 0.036781878439851916 Centerline is valid? [True, True] Translation: X:428.72, Y:-64.75, Z:-8.67 [[ 9.90109604e-01 1.39049865e-01 1.86576447e-02 4.28721917e+02] [-1.39015771e-01 9.90285258e-01 -3.11836132e-03 -6.47454074e+01] [-1.89099982e-02 4.93812628e-04 9.99821068e-01 -8.67117826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.184012739 meters 0.030012168259191375 Centerline is valid? [True, True] Translation: X:428.78, Y:-64.75, Z:-8.67 [[ 9.89287843e-01 1.44628777e-01 1.98010441e-02 4.28782996e+02] [-1.44591492e-01 9.89485901e-01 -3.30945979e-03 -6.47492068e+01] [-2.00714971e-02 4.10945826e-04 9.99798463e-01 -8.66936014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.244012739 meters 0.029361187636582683 Centerline is valid? [True, True] Translation: X:428.84, Y:-64.76, Z:-8.67 [[ 9.89048450e-01 1.46204647e-01 2.01832673e-02 4.28842207e+02] [-1.46166231e-01 9.89254291e-01 -3.37359164e-03 -6.47614549e+01] [-2.04596185e-02 3.86533476e-04 9.99790605e-01 -8.67038167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30401273900003 meters 0.026975251352498886 Centerline is valid? [True, True] Translation: X:428.90, Y:-64.77, Z:-8.67 [[ 9.88742876e-01 1.48349449e-01 1.94926976e-02 4.28902741e+02] [-1.48314008e-01 9.88934948e-01 -3.25944756e-03 -6.47693002e+01] [-1.97605471e-02 3.31715454e-04 9.99804686e-01 -8.67231033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.364012739 meters 0.02456836383559169 Centerline is valid? [True, True] Translation: X:428.96, Y:-64.77, Z:-8.68 [[ 9.87975966e-01 1.53568239e-01 1.78965439e-02 4.28962194e+02] [-1.53539216e-01 9.88138023e-01 -2.99280235e-03 -6.47727466e+01] [-1.81438549e-02 2.08995475e-04 9.99835365e-01 -8.67697106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.424012739 meters 0.02451695805659158 Centerline is valid? [True, True] Translation: X:429.02, Y:-64.78, Z:-8.67 [[ 9.87729788e-01 1.55004896e-01 1.90616676e-02 4.29019688e+02] [-1.54972242e-01 9.87913683e-01 -3.18742341e-03 -6.47832560e+01] [-1.93253485e-02 1.94283681e-04 9.99813229e-01 -8.67493829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.484012739 meters 0.026898373885874613 Centerline is valid? [True, True] Translation: X:429.08, Y:-64.80, Z:-8.68 [[ 9.88111917e-01 1.52498718e-01 1.94674430e-02 4.29077508e+02] [-1.52464186e-01 9.88303637e-01 -3.25457333e-03 -6.48004921e+01] [-1.97360629e-02 2.47794841e-04 9.99805194e-01 -8.67596735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.544012739 meters 0.027138224159425958 Centerline is valid? [True, True] Translation: X:429.14, Y:-64.82, Z:-8.68 [[ 9.88531705e-01 1.49568240e-01 2.08425113e-02 4.29137021e+02] [-1.49528015e-01 9.88751351e-01 -3.48401014e-03 -6.48182104e+01] [-2.11291584e-02 3.27515145e-04 9.99776701e-01 -8.67535620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.604012739 meters 0.026450475486274754 Centerline is valid? [True, True] Translation: X:429.20, Y:-64.83, Z:-8.68 [[ 9.88351566e-01 1.51153929e-01 1.77107672e-02 4.29196976e+02] [-1.51125139e-01 9.88510206e-01 -2.96054198e-03 -6.48321977e+01] [-1.79547717e-02 2.49514144e-04 9.99838769e-01 -8.68102414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.664012739 meters 0.024432221426909078 Centerline is valid? [True, True] Translation: X:429.26, Y:-64.84, Z:-8.68 [[ 9.87868321e-01 1.54409362e-01 1.65508242e-02 4.29256331e+02] [-1.54384628e-01 9.88006941e-01 -2.76951478e-03 -6.48424135e+01] [-1.67799682e-02 1.80723076e-04 9.99859190e-01 -8.68373063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.724012739 meters 0.021350557849103637 Centerline is valid? [True, True] Translation: X:429.32, Y:-64.85, Z:-8.68 [[ 9.87151649e-01 1.58635369e-01 1.91426717e-02 4.29316339e+02] [-1.58603075e-01 9.87337229e-01 -3.20323167e-03 -6.48487221e+01] [-1.94084183e-02 1.25988830e-04 9.99811631e-01 -8.67963448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.784012739 meters 0.026033559400618963 Centerline is valid? [True, True] Translation: X:429.38, Y:-64.86, Z:-8.67 [[ 9.87086230e-01 1.58891556e-01 2.03530911e-02 4.29376107e+02] [-1.58855108e-01 9.87296033e-01 -3.40552154e-03 -6.48599921e+01] [-2.06356348e-02 1.28350916e-04 9.99787054e-01 -8.67055584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.844012739 meters 0.020688666686585314 Centerline is valid? [True, True] Translation: X:429.44, Y:-64.87, Z:-8.68 [[ 9.86811658e-01 1.60532897e-01 2.07831632e-02 4.29435802e+02] [-1.60495231e-01 9.87030486e-01 -3.47866438e-03 -6.48697402e+01] [-2.10720557e-02 9.71879927e-05 9.99777955e-01 -8.67840863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.904012739 meters 0.020241678298685065 Centerline is valid? [True, True] Translation: X:429.50, Y:-64.88, Z:-8.68 [[ 9.86387414e-01 1.63127835e-01 2.07166186e-02 4.29495248e+02] [-1.63090983e-01 9.86604940e-01 -3.46751975e-03 -6.48770175e+01] [-2.10047673e-02 4.16241476e-05 9.99779375e-01 -8.68033179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.964012739 meters 0.020162368498992306 Centerline is valid? [True, True] Translation: X:429.55, Y:-64.88, Z:-8.68 [[ 9.85873872e-01 1.66297962e-01 1.99423200e-02 4.29554616e+02] [-1.66264466e-01 9.86075548e-01 -3.33769031e-03 -6.48821817e+01] [-2.02196852e-02 -2.51575048e-05 9.99795561e-01 -8.68436610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.024012739 meters 0.020570612795586717 Centerline is valid? [True, True] Translation: X:429.61, Y:-64.89, Z:-8.69 [[ 9.85727571e-01 1.67492263e-01 1.69557733e-02 4.29613241e+02] [-1.67468232e-01 9.85873389e-01 -2.83752546e-03 -6.48926966e+01] [-1.71915093e-02 -4.25262977e-05 9.99852214e-01 -8.69086740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.084012739 meters 0.020633140703077424 Centerline is valid? [True, True] Translation: X:429.67, Y:-64.90, Z:-8.69 [[ 9.85466505e-01 1.68959924e-01 1.75588332e-02 4.29672213e+02] [-1.68934393e-01 9.85622919e-01 -2.93801693e-03 -6.49048901e+01] [-1.78027955e-02 -7.09735473e-05 9.99841515e-01 -8.68865969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.144012739 meters 0.020825017565703957 Centerline is valid? [True, True] Translation: X:429.73, Y:-64.92, Z:-8.69 [[ 9.85442549e-01 1.69092016e-01 1.76316046e-02 4.29729738e+02] [-1.69066301e-01 9.85600266e-01 -2.94979352e-03 -6.49181946e+01] [-1.78765007e-02 -7.40581257e-05 9.99840200e-01 -8.69175832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.204012739 meters 0.022104501423675458 Centerline is valid? [True, True] Translation: X:429.79, Y:-64.93, Z:-8.70 [[ 9.85000897e-01 1.71894159e-01 1.50210210e-02 4.29787389e+02] [-1.71875825e-01 9.85115418e-01 -2.51275931e-03 -6.49267966e+01] [-1.52293680e-02 -1.06680205e-04 9.99884021e-01 -8.69607124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.264012739 meters 0.0239967728842302 Centerline is valid? [True, True] Translation: X:429.85, Y:-64.93, Z:-8.69 [[ 9.84036853e-01 1.77216698e-01 1.63007067e-02 4.29846281e+02] [-1.77195857e-01 9.84171834e-01 -2.72558563e-03 -6.49315627e+01] [-1.65257157e-02 -2.06340993e-04 9.99863420e-01 -8.69246126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.324012739 meters 0.03164396488810021 Centerline is valid? [True, True] Translation: X:429.91, Y:-64.92, Z:-8.69 [[ 9.81972025e-01 1.88260469e-01 1.69981614e-02 4.29908658e+02] [-1.88239475e-01 9.82119050e-01 -2.84115114e-03 -6.49236007e+01] [-1.72290946e-02 -4.09794041e-04 9.99851484e-01 -8.69183829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.384012739 meters 0.04109277533418564 Centerline is valid? [True, True] Translation: X:429.97, Y:-64.91, Z:-8.70 [[ 9.80477889e-01 1.95987165e-01 1.58789239e-02 4.29970100e+02] [-1.95969855e-01 9.80606329e-01 -2.65411000e-03 -6.49142823e+01] [-1.60911448e-02 -5.09494247e-04 9.99870399e-01 -8.69562102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.444012739 meters 0.047440149263326264 Centerline is valid? [True, True] Translation: X:430.03, Y:-64.91, Z:-8.70 [[ 9.79537704e-01 2.00563482e-01 1.67384630e-02 4.30030739e+02] [-2.00544918e-01 9.79680514e-01 -2.79756166e-03 -6.49117195e+01] [-1.69594347e-02 -6.16496562e-04 9.99855988e-01 -8.69507389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.504012739 meters 0.04345856472961793 Centerline is valid? [True, True] Translation: X:430.09, Y:-64.92, Z:-8.70 [[ 9.80003928e-01 1.98257990e-01 1.69135950e-02 4.30089861e+02] [-1.98238695e-01 9.80149698e-01 -2.82663605e-03 -6.49202471e+01] [-1.71382582e-02 -5.82814570e-04 9.99852959e-01 -8.69547990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.564012739 meters 0.04182581790869368 Centerline is valid? [True, True] Translation: X:430.15, Y:-64.93, Z:-8.70 [[ 9.80554578e-01 1.95566576e-01 1.63227813e-02 4.30148188e+02] [-1.95548239e-01 9.80690291e-01 -2.72757084e-03 -6.49277896e+01] [-1.65410148e-02 -5.17359052e-04 9.99863054e-01 -8.69712057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.624012739 meters 0.037058045319582074 Centerline is valid? [True, True] Translation: X:430.21, Y:-64.94, Z:-8.70 [[ 9.80816205e-01 1.94253216e-01 1.62867820e-02 4.30205375e+02] [-1.94234787e-01 9.80951295e-01 -2.72103698e-03 -6.49421969e+01] [-1.65051101e-02 -4.94622475e-04 9.99863659e-01 -8.69760446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.684012739 meters 0.03390672872564976 Centerline is valid? [True, True] Translation: X:430.26, Y:-64.95, Z:-8.70 [[ 9.81427525e-01 1.91233569e-01 1.51570282e-02 4.30263143e+02] [-1.91217259e-01 9.81544472e-01 -2.53160314e-03 -6.49526841e+01] [-1.53614248e-02 -4.13700382e-04 9.99881921e-01 -8.70020674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.744012739 meters 0.03108625852206751 Centerline is valid? [True, True] Translation: X:430.32, Y:-64.96, Z:-8.70 [[ 9.82535664e-01 1.85206256e-01 1.79530487e-02 4.30320744e+02] [-1.85182387e-01 9.82699597e-01 -2.99746082e-03 -6.49649567e+01] [-1.81976022e-02 -3.79476256e-04 9.99834338e-01 -8.69551342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80401273900003 meters 0.028096956941978963 Centerline is valid? [True, True] Translation: X:430.38, Y:-64.98, Z:-8.70 [[ 9.83054731e-01 1.82504282e-01 1.71925322e-02 4.30378633e+02] [-1.82481986e-01 9.83205008e-01 -2.87011671e-03 -6.49776089e+01] [-1.74275923e-02 -3.15845599e-04 9.99848078e-01 -8.69781940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.864012739 meters 0.029109062744610475 Centerline is valid? [True, True] Translation: X:430.44, Y:-64.98, Z:-8.70 [[ 9.83241151e-01 1.81577456e-01 1.63238249e-02 4.30435623e+02] [-1.81557236e-01 9.83376605e-01 -2.72462651e-03 -6.49843832e+01] [-1.65471982e-02 -2.84743618e-04 9.99863045e-01 -8.70099263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.924012739 meters 0.028914144217641224 Centerline is valid? [True, True] Translation: X:430.49, Y:-64.99, Z:-8.70 [[ 9.82776530e-01 1.84046288e-01 1.66510058e-02 4.30494814e+02] [-1.84025622e-01 9.82917521e-01 -2.77816507e-03 -6.49884100e+01] [-1.68778763e-02 -3.33896263e-04 9.99857503e-01 -8.69941209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.984012739 meters 0.035317053815943 Centerline is valid? [True, True] Translation: X:430.56, Y:-64.98, Z:-8.71 [[ 9.81585910e-01 1.90525319e-01 1.37551473e-02 4.30555511e+02] [-1.90511860e-01 9.81682213e-01 -2.29429691e-03 -6.49833776e+01] [-1.39403051e-02 -3.68469177e-04 9.99902761e-01 -8.70554114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.044012739 meters 0.03943428097544744 Centerline is valid? [True, True] Translation: X:430.62, Y:-64.98, Z:-8.71 [[ 9.81109215e-01 1.92937546e-01 1.41354720e-02 4.30615404e+02] [-1.92923586e-01 9.81210952e-01 -2.35756615e-03 -6.49802838e+01] [-1.43247430e-02 -4.14036069e-04 9.99897310e-01 -8.70550791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.104012739 meters 0.040414112085373634 Centerline is valid? [True, True] Translation: X:430.67, Y:-64.98, Z:-8.70 [[ 9.81118244e-01 1.92757205e-01 1.58635076e-02 4.30672965e+02] [-1.92739609e-01 9.81246374e-01 -2.64521068e-03 -6.49844660e+01] [-1.60758928e-02 -4.62261791e-04 9.99870668e-01 -8.70399380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.164012739 meters 0.03956165832008198 Centerline is valid? [True, True] Translation: X:430.73, Y:-64.99, Z:-8.71 [[ 9.81005366e-01 1.93714024e-01 1.01660347e-02 4.30731223e+02] [-1.93706851e-01 9.81057992e-01 -1.69492363e-03 -6.49933992e+01] [-1.03018001e-02 -3.06501403e-04 9.99946888e-01 -8.71439308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.224012739 meters 0.047924265804456696 Centerline is valid? [True, True] Translation: X:430.79, Y:-64.99, Z:-8.71 [[ 9.80027441e-01 1.98440760e-01 1.29414023e-02 4.30792218e+02] [-1.98429564e-01 9.80112778e-01 -2.15639685e-03 -6.49875302e+01] [-1.31119507e-02 -4.54628718e-04 9.99913931e-01 -8.70981087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.284012739 meters 0.04675018329310975 Centerline is valid? [True, True] Translation: X:430.85, Y:-64.99, Z:-8.71 [[ 9.79574190e-01 2.00679190e-01 1.27384750e-02 4.30851153e+02] [-2.00668531e-01 9.79656897e-01 -2.12264928e-03 -6.49946644e+01] [-1.29053064e-02 -4.76918610e-04 9.99916609e-01 -8.71028460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.344012739 meters 0.049979175252547914 Centerline is valid? [True, True] Translation: X:430.91, Y:-65.00, Z:-8.71 [[ 9.79538472e-01 2.00609906e-01 1.61259644e-02 4.30909337e+02] [-2.00592825e-01 9.79671017e-01 -2.68643733e-03 -6.49976390e+01] [-1.63370659e-02 -6.03284031e-04 9.99866359e-01 -8.70558193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.404012739 meters 0.049115746970683584 Centerline is valid? [True, True] Translation: X:430.97, Y:-65.00, Z:-8.70 [[ 9.79768924e-01 1.99389695e-01 1.72222313e-02 4.30968406e+02] [-1.99370045e-01 9.79920079e-01 -2.86792314e-03 -6.50025812e+01] [-1.74482446e-02 -6.23695055e-04 9.99847573e-01 -8.70446576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.464012739 meters 0.04423229271404275 Centerline is valid? [True, True] Translation: X:431.03, Y:-65.02, Z:-8.71 [[ 9.80298337e-01 1.97050619e-01 1.36463712e-02 4.31025703e+02] [-1.97038061e-01 9.80393207e-01 -2.27203688e-03 -6.50155156e+01] [-1.38265159e-02 -4.61580540e-04 9.99904303e-01 -8.71253632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.524012739 meters 0.042717609439174485 Centerline is valid? [True, True] Translation: X:431.09, Y:-65.02, Z:-8.72 [[ 9.80941991e-01 1.93902648e-01 1.24327597e-02 4.31085171e+02] [-1.93891980e-01 9.81020702e-01 -2.06929511e-03 -6.50192152e+01] [-1.25980365e-02 -3.80753933e-04 9.99920569e-01 -8.71514354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.584012739 meters 0.037060434260776966 Centerline is valid? [True, True] Translation: X:431.14, Y:-65.03, Z:-8.71 [[ 9.81482488e-01 1.90976414e-01 1.48369607e-02 4.31144613e+02] [-1.90960894e-01 9.81594540e-01 -2.46895206e-03 -6.50283830e+01] [-1.50353912e-02 -4.10046070e-04 9.99886878e-01 -8.71069448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.644012739 meters 0.034431566187243946 Centerline is valid? [True, True] Translation: X:431.20, Y:-65.03, Z:-8.71 [[ 9.81854822e-01 1.89024069e-01 1.51989843e-02 4.31203030e+02] [-1.89007539e-01 9.81972378e-01 -2.52979325e-03 -6.50341236e+01] [-1.54031745e-02 -3.88832910e-04 9.99881288e-01 -8.71069504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.704012739 meters 0.030993233928761483 Centerline is valid? [True, True] Translation: X:431.26, Y:-65.04, Z:-8.72 [[ 9.82563210e-01 1.85465756e-01 1.31145339e-02 4.31261414e+02] [-1.85453167e-01 9.82650685e-01 -2.18023774e-03 -6.50411967e+01] [-1.32913652e-02 -2.89910464e-04 9.99911624e-01 -8.71545684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.764012739 meters 0.029055185858782463 Centerline is valid? [True, True] Translation: X:431.32, Y:-65.04, Z:-8.72 [[ 9.83485634e-01 1.80648306e-01 1.10542495e-02 4.31319872e+02] [-1.80639062e-01 9.83547738e-01 -1.83732476e-03 -6.50448759e+01] [-1.12042917e-02 -1.89846746e-04 9.99937212e-01 -8.72105328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.824012739 meters 0.02694135713548663 Centerline is valid? [True, True] Translation: X:431.38, Y:-65.05, Z:-8.72 [[ 9.83761612e-01 1.79136438e-01 1.11007577e-02 4.31378021e+02] [-1.79127013e-01 9.83824226e-01 -1.84561598e-03 -6.50545689e+01] [-1.12518115e-02 -1.72799426e-04 9.99936681e-01 -8.72111360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.884012739 meters 0.025235363123624167 Centerline is valid? [True, True] Translation: X:431.44, Y:-65.06, Z:-8.72 [[ 9.84120202e-01 1.76988241e-01 1.35125813e-02 4.31436164e+02] [-1.76974127e-01 9.84212949e-01 -2.24278605e-03 -6.50575281e+01] [-1.36962042e-02 -1.84206211e-04 9.99906186e-01 -8.71840825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.944012739 meters 0.02363347033741347 Centerline is valid? [True, True] Translation: X:431.50, Y:-65.06, Z:-8.72 [[ 9.84651858e-01 1.74064632e-01 1.27366242e-02 4.31495782e+02] [-1.74051847e-01 9.84734221e-01 -2.11399810e-03 -6.50604362e+01] [-1.29101620e-02 -1.35280808e-04 9.99916651e-01 -8.71990567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.004012739 meters 0.0211766292330505 Centerline is valid? [True, True] Translation: X:431.55, Y:-65.07, Z:-8.72 [[ 9.85260354e-01 1.70388316e-01 1.51610480e-02 4.31554245e+02] [-1.70369809e-01 9.85376989e-01 -2.51345165e-03 -6.50703520e+01] [-1.53676106e-02 -1.06580587e-04 9.99881906e-01 -8.71630124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.064012739 meters 0.01943453060045511 Centerline is valid? [True, True] Translation: X:431.61, Y:-65.08, Z:-8.71 [[ 9.86234118e-01 1.64322688e-01 1.84477503e-02 4.31610591e+02] [-1.64294296e-01 9.86406637e-01 -3.05455653e-03 -6.50827505e+01] [-1.86989163e-02 -1.83522839e-05 9.99825160e-01 -8.71273215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.124012739 meters 0.020041028087256024 Centerline is valid? [True, True] Translation: X:431.67, Y:-65.09, Z:-8.72 [[ 9.86747146e-01 1.61614776e-01 1.45167018e-02 4.31667855e+02] [-1.61596913e-01 9.86853922e-01 -2.40297536e-03 -6.50942491e+01] [-1.47142204e-02 2.52748786e-05 9.99891740e-01 -8.72153526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.184012739 meters 0.01992636163775073 Centerline is valid? [True, True] Translation: X:431.73, Y:-65.10, Z:-8.72 [[ 9.86733300e-01 1.61749654e-01 1.39443458e-02 4.31725715e+02] [-1.61733193e-01 9.86831824e-01 -2.30761734e-03 -6.51025427e+01] [-1.41339805e-02 2.17392900e-05 9.99900110e-01 -8.72306175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.244012739 meters 0.019718862907710827 Centerline is valid? [True, True] Translation: X:431.78, Y:-65.11, Z:-8.72 [[ 9.86529824e-01 1.62823249e-01 1.57320252e-02 4.31783065e+02] [-1.62802445e-01 9.86655254e-01 -2.60275986e-03 -6.51079478e+01] [-1.59458752e-02 6.48804474e-06 9.99872856e-01 -8.72026602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30401273900003 meters 0.019861151765107877 Centerline is valid? [True, True] Translation: X:431.84, Y:-65.12, Z:-8.72 [[ 9.86660158e-01 1.61932725e-01 1.67189993e-02 4.31840028e+02] [-1.61909130e-01 9.86801800e-01 -2.76429288e-03 -6.51214709e+01] [-1.69459681e-02 2.04590116e-05 9.99856407e-01 -8.72256210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.364012739 meters 0.019986963264091613 Centerline is valid? [True, True] Translation: X:431.90, Y:-65.13, Z:-8.72 [[ 9.86937707e-01 1.60294806e-01 1.61101573e-02 4.31897836e+02] [-1.60272693e-01 9.87069183e-01 -2.66290222e-03 -6.51342896e+01] [-1.63286892e-02 4.61003165e-05 9.99866677e-01 -8.72449186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.424012739 meters 0.020488127237561736 Centerline is valid? [True, True] Translation: X:431.95, Y:-65.14, Z:-8.73 [[ 9.86945966e-01 1.60507524e-01 1.32285875e-02 4.31954471e+02] [-1.60492638e-01 9.87034616e-01 -2.18621639e-03 -6.51444671e+01] [-1.34079779e-02 3.45865455e-05 9.99910108e-01 -8.73019062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.484012739 meters 0.0200765386033299 Centerline is valid? [True, True] Translation: X:432.01, Y:-65.15, Z:-8.73 [[ 9.86573374e-01 1.62769808e-01 1.33778494e-02 4.32012701e+02] [-1.62754804e-01 9.86664071e-01 -2.20999234e-03 -6.51520471e+01] [-1.35591634e-02 3.01033769e-06 9.99908070e-01 -8.73165539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.544012739 meters 0.01983997752435327 Centerline is valid? [True, True] Translation: X:432.07, Y:-65.16, Z:-8.73 [[ 9.86693200e-01 1.61775275e-01 1.62877077e-02 4.32070008e+02] [-1.61752914e-01 9.86827624e-01 -2.68972181e-03 -6.51647330e+01] [-1.65082904e-02 1.93460208e-05 9.99863729e-01 -8.72852078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.604012739 meters 0.023145579459082268 Centerline is valid? [True, True] Translation: X:432.13, Y:-65.19, Z:-8.74 [[ 9.88059984e-01 1.53557594e-01 1.25512028e-02 4.32125905e+02] [-1.53543657e-01 9.88139692e-01 -2.07232995e-03 -6.51883949e+01] [-1.27205637e-02 1.20428704e-04 9.99919083e-01 -8.73683470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.664012739 meters 0.025519912606432174 Centerline is valid? [True, True] Translation: X:432.18, Y:-65.21, Z:-8.74 [[ 9.88785235e-01 1.48726015e-01 1.35768885e-02 4.32182965e+02] [-1.48709262e-01 9.88878422e-01 -2.24091871e-03 -6.52056697e+01] [-1.37591750e-02 1.96778257e-04 9.99905319e-01 -8.73550242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.724012739 meters 0.028931955599497815 Centerline is valid? [True, True] Translation: X:432.24, Y:-65.22, Z:-8.73 [[ 9.89499409e-01 1.43607503e-01 1.63647158e-02 4.32240653e+02] [-1.43582480e-01 9.89634671e-01 -2.69999415e-03 -6.52243051e+01] [-1.65828295e-02 3.21956140e-04 9.99862444e-01 -8.73256294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.784012739 meters 0.032991167763191186 Centerline is valid? [True, True] Translation: X:432.30, Y:-65.25, Z:-8.73 [[ 9.90197183e-01 1.38580157e-01 1.74665249e-02 4.32297478e+02] [-1.38550876e-01 9.90351126e-01 -2.88136273e-03 -6.52452192e+01] [-1.76972923e-02 4.33114928e-04 9.99843297e-01 -8.73287112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.844012739 meters 0.03871499923840129 Centerline is valid? [True, True] Translation: X:432.35, Y:-65.27, Z:-8.74 [[ 9.91013262e-01 1.32781389e-01 1.61807493e-02 4.32354874e+02] [-1.32755499e-01 9.91145225e-01 -2.66856777e-03 -6.52704819e+01] [-1.63918085e-02 4.96502615e-04 9.99865522e-01 -8.73652020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.904012739 meters 0.04660415768315548 Centerline is valid? [True, True] Translation: X:432.41, Y:-65.30, Z:-8.74 [[ 9.91428589e-01 1.29654664e-01 1.60941207e-02 4.32411170e+02] [-1.29628636e-01 9.91559061e-01 -2.65446588e-03 -6.52960284e+01] [-1.63024351e-02 5.45454439e-04 9.99866958e-01 -8.73817392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.964012739 meters 0.04179196185871862 Centerline is valid? [True, True] Translation: X:432.47, Y:-65.31, Z:-8.73 [[ 9.91436957e-01 1.29143165e-01 1.93598564e-02 4.32468871e+02] [-1.29105409e-01 9.91625735e-01 -3.19285060e-03 -6.53075102e+01] [-1.96100667e-02 6.66047910e-04 9.99807482e-01 -8.73301252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.024012739 meters 0.04238653385308893 Centerline is valid? [True, True] Translation: X:432.53, Y:-65.33, Z:-8.74 [[ 9.91423091e-01 1.29413030e-01 1.82351925e-02 4.32525702e+02] [-1.29379595e-01 9.91590582e-01 -3.00649490e-03 -6.53259513e+01] [-1.84709247e-02 6.21446661e-04 9.99829205e-01 -8.73690120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.084012739 meters 0.04199511364804021 Centerline is valid? [True, True] Translation: X:432.58, Y:-65.35, Z:-8.74 [[ 9.91391228e-01 1.29580542e-01 1.87700658e-02 4.32583572e+02] [-1.29545151e-01 9.91568696e-01 -3.09443823e-03 -6.53458535e+01] [-1.90127886e-02 6.36227926e-04 9.99819038e-01 -8.73800716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.144012739 meters 0.0486414005765976 Centerline is valid? [True, True] Translation: X:432.64, Y:-65.37, Z:-8.74 [[ 9.91253881e-01 1.30951100e-01 1.63570737e-02 4.32641095e+02] [-1.30924411e-01 9.91388686e-01 -2.69658708e-03 -6.53674749e+01] [-1.65693389e-02 5.31462169e-04 9.99862578e-01 -8.74317723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.204012739 meters 0.038938553357983685 Centerline is valid? [True, True] Translation: X:432.70, Y:-65.37, Z:-8.75 [[ 9.90728529e-01 1.34979090e-01 1.54151535e-02 4.32702141e+02] [-1.34955869e-01 9.90848351e-01 -2.54158057e-03 -6.53666980e+01] [-1.56171396e-02 4.37650941e-04 9.99877949e-01 -8.74633396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.264012739 meters 0.03778801551604671 Centerline is valid? [True, True] Translation: X:432.76, Y:-65.38, Z:-8.74 [[ 9.90473922e-01 1.36208666e-01 2.02140990e-02 4.32760460e+02] [-1.36168996e-01 9.90680018e-01 -3.33250594e-03 -6.53790963e+01] [-2.04796201e-02 5.48226661e-04 9.99790120e-01 -8.74039803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.324012739 meters 0.03601395756040818 Centerline is valid? [True, True] Translation: X:432.82, Y:-65.39, Z:-8.74 [[ 9.90526551e-01 1.35991522e-01 1.90645861e-02 4.32820198e+02] [-1.35956205e-01 9.90709864e-01 -3.14256548e-03 -6.53899199e+01] [-1.93148358e-02 5.20845775e-04 9.99813315e-01 -8.74412354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.384012739 meters 0.03460426693205158 Centerline is valid? [True, True] Translation: X:432.88, Y:-65.40, Z:-8.75 [[ 9.90300461e-01 1.37927905e-01 1.67597613e-02 4.32879501e+02] [-1.37900888e-01 9.90442180e-01 -2.76264310e-03 -6.54004862e+01] [-1.69806201e-02 4.24660765e-04 9.99855729e-01 -8.75004442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.444012739 meters 0.030614541461672976 Centerline is valid? [True, True] Translation: X:432.94, Y:-65.41, Z:-8.75 [[ 9.89513617e-01 1.43067173e-01 1.98641862e-02 4.32938118e+02] [-1.43030254e-01 9.89712900e-01 -3.27437732e-03 -6.54069096e+01] [-2.01282972e-02 3.98861362e-04 9.99797326e-01 -8.74687718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.504012739 meters 0.024863334551097575 Centerline is valid? [True, True] Translation: X:433.00, Y:-65.41, Z:-8.75 [[ 9.88623452e-01 1.49175994e-01 1.92404221e-02 4.32999017e+02] [-1.49142522e-01 9.88810625e-01 -3.17111407e-03 -6.54075588e+01] [-1.94981879e-02 2.65472672e-04 9.99809857e-01 -8.74890379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.564012739 meters 0.023614369000157714 Centerline is valid? [True, True] Translation: X:433.06, Y:-65.41, Z:-8.75 [[ 9.88069346e-01 1.52739539e-01 1.97383052e-02 4.33056941e+02] [-1.52705027e-01 9.88266459e-01 -3.25295268e-03 -6.54138383e+01] [-2.00035595e-02 2.00004407e-04 9.99799889e-01 -8.74878138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.624012739 meters 0.021560876256238846 Centerline is valid? [True, True] Translation: X:433.12, Y:-65.42, Z:-8.75 [[ 9.87751713e-01 1.54694674e-01 2.03988153e-02 4.33115588e+02] [-1.54658256e-01 9.87962312e-01 -3.36056355e-03 -6.54176453e+01] [-2.06731221e-02 1.64557208e-04 9.99786275e-01 -8.74879683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.684012739 meters 0.023552696765453664 Centerline is valid? [True, True] Translation: X:433.17, Y:-65.43, Z:-8.75 [[ 9.88409332e-01 1.50599043e-01 1.91551639e-02 4.33172721e+02] [-1.50566178e-01 9.88594899e-01 -3.15480601e-03 -6.54349507e+01] [-1.94118080e-02 2.34119894e-04 9.99811546e-01 -8.75305647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.744012739 meters 0.025076820720172588 Centerline is valid? [True, True] Translation: X:433.23, Y:-65.45, Z:-8.75 [[ 9.88596611e-01 1.49315815e-01 1.95327667e-02 4.33230086e+02] [-1.49281405e-01 9.88789521e-01 -3.21626429e-03 -6.54488391e+01] [-1.97940342e-02 2.63709110e-04 9.99804044e-01 -8.75305689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80401273900003 meters 0.028221380880895666 Centerline is valid? [True, True] Translation: X:433.29, Y:-65.47, Z:-8.75 [[ 9.89255712e-01 1.44546970e-01 2.18931399e-02 4.33288093e+02] [-1.44502590e-01 9.89497858e-01 -3.60410541e-03 -6.54699231e+01] [-2.21841776e-02 4.01766443e-04 9.99753820e-01 -8.75066020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.864012739 meters 0.032752886120622535 Centerline is valid? [True, True] Translation: X:433.35, Y:-65.49, Z:-8.76 [[ 9.90011091e-01 1.39542879e-01 2.01451070e-02 4.33345870e+02] [-1.39504267e-01 9.90215917e-01 -3.31633921e-03 -6.54947554e+01] [-2.04107771e-02 4.72884209e-04 9.99791567e-01 -8.75536071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.924012739 meters 0.03496748165418402 Centerline is valid? [True, True] Translation: X:433.41, Y:-65.51, Z:-8.75 [[ 9.90287968e-01 1.37338090e-01 2.16330867e-02 4.33405668e+02] [-1.37293030e-01 9.90524073e-01 -3.56161896e-03 -6.55132268e+01] [-2.19172390e-02 5.56956396e-04 9.99759633e-01 -8.75431381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.984012739 meters 0.03641252180246695 Centerline is valid? [True, True] Translation: X:433.47, Y:-65.53, Z:-8.76 [[ 9.90577024e-01 1.35285510e-01 2.13304909e-02 4.33465242e+02] [-1.35241204e-01 9.90806478e-01 -3.51279414e-03 -6.55341955e+01] [-2.16096187e-02 5.94931891e-04 9.99766308e-01 -8.75658714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.044012739 meters 0.033779550259319994 Centerline is valid? [True, True] Translation: X:433.52, Y:-65.55, Z:-8.76 [[ 9.90236554e-01 1.37978688e-01 1.98355460e-02 4.33524753e+02] [-1.37940898e-01 9.90435072e-01 -3.26748380e-03 -6.55483783e+01] [-2.00966636e-02 4.99448865e-04 9.99797917e-01 -8.76006898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.104012739 meters 0.0294875298119441 Centerline is valid? [True, True] Translation: X:433.58, Y:-65.55, Z:-8.76 [[ 9.89445642e-01 1.43276157e-01 2.16624893e-02 4.33584232e+02] [-1.43232340e-01 9.89682656e-01 -3.56896107e-03 -6.55546120e+01] [-2.19503370e-02 4.28523944e-04 9.99758970e-01 -8.75748593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.164012739 meters 0.02451138470708404 Centerline is valid? [True, True] Translation: X:433.64, Y:-65.56, Z:-8.76 [[ 9.88500318e-01 1.49773164e-01 2.08595280e-02 4.33644743e+02] [-1.49733981e-01 9.88720347e-01 -3.43667076e-03 -6.55577964e+01] [-2.11389608e-02 2.73769977e-04 9.99776510e-01 -8.76179514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.224012739 meters 0.022443202902349482 Centerline is valid? [True, True] Translation: X:433.70, Y:-65.57, Z:-8.76 [[ 9.88053118e-01 1.52705034e-01 2.07896048e-02 4.33704337e+02] [-1.52666761e-01 9.88271789e-01 -3.42516513e-03 -6.55714129e+01] [-2.10688199e-02 2.10363460e-04 9.99778006e-01 -8.76342199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.284012739 meters 0.02069919299521529 Centerline is valid? [True, True] Translation: X:433.76, Y:-65.58, Z:-8.76 [[ 9.87516110e-01 1.56029721e-01 2.16022861e-02 4.33764645e+02] [-1.55989180e-01 9.87752350e-01 -3.55959366e-03 -6.55804060e+01] [-2.18931113e-02 1.45433202e-04 9.99760307e-01 -8.76323882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.344012739 meters 0.019352877646892096 Centerline is valid? [True, True] Translation: X:433.83, Y:-65.59, Z:-8.77 [[ 9.86833685e-01 1.60452324e-01 2.03551037e-02 4.33825151e+02] [-1.60417260e-01 9.87043591e-01 -3.35454283e-03 -6.55852511e+01] [-2.06296188e-02 4.50659003e-05 9.99787186e-01 -8.76637853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.404012739 meters 0.020687644658171727 Centerline is valid? [True, True] Translation: X:433.89, Y:-65.58, Z:-8.76 [[ 9.85315915e-01 1.69321693e-01 2.19706970e-02 4.33885895e+02] [-1.69283045e-01 9.85560826e-01 -3.62070860e-03 -6.55809849e+01] [-2.22665228e-02 -1.51724685e-04 9.99752059e-01 -8.76304682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.464012739 meters 0.027732931244571893 Centerline is valid? [True, True] Translation: X:433.95, Y:-65.57, Z:-8.76 [[ 9.83724600e-01 1.78158425e-01 2.33556480e-02 4.33947508e+02] [-1.78117263e-01 9.84001745e-01 -3.84780120e-03 -6.55695654e+01] [-2.36675166e-02 -3.74867403e-04 9.99719815e-01 -8.76211467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.524012739 meters 0.03085610406398559 Centerline is valid? [True, True] Translation: X:434.01, Y:-65.57, Z:-8.77 [[ 9.82807420e-01 1.83494548e-01 2.04774726e-02 4.34007787e+02] [-1.83464076e-01 9.83020628e-01 -3.37298965e-03 -6.55657629e+01] [-2.07487032e-02 -4.41881338e-04 9.99784625e-01 -8.76938423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.584012739 meters 0.030181004645785506 Centerline is valid? [True, True] Translation: X:434.07, Y:-65.57, Z:-8.77 [[ 9.82851911e-01 1.83242908e-01 2.05950719e-02 4.34066124e+02] [-1.83212046e-01 9.83067568e-01 -3.39160273e-03 -6.55713147e+01] [-2.08678344e-02 -4.39822053e-04 9.99782146e-01 -8.77012017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.644012739 meters 0.026861994405813994 Centerline is valid? [True, True] Translation: X:434.12, Y:-65.58, Z:-8.77 [[ 9.83685190e-01 1.78652034e-01 2.11399801e-02 4.34124866e+02] [-1.78618479e-01 9.83912256e-01 -3.48029097e-03 -6.55759557e+01] [-2.14216466e-02 -3.52480406e-04 9.99770468e-01 -8.77076480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.704012739 meters 0.023930221684389137 Centerline is valid? [True, True] Translation: X:434.18, Y:-65.59, Z:-8.77 [[ 9.84343472e-01 1.74943670e-01 2.15090999e-02 4.34182680e+02] [-1.74908065e-01 9.84578405e-01 -3.54024915e-03 -6.55859158e+01] [-2.17967395e-02 -2.77293894e-04 9.99762384e-01 -8.77159055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.764012739 meters 0.021436368571152283 Centerline is valid? [True, True] Translation: X:434.24, Y:-65.59, Z:-8.77 [[ 9.84852032e-01 1.71867034e-01 2.29825692e-02 4.34240754e+02] [-1.71825573e-01 9.85120131e-01 -3.78158113e-03 -6.55947438e+01] [-2.32905207e-02 -2.24695248e-04 9.99728714e-01 -8.77088752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.824012739 meters 0.020162975586048324 Centerline is valid? [True, True] Translation: X:434.30, Y:-65.61, Z:-8.77 [[ 9.85292915e-01 1.69115070e-01 2.44533047e-02 4.34297893e+02] [-1.69067318e-01 9.85596299e-01 -4.02222473e-03 -6.56057781e+01] [-2.47813055e-02 -1.71185110e-04 9.99692882e-01 -8.76945780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.884012739 meters 0.01904135566603424 Centerline is valid? [True, True] Translation: X:434.35, Y:-65.62, Z:-8.77 [[ 9.86088979e-01 1.64645183e-01 2.28142345e-02 4.34354033e+02] [-1.64602453e-01 9.86352858e-01 -3.75127967e-03 -6.56191220e+01] [-2.31205155e-02 -5.61834161e-05 9.99732684e-01 -8.77314489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.944012739 meters 0.018961872350336417 Centerline is valid? [True, True] Translation: X:434.41, Y:-65.64, Z:-8.78 [[ 9.86735145e-01 1.60980760e-01 2.09510854e-02 4.34411313e+02] [-1.60943923e-01 9.86957544e-01 -3.44373851e-03 -6.56354231e+01] [-2.12322074e-02 2.61079511e-05 9.99774571e-01 -8.77822861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.004012739 meters 0.01898534329368298 Centerline is valid? [True, True] Translation: X:434.47, Y:-65.65, Z:-8.78 [[ 9.86883339e-01 1.60189990e-01 2.00110322e-02 4.34469192e+02] [-1.60156241e-01 9.87086200e-01 -3.28830744e-03 -6.56459050e+01] [-2.02793677e-02 4.02841157e-05 9.99794352e-01 -8.77992540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.064012739 meters 0.01881342054228084 Centerline is valid? [True, True] Translation: X:434.53, Y:-65.65, Z:-8.78 [[ 9.86679153e-01 1.61216763e-01 2.17578580e-02 4.34526173e+02] [-1.61177138e-01 9.86919022e-01 -3.57421826e-03 -6.56536432e+01] [-2.20494678e-02 1.97373563e-05 9.99756881e-01 -8.77798200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.124012739 meters 0.018901136391607603 Centerline is valid? [True, True] Translation: X:434.58, Y:-65.66, Z:-8.78 [[ 9.86461022e-01 1.62626812e-01 2.11464363e-02 4.34584240e+02] [-1.62589733e-01 9.86687651e-01 -3.47257737e-03 -6.56607693e+01] [-2.14296617e-02 -1.26312121e-05 9.99770358e-01 -8.78045061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.184012739 meters 0.01937254973329135 Centerline is valid? [True, True] Translation: X:434.64, Y:-65.66, Z:-8.78 [[ 9.85841953e-01 1.66287434e-01 2.15437349e-02 4.34643351e+02] [-1.66249845e-01 9.86077320e-01 -3.53678676e-03 -6.56647832e+01] [-2.18319115e-02 -9.49298087e-05 9.99761651e-01 -8.78098243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.244012739 meters 0.02108761090244681 Centerline is valid? [True, True] Translation: X:434.70, Y:-65.67, Z:-8.78 [[ 9.85266084e-01 1.69718624e-01 2.11265895e-02 4.34702117e+02] [-1.69683285e-01 9.85492547e-01 -3.46733137e-03 -6.56681514e+01] [-2.14085672e-02 -1.68585110e-04 9.99770796e-01 -8.78269557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30401273900003 meters 0.02510369530113409 Centerline is valid? [True, True] Translation: X:434.76, Y:-65.67, Z:-8.78 [[ 9.84362447e-01 1.74937893e-01 2.06714055e-02 4.34760895e+02] [-1.74905230e-01 9.84579431e-01 -3.39168730e-03 -6.56701712e+01] [-2.09459753e-02 -2.76887330e-04 9.99780571e-01 -8.78479046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.364012739 meters 0.03020701311093487 Centerline is valid? [True, True] Translation: X:434.82, Y:-65.67, Z:-8.79 [[ 9.83428412e-01 1.80139665e-01 2.04513868e-02 4.34819875e+02] [-1.80108832e-01 9.83640968e-01 -3.35488155e-03 -6.56706148e+01] [-2.07211692e-02 -3.84189557e-04 9.99785220e-01 -8.78647655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.424012739 meters 0.03702734673630445 Centerline is valid? [True, True] Translation: X:434.88, Y:-65.67, Z:-8.78 [[ 9.82299533e-01 1.86041309e-01 2.18233578e-02 4.34880401e+02] [-1.86007680e-01 9.82541773e-01 -3.57877036e-03 -6.56684924e+01] [-2.21081598e-02 -5.43887712e-04 9.99755437e-01 -8.78429410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.484012739 meters 0.03871774440609335 Centerline is valid? [True, True] Translation: X:434.94, Y:-65.67, Z:-8.79 [[ 9.82082709e-01 1.87130661e-01 2.22636309e-02 4.34938802e+02] [-1.87095953e-01 9.82334861e-01 -3.65041104e-03 -6.56740707e+01] [-2.25534446e-02 -5.80429692e-04 9.99745470e-01 -8.78533088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.544012739 meters 0.036165618895414614 Centerline is valid? [True, True] Translation: X:435.00, Y:-65.69, Z:-8.79 [[ 9.82638700e-01 1.84387913e-01 2.05495103e-02 4.34995344e+02] [-1.84357762e-01 9.82853432e-01 -3.36850756e-03 -6.56893746e+01] [-2.08182688e-02 -4.78435834e-04 9.99783162e-01 -8.79036877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.604012739 meters 0.033627335064834334 Centerline is valid? [True, True] Translation: X:435.05, Y:-65.70, Z:-8.79 [[ 9.83084446e-01 1.81983714e-01 2.06615644e-02 4.35053285e+02] [-1.81952721e-01 9.83301450e-01 -3.38596266e-03 -6.57021832e+01] [-2.09327363e-02 -4.30740642e-04 9.99780793e-01 -8.79013213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.664012739 meters 0.03370748556103333 Centerline is valid? [True, True] Translation: X:435.11, Y:-65.71, Z:-8.79 [[ 9.83076828e-01 1.81905852e-01 2.16843377e-02 4.35111413e+02] [-1.81871714e-01 9.83315848e-01 -3.55277462e-03 -6.57078120e+01] [-2.19688234e-02 -4.51117240e-04 9.99758554e-01 -8.78841340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.724012739 meters 0.037959562786052316 Centerline is valid? [True, True] Translation: X:435.17, Y:-65.71, Z:-8.79 [[ 9.82535626e-01 1.84775568e-01 2.19484241e-02 4.35170588e+02] [-1.84741340e-01 9.82780604e-01 -3.59461622e-03 -6.57078712e+01] [-2.22346827e-02 -5.22942779e-04 9.99752642e-01 -8.79055384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.784012739 meters 0.03794335539995512 Centerline is valid? [True, True] Translation: X:435.23, Y:-65.71, Z:-8.79 [[ 9.82311509e-01 1.85954147e-01 2.20262250e-02 4.35230096e+02] [-1.85919995e-01 9.82558268e-01 -3.60633868e-03 -6.57108110e+01] [-2.23126631e-02 -5.52567637e-04 9.99750889e-01 -8.79051591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.844012739 meters 0.03519109166617412 Centerline is valid? [True, True] Translation: X:435.29, Y:-65.72, Z:-8.79 [[ 9.82133326e-01 1.86934872e-01 2.16675788e-02 4.35288174e+02] [-1.86902082e-01 9.82372146e-01 -3.54666136e-03 -6.57197053e+01] [-2.19486206e-02 -5.66421287e-04 9.99758940e-01 -8.79251977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.904012739 meters 0.03907477749179511 Centerline is valid? [True, True] Translation: X:435.35, Y:-65.72, Z:-8.80 [[ 9.82395551e-01 1.85799199e-01 1.94329323e-02 4.35346807e+02] [-1.85772619e-01 9.82587615e-01 -3.18005822e-03 -6.57180968e+01] [-1.96854109e-02 -4.86031679e-04 9.99806105e-01 -8.79817744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.964012739 meters 0.03365504873093457 Centerline is valid? [True, True] Translation: X:435.40, Y:-65.73, Z:-8.80 [[ 9.82639452e-01 1.84444944e-01 1.99942328e-02 4.35403905e+02] [-1.84416550e-01 9.82842733e-01 -3.27068904e-03 -6.57330636e+01] [-2.02544485e-02 -4.73359344e-04 9.99794746e-01 -8.79825857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.024012739 meters 0.03628194161333695 Centerline is valid? [True, True] Translation: X:435.46, Y:-65.73, Z:-8.80 [[ 9.82920798e-01 1.82877359e-01 2.05566747e-02 4.35462187e+02] [-1.82847024e-01 9.83135629e-01 -3.36167901e-03 -6.57330531e+01] [-2.08247743e-02 -4.54462580e-04 9.99783038e-01 -8.79705464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.084012739 meters 0.038128113884686725 Centerline is valid? [True, True] Translation: X:435.52, Y:-65.74, Z:-8.80 [[ 9.83039364e-01 1.82354007e-01 1.95096301e-02 4.35521690e+02] [-1.82326613e-01 9.83232850e-01 -3.18882939e-03 -6.57359509e+01] [-1.97640051e-02 -4.22379971e-04 9.99804584e-01 -8.80080920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.144012739 meters 0.029962751948614638 Centerline is valid? [True, True] Translation: X:435.58, Y:-65.75, Z:-8.80 [[ 9.83126865e-01 1.81727652e-01 2.08956536e-02 4.35579333e+02] [-1.81696106e-01 9.83348802e-01 -3.41440825e-03 -6.57491104e+01] [-2.11682084e-02 -4.39862421e-04 9.99775832e-01 -8.79806707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.204012739 meters 0.0262020503811373 Centerline is valid? [True, True] Translation: X:435.64, Y:-65.76, Z:-8.80 [[ 9.83673220e-01 1.78606580e-01 2.20609553e-02 4.35636840e+02] [-1.78570657e-01 9.83920492e-01 -3.60368460e-03 -6.57631341e+01] [-2.23498677e-02 -3.94591240e-04 9.99750133e-01 -8.79718905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.264012739 meters 0.02959553283044847 Centerline is valid? [True, True] Translation: X:435.70, Y:-65.77, Z:-8.80 [[ 9.84297647e-01 1.75313599e-01 2.05738704e-02 4.35695408e+02] [-1.75281657e-01 9.84512596e-01 -3.35979793e-03 -6.57657645e+01] [-2.08442528e-02 -2.99180898e-04 9.99782690e-01 -8.80149664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.324012739 meters 0.021535198556368308 Centerline is valid? [True, True] Translation: X:435.75, Y:-65.79, Z:-8.81 [[ 9.85115240e-01 1.70843107e-01 1.89894051e-02 4.35751225e+02] [-1.70815081e-01 9.85298227e-01 -3.10017996e-03 -6.57893974e+01] [-1.92398715e-02 -1.89642245e-04 9.99814879e-01 -8.80530086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.384012739 meters 0.02046745002372483 Centerline is valid? [True, True] Translation: X:435.81, Y:-65.80, Z:-8.80 [[ 9.85366160e-01 1.69235840e-01 2.03165083e-02 4.35809322e+02] [-1.69203440e-01 9.85575569e-01 -3.31578181e-03 -6.57993965e+01] [-2.05846033e-02 -1.70363908e-04 9.99788100e-01 -8.80218971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.444012739 meters 0.020551949830955756 Centerline is valid? [True, True] Translation: X:435.87, Y:-65.81, Z:-8.80 [[ 9.85355252e-01 1.69187248e-01 2.12297439e-02 4.35865416e+02] [-1.69151883e-01 9.85583910e-01 -3.46371347e-03 -6.58065481e+01] [-2.15097102e-02 -1.78062888e-04 9.99768624e-01 -8.80206915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.504012739 meters 0.02073456295642877 Centerline is valid? [True, True] Translation: X:435.92, Y:-65.81, Z:-8.81 [[ 9.85330958e-01 1.69471994e-01 2.00535821e-02 4.35924543e+02] [-1.69440530e-01 9.85534988e-01 -3.27021318e-03 -6.58114880e+01] [-2.03177164e-02 -1.75647301e-04 9.99793558e-01 -8.80578491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.564012739 meters 0.022011107972642288 Centerline is valid? [True, True] Translation: X:435.98, Y:-65.81, Z:-8.81 [[ 9.85052981e-01 1.71188910e-01 1.91044706e-02 4.35982728e+02] [-1.71160694e-01 9.85238203e-01 -3.11457311e-03 -6.58132098e+01] [-1.93556347e-02 -2.01914919e-04 9.99812642e-01 -8.80825318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.624012739 meters 0.02429892852466396 Centerline is valid? [True, True] Translation: X:436.04, Y:-65.81, Z:-8.81 [[ 9.84488307e-01 1.74497264e-01 1.82613731e-02 4.36042316e+02] [-1.74472071e-01 9.84657625e-01 -2.97608669e-03 -6.58096042e+01] [-1.85005192e-02 -2.56177036e-04 9.99828818e-01 -8.81036537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.684012739 meters 0.02400930127235668 Centerline is valid? [True, True] Translation: X:436.10, Y:-65.81, Z:-8.81 [[ 9.84456186e-01 1.74476502e-01 2.00989510e-02 4.36100419e+02] [-1.74446006e-01 9.84661297e-01 -3.27424642e-03 -6.58107693e+01] [-2.03619382e-02 -2.82829580e-04 9.99792634e-01 -8.80912246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.744012739 meters 0.021527647347642762 Centerline is valid? [True, True] Translation: X:436.16, Y:-65.82, Z:-8.81 [[ 9.85039533e-01 1.70984338e-01 2.14819452e-02 4.36158309e+02] [-1.70948763e-01 9.85273720e-01 -3.49526069e-03 -6.58200373e+01] [-2.17632309e-02 -2.29342004e-04 9.99763127e-01 -8.80784976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80401273900003 meters 0.01855901878653127 Centerline is valid? [True, True] Translation: X:436.22, Y:-65.83, Z:-8.81 [[ 9.86236974e-01 1.64079099e-01 2.03637275e-02 4.36216460e+02] [-1.64045677e-01 9.86447183e-01 -3.31237068e-03 -6.58320224e+01] [-2.06312324e-02 -7.37990496e-05 9.99787151e-01 -8.81098503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.864012739 meters 0.018179926919352118 Centerline is valid? [True, True] Translation: X:436.27, Y:-65.84, Z:-8.81 [[ 9.87032500e-01 1.59396902e-01 1.89597344e-02 4.36273150e+02] [-1.59367095e-01 9.87214580e-01 -3.08251687e-03 -6.58404253e+01] [-1.92086699e-02 2.09865514e-05 9.99815496e-01 -8.81381576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.924012739 meters 0.01834760705006821 Centerline is valid? [True, True] Translation: X:436.33, Y:-65.85, Z:-8.82 [[ 9.87135816e-01 1.58745371e-01 1.90469701e-02 4.36331194e+02] [-1.58715200e-01 9.87319556e-01 -3.09504795e-03 -6.58453262e+01] [-1.92967706e-02 3.21890237e-05 9.99813799e-01 -8.81580947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.984012739 meters 0.019717733694023944 Centerline is valid? [True, True] Translation: X:436.39, Y:-65.85, Z:-8.82 [[ 9.87877874e-01 1.54103532e-01 1.86924444e-02 4.36389470e+02] [-1.54073667e-01 9.88054698e-01 -3.03612038e-03 -6.58545073e+01] [-1.89370344e-02 1.19302696e-04 9.99820671e-01 -8.81741681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.044012739 meters 0.0236849158302403 Centerline is valid? [True, True] Translation: X:436.45, Y:-65.87, Z:-8.82 [[ 9.88818967e-01 1.48051739e-01 1.78250786e-02 4.36446941e+02] [-1.48023612e-01 9.88979592e-01 -2.89442051e-03 -6.58671318e+01] [-1.80571629e-02 2.23525385e-04 9.99836931e-01 -8.82148899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.104012739 meters 0.030113761598535092 Centerline is valid? [True, True] Translation: X:436.51, Y:-65.88, Z:-8.82 [[ 9.90212063e-01 1.38052357e-01 2.05333064e-02 4.36505659e+02] [-1.38012897e-01 9.90424822e-01 -3.33337367e-03 -6.58844175e+01] [-2.07968765e-02 4.66885708e-04 9.99783613e-01 -8.81704415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.164012739 meters 0.041619654677673555 Centerline is valid? [True, True] Translation: X:436.56, Y:-65.92, Z:-8.82 [[ 9.91846577e-01 1.25725711e-01 2.08185890e-02 4.36561592e+02] [-1.25682431e-01 9.92064768e-01 -3.37961320e-03 -6.59166002e+01] [-2.10782929e-02 7.35526904e-04 9.99777558e-01 -8.81973454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.224012739 meters 0.0564545923553899 Centerline is valid? [True, True] Translation: X:436.62, Y:-65.95, Z:-8.83 [[ 9.92951205e-01 1.17096028e-01 1.83418747e-02 4.36615877e+02] [-1.17060965e-01 9.93120267e-01 -2.97747804e-03 -6.59539985e+01] [-1.85643384e-02 8.09372863e-04 9.99827340e-01 -8.82501398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.284012739 meters 0.05192131254111027 Centerline is valid? [True, True] Translation: X:436.67, Y:-65.97, Z:-8.82 [[ 9.93046333e-01 1.16169555e-01 1.90686752e-02 4.36674223e+02] [-1.16131485e-01 9.93229025e-01 -3.09554660e-03 -6.59651759e+01] [-1.92991700e-02 8.59547627e-04 9.99813384e-01 -8.82403248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.344012739 meters 0.050465351908169934 Centerline is valid? [True, True] Translation: X:436.73, Y:-65.98, Z:-8.83 [[ 9.92744626e-01 1.18985925e-01 1.73337156e-02 4.36730551e+02] [-1.18954902e-01 9.92895672e-01 -2.81357123e-03 -6.59831935e+01] [-1.75453466e-02 7.31227273e-04 9.99845801e-01 -8.82896162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.404012739 meters 0.047043705190270055 Centerline is valid? [True, True] Translation: X:436.79, Y:-66.00, Z:-8.83 [[ 9.92268192e-01 1.22973991e-01 1.67699697e-02 4.36788847e+02] [-1.22945534e-01 9.92409688e-01 -2.72140152e-03 -6.59983835e+01] [-1.69773420e-02 6.38567294e-04 9.99855671e-01 -8.83245997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.464012739 meters 0.04360231709674381 Centerline is valid? [True, True] Translation: X:436.85, Y:-66.01, Z:-8.83 [[ 9.91716192e-01 1.27179515e-01 1.80101543e-02 4.36846949e+02] [-1.27147385e-01 9.91879529e-01 -2.92262868e-03 -6.60127832e+01] [-1.82356019e-02 6.08474165e-04 9.99833532e-01 -8.83023160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.524012739 meters 0.041461322285396354 Centerline is valid? [True, True] Translation: X:436.91, Y:-66.02, Z:-8.83 [[ 9.91417315e-01 1.29529462e-01 1.77151341e-02 4.36906372e+02] [-1.29498755e-01 9.91575418e-01 -2.87449508e-03 -6.60218524e+01] [-1.79382233e-02 5.55736376e-04 9.99838943e-01 -8.83209628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.584012739 meters 0.033714204715466496 Centerline is valid? [True, True] Translation: X:436.97, Y:-66.02, Z:-8.83 [[ 9.90361929e-01 1.37445076e-01 1.70909635e-02 4.36967567e+02] [-1.37417676e-01 9.90509310e-01 -2.77296653e-03 -6.60244110e+01] [-1.73098890e-02 3.97640008e-04 9.99850094e-01 -8.83493094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.644012739 meters 0.027998636224573544 Centerline is valid? [True, True] Translation: X:437.03, Y:-66.03, Z:-8.84 [[ 9.89461902e-01 1.43756073e-01 1.73013368e-02 4.37027388e+02] [-1.43728953e-01 9.89613110e-01 -2.80735463e-03 -6.60261008e+01] [-1.75252040e-02 2.91067433e-04 9.99846379e-01 -8.83520202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.704012739 meters 0.03081772110540367 Centerline is valid? [True, True] Translation: X:437.08, Y:-66.04, Z:-8.83 [[ 9.89772216e-01 1.41342291e-01 1.93214171e-02 4.37083955e+02] [-1.41308017e-01 9.89960715e-01 -3.13468269e-03 -6.60393578e+01] [-1.95705071e-02 3.72350700e-04 9.99808410e-01 -8.83214309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.764012739 meters 0.03493160802150504 Centerline is valid? [True, True] Translation: X:437.14, Y:-66.06, Z:-8.83 [[ 9.90297649e-01 1.37482422e-01 2.02274388e-02 4.37141634e+02] [-1.37444077e-01 9.90504096e-01 -3.28050289e-03 -6.60577349e+01] [-2.04863724e-02 4.68532659e-04 9.99790022e-01 -8.83203868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.824012739 meters 0.03222212105829913 Centerline is valid? [True, True] Translation: X:437.20, Y:-66.06, Z:-8.83 [[ 9.90740132e-01 1.33979356e-01 2.19891494e-02 4.37201232e+02] [-1.33933189e-01 9.90983949e-01 -3.56569024e-03 -6.60621571e+01] [-2.22686230e-02 5.87595523e-04 9.99751851e-01 -8.82909425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.884012739 meters 0.03908892378825104 Centerline is valid? [True, True] Translation: X:437.26, Y:-66.08, Z:-8.83 [[ 9.90643958e-01 1.34730624e-01 2.17303501e-02 4.37257595e+02] [-1.34685729e-01 9.90882103e-01 -3.52317183e-03 -6.60814638e+01] [-2.20068941e-02 5.63440843e-04 9.99757660e-01 -8.82974538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.944012739 meters 0.03562539494016628 Centerline is valid? [True, True] Translation: X:437.32, Y:-66.09, Z:-8.83 [[ 9.91063814e-01 1.31631798e-01 2.15774467e-02 4.37316870e+02] [-1.31586816e-01 9.91298480e-01 -3.49762800e-03 -6.60895173e+01] [-2.18500891e-02 6.27065041e-04 9.99761062e-01 -8.83411341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.004012739 meters 0.043209264478401184 Centerline is valid? [True, True] Translation: X:437.37, Y:-66.12, Z:-8.83 [[ 9.92173597e-01 1.22876359e-01 2.22025541e-02 4.37372847e+02] [-1.22826547e-01 9.92421629e-01 -3.59869508e-03 -6.61213909e+01] [-2.24764895e-02 8.43467195e-04 9.99747016e-01 -8.83446692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.064012739 meters 0.05572200826226038 Centerline is valid? [True, True] Translation: X:437.43, Y:-66.16, Z:-8.84 [[ 9.92942502e-01 1.17246336e-01 1.78461283e-02 4.37427039e+02] [-1.17213251e-01 9.93102557e-01 -2.89237527e-03 -6.61586994e+01] [-1.80621560e-02 7.80159623e-04 9.99836562e-01 -8.84358481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.124012739 meters 0.0494802526819893 Centerline is valid? [True, True] Translation: X:437.49, Y:-66.17, Z:-8.85 [[ 9.92892716e-01 1.17998421e-01 1.55057441e-02 4.37488529e+02] [-1.17973526e-01 9.93013559e-01 -2.51372241e-03 -6.61706201e+01] [-1.56940294e-02 6.66589368e-04 9.99876619e-01 -8.84856693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.184012739 meters 0.044556282427314096 Centerline is valid? [True, True] Translation: X:437.55, Y:-66.19, Z:-8.84 [[ 9.92114665e-01 1.24101161e-01 1.75326178e-02 4.37546603e+02] [-1.24070258e-01 9.92269361e-01 -2.84366887e-03 -6.61868578e+01] [-1.77499821e-02 6.45969165e-04 9.99842248e-01 -8.84472182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.244012739 meters 0.038658101600544545 Centerline is valid? [True, True] Translation: X:437.61, Y:-66.20, Z:-8.84 [[ 9.91241154e-01 1.30664080e-01 1.91799899e-02 4.37606025e+02] [-1.30628323e-01 9.91426530e-01 -3.11083839e-03 -6.61998837e+01] [-1.94220257e-02 5.78141125e-04 9.99811208e-01 -8.84350720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30401273900003 meters 0.03266690770130825 Centerline is valid? [True, True] Translation: X:437.67, Y:-66.21, Z:-8.85 [[ 9.90520171e-01 1.36164814e-01 1.81365280e-02 4.37665879e+02] [-1.36133761e-01 9.90686098e-01 -2.94167957e-03 -6.62079453e+01] [-1.83681594e-02 4.44799184e-04 9.99831192e-01 -8.84525164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.364012739 meters 0.028080345468641008 Centerline is valid? [True, True] Translation: X:437.73, Y:-66.21, Z:-8.84 [[ 9.89725800e-01 1.41726481e-01 1.88797513e-02 4.37726322e+02] [-1.41693842e-01 9.89905793e-01 -3.06221222e-03 -6.62148621e+01] [-1.91231717e-02 3.55605953e-04 9.99817072e-01 -8.84442543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.424012739 meters 0.026763124871420827 Centerline is valid? [True, True] Translation: X:437.79, Y:-66.22, Z:-8.84 [[ 9.89356022e-01 1.44023108e-01 2.07847508e-02 4.37785872e+02] [-1.43984050e-01 9.89574265e-01 -3.37145660e-03 -6.62222969e+01] [-2.10536222e-02 3.42898298e-04 9.99778289e-01 -8.84176845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.484012739 meters 0.022468042291226 Centerline is valid? [True, True] Translation: X:437.85, Y:-66.22, Z:-8.84 [[ 9.88598938e-01 1.49127943e-01 2.08085438e-02 4.37846331e+02] [-1.49089925e-01 9.88817881e-01 -3.37530183e-03 -6.62225407e+01] [-2.10792120e-02 2.34475574e-04 9.99777781e-01 -8.84265782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.544012739 meters 0.02049588175288837 Centerline is valid? [True, True] Translation: X:437.91, Y:-66.22, Z:-8.85 [[ 9.88295903e-01 1.51316900e-01 1.93495101e-02 4.37906609e+02] [-1.51284454e-01 9.88485288e-01 -3.13822212e-03 -6.62242058e+01] [-1.96015721e-02 1.74211981e-04 9.99807856e-01 -8.84604411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.604012739 meters 0.020105525081110968 Centerline is valid? [True, True] Translation: X:437.97, Y:-66.23, Z:-8.85 [[ 9.88109174e-01 1.52573507e-01 1.90154128e-02 4.37965355e+02] [-1.52542414e-01 9.88292114e-01 -3.08359540e-03 -6.62287230e+01] [-1.92632575e-02 1.46271931e-04 9.99814436e-01 -8.84892927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.664012739 meters 0.020634778065117085 Centerline is valid? [True, True] Translation: X:438.02, Y:-66.23, Z:-8.85 [[ 9.88241488e-01 1.51569639e-01 2.01347083e-02 4.38023932e+02] [-1.51534584e-01 9.88446566e-01 -3.26433243e-03 -6.62348505e+01] [-2.03968570e-02 1.74844085e-04 9.99791947e-01 -8.84792392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.724012739 meters 0.023535352747321433 Centerline is valid? [True, True] Translation: X:438.08, Y:-66.25, Z:-8.85 [[ 9.88782871e-01 1.48100286e-01 1.93581803e-02 4.38081547e+02] [-1.48067236e-01 9.88972320e-01 -3.13752387e-03 -6.62483135e+01] [-1.96093727e-02 2.36017621e-04 9.99807690e-01 -8.85159071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.784012739 meters 0.025275930868830426 Centerline is valid? [True, True] Translation: X:438.14, Y:-66.26, Z:-8.86 [[ 9.89301523e-01 1.44831009e-01 1.75064462e-02 4.38141076e+02] [-1.44803476e-01 9.89456368e-01 -2.83696494e-03 -6.62588903e+01] [-1.77327452e-02 2.71619479e-04 9.99842726e-01 -8.85609664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.844012739 meters 0.027286847409149224 Centerline is valid? [True, True] Translation: X:438.20, Y:-66.27, Z:-8.86 [[ 9.89666327e-01 1.42238091e-01 1.81352235e-02 4.38199588e+02] [-1.42208108e-01 9.89832419e-01 -2.93890918e-03 -6.62693591e+01] [-1.83688569e-02 3.29563628e-04 9.99831224e-01 -8.85569056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.904012739 meters 0.029916109604226852 Centerline is valid? [True, True] Translation: X:438.26, Y:-66.28, Z:-8.85 [[ 9.90046401e-01 1.39449842e-01 1.90227439e-02 4.38258749e+02] [-1.39416347e-01 9.90229055e-01 -3.08223018e-03 -6.62820447e+01] [-1.92666903e-02 3.99469437e-04 9.99814300e-01 -8.85490208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.964012739 meters 0.0341765478190426 Centerline is valid? [True, True] Translation: X:438.32, Y:-66.30, Z:-8.86 [[ 9.90595002e-01 1.35393391e-01 1.97527583e-02 4.38316163e+02] [-1.35356469e-01 9.90791796e-01 -3.20051346e-03 -6.63007655e+01] [-2.00041993e-02 4.96749016e-04 9.99799773e-01 -8.85558301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.024012739 meters 0.04346449299243033 Centerline is valid? [True, True] Translation: X:438.37, Y:-66.33, Z:-8.86 [[ 9.91634505e-01 1.27667802e-01 1.90247562e-02 4.38371763e+02] [-1.27632130e-01 9.91816786e-01 -3.08254966e-03 -6.63315324e+01] [-1.92626149e-02 6.28592443e-04 9.99814261e-01 -8.85728440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.084012739 meters 0.04736235352080227 Centerline is valid? [True, True] Translation: X:438.43, Y:-66.35, Z:-8.86 [[ 9.92182074e-01 1.23153074e-01 2.02003293e-02 4.38429656e+02] [-1.23111920e-01 9.92387395e-01 -3.27314624e-03 -6.63536452e+01] [-2.04496502e-02 7.60655718e-04 9.99790595e-01 -8.85607453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.144012739 meters 0.046825452635181154 Centerline is valid? [True, True] Translation: X:438.49, Y:-66.38, Z:-8.85 [[ 9.91945132e-01 1.24640364e-01 2.25750934e-02 4.38489401e+02] [-1.24589341e-01 9.92201650e-01 -3.65820594e-03 -6.63764497e+01] [-2.28550050e-02 8.16123550e-04 9.99738457e-01 -8.85274967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.204012739 meters 0.0355912193293948 Centerline is valid? [True, True] Translation: X:438.55, Y:-66.38, Z:-8.86 [[ 9.90894528e-01 1.33267945e-01 1.91752192e-02 4.38550005e+02] [-1.33232718e-01 9.91079905e-01 -3.10875764e-03 -6.63827502e+01] [-1.94184722e-02 5.25684355e-04 9.99811305e-01 -8.86057184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.264012739 meters 0.02868005078167762 Centerline is valid? [True, True] Translation: X:438.61, Y:-66.39, Z:-8.86 [[ 9.89451970e-01 1.43669531e-01 1.85435927e-02 4.38608903e+02] [-1.43638406e-01 9.89625671e-01 -3.00655671e-03 -6.63929786e+01] [-1.87831659e-02 3.11271373e-04 9.99823532e-01 -8.86295504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.324012739 meters 0.019497475771998424 Centerline is valid? [True, True] Translation: X:438.67, Y:-66.39, Z:-8.86 [[ 9.87785828e-01 1.54454021e-01 2.05697339e-02 4.38670782e+02] [-1.54418053e-01 9.87999970e-01 -3.33517393e-03 -6.63929954e+01] [-2.08380275e-02 1.18099270e-04 9.99782858e-01 -8.85983459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.384012739 meters 0.01871307286497147 Centerline is valid? [True, True] Translation: X:438.73, Y:-66.39, Z:-8.86 [[ 9.86296066e-01 1.63775217e-01 1.99436335e-02 4.38731326e+02] [-1.63743301e-01 9.86497680e-01 -3.23400943e-03 -6.63892712e+01] [-2.02039987e-02 -7.59455990e-05 9.99795876e-01 -8.86246389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.444012739 meters 0.02044286594640987 Centerline is valid? [True, True] Translation: X:438.79, Y:-66.39, Z:-8.86 [[ 9.85781284e-01 1.66894954e-01 1.95277805e-02 4.38789926e+02] [-1.66864976e-01 9.85974673e-01 -3.16614424e-03 -6.63940467e+01] [-1.97823105e-02 -1.37376878e-04 9.99804302e-01 -8.86469013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.504012739 meters 0.02954172437536588 Centerline is valid? [True, True] Translation: X:438.85, Y:-66.39, Z:-8.87 [[ 9.84173989e-01 1.76312268e-01 1.77635223e-02 4.38850499e+02] [-1.76289004e-01 9.84334240e-01 -2.87951928e-03 -6.63874977e+01] [-1.79929378e-02 -2.97565666e-04 9.99838070e-01 -8.86984060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.564012739 meters 0.030961108126810487 Centerline is valid? [True, True] Translation: X:438.91, Y:-66.39, Z:-8.87 [[ 9.83353426e-01 1.80703346e-01 1.90352226e-02 4.38909778e+02] [-1.80677461e-01 9.83537562e-01 -3.08523032e-03 -6.63913858e+01] [-1.92793678e-02 -4.05363878e-04 9.99814054e-01 -8.86706909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.624012739 meters 0.03436798820624935 Centerline is valid? [True, True] Translation: X:438.97, Y:-66.39, Z:-8.87 [[ 9.82936577e-01 1.82835659e-01 2.01694626e-02 4.38968243e+02] [-1.82807061e-01 9.83143375e-01 -3.26831252e-03 -6.63919735e+01] [-2.04270376e-02 -4.74576261e-04 9.99791234e-01 -8.86640439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.684012739 meters 0.03882536971209083 Centerline is valid? [True, True] Translation: X:439.03, Y:-66.39, Z:-8.87 [[ 9.81807578e-01 1.88960934e-01 1.86452706e-02 4.39029846e+02] [-1.88937623e-01 9.81984447e-01 -3.01994306e-03 -6.63894666e+01] [-1.88800170e-02 -5.57790135e-04 9.99821601e-01 -8.87118325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.744012739 meters 0.04231879868246998 Centerline is valid? [True, True] Translation: X:439.09, Y:-66.39, Z:-8.87 [[ 9.81432768e-01 1.90810227e-01 1.95237922e-02 4.39089824e+02] [-1.90785035e-01 9.81626747e-01 -3.16215920e-03 -6.63854043e+01] [-1.97684489e-02 -6.21400727e-04 9.99804392e-01 -8.87119920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80401273900003 meters 0.03859395321732922 Centerline is valid? [True, True] Translation: X:439.15, Y:-66.39, Z:-8.87 [[ 9.82056452e-01 1.87475484e-01 2.04467074e-02 4.39148732e+02] [-1.87447147e-01 9.82269110e-01 -3.31089048e-03 -6.63943651e+01] [-2.07048799e-02 -5.81195611e-04 9.99785462e-01 -8.87177147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.864012739 meters 0.031133352098875137 Centerline is valid? [True, True] Translation: X:439.21, Y:-66.41, Z:-8.87 [[ 9.83298248e-01 1.80793608e-01 2.09338687e-02 4.39207738e+02] [-1.80762400e-01 9.83520954e-01 -3.38929387e-03 -6.64082157e+01] [-2.12016612e-02 -4.51369624e-04 9.99775118e-01 -8.87255024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.924012739 meters 0.028748016812687852 Centerline is valid? [True, True] Translation: X:439.27, Y:-66.42, Z:-8.87 [[ 9.83802063e-01 1.78091813e-01 2.04158697e-02 4.39265731e+02] [-1.78061550e-01 9.84013800e-01 -3.30536755e-03 -6.64171495e+01] [-2.06781565e-02 -3.83453994e-04 9.99786111e-01 -8.87498773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.984012739 meters 0.027917779925251487 Centerline is valid? [True, True] Translation: X:439.32, Y:-66.42, Z:-8.88 [[ 9.84171527e-01 1.76160927e-01 1.93321887e-02 4.39324071e+02] [-1.76133435e-01 9.84361327e-01 -3.12906512e-03 -6.64173774e+01] [-1.95810779e-02 -3.25508002e-04 9.99808219e-01 -8.87728132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.044012739 meters 0.026727706569215214 Centerline is valid? [True, True] Translation: X:439.38, Y:-66.42, Z:-8.88 [[ 9.84498571e-01 1.74442128e-01 1.82347949e-02 4.39381634e+02] [-1.74417393e-01 9.84667390e-01 -2.95044133e-03 -6.64226682e+01] [-1.84698892e-02 -2.75760111e-04 9.99829379e-01 -8.88157512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.104012739 meters 0.02262383894172515 Centerline is valid? [True, True] Translation: X:439.44, Y:-66.43, Z:-8.88 [[ 9.85206173e-01 1.70121777e-01 2.06731271e-02 4.39439905e+02] [-1.70089060e-01 9.85423022e-01 -3.34363455e-03 -6.64327650e+01] [-2.09406004e-02 -2.22103353e-04 9.99780697e-01 -8.87768909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.164012739 meters 0.020106493280236903 Centerline is valid? [True, True] Translation: X:439.50, Y:-66.44, Z:-8.88 [[ 9.85712009e-01 1.67290914e-01 1.96363447e-02 4.39498181e+02] [-1.67260852e-01 9.85907565e-01 -3.17506762e-03 -6.64435144e+01] [-1.98907808e-02 -1.54689473e-04 9.99802147e-01 -8.88077750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.224012739 meters 0.0205628819819348 Centerline is valid? [True, True] Translation: X:439.56, Y:-66.45, Z:-8.88 [[ 9.85925210e-01 1.66006834e-01 1.98295338e-02 4.39555795e+02] [-1.65975934e-01 9.86124593e-01 -3.20554957e-03 -6.64484644e+01] [-2.00865341e-02 -1.30793264e-04 9.99798237e-01 -8.88242034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.284012739 meters 0.01886215460817789 Centerline is valid? [True, True] Translation: X:439.61, Y:-66.46, Z:-8.88 [[ 9.86413993e-01 1.62729734e-01 2.25048668e-02 4.39613611e+02] [-1.62689114e-01 9.86670679e-01 -3.63648772e-03 -6.64618812e+01] [-2.27966569e-02 -7.42144570e-05 9.99740120e-01 -8.87759558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.344012739 meters 0.018699297990303954 Centerline is valid? [True, True] Translation: X:439.67, Y:-66.48, Z:-8.88 [[ 9.87390996e-01 1.56501797e-01 2.37951354e-02 4.39670281e+02] [-1.56454602e-01 9.87677671e-01 -3.84382999e-03 -6.64782189e+01] [-2.41034902e-02 7.25046837e-05 9.99709466e-01 -8.87811003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.404012739 meters 0.022319351405009145 Centerline is valid? [True, True] Translation: X:439.73, Y:-66.51, Z:-8.89 [[ 9.88653978e-01 1.48749798e-01 2.08999666e-02 4.39725458e+02] [-1.48711675e-01 9.88874838e-01 -3.37531369e-03 -6.65054456e+01] [-2.11695284e-02 2.28948268e-04 9.99775874e-01 -8.88548142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.464012739 meters 0.0265340320969288 Centerline is valid? [True, True] Translation: X:439.78, Y:-66.53, Z:-8.89 [[ 9.89597267e-01 1.42856608e-01 1.70070334e-02 4.39782649e+02] [-1.42830486e-01 9.89743353e-01 -2.74710486e-03 -6.65309150e+01] [-1.72250404e-02 2.89404618e-04 9.99851596e-01 -8.89243640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.524012739 meters 0.02712310539694638 Centerline is valid? [True, True] Translation: X:439.84, Y:-66.55, Z:-8.89 [[ 9.89617726e-01 1.42594745e-01 1.79859774e-02 4.39840592e+02] [-1.42565481e-01 9.89781108e-01 -2.90551392e-03 -6.65478627e+01] [-1.82164916e-02 3.11168568e-04 9.99834018e-01 -8.89252193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.584012739 meters 0.021998467472263878 Centerline is valid? [True, True] Translation: X:439.90, Y:-66.55, Z:-8.89 [[ 9.88553991e-01 1.49583502e-01 1.96413285e-02 4.39900014e+02] [-1.49549985e-01 9.88749076e-01 -3.17267587e-03 -6.65518611e+01] [-1.98949254e-02 1.99001026e-04 9.99802057e-01 -8.88971907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.644012739 meters 0.01898871160519378 Centerline is valid? [True, True] Translation: X:439.96, Y:-66.56, Z:-8.89 [[ 9.87601655e-01 1.55772036e-01 1.94433606e-02 4.39959702e+02] [-1.55740398e-01 9.87793029e-01 -3.14025006e-03 -6.65571490e+01] [-1.96951792e-02 7.31994424e-05 9.99806028e-01 -8.89142528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.704012739 meters 0.018678355690844764 Centerline is valid? [True, True] Translation: X:440.02, Y:-66.57, Z:-8.89 [[ 9.87145106e-01 1.58444260e-01 2.09751139e-02 4.40017437e+02] [-1.58408054e-01 9.87367923e-01 -3.38708300e-03 -6.65680509e+01] [-2.12468185e-02 2.09154373e-05 9.99774261e-01 -8.89124585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.764012739 meters 0.01870962020294952 Centerline is valid? [True, True] Translation: X:440.08, Y:-66.58, Z:-8.89 [[ 9.87066010e-01 1.58987359e-01 2.05842769e-02 4.40075994e+02] [-1.58952619e-01 9.87280618e-01 -3.32346450e-03 -6.65797779e+01] [-2.08508465e-02 8.55412964e-06 9.99782597e-01 -8.89226629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.824012739 meters 0.01906613051905841 Centerline is valid? [True, True] Translation: X:440.14, Y:-66.58, Z:-8.90 [[ 9.86584694e-01 1.62101372e-01 1.93335456e-02 4.40135303e+02] [-1.62071331e-01 9.86774109e-01 -3.12110863e-03 -6.65837411e+01] [-1.95837782e-02 -5.41754782e-05 9.99808218e-01 -8.89630376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.884012739 meters 0.020541143284815298 Centerline is valid? [True, True] Translation: X:440.19, Y:-66.59, Z:-8.90 [[ 9.86013190e-01 1.65747244e-01 1.74883052e-02 4.40194650e+02] [-1.65723251e-01 9.86168260e-01 -2.82247257e-03 -6.65874579e+01] [-1.77142286e-02 -1.15223611e-04 9.99843084e-01 -8.90040128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.944012739 meters 0.019654896218918947 Centerline is valid? [True, True] Translation: X:440.25, Y:-66.60, Z:-8.90 [[ 9.86274304e-01 1.63904013e-01 1.99617681e-02 4.40252803e+02] [-1.63872396e-01 9.86476287e-01 -3.22058089e-03 -6.65999541e+01] [-2.02196770e-02 -9.48065925e-05 9.99795557e-01 -8.89639074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.004012739 meters 0.018957252737925295 Centerline is valid? [True, True] Translation: X:440.31, Y:-66.61, Z:-8.89 [[ 9.86579102e-01 1.61808183e-01 2.19040512e-02 4.40309049e+02] [-1.61769635e-01 9.86822227e-01 -3.53226158e-03 -6.66119640e+01] [-2.21869534e-02 -5.85549011e-05 9.99753838e-01 -8.89465412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.064012739 meters 0.01866455560159376 Centerline is valid? [True, True] Translation: X:440.37, Y:-66.63, Z:-8.90 [[ 9.87115760e-01 1.58731497e-01 2.01689825e-02 4.40366230e+02] [-1.58698195e-01 9.87321787e-01 -3.25135956e-03 -6.66275496e+01] [-2.04293690e-02 8.68715461e-06 9.99791299e-01 -8.89828612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.124012739 meters 0.019071163360579638 Centerline is valid? [True, True] Translation: X:440.42, Y:-66.64, Z:-8.90 [[ 9.87654998e-01 1.55216236e-01 2.11074623e-02 4.40424393e+02] [-1.55178968e-01 9.87880516e-01 -3.40216940e-03 -6.66441705e+01] [-2.13797226e-02 8.47353920e-05 9.99771424e-01 -8.89796582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.184012739 meters 0.020641401713103878 Centerline is valid? [True, True] Translation: X:440.48, Y:-66.67, Z:-8.89 [[ 9.88197625e-01 1.51477818e-01 2.28018669e-02 4.40482675e+02] [-1.51433321e-01 9.88460641e-01 -3.67568118e-03 -6.66676280e+01] [-2.30955321e-02 1.79336967e-04 9.99733247e-01 -8.89462417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.244012739 meters 0.020731285413863182 Centerline is valid? [True, True] Translation: X:440.54, Y:-66.68, Z:-8.89 [[ 9.88149393e-01 1.51734983e-01 2.31791146e-02 4.40542717e+02] [-1.51688988e-01 9.88421197e-01 -3.74011495e-03 -6.66804736e+01] [-2.34782345e-02 1.79775890e-04 9.99724332e-01 -8.89421099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30401273900003 meters 0.01940615212239734 Centerline is valid? [True, True] Translation: X:440.60, Y:-66.69, Z:-8.90 [[ 9.87788606e-01 1.54429015e-01 2.06240118e-02 4.40603554e+02] [-1.54393132e-01 9.88003881e-01 -3.33055466e-03 -6.66898169e+01] [-2.08909380e-02 1.05678168e-04 9.99781755e-01 -8.90006627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.364012739 meters 0.01938734344899589 Centerline is valid? [True, True] Translation: X:440.66, Y:-66.70, Z:-8.90 [[ 9.87805135e-01 1.54433651e-01 1.97803645e-02 4.40662278e+02] [-1.54400636e-01 9.88003156e-01 -3.19476389e-03 -6.67029125e+01] [-2.00364416e-02 1.01703323e-04 9.99799245e-01 -8.90293129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.424012739 meters 0.020765087901644233 Centerline is valid? [True, True] Translation: X:440.72, Y:-66.72, Z:-8.91 [[ 9.88188765e-01 1.51995182e-01 1.95045927e-02 4.40721494e+02] [-1.51962608e-01 9.88381223e-01 -3.15012051e-03 -6.67211170e+01] [-1.97567764e-02 1.48944920e-04 9.99804805e-01 -8.90541707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.484012739 meters 0.023053222790722767 Centerline is valid? [True, True] Translation: X:440.78, Y:-66.74, Z:-8.91 [[ 9.88613718e-01 1.49209846e-01 1.94766002e-02 4.40779883e+02] [-1.49176767e-01 9.88805531e-01 -3.14853565e-03 -6.67449113e+01] [-1.97283625e-02 2.07229296e-04 9.99805355e-01 -8.90718295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.544012739 meters 0.020658717123394784 Centerline is valid? [True, True] Translation: X:440.84, Y:-66.76, Z:-8.91 [[ 9.88105366e-01 1.52395952e-01 2.05732485e-02 4.40840722e+02] [-1.52359693e-01 9.88319508e-01 -3.32774116e-03 -6.67572630e+01] [-2.08400771e-02 1.53625081e-04 9.99782810e-01 -8.90544521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.604012739 meters 0.01853475757704846 Centerline is valid? [True, True] Translation: X:440.90, Y:-66.76, Z:-8.91 [[ 9.87357659e-01 1.57213957e-01 2.02144505e-02 4.40902059e+02] [-1.57179897e-01 9.87564564e-01 -3.27282264e-03 -6.67627733e+01] [-2.04776084e-02 5.41412569e-05 9.99790310e-01 -8.90713589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.664012739 meters 0.019512090264513022 Centerline is valid? [True, True] Translation: X:440.96, Y:-66.76, Z:-8.91 [[ 9.85995499e-01 1.65611078e-01 1.96429822e-02 4.40963226e+02] [-1.65580571e-01 9.86191136e-01 -3.18073598e-03 -6.67616202e+01] [-1.98985000e-02 -1.16304851e-04 9.99801998e-01 -8.90940494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.724012739 meters 0.02405540738925079 Centerline is valid? [True, True] Translation: X:441.02, Y:-66.76, Z:-8.91 [[ 9.84674061e-01 1.73216420e-01 2.03240071e-02 4.41024566e+02] [-1.73185379e-01 9.84883746e-01 -3.29101098e-03 -6.67592290e+01] [-2.05868414e-02 -2.79247718e-04 9.99788030e-01 -8.90874593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.784012739 meters 0.027187998109758527 Centerline is valid? [True, True] Translation: X:441.08, Y:-66.76, Z:-8.91 [[ 9.84125513e-01 1.76220659e-01 2.10536082e-02 4.41084642e+02] [-1.76188041e-01 9.84350625e-01 -3.40886950e-03 -6.67570036e+01] [-2.13248457e-02 -3.54638549e-04 9.99772537e-01 -8.90916821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.844012739 meters 0.028937344983056494 Centerline is valid? [True, True] Translation: X:441.14, Y:-66.76, Z:-8.91 [[ 9.84056809e-01 1.76566670e-01 2.13636862e-02 4.41142099e+02] [-1.76533184e-01 9.84288614e-01 -3.45826876e-03 -6.67611347e+01] [-2.16386481e-02 -3.68266613e-04 9.99765789e-01 -8.90890371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.904012739 meters 0.02546283301215809 Centerline is valid? [True, True] Translation: X:441.20, Y:-66.77, Z:-8.91 [[ 9.84691950e-01 1.73009411e-01 2.12015808e-02 4.41200333e+02] [-1.72975634e-01 9.84920129e-01 -3.43070320e-03 -6.67723080e+01] [-2.14754076e-02 -2.89171057e-04 9.99769335e-01 -8.91159124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.964012739 meters 0.01920569118556774 Centerline is valid? [True, True] Translation: X:441.26, Y:-66.80, Z:-8.91 [[ 9.86083335e-01 1.64830551e-01 2.16920778e-02 4.41257273e+02] [-1.64793238e-01 9.86321893e-01 -3.50888288e-03 -6.67983655e+01] [-2.19737424e-02 -1.14656819e-04 9.99758542e-01 -8.91262878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.024012739 meters 0.018069353225007117 Centerline is valid? [True, True] Translation: X:441.32, Y:-66.82, Z:-8.92 [[ 9.87249721e-01 1.57839918e-01 2.06045927e-02 4.41316459e+02] [-1.57804728e-01 9.87464713e-01 -3.33303923e-03 -6.68230770e+01] [-2.08723948e-02 3.90399169e-05 9.99782147e-01 -8.91589247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.084012739 meters 0.0192287432359438 Centerline is valid? [True, True] Translation: X:441.38, Y:-66.85, Z:-8.92 [[ 9.87840765e-01 1.54085716e-01 2.06933654e-02 4.41375537e+02] [-1.54049327e-01 9.88057477e-01 -3.35078616e-03 -6.68450539e+01] [-2.09625427e-02 1.22244149e-04 9.99780254e-01 -8.91682873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.144012739 meters 0.018911694141851787 Centerline is valid? [True, True] Translation: X:441.44, Y:-66.86, Z:-8.92 [[ 9.87714485e-01 1.54886719e-01 2.07412944e-02 4.41437678e+02] [-1.54850267e-01 9.87932231e-01 -3.36191736e-03 -6.68564585e+01] [-2.10117096e-02 1.08819504e-04 9.99779224e-01 -8.91812614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.204012739 meters 0.018193642041968754 Centerline is valid? [True, True] Translation: X:441.50, Y:-66.87, Z:-8.92 [[ 9.87356660e-01 1.57220057e-01 2.02158124e-02 4.41499376e+02] [-1.57185842e-01 9.87563593e-01 -3.28043198e-03 -6.68672770e+01] [-2.04801500e-02 6.13168722e-05 9.99790258e-01 -8.92032372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.264012739 meters 0.01774425483011431 Centerline is valid? [True, True] Translation: X:441.56, Y:-66.88, Z:-8.92 [[ 9.87183396e-01 1.58164915e-01 2.12791425e-02 4.41561511e+02] [-1.58127193e-01 9.87412709e-01 -3.45443301e-03 -6.68798936e+01] [-2.15576658e-02 4.53478386e-05 9.99767605e-01 -8.91908825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.324012739 meters 0.018169777942253083 Centerline is valid? [True, True] Translation: X:441.62, Y:-66.89, Z:-8.92 [[ 9.87339877e-01 1.57436855e-01 1.93288360e-02 4.41622429e+02] [-1.57405524e-01 9.87529054e-01 -3.14128476e-03 -6.68928997e+01] [-1.95823411e-02 5.90501501e-05 9.99808246e-01 -8.92351477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.384012739 meters 0.018040828762677808 Centerline is valid? [True, True] Translation: X:441.68, Y:-66.90, Z:-8.93 [[ 9.87369365e-01 1.57319766e-01 1.87677361e-02 4.41684656e+02] [-1.57290168e-01 9.87547714e-01 -3.05218187e-03 -6.69030915e+01] [-1.90142034e-02 6.16505169e-05 9.99819212e-01 -8.92558296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.444012739 meters 0.01756104343875 Centerline is valid? [True, True] Translation: X:441.75, Y:-66.91, Z:-8.92 [[ 9.87140141e-01 1.58639889e-01 1.96908109e-02 4.41747127e+02] [-1.58607491e-01 9.87336510e-01 -3.20623288e-03 -6.69097772e+01] [-1.99500930e-02 4.18910665e-05 9.99800976e-01 -8.92380285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.504012739 meters 0.017762027787318307 Centerline is valid? [True, True] Translation: X:441.81, Y:-66.92, Z:-8.92 [[ 9.87172569e-01 1.58084196e-01 2.23541155e-02 4.41808603e+02] [-1.58042184e-01 9.87425634e-01 -3.64492393e-03 -6.69187739e+01] [-2.26492316e-02 6.52756747e-05 9.99743471e-01 -8.92077833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.564012739 meters 0.018200757364235945 Centerline is valid? [True, True] Translation: X:441.87, Y:-66.93, Z:-8.92 [[ 9.87393438e-01 1.56555746e-01 2.33344373e-02 4.41869991e+02] [-1.56509436e-01 9.87669118e-01 -3.80921387e-03 -6.69312944e+01] [-2.36430575e-02 1.09133158e-04 9.99720458e-01 -8.92039309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.624012739 meters 0.01926001089508499 Centerline is valid? [True, True] Translation: X:441.93, Y:-66.94, Z:-8.93 [[ 9.87740468e-01 1.54682216e-01 2.10280616e-02 4.41929681e+02] [-1.54644120e-01 9.87964267e-01 -3.43571690e-03 -6.69436941e+01] [-2.13064178e-02 1.41730539e-04 9.99772982e-01 -8.92619897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.684012739 meters 0.020227120899354082 Centerline is valid? [True, True] Translation: X:441.99, Y:-66.96, Z:-8.93 [[ 9.87933298e-01 1.53405507e-01 2.13201370e-02 4.41990152e+02] [-1.53366005e-01 9.88163307e-01 -3.48540602e-03 -6.69560370e+01] [-2.16024576e-02 1.73564417e-04 9.99766625e-01 -8.92763882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.744012739 meters 0.022269919247874703 Centerline is valid? [True, True] Translation: X:442.05, Y:-66.97, Z:-8.93 [[ 9.88306989e-01 1.51045277e-01 2.08475200e-02 4.42049201e+02] [-1.51006919e-01 9.88526820e-01 -3.41112917e-03 -6.69722575e+01] [-2.11235676e-02 2.23123034e-04 9.99776848e-01 -8.92841901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80401273900003 meters 0.024671066196483505 Centerline is valid? [True, True] Translation: X:442.11, Y:-66.99, Z:-8.93 [[ 9.88683707e-01 1.48680939e-01 1.99626068e-02 4.42107581e+02] [-1.48645230e-01 9.88885185e-01 -3.26913933e-03 -6.69910462e+01] [-2.02267848e-02 2.64798520e-04 9.99795383e-01 -8.93246869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.864012739 meters 0.024931801361846525 Centerline is valid? [True, True] Translation: X:442.17, Y:-67.01, Z:-8.94 [[ 9.89031634e-01 1.46535787e-01 1.85388534e-02 4.42167240e+02] [-1.46504612e-01 9.89205328e-01 -3.03611961e-03 -6.70094709e+01] [-1.87836327e-02 2.86790825e-04 9.99823531e-01 -8.93553580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.924012739 meters 0.02513673537872283 Centerline is valid? [True, True] Translation: X:442.23, Y:-67.02, Z:-8.94 [[ 9.88657753e-01 1.49071017e-01 1.82668784e-02 4.42226601e+02] [-1.49041126e-01 9.88826464e-01 -2.99461662e-03 -6.70236248e+01] [-1.85091833e-02 2.38134826e-04 9.99828662e-01 -8.93713421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.984012739 meters 0.01741757629967328 Centerline is valid? [True, True] Translation: X:442.29, Y:-67.02, Z:-8.94 [[ 9.86750827e-01 1.61356878e-01 1.69340897e-02 4.42290412e+02] [-1.61332948e-01 9.86896123e-01 -2.77883214e-03 -6.70158726e+01] [-1.71605711e-02 9.98829468e-06 9.99852747e-01 -8.93990673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.044012739 meters 0.023663672649228085 Centerline is valid? [True, True] Translation: X:442.35, Y:-67.00, Z:-8.94 [[ 9.84349044e-01 1.75253210e-01 1.85276249e-02 4.42352387e+02] [-1.75226997e-01 9.84523361e-01 -3.04151456e-03 -6.70026945e+01] [-1.87739147e-02 -2.52628129e-04 9.99823723e-01 -8.93837807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.104012739 meters 0.032064355653958446 Centerline is valid? [True, True] Translation: X:442.41, Y:-66.99, Z:-8.94 [[ 9.82992142e-01 1.82640057e-01 1.92108666e-02 4.42413945e+02] [-1.82613276e-01 9.83179761e-01 -3.15405218e-03 -6.69911760e+01] [-1.94637916e-02 -4.07750797e-04 9.99810479e-01 -8.93739053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.164012739 meters 0.03564185329720586 Centerline is valid? [True, True] Translation: X:442.48, Y:-66.99, Z:-8.94 [[ 9.82102665e-01 1.87226456e-01 2.05087658e-02 4.42475035e+02] [-1.87196936e-01 9.82316635e-01 -3.36697178e-03 -6.69880477e+01] [-2.07764880e-02 -5.32466151e-04 9.99784004e-01 -8.93697843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.224012739 meters 0.039269001397197294 Centerline is valid? [True, True] Translation: X:442.54, Y:-66.99, Z:-8.94 [[ 9.81490843e-01 1.90376125e-01 2.08004055e-02 4.42535888e+02] [-1.90346471e-01 9.81711038e-01 -3.41459962e-03 -6.69854235e+01] [-2.10700459e-02 -6.07885525e-04 9.99777817e-01 -8.93749846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.284012739 meters 0.038520488605326295 Centerline is valid? [True, True] Translation: X:442.60, Y:-66.98, Z:-8.94 [[ 9.81686276e-01 1.89279304e-01 2.15731344e-02 4.42595240e+02] [-1.89247153e-01 9.81923101e-01 -3.54090551e-03 -6.69846609e+01] [-2.18533792e-02 -6.06595910e-04 9.99761002e-01 -8.93792955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.344012739 meters 0.03382482609205105 Centerline is valid? [True, True] Translation: X:442.65, Y:-67.00, Z:-8.94 [[ 9.82571352e-01 1.84638955e-01 2.14940542e-02 4.42653722e+02] [-1.84605949e-01 9.82806290e-01 -3.52697808e-03 -6.69968635e+01] [-2.17757092e-02 -5.02422660e-04 9.99762755e-01 -8.93975151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.404012739 meters 0.02591961387074221 Centerline is valid? [True, True] Translation: X:442.71, Y:-67.01, Z:-8.95 [[ 9.84092651e-01 1.76791630e-01 1.75035125e-02 4.42711818e+02] [-1.76768507e-01 9.84248265e-01 -2.87180237e-03 -6.70134598e+01] [-1.77355125e-02 -2.67950163e-04 9.99842678e-01 -8.94955085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.464012739 meters 0.02105298541982521 Centerline is valid? [True, True] Translation: X:442.77, Y:-67.03, Z:-8.94 [[ 9.84773421e-01 1.72718749e-01 1.97368661e-02 4.42769009e+02] [-1.72688531e-01 9.84971160e-01 -3.23817476e-03 -6.70307028e+01] [-1.99995374e-02 -2.19461984e-04 9.99799965e-01 -8.94463299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.524012739 meters 0.022771166921557316 Centerline is valid? [True, True] Translation: X:442.83, Y:-67.04, Z:-8.95 [[ 9.84746522e-01 1.73161126e-01 1.70150527e-02 4.42826608e+02] [-1.73138746e-01 9.84893489e-01 -2.79095304e-03 -6.70350226e+01] [-1.72412992e-02 -1.97583578e-04 9.99851338e-01 -8.95161498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.584012739 meters 0.023497325812841446 Centerline is valid? [True, True] Translation: X:442.89, Y:-67.04, Z:-8.95 [[ 9.84665451e-01 1.73684519e-01 1.63596175e-02 4.42885111e+02] [-1.73663918e-01 9.84801324e-01 -2.68244197e-03 -6.70423320e+01] [-1.65768717e-02 -1.99767357e-04 9.99862574e-01 -8.95483080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.644012739 meters 0.01926690018001746 Centerline is valid? [True, True] Translation: X:442.94, Y:-67.06, Z:-8.95 [[ 9.85304514e-01 1.69590299e-01 2.03505796e-02 4.42942469e+02] [-1.69557570e-01 9.85514639e-01 -3.33568206e-03 -6.70570306e+01] [-2.06214935e-02 -1.63932253e-04 9.99787341e-01 -8.94799882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.704012739 meters 0.01697194337174319 Centerline is valid? [True, True] Translation: X:443.00, Y:-67.08, Z:-8.95 [[ 9.86634597e-01 1.61677871e-01 2.03085962e-02 4.42999288e+02] [-1.61643619e-01 9.86843587e-01 -3.32781838e-03 -6.70809313e+01] [-2.05794425e-02 5.85768634e-07 9.99788221e-01 -8.94985593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.764012739 meters 0.01814319844838357 Centerline is valid? [True, True] Translation: X:443.06, Y:-67.10, Z:-8.95 [[ 9.87433169e-01 1.56940244e-01 1.85875576e-02 4.43057637e+02] [-1.56910716e-01 9.87608096e-01 -3.04555647e-03 -6.71035029e+01] [-1.88351927e-02 9.06965017e-05 9.99822598e-01 -8.95464007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.824012739 meters 0.017383134628325546 Centerline is valid? [True, True] Translation: X:443.12, Y:-67.11, Z:-8.96 [[ 9.86979645e-01 1.59704096e-01 1.91254160e-02 4.43117279e+02] [-1.59673291e-01 9.87164931e-01 -3.13690203e-03 -6.71143185e+01] [-1.93809160e-02 4.22403456e-05 9.99812172e-01 -8.95502127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.884012739 meters 0.01714258519139237 Centerline is valid? [True, True] Translation: X:443.18, Y:-67.12, Z:-8.96 [[ 9.86535737e-01 1.62503291e-01 1.84369152e-02 4.43176838e+02] [-1.62475153e-01 9.86708001e-01 -3.02397590e-03 -6.71231470e+01] [-1.86832578e-02 -1.22803413e-05 9.99825453e-01 -8.95766233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.944012739 meters 0.01950809439352015 Centerline is valid? [True, True] Translation: X:443.24, Y:-67.13, Z:-8.96 [[ 9.85361496e-01 1.69560475e-01 1.76625870e-02 4.43236194e+02] [-1.69535783e-01 9.85519774e-01 -2.89700286e-03 -6.71283080e+01] [-1.78980459e-02 -1.39845433e-04 9.99839807e-01 -8.96055476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.004012739 meters 0.02431360714065675 Centerline is valid? [True, True] Translation: X:443.30, Y:-67.13, Z:-8.96 [[ 9.84170042e-01 1.76389586e-01 1.72058639e-02 4.43295624e+02] [-1.76367198e-01 9.84320399e-01 -2.82196703e-03 -6.71326916e+01] [-1.74338484e-02 -2.57254592e-04 9.99847986e-01 -8.96199340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.064012739 meters 0.029648031820656152 Centerline is valid? [True, True] Translation: X:443.35, Y:-67.14, Z:-8.96 [[ 9.83184192e-01 1.81795507e-01 1.72984841e-02 4.43354325e+02] [-1.81773725e-01 9.83336294e-01 -2.83650234e-03 -6.71377534e+01] [-1.75258906e-02 -3.55605627e-04 9.99846347e-01 -8.96289552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.124012739 meters 0.03238520649821584 Centerline is valid? [True, True] Translation: X:443.41, Y:-67.14, Z:-8.96 [[ 9.82514419e-01 1.85318574e-01 1.79567113e-02 4.43413171e+02] [-1.85295702e-01 9.82678400e-01 -2.94376362e-03 -6.71437783e+01] [-1.81912064e-02 -4.35011222e-04 9.99834432e-01 -8.96205562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.184012739 meters 0.034864094399002926 Centerline is valid? [True, True] Translation: X:443.47, Y:-67.15, Z:-8.96 [[ 9.81712372e-01 1.89341589e-01 1.97631169e-02 4.43471859e+02] [-1.89314714e-01 9.81911120e-01 -3.23912045e-03 -6.71504084e+01] [-2.00189244e-02 -5.61564198e-04 9.99799444e-01 -8.96028123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.244012739 meters 0.040164230091561205 Centerline is valid? [True, True] Translation: X:443.53, Y:-67.15, Z:-8.96 [[ 9.81279081e-01 1.91515489e-01 2.03269143e-02 4.43530531e+02] [-1.91487543e-01 9.81489393e-01 -3.33062361e-03 -6.71538033e+01] [-2.05885168e-02 -6.24079593e-04 9.99787839e-01 -8.96095821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30401273900003 meters 0.044157890515558615 Centerline is valid? [True, True] Translation: X:443.59, Y:-67.16, Z:-8.96 [[ 9.80622723e-01 1.94693707e-01 2.17585688e-02 4.43591350e+02] [-1.94662483e-01 9.80863809e-01 -3.56441493e-03 -6.71576163e+01] [-2.20361618e-02 -7.40230754e-04 9.99756900e-01 -8.95891209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.364012739 meters 0.044516195402544353 Centerline is valid? [True, True] Translation: X:443.65, Y:-67.16, Z:-8.96 [[ 9.80252501e-01 1.96316626e-01 2.37658902e-02 4.43651110e+02] [-1.96279853e-01 9.80540189e-01 -3.89316343e-03 -6.71634645e+01] [-2.40677032e-02 -8.48482261e-04 9.99709971e-01 -8.95779220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.424012739 meters 0.049197882019433654 Centerline is valid? [True, True] Translation: X:443.71, Y:-67.16, Z:-8.96 [[ 9.80435084e-01 1.95282511e-01 2.47343170e-02 4.43709831e+02] [-1.95242370e-01 9.80746657e-01 -4.05104586e-03 -6.71637123e+01] [-2.50491972e-02 -8.57399195e-04 9.99685852e-01 -8.95602212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.484012739 meters 0.04409434868599115 Centerline is valid? [True, True] Translation: X:443.77, Y:-67.18, Z:-8.96 [[ 9.81113542e-01 1.92231367e-01 2.15248492e-02 4.43768657e+02] [-1.92200257e-01 9.81349398e-01 -3.52435429e-03 -6.71762890e+01] [-2.18008892e-02 -6.79289827e-04 9.99762102e-01 -8.96366468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.544012739 meters 0.0393326086528417 Centerline is valid? [True, True] Translation: X:443.83, Y:-67.19, Z:-8.97 [[ 9.82065064e-01 1.87622709e-01 1.85991783e-02 4.43827439e+02] [-1.87598659e-01 9.82241045e-01 -3.04514627e-03 -6.71864355e+01] [-1.88402149e-02 -4.98649134e-04 9.99822383e-01 -8.97036385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.604012739 meters 0.035598887549757915 Centerline is valid? [True, True] Translation: X:443.89, Y:-67.20, Z:-8.97 [[ 9.82644894e-01 1.84500294e-01 1.92003512e-02 4.43886409e+02] [-1.84474071e-01 9.82832354e-01 -3.14337974e-03 -6.71997366e+01] [-1.94506808e-02 -4.53140907e-04 9.99810715e-01 -8.97148616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.664012739 meters 0.03030869587537098 Centerline is valid? [True, True] Translation: X:443.94, Y:-67.22, Z:-8.97 [[ 9.83274010e-01 1.80955140e-01 2.06750609e-02 4.43944569e+02] [-1.80923965e-01 9.83491264e-01 -3.38411346e-03 -6.72162373e+01] [-2.09461145e-02 -4.13103188e-04 9.99780521e-01 -8.96993958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.724012739 meters 0.032035828418464245 Centerline is valid? [True, True] Translation: X:444.00, Y:-67.22, Z:-8.98 [[ 9.83429541e-01 1.80377442e-01 1.81745836e-02 4.44002550e+02] [-1.80353255e-01 9.83597405e-01 -2.97475101e-03 -6.72207148e+01] [-1.84130512e-02 -3.52387273e-04 9.99830403e-01 -8.97619274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.784012739 meters 0.028532011519462018 Centerline is valid? [True, True] Translation: X:444.06, Y:-67.23, Z:-8.97 [[ 9.83769573e-01 1.78376321e-01 1.94760074e-02 4.44060530e+02] [-1.78348179e-01 9.83962282e-01 -3.18649726e-03 -6.72347353e+01] [-1.97320523e-02 -3.38731400e-04 9.99805247e-01 -8.97388998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.844012739 meters 0.025795338190237025 Centerline is valid? [True, True] Translation: X:444.12, Y:-67.25, Z:-8.97 [[ 9.84252993e-01 1.75343679e-01 2.23749707e-02 4.44117232e+02] [-1.75305771e-01 9.84507233e-01 -3.65992401e-03 -6.72506119e+01] [-2.26700650e-02 -3.20170310e-04 9.99742950e-01 -8.96843784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.904012739 meters 0.023558800233772097 Centerline is valid? [True, True] Translation: X:444.17, Y:-67.27, Z:-8.97 [[ 9.84718850e-01 1.72737150e-01 2.21509442e-02 4.44174516e+02] [-1.72699360e-01 9.84967923e-01 -3.62226232e-03 -6.72673809e+01] [-2.24436687e-02 -2.58543894e-04 9.99748076e-01 -8.97061371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.964012739 meters 0.023410746894257258 Centerline is valid? [True, True] Translation: X:444.23, Y:-67.28, Z:-8.97 [[ 9.84761415e-01 1.72412375e-01 2.27799899e-02 4.44231639e+02] [-1.72372356e-01 9.85024825e-01 -3.72363234e-03 -6.72813316e+01] [-2.30808559e-02 -2.59751086e-04 9.99733568e-01 -8.97062769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.024012739 meters 0.024155145673553913 Centerline is valid? [True, True] Translation: X:444.29, Y:-67.29, Z:-8.98 [[ 9.84739893e-01 1.72851525e-01 2.02408805e-02 4.44288292e+02] [-1.72820040e-01 9.84947863e-01 -3.30779962e-03 -6.72947663e+01] [-2.05079702e-02 -2.40707529e-04 9.99789660e-01 -8.97711230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.084012739 meters 0.022074082405305145 Centerline is valid? [True, True] Translation: X:444.35, Y:-67.31, Z:-8.98 [[ 9.84839517e-01 1.72441982e-01 1.88384655e-02 4.44346225e+02] [-1.72414643e-01 9.85019653e-01 -3.07813572e-03 -6.73122030e+01] [-1.90870586e-02 -2.16557609e-04 9.99817802e-01 -8.98127177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.144012739 meters 0.025749713938622295 Centerline is valid? [True, True] Translation: X:444.40, Y:-67.32, Z:-8.98 [[ 9.84581915e-01 1.73854944e-01 1.93109193e-02 4.44404575e+02] [-1.73826487e-01 9.84771240e-01 -3.15536417e-03 -6.73176220e+01] [-1.95654136e-02 -2.50034771e-04 9.99808548e-01 -8.98174639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.204012739 meters 0.03093365544734487 Centerline is valid? [True, True] Translation: X:444.46, Y:-67.32, Z:-8.98 [[ 9.83786225e-01 1.78292987e-01 1.93978082e-02 4.44464537e+02] [-1.78265150e-01 9.83977385e-01 -3.16885850e-03 -6.73213721e+01] [-1.96519898e-02 -3.40473841e-04 9.99806823e-01 -8.98234195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.264012739 meters 0.03577599224224239 Centerline is valid? [True, True] Translation: X:444.53, Y:-67.32, Z:-8.98 [[ 9.81907030e-01 1.88364493e-01 1.94268281e-02 4.44525508e+02] [-1.88338546e-01 9.82099039e-01 -3.17317547e-03 -6.73201067e+01] [-1.96767829e-02 -5.43057271e-04 9.99806246e-01 -8.98265464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.324012739 meters 0.044111362858833526 Centerline is valid? [True, True] Translation: X:444.59, Y:-67.31, Z:-8.99 [[ 9.80352179e-01 1.96544713e-01 1.67266552e-02 4.44588198e+02] [-1.96526668e-01 9.80494674e-01 -2.73195132e-03 -6.73118889e+01] [-1.69373469e-02 -6.08959393e-04 9.99856367e-01 -8.98984618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.384012739 meters 0.04411417599352713 Centerline is valid? [True, True] Translation: X:444.65, Y:-67.31, Z:-8.99 [[ 9.80352005e-01 1.96487656e-01 1.73938781e-02 4.44647120e+02] [-1.96468133e-01 9.80506095e-01 -2.84098874e-03 -6.73131316e+01] [-1.76130227e-02 -6.32173740e-04 9.99844679e-01 -8.98874958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.444012739 meters 0.04436923306629523 Centerline is valid? [True, True] Translation: X:444.71, Y:-67.31, Z:-8.99 [[ 9.80384313e-01 1.96167393e-01 1.91037289e-02 4.44706439e+02] [-1.96143812e-01 9.80570180e-01 -3.11872218e-03 -6.73138090e+01] [-1.93443384e-02 -6.89531896e-04 9.99812643e-01 -8.98729357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.504012739 meters 0.049221687670938305 Centerline is valid? [True, True] Translation: X:444.77, Y:-67.30, Z:-8.99 [[ 9.80078288e-01 1.97483083e-01 2.11419351e-02 4.44767094e+02] [-1.97454532e-01 9.80305974e-01 -3.45031427e-03 -6.73037568e+01] [-2.14069440e-02 -7.92992811e-04 9.99770531e-01 -8.98517088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.564012739 meters 0.048335736696204945 Centerline is valid? [True, True] Translation: X:444.83, Y:-67.30, Z:-8.99 [[ 9.79972443e-01 1.98051405e-01 2.07280440e-02 4.44826429e+02] [-1.98024126e-01 9.80191315e-01 -3.38098142e-03 -6.73026393e+01] [-2.09870569e-02 -7.91384183e-04 9.99779434e-01 -8.98679667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.624012739 meters 0.04740114303984476 Centerline is valid? [True, True] Translation: X:444.89, Y:-67.31, Z:-8.98 [[ 9.80226711e-01 1.96590751e-01 2.25315546e-02 4.44885586e+02] [-1.96558164e-01 9.80485284e-01 -3.67377046e-03 -6.73072990e+01] [-2.28140870e-02 -8.27633070e-04 9.99739382e-01 -8.98436245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.684012739 meters 0.04458752141209374 Centerline is valid? [True, True] Translation: X:444.94, Y:-67.32, Z:-8.98 [[ 9.81447798e-01 1.90285959e-01 2.34834618e-02 4.44944768e+02] [-1.90248779e-01 9.81728450e-01 -3.82795427e-03 -6.73151052e+01] [-2.37827885e-02 -7.10762660e-04 9.99716897e-01 -8.98368925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.744012739 meters 0.03154766227543357 Centerline is valid? [True, True] Translation: X:445.00, Y:-67.34, Z:-8.99 [[ 9.83242451e-01 1.80983321e-01 2.18933701e-02 4.45001067e+02] [-1.80948706e-01 9.83486061e-01 -3.56841102e-03 -6.73436586e+01] [-2.21776472e-02 -4.52963797e-04 9.99753943e-01 -8.98939318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80401273900003 meters 0.022902794419072475 Centerline is valid? [True, True] Translation: X:445.06, Y:-67.37, Z:-8.99 [[ 9.84691494e-01 1.72977566e-01 2.14807805e-02 4.45057657e+02] [-1.72942347e-01 9.84925728e-01 -3.50066695e-03 -6.73714244e+01] [-2.17625102e-02 -2.67859626e-04 9.99763133e-01 -8.99150828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.864012739 meters 0.022374463195620285 Centerline is valid? [True, True] Translation: X:445.11, Y:-67.38, Z:-8.99 [[ 9.84977864e-01 1.71353742e-01 2.13659041e-02 4.45114817e+02] [-1.71318523e-01 9.85209542e-01 -3.48165030e-03 -6.73834857e+01] [-2.16464864e-02 -2.31026658e-04 9.99765661e-01 -8.99174407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.924012739 meters 0.02306192066725337 Centerline is valid? [True, True] Translation: X:445.17, Y:-67.39, Z:-9.00 [[ 9.84724511e-01 1.73080453e-01 1.89945565e-02 4.45173063e+02] [-1.73052955e-01 9.84907660e-01 -3.09443709e-03 -6.73934436e+01] [-1.92434708e-02 -2.39896091e-04 9.99814798e-01 -8.99642201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.984012739 meters 0.025077746935536403 Centerline is valid? [True, True] Translation: X:445.23, Y:-67.40, Z:-9.00 [[ 9.84176309e-01 1.76051302e-01 2.00731861e-02 4.45231224e+02] [-1.76021230e-01 9.84380942e-01 -3.26913507e-03 -6.74012388e+01] [-2.03351973e-02 -3.15901619e-04 9.99793169e-01 -8.99657223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.044012739 meters 0.029475945112956127 Centerline is valid? [True, True] Translation: X:445.29, Y:-67.40, Z:-9.00 [[ 9.83458882e-01 1.80005047e-01 2.01695310e-02 4.45290161e+02] [-1.79975536e-01 9.83665605e-01 -3.28383552e-03 -6.74043528e+01] [-2.04311809e-02 -4.00504947e-04 9.99791181e-01 -8.99651264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.104012739 meters 0.03155163117107375 Centerline is valid? [True, True] Translation: X:445.35, Y:-67.41, Z:-9.00 [[ 9.82983677e-01 1.82767948e-01 1.84111085e-02 4.45349582e+02] [-1.82743854e-01 9.83155991e-01 -2.99694111e-03 -6.74075555e+01] [-1.86487364e-02 -4.18572726e-04 9.99826010e-01 -9.00073767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.164012739 meters 0.03968284677249481 Centerline is valid? [True, True] Translation: X:445.41, Y:-67.40, Z:-9.01 [[ 9.82148232e-01 1.87302023e-01 1.74012465e-02 4.45410415e+02] [-1.87281222e-01 9.82302257e-01 -2.83193402e-03 -6.74003284e+01] [-1.76237107e-02 -4.77547711e-04 9.99844576e-01 -9.00505995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.224012739 meters 0.038387418625866594 Centerline is valid? [True, True] Translation: X:445.47, Y:-67.41, Z:-9.00 [[ 9.81725965e-01 1.89351612e-01 1.89762305e-02 4.45470150e+02] [-1.89327267e-01 9.81909187e-01 -3.08775573e-03 -6.74053925e+01] [-1.92176066e-02 -5.61387869e-04 9.99815167e-01 -9.00245917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.284012739 meters 0.039851241483384994 Centerline is valid? [True, True] Translation: X:445.53, Y:-67.41, Z:-9.00 [[ 9.81709978e-01 1.89436434e-01 1.89567302e-02 4.45528584e+02] [-1.89412162e-01 9.81892826e-01 -3.08417315e-03 -6.74063001e+01] [-1.91977322e-02 -5.62871694e-04 9.99815548e-01 -9.00405959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.344012739 meters 0.03711344842742226 Centerline is valid? [True, True] Translation: X:445.59, Y:-67.42, Z:-9.01 [[ 9.82030275e-01 1.87760622e-01 1.90391114e-02 4.45586627e+02] [-1.87735846e-01 9.82214673e-01 -3.09643331e-03 -6.74154859e+01] [-1.92818828e-02 -5.33532440e-04 9.99813945e-01 -9.00527283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.404012739 meters 0.030288582928878927 Centerline is valid? [True, True] Translation: X:445.64, Y:-67.43, Z:-9.01 [[ 9.83212506e-01 1.81551368e-01 1.82282299e-02 4.45644846e+02] [-1.81527606e-01 9.83381383e-01 -2.96368117e-03 -6.74329512e+01] [-1.84633623e-02 -3.94998547e-04 9.99829460e-01 -9.00885754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.464012739 meters 0.025911034796730067 Centerline is valid? [True, True] Translation: X:445.70, Y:-67.45, Z:-9.01 [[ 9.84370238e-01 1.74981220e-01 1.99200314e-02 4.45702026e+02] [-1.74951506e-01 9.84571726e-01 -3.23824609e-03 -6.74480729e+01] [-2.01793320e-02 -2.97406425e-04 9.99796332e-01 -9.00746412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.524012739 meters 0.02161964404318651 Centerline is valid? [True, True] Translation: X:445.76, Y:-67.47, Z:-9.01 [[ 9.85218292e-01 1.70254444e-01 1.89298917e-02 4.45758744e+02] [-1.70226746e-01 9.85400116e-01 -3.07686757e-03 -6.74677930e+01] [-1.91773678e-02 -1.90987653e-04 9.99816079e-01 -9.00993192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.584012739 meters 0.018320048057528147 Centerline is valid? [True, True] Translation: X:445.81, Y:-67.50, Z:-9.01 [[ 9.86869647e-01 1.60536339e-01 1.77871912e-02 4.45813680e+02] [-1.60510313e-01 9.87029931e-01 -2.89056426e-03 -6.74967613e+01] [-1.80205307e-02 -2.41750415e-06 9.99837617e-01 -9.01305564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.644012739 meters 0.02110902943521549 Centerline is valid? [True, True] Translation: X:445.87, Y:-67.53, Z:-9.01 [[ 9.88250604e-01 1.51550633e-01 1.98279906e-02 4.45868673e+02] [-1.51516504e-01 9.88449480e-01 -3.22109063e-03 -6.75312894e+01] [-2.00871254e-02 1.78976936e-04 9.99798217e-01 -9.01093375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.704012739 meters 0.024430707758324892 Centerline is valid? [True, True] Translation: X:445.93, Y:-67.56, Z:-9.02 [[ 9.88764052e-01 1.48407960e-01 1.79088600e-02 4.45925680e+02] [-1.48379613e-01 9.88926200e-01 -2.90875913e-03 -6.75601737e+01] [-1.81422238e-02 2.18766762e-04 9.99835392e-01 -9.01622283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.764012739 meters 0.02107917256218699 Centerline is valid? [True, True] Translation: X:445.99, Y:-67.57, Z:-9.02 [[ 9.88314214e-01 1.51343081e-01 1.81737696e-02 4.45985678e+02] [-1.51314329e-01 9.88481281e-01 -2.95482841e-03 -6.75707887e+01] [-1.84116239e-02 1.70347175e-04 9.99830477e-01 -9.01564196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.824012739 meters 0.018157713357282473 Centerline is valid? [True, True] Translation: X:446.04, Y:-67.58, Z:-9.01 [[ 9.86827630e-01 1.60395166e-01 2.10860061e-02 4.46044208e+02] [-1.60358517e-01 9.87052881e-01 -3.42857161e-03 -6.75773452e+01] [-2.13629294e-02 2.08852526e-06 9.99771787e-01 -9.01127123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.884012739 meters 0.02150844937761502 Centerline is valid? [True, True] Translation: X:446.10, Y:-67.58, Z:-9.02 [[ 9.85352533e-01 1.69593643e-01 1.78432520e-02 4.46104213e+02] [-1.69568916e-01 9.85514063e-01 -2.90074544e-03 -6.75790476e+01] [-1.80767237e-02 -1.67404036e-04 9.99836589e-01 -9.01966015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.944012739 meters 0.02410622388816387 Centerline is valid? [True, True] Translation: X:446.16, Y:-67.59, Z:-9.02 [[ 9.84713454e-01 1.73299401e-01 1.75137252e-02 4.46163200e+02] [-1.73276171e-01 9.84869161e-01 -2.84682920e-03 -6.75850350e+01] [-1.77420816e-02 -2.31400227e-04 9.99842570e-01 -9.02140129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.004012739 meters 0.023504701109517082 Centerline is valid? [True, True] Translation: X:446.22, Y:-67.60, Z:-9.02 [[ 9.84733645e-01 1.72927919e-01 1.98892672e-02 4.46220775e+02] [-1.72897905e-01 9.84934449e-01 -3.23189127e-03 -6.75993792e+01] [-2.01485087e-02 -2.56260568e-04 9.99796965e-01 -9.01716641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.064012739 meters 0.02234376900136356 Centerline is valid? [True, True] Translation: X:446.28, Y:-67.61, Z:-9.02 [[ 9.84932628e-01 1.71672541e-01 2.08867645e-02 4.46278760e+02] [-1.71639181e-01 9.85154039e-01 -3.39293636e-03 -6.76141640e+01] [-2.11591545e-02 -2.43173425e-04 9.99776090e-01 -9.01653804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.124012739 meters 0.021155018694276596 Centerline is valid? [True, True] Translation: X:446.34, Y:-67.63, Z:-9.02 [[ 9.85264609e-01 1.69728443e-01 2.11164990e-02 4.46336157e+02] [-1.69693910e-01 9.85490849e-01 -3.42974585e-03 -6.76305239e+01] [-2.13922420e-02 -2.04134069e-04 9.99771139e-01 -9.01824358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.184012739 meters 0.020581738627948282 Centerline is valid? [True, True] Translation: X:446.39, Y:-67.65, Z:-9.02 [[ 9.85370058e-01 1.69220466e-01 2.02554326e-02 4.46394864e+02] [-1.69188589e-01 9.85578206e-01 -3.28965902e-03 -6.76499816e+01] [-2.05199905e-02 -1.85456545e-04 9.99789426e-01 -9.02046917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.244012739 meters 0.02312970940035691 Centerline is valid? [True, True] Translation: X:446.45, Y:-67.66, Z:-9.03 [[ 9.84791959e-01 1.72852865e-01 1.75124044e-02 4.46453538e+02] [-1.72829604e-01 9.84947631e-01 -2.84460107e-03 -6.76617272e+01] [-1.77404987e-02 -2.25321659e-04 9.99842600e-01 -9.02547760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30401273900003 meters 0.026032937837575022 Centerline is valid? [True, True] Translation: X:446.51, Y:-67.67, Z:-9.02 [[ 9.84092581e-01 1.76585017e-01 1.94813547e-02 4.46513235e+02] [-1.76556961e-01 9.84285338e-01 -3.16442454e-03 -6.76708279e+01] [-1.97340017e-02 -3.25482057e-04 9.99805213e-01 -9.02328798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.364012739 meters 0.033900749121011375 Centerline is valid? [True, True] Translation: X:446.57, Y:-67.67, Z:-9.02 [[ 9.82511838e-01 1.85004496e-01 2.10671338e-02 4.46573553e+02] [-1.84973618e-01 9.82737529e-01 -3.42199542e-03 -6.76707758e+01] [-2.13365475e-02 -5.34712944e-04 9.99772207e-01 -9.02177448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.424012739 meters 0.03885713333708244 Centerline is valid? [True, True] Translation: X:446.63, Y:-67.68, Z:-9.03 [[ 9.81728508e-01 1.89431861e-01 1.80196015e-02 4.46633357e+02] [-1.89410020e-01 9.81893721e-01 -2.92675484e-03 -6.76755002e+01] [-1.82477542e-02 -5.39814421e-04 9.99833350e-01 -9.02881651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.484012739 meters 0.03915213287284742 Centerline is valid? [True, True] Translation: X:446.69, Y:-67.68, Z:-9.03 [[ 9.81715877e-01 1.89373867e-01 1.92736962e-02 4.46691488e+02] [-1.89348873e-01 9.81904887e-01 -3.13017651e-03 -6.76836947e+01] [-1.95177102e-02 -5.76508680e-04 9.99809345e-01 -9.02812127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.544012739 meters 0.04236858526300714 Centerline is valid? [True, True] Translation: X:446.75, Y:-67.69, Z:-9.03 [[ 9.81225732e-01 1.91839104e-01 1.98449503e-02 4.46750391e+02] [-1.91813129e-01 9.81426178e-01 -3.22198523e-03 -6.76855339e+01] [-2.00944565e-02 -6.45027207e-04 9.99797878e-01 -9.02818508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.604012739 meters 0.049558055886954146 Centerline is valid? [True, True] Translation: X:446.81, Y:-67.68, Z:-9.03 [[ 9.80141574e-01 1.97503240e-01 1.77472717e-02 4.46812758e+02] [-1.97483405e-01 9.80301997e-01 -2.88074136e-03 -6.76760502e+01] [-1.79666416e-02 -6.81257271e-04 9.99838355e-01 -9.03437915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.664012739 meters 0.052026713652755886 Centerline is valid? [True, True] Translation: X:446.87, Y:-67.68, Z:-9.04 [[ 9.79731736e-01 1.99564432e-01 1.73136491e-02 4.46873297e+02] [-1.99545875e-01 9.79884455e-01 -2.81042551e-03 -6.76764713e+01] [-1.75262365e-02 -7.01404181e-04 9.99846158e-01 -9.03570509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.724012739 meters 0.04836692474159223 Centerline is valid? [True, True] Translation: X:446.93, Y:-67.69, Z:-9.03 [[ 9.80614581e-01 1.95027830e-01 1.89522718e-02 4.46931558e+02] [-1.95004756e-01 9.80797473e-01 -3.07592395e-03 -6.76866018e+01] [-1.91882311e-02 -6.79487275e-04 9.99815658e-01 -9.03434294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.784012739 meters 0.03188370185784288 Centerline is valid? [True, True] Translation: X:446.99, Y:-67.72, Z:-9.04 [[ 9.82733499e-01 1.84056578e-01 1.89220857e-02 4.46987577e+02] [-1.84031547e-01 9.82915541e-01 -3.07075137e-03 -6.77204342e+01] [-1.91640041e-02 -4.64530459e-04 9.99816246e-01 -9.03618758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.844012739 meters 0.030146115218786917 Centerline is valid? [True, True] Translation: X:447.04, Y:-67.74, Z:-9.04 [[ 9.83968587e-01 1.77491771e-01 1.73922782e-02 4.47044359e+02] [-1.77469596e-01 9.84122236e-01 -2.82258109e-03 -6.77356213e+01] [-1.76171126e-02 -3.09269458e-04 9.99844759e-01 -9.04004656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.904012739 meters 0.029874804025347534 Centerline is valid? [True, True] Translation: X:447.10, Y:-67.75, Z:-9.04 [[ 9.84030897e-01 1.77097215e-01 1.78821458e-02 4.47102283e+02] [-1.77073720e-01 9.84193314e-01 -2.90141911e-03 -6.77473600e+01] [-1.81133216e-02 -3.11372019e-04 9.99835892e-01 -9.03971302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.964012739 meters 0.03348794715764947 Centerline is valid? [True, True] Translation: X:447.16, Y:-67.76, Z:-9.04 [[ 9.83445602e-01 1.80228095e-01 1.87771796e-02 4.47161410e+02] [-1.80202776e-01 9.83624767e-01 -3.04573974e-03 -6.77552226e+01] [-1.90186268e-02 -3.88380545e-04 9.99819054e-01 -9.03912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.024012739 meters 0.0368898676517028 Centerline is valid? [True, True] Translation: X:447.22, Y:-67.76, Z:-9.04 [[ 9.82963421e-01 1.82761784e-01 1.95203384e-02 4.47220229e+02] [-1.82734929e-01 9.83157120e-01 -3.16584783e-03 -6.77630801e+01] [-1.97701557e-02 -4.55135042e-04 9.99804448e-01 -9.03875621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.084012739 meters 0.03300254535613996 Centerline is valid? [True, True] Translation: X:447.28, Y:-67.78, Z:-9.04 [[ 9.82868815e-01 1.83300394e-01 1.92317129e-02 4.47276655e+02] [-1.83274442e-01 9.83056842e-01 -3.11844098e-03 -6.77806657e+01] [-1.94774784e-02 -4.59663065e-04 9.99810190e-01 -9.04046676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.144012739 meters 0.03317500893284776 Centerline is valid? [True, True] Translation: X:447.34, Y:-67.79, Z:-9.04 [[ 9.82639379e-01 1.84437563e-01 2.00657789e-02 4.47335310e+02] [-1.84409568e-01 9.82844103e-01 -3.25268752e-03 -6.77920748e+01] [-2.03214503e-02 -5.04102774e-04 9.99793371e-01 -9.04096547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.204012739 meters 0.036701240025921414 Centerline is valid? [True, True] Translation: X:447.39, Y:-67.80, Z:-9.04 [[ 9.81966134e-01 1.87835774e-01 2.14530554e-02 4.47394478e+02] [-1.87804596e-01 9.82200257e-01 -3.47701384e-03 -6.77991853e+01] [-2.17243041e-02 -6.14672561e-04 9.99763811e-01 -9.03952310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.264012739 meters 0.04305515196383721 Centerline is valid? [True, True] Translation: X:447.45, Y:-67.80, Z:-9.04 [[ 9.81251395e-01 1.91759178e-01 1.93421255e-02 4.47454205e+02] [-1.91734604e-01 9.81441805e-01 -3.13445385e-03 -6.77996313e+01] [-1.95842309e-02 -6.32867558e-04 9.99808010e-01 -9.04382709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.324012739 meters 0.042430194620364785 Centerline is valid? [True, True] Translation: X:447.51, Y:-67.81, Z:-9.05 [[ 9.80868589e-01 1.93825743e-01 1.81216269e-02 4.47512154e+02] [-1.93804525e-01 9.81035770e-01 -2.93661608e-03 -6.78111649e+01] [-1.83471560e-02 -6.31618825e-04 9.99831477e-01 -9.04633394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.384012739 meters 0.046534603459177065 Centerline is valid? [True, True] Translation: X:447.57, Y:-67.81, Z:-9.04 [[ 9.80078645e-01 1.97524586e-01 2.07337238e-02 4.47572332e+02] [-1.97497653e-01 9.80297605e-01 -3.35906963e-03 -6.78137086e+01] [-2.09887186e-02 -8.02709381e-04 9.99779390e-01 -9.04209379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.444012739 meters 0.045350396612396975 Centerline is valid? [True, True] Translation: X:447.63, Y:-67.82, Z:-9.05 [[ 9.79690424e-01 1.99522982e-01 1.99312236e-02 4.47630567e+02] [-1.99498511e-01 9.79892810e-01 -3.22883566e-03 -6.78235779e+01] [-2.01746896e-02 -8.12990060e-04 9.99796140e-01 -9.04574069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.504012739 meters 0.04514136505703227 Centerline is valid? [True, True] Translation: X:447.69, Y:-67.83, Z:-9.05 [[ 9.79596692e-01 2.00039511e-01 1.93523968e-02 4.47689000e+02] [-2.00016557e-01 9.79787504e-01 -3.13431184e-03 -6.78277897e+01] [-1.95882228e-02 -8.00438269e-04 9.99807812e-01 -9.04633486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.564012739 meters 0.05149419235354583 Centerline is valid? [True, True] Translation: X:447.75, Y:-67.82, Z:-9.05 [[ 9.79531841e-01 2.00375708e-01 1.91559035e-02 4.47748428e+02] [-2.00353305e-01 9.79718804e-01 -3.10130454e-03 -6.78229311e+01] [-1.93888249e-02 -8.00122012e-04 9.99811699e-01 -9.04792022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.624012739 meters 0.04632699380444452 Centerline is valid? [True, True] Translation: X:447.81, Y:-67.84, Z:-9.05 [[ 9.80260730e-01 1.96645445e-01 2.04809542e-02 4.47807425e+02] [-1.96619049e-01 9.80474357e-01 -3.31449782e-03 -6.78356715e+01] [-2.07328313e-02 -7.77873685e-04 9.99784749e-01 -9.04744454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.684012739 meters 0.036735119743701646 Centerline is valid? [True, True] Translation: X:447.87, Y:-67.86, Z:-9.05 [[ 9.81987513e-01 1.87873864e-01 2.00981558e-02 4.47865611e+02] [-1.87846610e-01 9.82192992e-01 -3.25243290e-03 -6.78571000e+01] [-2.03513149e-02 -5.81521930e-04 9.99792721e-01 -9.04973107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.744012739 meters 0.028598061897471445 Centerline is valid? [True, True] Translation: X:447.92, Y:-67.88, Z:-9.05 [[ 9.83734903e-01 1.78570761e-01 1.94454077e-02 4.47923582e+02] [-1.78543430e-01 9.83927000e-01 -3.14672373e-03 -6.78791857e+01] [-1.96947745e-02 -3.76307823e-04 9.99805968e-01 -9.05091046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80401273900003 meters 0.02452634437591545 Centerline is valid? [True, True] Translation: X:447.98, Y:-67.90, Z:-9.05 [[ 9.84711291e-01 1.73132196e-01 1.92072147e-02 4.47982333e+02] [-1.73104495e-01 9.84898560e-01 -3.10817791e-03 -6.78984912e+01] [-1.94552838e-02 -2.64197322e-04 9.99810693e-01 -9.05234776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.864012739 meters 0.021501593255305554 Centerline is valid? [True, True] Translation: X:448.04, Y:-67.92, Z:-9.05 [[ 9.85491019e-01 1.68540161e-01 2.00415774e-02 4.48041345e+02] [-1.68509046e-01 9.85694771e-01 -3.24344378e-03 -6.79212892e+01] [-2.03015286e-02 -1.80802370e-04 9.99793886e-01 -9.05108529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.924012739 meters 0.02108559816577052 Centerline is valid? [True, True] Translation: X:448.10, Y:-67.93, Z:-9.05 [[ 9.85567228e-01 1.68046910e-01 2.04322328e-02 4.48101649e+02] [-1.68014449e-01 9.85778984e-01 -3.30740882e-03 -6.79335285e+01] [-2.06974655e-02 -1.73236597e-04 9.99785770e-01 -9.05133007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.984012739 meters 0.02203505654988992 Centerline is valid? [True, True] Translation: X:448.16, Y:-67.94, Z:-9.05 [[ 9.85311726e-01 1.69620115e-01 1.97438484e-02 4.48161709e+02] [-1.69590111e-01 9.85509501e-01 -3.19643355e-03 -6.79443049e+01] [-1.99999297e-02 -1.98877993e-04 9.99799962e-01 -9.05377640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.044012739 meters 0.024078934662195572 Centerline is valid? [True, True] Translation: X:448.22, Y:-67.95, Z:-9.05 [[ 9.84807143e-01 1.72311009e-01 2.15361752e-02 4.48220742e+02] [-1.72275941e-01 9.85042557e-01 -3.48710888e-03 -6.79528938e+01] [-2.18149164e-02 -2.76035130e-04 9.99761988e-01 -9.05241553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.104012739 meters 0.023593130751559985 Centerline is valid? [True, True] Translation: X:448.28, Y:-67.97, Z:-9.05 [[ 9.84900489e-01 1.71593504e-01 2.29498799e-02 4.48280234e+02] [-1.71553490e-01 9.85167799e-01 -3.71582611e-03 -6.79676948e+01] [-2.32470943e-02 -2.77413057e-04 9.99729711e-01 -9.05093801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.164012739 meters 0.022639051629354198 Centerline is valid? [True, True] Translation: X:448.34, Y:-67.98, Z:-9.05 [[ 9.85109676e-01 1.70399009e-01 2.28714535e-02 4.48341219e+02] [-1.70358927e-01 9.85375115e-01 -3.70402202e-03 -6.79824179e+01] [-2.31681228e-02 -2.47488338e-04 9.99731552e-01 -9.05262188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.224012739 meters 0.022593263622593906 Centerline is valid? [True, True] Translation: X:448.40, Y:-68.00, Z:-9.06 [[ 9.84992256e-01 1.71260854e-01 2.14470291e-02 4.48402760e+02] [-1.71225742e-01 9.85225689e-01 -3.47661444e-03 -6.79983888e+01] [-2.17255720e-02 -2.47845172e-04 9.99763941e-01 -9.05650638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.284012739 meters 0.02461214576145927 Centerline is valid? [True, True] Translation: X:448.46, Y:-68.01, Z:-9.06 [[ 9.84448205e-01 1.74548358e-01 1.98646299e-02 4.48463848e+02] [-1.74518834e-01 9.84648559e-01 -3.22363109e-03 -6.80071559e+01] [-2.01223587e-02 -2.93254197e-04 9.99797482e-01 -9.06039834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.344012739 meters 0.030833722071949732 Centerline is valid? [True, True] Translation: X:448.52, Y:-68.01, Z:-9.06 [[ 9.83688694e-01 1.78636782e-01 2.11057704e-02 4.48524636e+02] [-1.78604321e-01 9.83915008e-01 -3.42843614e-03 -6.80102254e+01] [-2.13787291e-02 -3.97067929e-04 9.99771370e-01 -9.06024257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.404012739 meters 0.029955738433344422 Centerline is valid? [True, True] Translation: X:448.58, Y:-68.03, Z:-9.06 [[ 9.83845782e-01 1.77812916e-01 2.07375018e-02 4.48583748e+02] [-1.77781390e-01 9.84064240e-01 -3.36886345e-03 -6.80260514e+01] [-2.10060614e-02 -3.72299790e-04 9.99779279e-01 -9.06171198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.464012739 meters 0.027018121840078985 Centerline is valid? [True, True] Translation: X:448.64, Y:-68.04, Z:-9.06 [[ 9.83765741e-01 1.78181503e-01 2.13616373e-02 4.48644444e+02] [-1.78148122e-01 9.83997561e-01 -3.47093815e-03 -6.80424473e+01] [-2.16382560e-02 -3.90945540e-04 9.99765789e-01 -9.06214624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.524012739 meters 0.02992921768850721 Centerline is valid? [True, True] Translation: X:448.71, Y:-68.05, Z:-9.06 [[ 9.83012569e-01 1.82079463e-01 2.30945600e-02 4.48705974e+02] [-1.82041421e-01 9.83283686e-01 -3.75678102e-03 -6.80463130e+01] [-2.33925368e-02 -5.11203553e-04 9.99726226e-01 -9.05948339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.584012739 meters 0.03806110959526681 Centerline is valid? [True, True] Translation: X:448.77, Y:-68.04, Z:-9.06 [[ 9.81552207e-01 1.89923134e-01 2.20106203e-02 4.48767002e+02] [-1.89890537e-01 9.81798738e-01 -3.58088305e-03 -6.80388891e+01] [-2.22900918e-02 -6.64784858e-04 9.99751324e-01 -9.06228319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.644012739 meters 0.04115088606570397 Centerline is valid? [True, True] Translation: X:448.83, Y:-68.04, Z:-9.06 [[ 9.80611356e-01 1.94519293e-01 2.37405559e-02 4.48828569e+02] [-1.94482727e-01 9.80898341e-01 -3.86180031e-03 -6.80358708e+01] [-2.40382666e-02 -8.30202814e-04 9.99710694e-01 -9.06108452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.704012739 meters 0.04527604401265959 Centerline is valid? [True, True] Translation: X:448.89, Y:-68.03, Z:-9.06 [[ 9.80528430e-01 1.94847766e-01 2.44611059e-02 4.48887421e+02] [-1.94809061e-01 9.80833116e-01 -3.97850332e-03 -6.80328754e+01] [-2.47674652e-02 -8.64209468e-04 9.99692866e-01 -9.06117538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.764012739 meters 0.04013655452456656 Centerline is valid? [True, True] Translation: X:448.95, Y:-68.04, Z:-9.06 [[ 9.81022188e-01 1.92511313e-01 2.31270694e-02 4.48947103e+02] [-1.92476094e-01 9.81294458e-01 -3.76031436e-03 -6.80360068e+01] [-2.34183681e-02 -7.62456180e-04 9.99725462e-01 -9.06409469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.824012739 meters 0.04086227807087623 Centerline is valid? [True, True] Translation: X:449.01, Y:-68.04, Z:-9.07 [[ 9.81465291e-01 1.90318621e-01 2.24656443e-02 4.49005298e+02] [-1.90284828e-01 9.81722133e-01 -3.65216829e-03 -6.80380362e+01] [-2.27500959e-02 -6.90394854e-04 9.99740945e-01 -9.06676822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.884012739 meters 0.032318806959198296 Centerline is valid? [True, True] Translation: X:449.06, Y:-68.05, Z:-9.07 [[ 9.82841210e-01 1.83050153e-01 2.27111753e-02 4.49064308e+02] [-1.83013703e-01 9.83103434e-01 -3.69088318e-03 -6.80538491e+01] [-2.30030512e-02 -5.28904208e-04 9.99735255e-01 -9.06832027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.944012739 meters 0.02570530285634864 Centerline is valid? [True, True] Translation: X:449.12, Y:-68.07, Z:-9.07 [[ 9.84389448e-01 1.74349807e-01 2.40740534e-02 4.49121494e+02] [-1.74306249e-01 9.84683719e-01 -3.91226782e-03 -6.80697424e+01] [-2.43874315e-02 -3.45062779e-04 9.99702523e-01 -9.06739857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.004012739 meters 0.021957710822734688 Centerline is valid? [True, True] Translation: X:449.18, Y:-68.08, Z:-9.07 [[ 9.85106080e-01 1.70355217e-01 2.33476224e-02 4.49180643e+02] [-1.70313133e-01 9.85382689e-01 -3.79392600e-03 -6.80824976e+01] [-2.36526580e-02 -2.38987137e-04 9.99720208e-01 -9.07036591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.064012739 meters 0.019158968845730023 Centerline is valid? [True, True] Translation: X:449.24, Y:-68.10, Z:-9.07 [[ 9.85883781e-01 1.65764278e-01 2.35663632e-02 4.49239748e+02] [-1.65720090e-01 9.86165395e-01 -3.82947080e-03 -6.80972740e+01] [-2.38751214e-02 -1.30006669e-04 9.99714940e-01 -9.07129486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.124012739 meters 0.018395337999739504 Centerline is valid? [True, True] Translation: X:449.30, Y:-68.11, Z:-9.07 [[ 9.86473740e-01 1.62250365e-01 2.33319177e-02 4.49299774e+02] [-1.62206057e-01 9.86749622e-01 -3.79186067e-03 -6.81096406e+01] [-2.36379918e-02 -4.40073976e-05 9.99720583e-01 -9.07307114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.184012739 meters 0.018490303535115344 Centerline is valid? [True, True] Translation: X:449.36, Y:-68.12, Z:-9.08 [[ 9.86447180e-01 1.62459991e-01 2.29937498e-02 4.49358422e+02] [-1.62416943e-01 9.86715131e-01 -3.73995612e-03 -6.81179958e+01] [-2.32958741e-02 -4.53053749e-05 9.99728613e-01 -9.07542097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.244012739 meters 0.018890333417962705 Centerline is valid? [True, True] Translation: X:449.42, Y:-68.12, Z:-9.07 [[ 9.86096213e-01 1.64431738e-01 2.40096398e-02 4.49417725e+02] [-1.64385394e-01 9.86388460e-01 -3.90485691e-03 -6.81199319e+01] [-2.43249140e-02 -9.62694842e-05 9.99704101e-01 -9.07345197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30401273900003 meters 0.020628677972971413 Centerline is valid? [True, True] Translation: X:449.48, Y:-68.12, Z:-9.08 [[ 9.85577546e-01 1.67532707e-01 2.38682484e-02 4.49478010e+02] [-1.67487830e-01 9.85866503e-01 -3.88129030e-03 -6.81224432e+01] [-2.41811497e-02 -1.72328553e-04 9.99707578e-01 -9.07534007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.364012739 meters 0.02123709585343578 Centerline is valid? [True, True] Translation: X:449.54, Y:-68.13, Z:-9.08 [[ 9.85373813e-01 1.68853186e-01 2.29575593e-02 4.49536998e+02] [-1.68812039e-01 9.85641194e-01 -3.73270035e-03 -6.81281780e+01] [-2.32581945e-02 -1.97407207e-04 9.99729472e-01 -9.07921781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.424012739 meters 0.0215873495231867 Centerline is valid? [True, True] Translation: X:449.60, Y:-68.14, Z:-9.08 [[ 9.85205983e-01 1.69963200e-01 2.19472392e-02 4.49596147e+02] [-1.69925881e-01 9.85450387e-01 -3.56794138e-03 -6.81367150e+01] [-2.22343341e-02 -2.14246759e-04 9.99752764e-01 -9.08321496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.484012739 meters 0.022599275824460405 Centerline is valid? [True, True] Translation: X:449.65, Y:-68.14, Z:-9.09 [[ 9.84828585e-01 1.72128489e-01 2.20100447e-02 4.49654991e+02] [-1.72091510e-01 9.85074471e-01 -3.57757195e-03 -6.81403231e+01] [-2.22973352e-02 -2.64446707e-04 9.99751349e-01 -9.08502381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.544012739 meters 0.024156568967347997 Centerline is valid? [True, True] Translation: X:449.71, Y:-68.14, Z:-9.09 [[ 9.84504835e-01 1.74029980e-01 2.15359327e-02 4.49713925e+02] [-1.73995054e-01 9.84740308e-01 -3.49947207e-03 -6.81440991e+01] [-2.18163140e-02 -3.01898593e-04 9.99761950e-01 -9.08672926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.604012739 meters 0.02482231615514228 Centerline is valid? [True, True] Translation: X:449.77, Y:-68.15, Z:-9.09 [[ 9.84561097e-01 1.73689226e-01 2.17140220e-02 4.49771474e+02] [-1.73653661e-01 9.84800469e-01 -3.52732154e-03 -6.81481891e+01] [-2.19966368e-02 -2.97855852e-04 9.99758000e-01 -9.08628568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.664012739 meters 0.024919985465573242 Centerline is valid? [True, True] Translation: X:449.83, Y:-68.15, Z:-9.09 [[ 9.84342152e-01 1.74839051e-01 2.24016516e-02 4.49830929e+02] [-1.74801526e-01 9.84596970e-01 -3.63764980e-03 -6.81499111e+01] [-2.26926016e-02 -3.35150865e-04 9.99742434e-01 -9.08554254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.724012739 meters 0.025456407737011966 Centerline is valid? [True, True] Translation: X:449.89, Y:-68.15, Z:-9.09 [[ 9.84438367e-01 1.74247405e-01 2.27803251e-02 4.49889553e+02] [-1.74208469e-01 9.84701850e-01 -3.69799356e-03 -6.81475572e+01] [-2.30761941e-02 -3.28078830e-04 9.99733655e-01 -9.08579783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.784012739 meters 0.020694905030165096 Centerline is valid? [True, True] Translation: X:449.95, Y:-68.16, Z:-9.08 [[ 9.85407471e-01 1.68468387e-01 2.43005803e-02 4.49947027e+02] [-1.68422358e-01 9.85707035e-01 -3.94329199e-03 -6.81596132e+01] [-2.46175730e-02 -2.07011644e-04 9.99696920e-01 -9.08468682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.844012739 meters 0.019563438964311695 Centerline is valid? [True, True] Translation: X:450.00, Y:-68.17, Z:-9.09 [[ 9.85853511e-01 1.65877589e-01 2.40308065e-02 4.50004674e+02] [-1.65831835e-01 9.86146341e-01 -3.89834880e-03 -6.81708352e+01] [-2.43445406e-02 -1.41871899e-04 9.99703618e-01 -9.08520120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.904012739 meters 0.01836791843501977 Centerline is valid? [True, True] Translation: X:450.06, Y:-68.18, Z:-9.09 [[ 9.86594516e-01 1.61580648e-01 2.28682320e-02 4.50062575e+02] [-1.61538084e-01 9.86859510e-01 -3.70869283e-03 -6.81798444e+01] [-2.31669852e-02 -3.51143767e-05 9.99731609e-01 -9.08821520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.964012739 meters 0.018598083971063214 Centerline is valid? [True, True] Translation: X:450.12, Y:-68.18, Z:-9.09 [[ 9.86398075e-01 1.62509989e-01 2.46848504e-02 4.50120757e+02] [-1.62460715e-01 9.86706896e-01 -4.00207627e-03 -6.81796854e+01] [-2.50070895e-02 -6.26781184e-05 9.99687272e-01 -9.08637194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.024012739 meters 0.0189582851579653 Centerline is valid? [True, True] Translation: X:450.18, Y:-68.18, Z:-9.09 [[ 9.86086166e-01 1.64542437e-01 2.36613755e-02 4.50179566e+02] [-1.64497772e-01 9.86369999e-01 -3.83519077e-03 -6.81813978e+01] [-2.39699226e-02 -1.10414995e-04 9.99712674e-01 -9.08952226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.084012739 meters 0.01995476434686382 Centerline is valid? [True, True] Translation: X:450.24, Y:-68.18, Z:-9.09 [[ 9.85902101e-01 1.65909437e-01 2.17050011e-02 4.50238596e+02] [-1.65872206e-01 9.86140984e-01 -3.51711876e-03 -6.81798903e+01] [-2.19877143e-02 -1.32721639e-04 9.99758232e-01 -9.09444740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.144012739 meters 0.018645671497530505 Centerline is valid? [True, True] Translation: X:450.30, Y:-68.18, Z:-9.09 [[ 9.86425920e-01 1.62566758e-01 2.31506725e-02 4.50297625e+02] [-1.62523514e-01 9.86697545e-01 -3.74996689e-03 -6.81839880e+01] [-2.34523317e-02 -6.34640912e-05 9.99724954e-01 -9.09335688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.204012739 meters 0.018801649267283463 Centerline is valid? [True, True] Translation: X:450.36, Y:-68.19, Z:-9.10 [[ 9.87442925e-01 1.56549359e-01 2.11841372e-02 4.50356235e+02] [-1.56511784e-01 9.87670134e-01 -3.43051245e-03 -6.81926626e+01] [-2.14599841e-02 7.18681491e-05 9.99769705e-01 -9.09826851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.264012739 meters 0.020421242838691882 Centerline is valid? [True, True] Translation: X:450.41, Y:-68.20, Z:-9.10 [[ 9.88076212e-01 1.52614200e-01 2.03544719e-02 4.50413704e+02] [-1.52578691e-01 9.88285831e-01 -3.29545154e-03 -6.82018932e+01] [-2.06189689e-02 1.50498602e-04 9.99787395e-01 -9.10153784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.324012739 meters 0.023600204952122884 Centerline is valid? [True, True] Translation: X:450.47, Y:-68.21, Z:-9.10 [[ 9.88820236e-01 1.47496624e-01 2.18926211e-02 4.50472030e+02] [-1.47454319e-01 9.89062521e-01 -3.54311934e-03 -6.82116550e+01] [-2.21757692e-02 2.75346562e-04 9.99754049e-01 -9.09904564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.384012739 meters 0.027092791016602013 Centerline is valid? [True, True] Translation: X:450.53, Y:-68.22, Z:-9.10 [[ 9.89443236e-01 1.43317259e-01 2.14999212e-02 4.50529207e+02] [-1.43275492e-01 9.89676731e-01 -3.47860239e-03 -6.82239998e+01] [-2.17765155e-02 3.61467802e-04 9.99762798e-01 -9.10195427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.444012739 meters 0.03241396276213876 Centerline is valid? [True, True] Translation: X:450.59, Y:-68.24, Z:-9.10 [[ 9.90362311e-01 1.36440395e-01 2.38015074e-02 4.50587808e+02] [-1.36387239e-01 9.90648120e-01 -3.85016954e-03 -6.82402382e+01] [-2.41042372e-02 5.66840937e-04 9.99709290e-01 -9.09914295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.504012739 meters 0.03749041602015589 Centerline is valid? [True, True] Translation: X:450.65, Y:-68.26, Z:-9.10 [[ 9.90976616e-01 1.31810101e-01 2.43196135e-02 4.50645155e+02] [-1.31753220e-01 9.91274743e-01 -3.93363721e-03 -6.82589781e+01] [-2.46259117e-02 6.93955117e-04 9.99696495e-01 -9.10059457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.564012739 meters 0.045194756565074115 Centerline is valid? [True, True] Translation: X:450.70, Y:-68.29, Z:-9.10 [[ 9.91941712e-01 1.24540304e-01 2.32669851e-02 4.50702688e+02] [-1.24486245e-01 9.92214197e-01 -3.76320646e-03 -6.82856329e+01] [-2.35545038e-02 8.36461851e-04 9.99722204e-01 -9.10388030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.624012739 meters 0.05205032513155758 Centerline is valid? [True, True] Translation: X:450.76, Y:-68.31, Z:-9.11 [[ 9.92764374e-01 1.18257094e-01 2.08364326e-02 4.50759955e+02] [-1.18212352e-01 9.92982618e-01 -3.37042094e-03 -6.83141523e+01] [-2.10887916e-02 8.82910119e-04 9.99777217e-01 -9.10948918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.684012739 meters 0.05135536429287639 Centerline is valid? [True, True] Translation: X:450.82, Y:-68.34, Z:-9.11 [[ 9.92793622e-01 1.18210567e-01 1.96744890e-02 4.50819428e+02] [-1.18170662e-01 9.92988200e-01 -3.18273377e-03 -6.83365188e+01] [-1.99127682e-02 8.34850397e-04 9.99801373e-01 -9.11296353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.744012739 meters 0.05096206574096754 Centerline is valid? [True, True] Translation: X:450.88, Y:-68.35, Z:-9.11 [[ 9.92410029e-01 1.21080677e-01 2.14896198e-02 4.50877813e+02] [-1.21033662e-01 9.92642304e-01 -3.47992631e-03 -6.83530228e+01] [-2.17528576e-02 8.52546382e-04 9.99763015e-01 -9.10966795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.804012739 meters 0.0418697602667608 Centerline is valid? [True, True] Translation: X:450.94, Y:-68.36, Z:-9.11 [[ 9.91686826e-01 1.27047344e-01 2.04012755e-02 4.50937827e+02] [-1.27006231e-01 9.91896417e-01 -3.30368495e-03 -6.83615306e+01] [-2.06556765e-02 6.85131731e-04 9.99786414e-01 -9.11289732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.864012739 meters 0.038677129807688324 Centerline is valid? [True, True] Translation: X:451.00, Y:-68.38, Z:-9.12 [[ 9.90895923e-01 1.33440078e-01 1.78610001e-02 4.50995676e+02] [-1.33409603e-01 9.91056765e-01 -2.89234414e-03 -6.83776090e+01] [-1.80872196e-02 4.83183090e-04 9.99836296e-01 -9.11999300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.924012739 meters 0.03756330358817218 Centerline is valid? [True, True] Translation: X:451.05, Y:-68.39, Z:-9.12 [[ 9.90393226e-01 1.37134124e-01 1.77620438e-02 4.51054861e+02] [-1.37104584e-01 9.90552402e-01 -2.87606896e-03 -6.83904602e+01] [-1.79886424e-02 4.13181589e-04 9.99838106e-01 -9.12149893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.984012739 meters 0.029155050861148262 Centerline is valid? [True, True] Translation: X:451.12, Y:-68.39, Z:-9.12 [[ 9.89501685e-01 1.42986281e-01 2.10080478e-02 4.51115984e+02] [-1.42946267e-01 9.89724604e-01 -3.40193537e-03 -6.83923163e+01] [-2.12786118e-02 3.63198768e-04 9.99773519e-01 -9.11614526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.044012739 meters 0.021830605856840758 Centerline is valid? [True, True] Translation: X:451.18, Y:-68.39, Z:-9.12 [[ 9.88439349e-01 1.50054814e-01 2.17072934e-02 4.51177727e+02] [-1.50013793e-01 9.88677655e-01 -3.51516761e-03 -6.83895607e+01] [-2.19889837e-02 2.18136562e-04 9.99758189e-01 -9.11652876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.104012739 meters 0.019298624709500452 Centerline is valid? [True, True] Translation: X:451.24, Y:-68.39, Z:-9.12 [[ 9.87496610e-01 1.56325383e-01 2.03179715e-02 4.51236949e+02] [-1.56290772e-01 9.87705609e-01 -3.29018358e-03 -6.83907644e+01] [-2.05825136e-02 7.35336789e-05 9.99788155e-01 -9.12004173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.164012739 meters 0.01894491825404791 Centerline is valid? [True, True] Translation: X:451.30, Y:-68.40, Z:-9.12 [[ 9.87237876e-01 1.57887869e-01 2.08037933e-02 4.51295495e+02] [-1.57851946e-01 9.87457047e-01 -3.36808621e-03 -6.83960539e+01] [-2.10746322e-02 4.11830169e-05 9.99777904e-01 -9.12069833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.224012739 meters 0.018862205787921582 Centerline is valid? [True, True] Translation: X:451.35, Y:-68.41, Z:-9.12 [[ 9.87136145e-01 1.58093792e-01 2.38449889e-02 4.51353185e+02] [-1.58046686e-01 9.87424099e-01 -3.85921441e-03 -6.84071397e+01] [-2.41552345e-02 4.09485597e-05 9.99708219e-01 -9.11611249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.284012739 meters 0.01942230249710731 Centerline is valid? [True, True] Translation: X:451.41, Y:-68.42, Z:-9.13 [[ 9.87608387e-01 1.55619847e-01 2.03011805e-02 4.51413022e+02] [-1.55585193e-01 9.87817015e-01 -3.28505946e-03 -6.84228682e+01] [-2.05650720e-02 8.57891811e-05 9.99788513e-01 -9.12534915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.344012739 meters 0.020950188712955717 Centerline is valid? [True, True] Translation: X:451.47, Y:-68.45, Z:-9.13 [[ 9.88086855e-01 1.52761388e-01 1.86634936e-02 4.51470502e+02] [-1.52731582e-01 9.88263093e-01 -3.02050043e-03 -6.84456915e+01] [-1.89058578e-02 1.34011861e-04 9.99821259e-01 -9.13016337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.404012739 meters 0.021476587841652243 Centerline is valid? [True, True] Translation: X:451.53, Y:-68.46, Z:-9.13 [[ 9.88050272e-01 1.52789652e-01 2.02973665e-02 4.51528039e+02] [-1.52754399e-01 9.88258722e-01 -3.28519797e-03 -6.84602113e+01] [-2.05609937e-02 1.45428731e-04 9.99788590e-01 -9.12832350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.464012739 meters 0.01899080204165108 Centerline is valid? [True, True] Translation: X:451.59, Y:-68.47, Z:-9.13 [[ 9.87320742e-01 1.57333515e-01 2.10693484e-02 4.51588630e+02] [-1.57296568e-01 9.87545524e-01 -3.40990618e-03 -6.84665456e+01] [-2.13434333e-02 5.25349012e-05 9.99772202e-01 -9.12896025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.524012739 meters 0.019009342806803022 Centerline is valid? [True, True] Translation: X:451.65, Y:-68.47, Z:-9.13 [[ 9.86638986e-01 1.61571974e-01 2.09286374e-02 4.51648006e+02] [-1.61536472e-01 9.86860930e-01 -3.38712437e-03 -6.84735885e+01] [-2.12009189e-02 -3.88692899e-05 9.99775235e-01 -9.13033612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.584012739 meters 0.019255901313626995 Centerline is valid? [True, True] Translation: X:451.71, Y:-68.49, Z:-9.13 [[ 9.86450152e-01 1.62874068e-01 1.97011593e-02 4.51707469e+02] [-1.62842872e-01 9.86646864e-01 -3.18823780e-03 -6.84870613e+01] [-1.99573683e-02 -6.31557072e-05 9.99800830e-01 -9.13391367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.644012739 meters 0.019684559231658693 Centerline is valid? [True, True] Translation: X:451.77, Y:-68.50, Z:-9.13 [[ 9.86214258e-01 1.64175676e-01 2.06829595e-02 4.51765591e+02] [-1.64141580e-01 9.86431112e-01 -3.34710523e-03 -6.84957739e+01] [-2.09518280e-02 -9.39707507e-05 9.99780482e-01 -9.13276263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.704012739 meters 0.02095581605439993 Centerline is valid? [True, True] Translation: X:451.82, Y:-68.50, Z:-9.13 [[ 9.85646841e-01 1.67382343e-01 2.19876484e-02 4.51824713e+02] [-1.67344625e-01 9.85892043e-01 -3.55743916e-03 -6.85033945e+01] [-2.22729001e-02 -1.73136096e-04 9.99751913e-01 -9.13172857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.764012739 meters 0.021818162416809662 Centerline is valid? [True, True] Translation: X:451.88, Y:-68.51, Z:-9.13 [[ 9.85378594e-01 1.68851641e-01 2.27628991e-02 4.51883230e+02] [-1.68811620e-01 9.85641455e-01 -3.68230977e-03 -6.85122563e+01] [-2.30578210e-02 -2.14172646e-04 9.99734110e-01 -9.13158040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.824012739 meters 0.022668260993997158 Centerline is valid? [True, True] Translation: X:451.94, Y:-68.52, Z:-9.14 [[ 9.85187911e-01 1.70197895e-01 2.09154643e-02 4.51942072e+02] [-1.70164421e-01 9.85409877e-01 -3.38295093e-03 -6.85220342e+01] [-2.11860762e-02 -2.26225517e-04 9.99775524e-01 -9.13627838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.884012739 meters 0.027283707348087834 Centerline is valid? [True, True] Translation: X:452.00, Y:-68.52, Z:-9.14 [[ 9.84639994e-01 1.73567149e-01 1.89348273e-02 4.52001246e+02] [-1.73540345e-01 9.84822000e-01 -3.06220566e-03 -6.85238357e+01] [-1.91789328e-02 -2.70786316e-04 9.99816031e-01 -9.14112764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.944012739 meters 0.029135210484727732 Centerline is valid? [True, True] Translation: X:452.06, Y:-68.53, Z:-9.14 [[ 9.83901728e-01 1.77607099e-01 1.98269611e-02 4.52061205e+02] [-1.77578544e-01 9.84101409e-01 -3.20574884e-03 -6.85287475e+01] [-2.00811041e-02 -3.66701066e-04 9.99798287e-01 -9.14050302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.004012739 meters 0.03787483487271958 Centerline is valid? [True, True] Translation: X:452.12, Y:-68.52, Z:-9.14 [[ 9.82359162e-01 1.85851585e-01 2.07283799e-02 4.52123387e+02] [-1.85822216e-01 9.82577669e-01 -3.35100508e-03 -6.85218082e+01] [-2.09900328e-02 -5.59902944e-04 9.99779528e-01 -9.14109823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.064012739 meters 0.04422169161587517 Centerline is valid? [True, True] Translation: X:452.19, Y:-68.52, Z:-9.14 [[ 9.81332712e-01 1.91079039e-01 2.17924177e-02 4.52185071e+02] [-1.91047864e-01 9.81574400e-01 -3.52300063e-03 -6.85164002e+01] [-2.20640509e-02 -7.06159081e-04 9.99756310e-01 -9.14051697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.124012739 meters 0.0417402355725889 Centerline is valid? [True, True] Translation: X:452.24, Y:-68.52, Z:-9.14 [[ 9.81822403e-01 1.88549879e-01 2.17649110e-02 4.52244126e+02] [-1.88518164e-01 9.82063400e-01 -3.51841451e-03 -6.85229911e+01] [-2.20379192e-02 -6.48622887e-04 9.99756925e-01 -9.14183710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.184012739 meters 0.03576822575994272 Centerline is valid? [True, True] Translation: X:452.30, Y:-68.54, Z:-9.14 [[ 9.82245121e-01 1.86231364e-01 2.26362754e-02 4.52301396e+02] [-1.86196457e-01 9.82505722e-01 -3.65868448e-03 -6.85366819e+01] [-2.29216319e-02 -6.21069305e-04 9.99737072e-01 -9.14159182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.244012739 meters 0.03161512644992501 Centerline is valid? [True, True] Translation: X:452.36, Y:-68.55, Z:-9.14 [[ 9.83151013e-01 1.81349631e-01 2.29433550e-02 4.52360700e+02] [-1.81312466e-01 9.83418551e-01 -3.70725906e-03 -6.85463898e+01] [-2.32352310e-02 -5.15120776e-04 9.99729893e-01 -9.14310701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.304012739 meters 0.0275852311196457 Centerline is valid? [True, True] Translation: X:452.42, Y:-68.56, Z:-9.14 [[ 9.84461998e-01 1.74108682e-01 2.28197409e-02 4.52418248e+02] [-1.74069984e-01 9.84726383e-01 -3.68666413e-03 -6.85609724e+01] [-2.31130812e-02 -3.42851195e-04 9.99732798e-01 -9.14471206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.364012739 meters 0.019756877625254313 Centerline is valid? [True, True] Translation: X:452.47, Y:-68.59, Z:-9.15 [[ 9.85920126e-01 1.65724466e-01 2.22914173e-02 4.52474037e+02] [-1.65685405e-01 9.86172085e-01 -3.60079142e-03 -6.85893316e+01] [-2.25799127e-02 -1.43269761e-04 9.99745031e-01 -9.14630621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.424012739 meters 0.01921435590916305 Centerline is valid? [True, True] Translation: X:452.53, Y:-68.60, Z:-9.15 [[ 9.86088236e-01 1.64739836e-01 2.21535055e-02 4.52532229e+02] [-1.64701021e-01 9.86337048e-01 -3.57798039e-03 -6.86019523e+01] [-2.24402592e-02 -1.20500606e-04 9.99748178e-01 -9.14741670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.484012739 meters 0.02155324162358227 Centerline is valid? [True, True] Translation: X:452.59, Y:-68.60, Z:-9.15 [[ 9.85317884e-01 1.69358913e-01 2.15922762e-02 4.52592554e+02] [-1.69323158e-01 9.85554418e-01 -3.48681881e-03 -6.86046603e+01] [-2.18708870e-02 -2.20447477e-04 9.99760779e-01 -9.14953823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.544012739 meters 0.026275573114862328 Centerline is valid? [True, True] Translation: X:452.65, Y:-68.60, Z:-9.15 [[ 9.84190100e-01 1.75886491e-01 2.08275868e-02 4.52653379e+02] [-1.75854695e-01 9.84410391e-01 -3.36284303e-03 -6.86027193e+01] [-2.10943716e-02 -3.52952108e-04 9.99777427e-01 -9.15288344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.604012739 meters 0.02753553808070924 Centerline is valid? [True, True] Translation: X:452.71, Y:-68.61, Z:-9.15 [[ 9.83995486e-01 1.76964876e-01 2.08882025e-02 4.52711913e+02] [-1.76933148e-01 9.84217095e-01 -3.37210270e-03 -6.86090932e+01] [-2.11552697e-02 -3.77681582e-04 9.99776131e-01 -9.15410752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.664012739 meters 0.025624784708611452 Centerline is valid? [True, True] Translation: X:452.77, Y:-68.62, Z:-9.15 [[ 9.84359217e-01 1.74899216e-01 2.11470328e-02 4.52769285e+02] [-1.74866243e-01 9.84586283e-01 -3.41285627e-03 -6.86224949e+01] [-2.14179843e-02 -3.38425643e-04 9.99770551e-01 -9.15374544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.724012739 meters 0.028056678676967973 Centerline is valid? [True, True] Translation: X:452.83, Y:-68.63, Z:-9.15 [[ 9.84053015e-01 1.76423681e-01 2.26792462e-02 4.52827648e+02] [-1.76386188e-01 9.84314241e-01 -3.65894136e-03 -6.86261757e+01] [-2.29690290e-02 -3.99713504e-04 9.99736097e-01 -9.15287997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.784012739 meters 0.03186548347197072 Centerline is valid? [True, True] Translation: X:452.89, Y:-68.62, Z:-9.16 [[ 9.82870898e-01 1.83056244e-01 2.13356423e-02 4.52889004e+02] [-1.83024646e-01 9.83102303e-01 -3.44102448e-03 -6.86241305e+01] [-2.16050201e-02 -5.22865571e-04 9.99766448e-01 -9.15643986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.844012739 meters 0.035711454088919764 Centerline is valid? [True, True] Translation: X:452.95, Y:-68.62, Z:-9.16 [[ 9.82249753e-01 1.86434953e-01 2.06743945e-02 4.52948974e+02] [-1.86406036e-01 9.82467136e-01 -3.33411833e-03 -6.86244391e+01] [-2.09335093e-02 -5.78895016e-04 9.99780702e-01 -9.15974660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.904012739 meters 0.036169993500471474 Centerline is valid? [True, True] Translation: X:453.01, Y:-68.63, Z:-9.16 [[ 9.82557281e-01 1.84893490e-01 1.98893873e-02 4.53006571e+02] [-1.84866426e-01 9.82758424e-01 -3.20683032e-03 -6.86287357e+01] [-2.01393849e-02 -5.25985460e-04 9.99797044e-01 -9.16280060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.964012739 meters 0.033690164040593905 Centerline is valid? [True, True] Translation: X:453.07, Y:-68.63, Z:-9.16 [[ 9.82869772e-01 1.83119056e-01 2.08428280e-02 4.53065736e+02] [-1.83088964e-01 9.83090610e-01 -3.35925034e-03 -6.86336253e+01] [-2.11055312e-02 -5.14386166e-04 9.99777121e-01 -9.16206631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.024012739 meters 0.03199018621787884 Centerline is valid? [True, True] Translation: X:453.12, Y:-68.64, Z:-9.16 [[ 9.83220490e-01 1.81216645e-01 2.09283645e-02 4.53124858e+02] [-1.81185896e-01 9.83443084e-01 -3.37203569e-03 -6.86356470e+01] [-2.11929243e-02 -4.76469891e-04 9.99775291e-01 -9.16364015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.084012739 meters 0.031050950349224896 Centerline is valid? [True, True] Translation: X:453.18, Y:-68.64, Z:-9.17 [[ 9.83521604e-01 1.79670900e-01 2.00903749e-02 4.53182744e+02] [-1.79642260e-01 9.83726683e-01 -3.23609917e-03 -6.86428217e+01] [-2.03448707e-02 -4.26306910e-04 9.99792931e-01 -9.16606712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.144012739 meters 0.026478253709998303 Centerline is valid? [True, True] Translation: X:453.24, Y:-68.65, Z:-9.17 [[ 9.84424894e-01 1.74668609e-01 1.99626015e-02 4.53241501e+02] [-1.74639322e-01 9.84627226e-01 -3.21457994e-03 -6.86543731e+01] [-2.02172071e-02 -3.21742671e-04 9.99795560e-01 -9.16748711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.204012739 meters 0.02194939112756344 Centerline is valid? [True, True] Translation: X:453.30, Y:-68.67, Z:-9.17 [[ 9.85095738e-01 1.70717480e-01 2.10220989e-02 4.53298474e+02] [-1.70684108e-01 9.85319987e-01 -3.38490291e-03 -6.86686611e+01] [-2.12913563e-02 -2.53684762e-04 9.99773281e-01 -9.16697072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.264012739 meters 0.020975422067880046 Centerline is valid? [True, True] Translation: X:453.36, Y:-68.67, Z:-9.16 [[ 9.85381885e-01 1.68772933e-01 2.31999710e-02 4.53356182e+02] [-1.68731779e-01 9.85654930e-01 -3.73429551e-03 -6.86747613e+01] [-2.34974138e-02 -2.34865236e-04 9.99723870e-01 -9.16342726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.324012739 meters 0.020170293378320298 Centerline is valid? [True, True] Translation: X:453.41, Y:-68.68, Z:-9.17 [[ 9.85588313e-01 1.67707631e-01 2.21320606e-02 4.53414183e+02] [-1.67669938e-01 9.85836756e-01 -3.56113919e-03 -6.86817398e+01] [-2.24158290e-02 -2.01064055e-04 9.99748714e-01 -9.16777614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.384012739 meters 0.018619791887415468 Centerline is valid? [True, True] Translation: X:453.47, Y:-68.69, Z:-9.17 [[ 9.86264718e-01 1.63872069e-01 2.06845651e-02 4.53471465e+02] [-1.63838321e-01 9.86481593e-01 -3.32728822e-03 -6.86920467e+01] [-2.09501924e-02 -1.07337447e-04 9.99780515e-01 -9.17121212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.444012739 meters 0.017409889143290537 Centerline is valid? [True, True] Translation: X:453.53, Y:-68.70, Z:-9.17 [[ 9.86787002e-01 1.60472857e-01 2.23578958e-02 4.53528076e+02] [-1.60432583e-01 9.87040253e-01 -3.59525148e-03 -6.87046313e+01] [-2.26450834e-02 -3.91875467e-05 9.99743566e-01 -9.16918427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.504012739 meters 0.017465187408020263 Centerline is valid? [True, True] Translation: X:453.59, Y:-68.72, Z:-9.17 [[ 9.87418532e-01 1.56658348e-01 2.15128933e-02 4.53585565e+02] [-1.56620186e-01 9.87652854e-01 -3.45790678e-03 -6.87168099e+01] [-2.17889804e-02 4.50478725e-05 9.99762591e-01 -9.17330076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.564012739 meters 0.018189831495975493 Centerline is valid? [True, True] Translation: X:453.64, Y:-68.73, Z:-9.18 [[ 9.87822793e-01 1.54284900e-01 2.00574057e-02 4.53641424e+02] [-1.54251256e-01 9.88026397e-01 -3.22309510e-03 -6.87309901e+01] [-2.03145212e-02 8.99667852e-05 9.99793635e-01 -9.17727482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.624012739 meters 0.019368885369653033 Centerline is valid? [True, True] Translation: X:453.70, Y:-68.75, Z:-9.18 [[ 9.88205036e-01 1.51875682e-01 1.96108332e-02 4.53698512e+02] [-1.51843067e-01 9.88399595e-01 -3.15022910e-03 -6.87455107e+01] [-1.98617828e-02 1.35303200e-04 9.99802726e-01 -9.17847895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.684012739 meters 0.020062338813177656 Centerline is valid? [True, True] Translation: X:453.76, Y:-68.76, Z:-9.18 [[ 9.88365905e-01 1.50886997e-01 1.91298868e-02 4.53755781e+02] [-1.50855794e-01 9.88551006e-01 -3.07212146e-03 -6.87571706e+01] [-1.93744120e-02 1.50525842e-04 9.99812287e-01 -9.18072989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.744012739 meters 0.02121599470986076 Centerline is valid? [True, True] Translation: X:453.81, Y:-68.77, Z:-9.18 [[ 9.88632609e-01 1.49062759e-01 1.96432585e-02 4.53811035e+02] [-1.49029517e-01 9.88827719e-01 -3.15364418e-03 -6.87748031e+01] [-1.98938894e-02 1.90370142e-04 9.99802079e-01 -9.18133571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.804012739 meters 0.02062610960297079 Centerline is valid? [True, True] Translation: X:453.87, Y:-68.79, Z:-9.18 [[ 9.88716100e-01 1.48582270e-01 1.90730645e-02 4.53868746e+02] [-1.48550855e-01 9.88900031e-01 -3.06136156e-03 -6.87860140e+01] [-1.93162182e-02 1.93497424e-04 9.99813406e-01 -9.18378641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.864012739 meters 0.019746769732862282 Centerline is valid? [True, True] Translation: X:453.93, Y:-68.80, Z:-9.18 [[ 9.88496757e-01 1.50038286e-01 1.90439787e-02 4.53925752e+02] [-1.50007255e-01 9.88680174e-01 -3.05576738e-03 -6.87994659e+01] [-1.92868863e-02 1.63881188e-04 9.99813977e-01 -9.18444661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.924012739 meters 0.019055257431306316 Centerline is valid? [True, True] Translation: X:453.98, Y:-68.81, Z:-9.19 [[ 9.88199907e-01 1.51970715e-01 1.91270836e-02 4.53983067e+02] [-1.51939791e-01 9.88384989e-01 -3.06818598e-03 -6.88080121e+01] [-1.93711968e-02 1.25816006e-04 9.99812353e-01 -9.18591748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.984012739 meters 0.01753020831270693 Centerline is valid? [True, True] Translation: X:454.04, Y:-68.82, Z:-9.18 [[ 9.87621131e-01 1.55425366e-01 2.11531653e-02 4.54041401e+02] [-1.55388365e-01 9.87847636e-01 -3.39180811e-03 -6.88162083e+01] [-2.14232774e-02 6.28655862e-05 9.99770493e-01 -9.18304776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.044012739 meters 0.017356140166088798 Centerline is valid? [True, True] Translation: X:454.10, Y:-68.82, Z:-9.18 [[ 9.86860639e-01 1.60203064e-01 2.10013885e-02 4.54100519e+02] [-1.60167695e-01 9.87084078e-01 -3.36646698e-03 -6.88171306e+01] [-2.12694545e-02 -4.15102307e-05 9.99773779e-01 -9.18410936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.104012739 meters 0.017821170234335208 Centerline is valid? [True, True] Translation: X:454.16, Y:-68.83, Z:-9.19 [[ 9.86558862e-01 1.62195276e-01 1.98570780e-02 4.54158606e+02] [-1.62164078e-01 9.86758677e-01 -3.18213106e-03 -6.88254280e+01] [-2.01102706e-02 -8.07451406e-05 9.99797765e-01 -9.18844591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.164012739 meters 0.01795336418908454 Centerline is valid? [True, True] Translation: X:454.22, Y:-68.83, Z:-9.19 [[ 9.86654055e-01 1.61786166e-01 1.84122754e-02 4.54215428e+02] [-1.61759287e-01 9.86825837e-01 -2.94979096e-03 -6.88349370e+01] [-1.86469444e-02 -6.79333229e-05 9.99826128e-01 -9.19133979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.224012739 meters 0.0171340885004089 Centerline is valid? [True, True] Translation: X:454.27, Y:-68.85, Z:-9.19 [[ 9.86951375e-01 1.59683350e-01 2.06932385e-02 4.54272856e+02] [-1.59648965e-01 9.87168287e-01 -3.31382231e-03 -6.88490176e+01] [-2.09568710e-02 -3.30726209e-05 9.99780380e-01 -9.18837838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.284012739 meters 0.017152434276063385 Centerline is valid? [True, True] Translation: X:454.33, Y:-68.86, Z:-9.19 [[ 9.87079624e-01 1.58811145e-01 2.12799422e-02 4.54330008e+02] [-1.58774603e-01 9.87308979e-01 -3.40671207e-03 -6.88601205e+01] [-2.15509018e-02 -1.60182937e-05 9.99767752e-01 -9.18969405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.344012739 meters 0.017243186257061463 Centerline is valid? [True, True] Translation: X:454.39, Y:-68.87, Z:-9.20 [[ 9.87384036e-01 1.57187417e-01 1.91018503e-02 4.54386150e+02] [-1.57157689e-01 9.87568790e-01 -3.05699898e-03 -6.88730380e+01] [-1.93449130e-02 1.64293498e-05 9.99812870e-01 -9.19555650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.404012739 meters 0.017642151351912026 Centerline is valid? [True, True] Translation: X:454.44, Y:-68.89, Z:-9.20 [[ 9.87765868e-01 1.54838770e-01 1.85349618e-02 4.54442388e+02] [-1.54810385e-01 9.87939751e-01 -2.96525015e-03 -6.88898025e+01] [-1.87705612e-02 5.95683084e-05 9.99823816e-01 -9.19716113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.464012739 meters 0.01815383856532818 Centerline is valid? [True, True] Translation: X:454.50, Y:-68.90, Z:-9.20 [[ 9.88130106e-01 1.52349575e-01 1.97104185e-02 4.54499790e+02] [-1.52317007e-01 9.88326664e-01 -3.15199973e-03 -6.89036658e+01] [-1.99605380e-02 1.12353862e-04 9.99800762e-01 -9.19500496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.524012739 meters 0.018438875155441785 Centerline is valid? [True, True] Translation: X:454.56, Y:-68.92, Z:-9.20 [[ 9.88243831e-01 1.51558429e-01 2.01040449e-02 4.54558075e+02] [-1.51524403e-01 9.88448292e-01 -3.21396715e-03 -6.89187716e+01] [-2.03589126e-02 1.29929813e-04 9.99792727e-01 -9.19631580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.584012739 meters 0.018053351700199657 Centerline is valid? [True, True] Translation: X:454.62, Y:-68.93, Z:-9.20 [[ 9.88133688e-01 1.52346360e-01 1.95550785e-02 4.54617076e+02] [-1.52314331e-01 9.88327160e-01 -3.12574330e-03 -6.89291091e+01] [-1.98030108e-02 1.10133559e-04 9.99803895e-01 -9.19782797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.644012739 meters 0.017720715791578655 Centerline is valid? [True, True] Translation: X:454.68, Y:-68.94, Z:-9.20 [[ 9.87912800e-01 1.53843477e-01 1.89864486e-02 4.54675070e+02] [-1.53813568e-01 9.88095228e-01 -3.03441756e-03 -6.89377661e+01] [-1.92272446e-02 7.73665574e-05 9.99815136e-01 -9.19864224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.704012739 meters 0.016926917448361344 Centerline is valid? [True, True] Translation: X:454.73, Y:-68.95, Z:-9.20 [[ 9.87578056e-01 1.55686869e-01 2.12410628e-02 4.54733590e+02] [-1.55649879e-01 9.87806457e-01 -3.39388104e-03 -6.89454613e+01] [-2.15104417e-02 4.55535894e-05 9.99768623e-01 -9.19617269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.764012739 meters 0.01672767024201592 Centerline is valid? [True, True] Translation: X:454.79, Y:-68.95, Z:-9.20 [[ 9.87315395e-01 1.57324393e-01 2.13856548e-02 4.54792918e+02] [-1.57287303e-01 9.87546979e-01 -3.41599038e-03 -6.89515347e+01] [-2.16567574e-02 8.96790856e-06 9.99765465e-01 -9.19725231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.824012739 meters 0.016904363617343845 Centerline is valid? [True, True] Translation: X:454.85, Y:-68.96, Z:-9.20 [[ 9.87092357e-01 1.58925074e-01 1.97863450e-02 4.54850545e+02] [-1.58893655e-01 9.87290646e-01 -3.16009991e-03 -6.89583336e+01] [-2.00370925e-02 -2.46142100e-05 9.99799237e-01 -9.20242176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.884012739 meters 0.017003603819154042 Centerline is valid? [True, True] Translation: X:454.91, Y:-68.97, Z:-9.21 [[ 9.87094831e-01 1.59009309e-01 1.89693163e-02 4.54907343e+02] [-1.58980469e-01 9.87277083e-01 -3.02842795e-03 -6.89670487e+01] [-1.92095195e-02 -2.64052300e-05 9.99815480e-01 -9.20503813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.944012739 meters 0.016965959040252894 Centerline is valid? [True, True] Translation: X:454.97, Y:-68.98, Z:-9.21 [[ 9.87096120e-01 1.59013643e-01 1.88655953e-02 4.54965051e+02] [-1.58985142e-01 9.87276385e-01 -3.01064727e-03 -6.89779079e+01] [-1.91042908e-02 -2.75511116e-05 9.99817496e-01 -9.20725629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.004012739 meters 0.016831030626724603 Centerline is valid? [True, True] Translation: X:455.02, Y:-68.99, Z:-9.20 [[ 9.87066583e-01 1.58797693e-01 2.19739148e-02 4.55023277e+02] [-1.58758998e-01 9.87311142e-01 -3.50550804e-03 -6.89874967e+01] [-2.22517575e-02 -2.83868437e-05 9.99752399e-01 -9.20369366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.064012739 meters 0.0172180149647334 Centerline is valid? [True, True] Translation: X:455.08, Y:-68.99, Z:-9.20 [[ 9.86784029e-01 1.60591139e-01 2.16278896e-02 4.55081699e+02] [-1.60554106e-01 9.87021014e-01 -3.44932405e-03 -6.89934531e+01] [-2.19011124e-02 -6.87085949e-05 9.99760140e-01 -9.20486728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.124012739 meters 0.02020852880400722 Centerline is valid? [True, True] Translation: X:455.14, Y:-68.99, Z:-9.21 [[ 9.85777389e-01 1.66845587e-01 2.01367480e-02 4.55141431e+02] [-1.66814805e-01 9.85983018e-01 -3.21064924e-03 -6.89924475e+01] [-2.03901743e-02 -1.94122268e-04 9.99792080e-01 -9.20867802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.184012739 meters 0.02661505195224227 Centerline is valid? [True, True] Translation: X:455.20, Y:-68.99, Z:-9.21 [[ 9.84750433e-01 1.72752661e-01 2.05694576e-02 4.55201697e+02] [-1.72721850e-01 9.84965184e-01 -3.27863228e-03 -6.89854190e+01] [-2.08265920e-02 -3.24160212e-04 9.99783050e-01 -9.20876882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.244012739 meters 0.02643837888632622 Centerline is valid? [True, True] Translation: X:455.26, Y:-68.99, Z:-9.21 [[ 9.84468388e-01 1.74417431e-01 2.00138356e-02 4.55260486e+02] [-1.74388625e-01 9.84671741e-01 -3.18914539e-03 -6.89909400e+01] [-2.02633009e-02 -3.50572448e-04 9.99794617e-01 -9.21200643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.304012739 meters 0.02585696633361613 Centerline is valid? [True, True] Translation: X:455.32, Y:-69.00, Z:-9.21 [[ 9.84784387e-01 1.72634349e-01 1.99271818e-02 4.55318911e+02] [-1.72605446e-01 9.84985930e-01 -3.17439057e-03 -6.89951278e+01] [-2.01760025e-02 -3.13449823e-04 9.99796395e-01 -9.21322613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.364012739 meters 0.022617965292237387 Centerline is valid? [True, True] Translation: X:455.38, Y:-69.01, Z:-9.22 [[ 9.85304884e-01 1.69708308e-01 1.93229437e-02 4.55376958e+02] [-1.69680586e-01 9.85494307e-01 -3.07724257e-03 -6.90072774e+01] [-1.95648846e-02 -2.46706276e-04 9.99808559e-01 -9.21546951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.424012739 meters 0.019318387922544825 Centerline is valid? [True, True] Translation: X:455.44, Y:-69.02, Z:-9.21 [[ 9.86003965e-01 1.65532299e-01 1.98806222e-02 4.55435217e+02] [-1.65502118e-01 9.86204355e-01 -3.16532855e-03 -6.90168357e+01] [-2.01303203e-02 -1.69258580e-04 9.99797350e-01 -9.21492620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.484012739 meters 0.0169706955310729 Centerline is valid? [True, True] Translation: X:455.49, Y:-69.03, Z:-9.22 [[ 9.86983256e-01 1.59555536e-01 2.01514896e-02 4.55491898e+02] [-1.59523301e-01 9.87188953e-01 -3.20746609e-03 -6.90329457e+01] [-2.04050968e-02 -4.89168024e-05 9.99791793e-01 -9.21627977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.544012739 meters 0.01698427298062688 Centerline is valid? [True, True] Translation: X:455.55, Y:-69.05, Z:-9.22 [[ 9.87692060e-01 1.55248755e-01 1.90320192e-02 4.55547594e+02] [-1.55219220e-01 9.87875408e-01 -3.02839466e-03 -6.90490137e+01] [-1.92714182e-02 3.69861967e-05 9.99814288e-01 -9.21934497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.604012739 meters 0.018678947441087352 Centerline is valid? [True, True] Translation: X:455.60, Y:-69.07, Z:-9.22 [[ 9.88347555e-01 1.51093340e-01 1.84367548e-02 4.55602983e+02] [-1.51064923e-01 9.88519494e-01 -2.93244729e-03 -6.90666554e+01] [-1.86681648e-02 1.13130151e-04 9.99825728e-01 -9.22183055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.664012739 meters 0.022235279210090705 Centerline is valid? [True, True] Translation: X:455.66, Y:-69.09, Z:-9.22 [[ 9.89336139e-01 1.44426526e-01 1.88409637e-02 4.55660310e+02] [-1.44395662e-01 9.89515497e-01 -2.99557887e-03 -6.90914352e+01] [-1.90760666e-02 2.43081014e-04 9.99818006e-01 -9.22113393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.724012739 meters 0.026011974972493128 Centerline is valid? [True, True] Translation: X:455.72, Y:-69.11, Z:-9.22 [[ 9.89647257e-01 1.42289634e-01 1.87607926e-02 4.55717742e+02] [-1.42258648e-01 9.89825025e-01 -2.98282428e-03 -6.91101196e+01] [-1.89943269e-02 2.83058883e-04 9.99819551e-01 -9.22213461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.784012739 meters 0.022559340540489133 Centerline is valid? [True, True] Translation: X:455.78, Y:-69.12, Z:-9.23 [[ 9.89521215e-01 1.43301664e-01 1.76747735e-02 4.55777175e+02] [-1.43274321e-01 9.89679024e-01 -2.81026026e-03 -6.91209366e+01] [-1.78950676e-02 2.48470965e-04 9.99839840e-01 -9.22562636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.844012739 meters 0.020732191461932028 Centerline is valid? [True, True] Translation: X:455.84, Y:-69.13, Z:-9.23 [[ 9.89023297e-01 1.46701832e-01 1.76491056e-02 4.55836872e+02] [-1.46675109e-01 9.89180741e-01 -2.80617910e-03 -6.91300573e+01] [-1.78698270e-02 1.86692014e-04 9.99840304e-01 -9.22653566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.904012739 meters 0.02016331133780218 Centerline is valid? [True, True] Translation: X:455.89, Y:-69.14, Z:-9.23 [[ 9.88794525e-01 1.48194215e-01 1.79961892e-02 4.55894934e+02] [-1.48166677e-01 9.88958264e-01 -2.86139144e-03 -6.91426102e+01] [-1.82215217e-02 1.62892637e-04 9.99833961e-01 -9.22724007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.964012739 meters 0.01891848899475267 Centerline is valid? [True, True] Translation: X:455.95, Y:-69.15, Z:-9.23 [[ 9.88527759e-01 1.49953863e-01 1.80750825e-02 4.55953520e+02] [-1.49926381e-01 9.88692987e-01 -2.87374150e-03 -6.91541507e+01] [-1.83016360e-02 1.30841533e-04 9.99832502e-01 -9.22843166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.024012739 meters 0.017392546094844686 Centerline is valid? [True, True] Translation: X:456.01, Y:-69.16, Z:-9.23 [[ 9.87926501e-01 1.53875084e-01 1.79912889e-02 4.56013172e+02] [-1.53848514e-01 9.88090307e-01 -2.85999449e-03 -6.91611455e+01] [-1.82171001e-02 5.75312762e-05 9.99834053e-01 -9.22933621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.084012739 meters 0.017031858654057038 Centerline is valid? [True, True] Translation: X:456.07, Y:-69.16, Z:-9.23 [[ 9.87092143e-01 1.59053294e-01 1.87390152e-02 4.56073689e+02] [-1.59025410e-01 9.87269998e-01 -2.97839492e-03 -6.91637268e+01] [-1.89741910e-02 -4.00293451e-05 9.99819973e-01 -9.22800065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.144012739 meters 0.020917369456088197 Centerline is valid? [True, True] Translation: X:456.13, Y:-69.16, Z:-9.23 [[ 9.85704825e-01 1.67411614e-01 1.89565311e-02 4.56133309e+02] [-1.67384631e-01 9.85887068e-01 -3.01252553e-03 -6.91596809e+01] [-1.91933306e-02 -2.03571016e-04 9.99815770e-01 -9.22875993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.204012739 meters 0.025868742881613997 Centerline is valid? [True, True] Translation: X:456.19, Y:-69.16, Z:-9.23 [[ 9.84505274e-01 1.74216430e-01 1.99499767e-02 4.56193931e+02] [-1.74187960e-01 9.84707322e-01 -3.16937428e-03 -6.91557998e+01] [-2.01970452e-02 -3.54780049e-04 9.99795956e-01 -9.22878443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.264012739 meters 0.031100123722960088 Centerline is valid? [True, True] Translation: X:456.25, Y:-69.15, Z:-9.23 [[ 9.83807001e-01 1.78097206e-01 2.01288434e-02 4.56254179e+02] [-1.78069049e-01 9.84012801e-01 -3.19704373e-03 -6.91523606e+01] [-2.03764241e-02 -4.39050002e-04 9.99792283e-01 -9.22872471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.324012739 meters 0.03255347158140047 Centerline is valid? [True, True] Translation: X:456.31, Y:-69.15, Z:-9.23 [[ 9.83240928e-01 1.81090152e-01 2.10626449e-02 4.56314952e+02] [-1.81060025e-01 9.83466360e-01 -3.34457146e-03 -6.91486898e+01] [-2.13200717e-02 -5.25083466e-04 9.99772564e-01 -9.22913683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.384012739 meters 0.031437867842833735 Centerline is valid? [True, True] Translation: X:456.37, Y:-69.15, Z:-9.23 [[ 9.83499038e-01 1.79692297e-01 2.09838058e-02 4.56373889e+02] [-1.79662089e-01 9.83722743e-01 -3.33152745e-03 -6.91547866e+01] [-2.12408968e-02 -4.93440333e-04 9.99774265e-01 -9.23103011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.444012739 meters 0.02618925431217267 Centerline is valid? [True, True] Translation: X:456.43, Y:-69.17, Z:-9.24 [[ 9.84626596e-01 1.73795498e-01 1.74811920e-02 4.56431860e+02] [-1.73773616e-01 9.84781718e-01 -2.77468356e-03 -6.91682506e+01] [-1.76973858e-02 -3.05742719e-04 9.99843342e-01 -9.23670319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.504012739 meters 0.020983110636571416 Centerline is valid? [True, True] Translation: X:456.49, Y:-69.18, Z:-9.24 [[ 9.85620283e-01 1.67971082e-01 1.83949430e-02 4.56489792e+02] [-1.67945846e-01 9.85791900e-01 -2.91925224e-03 -6.91844107e+01] [-1.86239358e-02 -2.12080057e-04 9.99826537e-01 -9.23648102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.564012739 meters 0.019210197804926027 Centerline is valid? [True, True] Translation: X:456.55, Y:-69.20, Z:-9.23 [[ 9.86180483e-01 1.64359637e-01 2.08318128e-02 4.56546958e+02] [-1.64326479e-01 9.86400468e-01 -3.30537752e-03 -6.91958612e+01] [-2.10917805e-02 -1.63519638e-04 9.99777530e-01 -9.23453336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.624012739 meters 0.018650497163087275 Centerline is valid? [True, True] Translation: X:456.61, Y:-69.21, Z:-9.24 [[ 9.86366382e-01 1.63359702e-01 1.98738088e-02 4.56605011e+02] [-1.63329343e-01 9.86566566e-01 -3.15220865e-03 -6.92074609e+01] [-2.01217792e-02 -1.36743494e-04 9.99797527e-01 -9.23646613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.684012739 meters 0.019573216090224603 Centerline is valid? [True, True] Translation: X:456.66, Y:-69.21, Z:-9.24 [[ 9.86163440e-01 1.64544197e-01 2.01711839e-02 4.56662781e+02] [-1.64513191e-01 9.86369698e-01 -3.19840234e-03 -6.92128702e+01] [-2.04225231e-02 -1.64278370e-04 9.99791425e-01 -9.23588133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.744012739 meters 0.020057258921320598 Centerline is valid? [True, True] Translation: X:456.72, Y:-69.22, Z:-9.24 [[ 9.86142669e-01 1.64796925e-01 1.90947770e-02 4.56720182e+02] [-1.64769208e-01 9.86327505e-01 -3.02666350e-03 -6.92200116e+01] [-1.93324886e-02 -1.61509267e-04 9.99813097e-01 -9.23875147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.804012739 meters 0.018173258684887558 Centerline is valid? [True, True] Translation: X:456.78, Y:-69.24, Z:-9.24 [[ 9.86526040e-01 1.62450814e-01 1.93934351e-02 4.56777203e+02] [-1.62421792e-01 9.86716636e-01 -3.07286254e-03 -6.92360038e+01] [-1.96350140e-02 -1.18457558e-04 9.99807208e-01 -9.23943648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.864012739 meters 0.01906296749416989 Centerline is valid? [True, True] Translation: X:456.84, Y:-69.24, Z:-9.24 [[ 9.86266253e-01 1.63786025e-01 2.12841975e-02 4.56835036e+02] [-1.63751404e-01 9.86495875e-01 -3.37127951e-03 -6.92438252e+01] [-2.15489416e-02 -1.60338017e-04 9.99767782e-01 -9.23650578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.924012739 meters 0.022820601421212047 Centerline is valid? [True, True] Translation: X:456.90, Y:-69.24, Z:-9.24 [[ 9.85393617e-01 1.69154115e-01 1.96546336e-02 4.56895501e+02] [-1.69125681e-01 9.85589579e-01 -3.11202912e-03 -6.92428904e+01] [-1.98978146e-02 -2.57529669e-04 9.99801986e-01 -9.23999966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.984012739 meters 0.031383578235541776 Centerline is valid? [True, True] Translation: X:456.96, Y:-69.24, Z:-9.24 [[ 9.83799671e-01 1.78272269e-01 1.88999014e-02 4.56957260e+02] [-1.78247666e-01 9.83981106e-01 -2.99207271e-03 -6.92358247e+01] [-1.91305495e-02 -4.25263155e-04 9.99816904e-01 -9.24281670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.044012739 meters 0.033177329934562 Centerline is valid? [True, True] Translation: X:457.02, Y:-69.24, Z:-9.24 [[ 9.83338821e-01 1.80605239e-01 2.06521194e-02 4.57016257e+02] [-1.80576378e-01 9.83555531e-01 -3.26932193e-03 -6.92414496e+01] [-2.09029629e-02 -5.14433755e-04 9.99781377e-01 -9.24106559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.104012739 meters 0.03160867520909125 Centerline is valid? [True, True] Translation: X:457.07, Y:-69.25, Z:-9.24 [[ 9.83720479e-01 1.78595641e-01 1.99403382e-02 4.57074254e+02] [-1.78568342e-01 9.83922451e-01 -3.15572711e-03 -6.92514450e+01] [-2.01833455e-02 -4.56359748e-04 9.99796191e-01 -9.24437745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.164012739 meters 0.028439442714551372 Centerline is valid? [True, True] Translation: X:457.13, Y:-69.26, Z:-9.25 [[ 9.84060723e-01 1.76760374e-01 1.95003319e-02 4.57132099e+02] [-1.76733924e-01 9.84253830e-01 -3.08518844e-03 -6.92607489e+01] [-1.97386154e-02 -4.10357407e-04 9.99805090e-01 -9.24643405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.224012739 meters 0.030465836827284515 Centerline is valid? [True, True] Translation: X:457.19, Y:-69.26, Z:-9.25 [[ 9.84181187e-01 1.76114331e-01 1.92648339e-02 4.57190420e+02] [-1.76088410e-01 9.84369640e-01 -3.04702864e-03 -6.92600026e+01] [-1.95003431e-02 -3.93485718e-04 9.99809773e-01 -9.24649482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.284012739 meters 0.025606539125355585 Centerline is valid? [True, True] Translation: X:457.25, Y:-69.27, Z:-9.25 [[ 9.84832413e-01 1.72470534e-01 1.89481939e-02 4.57248344e+02] [-1.72444818e-01 9.85014626e-01 -2.99517120e-03 -6.92737220e+01] [-1.91808269e-02 -3.17776164e-04 9.99815981e-01 -9.24917744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.344012739 meters 0.021823966795093654 Centerline is valid? [True, True] Translation: X:457.31, Y:-69.29, Z:-9.25 [[ 9.85638158e-01 1.67758640e-01 1.93509930e-02 4.57306031e+02] [-1.67730924e-01 9.85828071e-01 -3.05813332e-03 -6.92864336e+01] [-1.95897803e-02 -2.31547038e-04 9.99808075e-01 -9.24858418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.404012739 meters 0.018170487810755843 Centerline is valid? [True, True] Translation: X:457.36, Y:-69.30, Z:-9.25 [[ 9.86663992e-01 1.61607468e-01 1.94214498e-02 4.57363371e+02] [-1.61578375e-01 9.86855113e-01 -3.06832097e-03 -6.93016371e+01] [-1.96620206e-02 -1.10684478e-04 9.99806678e-01 -9.24962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.464012739 meters 0.01753114359977782 Centerline is valid? [True, True] Translation: X:457.42, Y:-69.31, Z:-9.25 [[ 9.87048119e-01 1.59288306e-01 1.90590221e-02 4.57420660e+02] [-1.59259875e-01 9.87232106e-01 -3.01015804e-03 -6.93132661e+01] [-1.92951615e-02 -6.41666339e-05 9.99813829e-01 -9.25136947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.524012739 meters 0.01780750794114171 Centerline is valid? [True, True] Translation: X:457.48, Y:-69.33, Z:-9.25 [[ 9.88121926e-01 1.52519073e-01 1.87880753e-02 4.57476526e+02] [-1.52490236e-01 9.88300525e-01 -2.96649524e-03 -6.93316569e+01] [-1.90207118e-02 6.62609516e-05 9.99819088e-01 -9.25329916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.584012739 meters 0.019009472812100664 Centerline is valid? [True, True] Translation: X:457.53, Y:-69.35, Z:-9.25 [[ 9.88766299e-01 1.48205702e-01 1.93978295e-02 4.57533502e+02] [-1.48174155e-01 9.88956544e-01 -3.06157037e-03 -6.93475789e+01] [-1.96373526e-02 1.52920607e-04 9.99807157e-01 -9.25315874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.644012739 meters 0.024327429820188307 Centerline is valid? [True, True] Translation: X:457.59, Y:-69.37, Z:-9.26 [[ 9.89693033e-01 1.42083723e-01 1.78861839e-02 4.57589011e+02] [-1.42055917e-01 9.89854612e-01 -2.82214312e-03 -6.93721402e+01] [-1.81057023e-02 2.52217124e-04 9.99836047e-01 -9.25658760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.704012739 meters 0.025474310068902984 Centerline is valid? [True, True] Translation: X:457.65, Y:-69.39, Z:-9.26 [[ 9.90155672e-01 1.38635886e-01 1.92830728e-02 4.57646094e+02] [-1.38602927e-01 9.90343363e-01 -3.04177892e-03 -6.93896950e+01] [-1.95185629e-02 3.39144317e-04 9.99809437e-01 -9.25537429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.764012739 meters 0.024798400289882852 Centerline is valid? [True, True] Translation: X:457.70, Y:-69.40, Z:-9.26 [[ 9.90117351e-01 1.38992615e-01 1.86730962e-02 4.57704975e+02] [-1.38961785e-01 9.90293366e-01 -2.94484585e-03 -6.94040320e+01] [-1.89011551e-02 3.20896181e-04 9.99821306e-01 -9.25626358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.824012739 meters 0.02438602293769019 Centerline is valid? [True, True] Translation: X:457.76, Y:-69.42, Z:-9.26 [[ 9.90005580e-01 1.40037107e-01 1.66901139e-02 4.57764124e+02] [-1.40012627e-01 9.90146220e-01 -2.63211907e-03 -6.94171339e+01] [-1.68942475e-02 2.68985875e-04 9.99857246e-01 -9.26120506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.884012739 meters 0.02126002523041324 Centerline is valid? [True, True] Translation: X:457.82, Y:-69.42, Z:-9.26 [[ 9.89316116e-01 1.44820164e-01 1.67553860e-02 4.57822905e+02] [-1.44796175e-01 9.89457975e-01 -2.64249647e-03 -6.94234020e+01] [-1.69614370e-02 1.88148539e-04 9.99856127e-01 -9.26317412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.944012739 meters 0.018702017650100124 Centerline is valid? [True, True] Translation: X:457.88, Y:-69.43, Z:-9.26 [[ 9.88568175e-01 1.49740257e-01 1.76300811e-02 4.57882143e+02] [-1.49714487e-01 9.88725363e-01 -2.78005311e-03 -6.94260828e+01] [-1.78475942e-02 1.08793477e-04 9.99840713e-01 -9.26229496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.004012739 meters 0.017327868905271226 Centerline is valid? [True, True] Translation: X:457.94, Y:-69.43, Z:-9.26 [[ 9.87504782e-01 1.56523746e-01 1.82927115e-02 4.57942135e+02] [-1.56497182e-01 9.87674196e-01 -2.88363075e-03 -6.94252197e+01] [-1.85185958e-02 -1.51586505e-05 9.99828516e-01 -9.26300337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.064012739 meters 0.01831727543701327 Centerline is valid? [True, True] Translation: X:458.00, Y:-69.43, Z:-9.26 [[ 9.86883971e-01 1.60238488e-01 1.95871210e-02 4.58000487e+02] [-1.60208782e-01 9.87078324e-01 -3.08668392e-03 -6.94277683e+01] [-1.98286282e-02 -9.18299215e-05 9.99803389e-01 -9.26236929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.124012739 meters 0.018589575710686163 Centerline is valid? [True, True] Translation: X:458.06, Y:-69.44, Z:-9.27 [[ 9.86755877e-01 1.61096020e-01 1.89976877e-02 4.58058374e+02] [-1.61068255e-01 9.86938732e-01 -2.99268911e-03 -6.94371040e+01] [-1.92316641e-02 -1.06870838e-04 9.99815049e-01 -9.26511753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.184012739 meters 0.01844875420552336 Centerline is valid? [True, True] Translation: X:458.12, Y:-69.45, Z:-9.27 [[ 9.86990730e-01 1.59874947e-01 1.70088572e-02 4.58115487e+02] [-1.59852522e-01 9.87137273e-01 -2.67868705e-03 -6.94510066e+01] [-1.72183318e-02 -7.50694323e-05 9.99851751e-01 -9.27044707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.244012739 meters 0.017649659960985643 Centerline is valid? [True, True] Translation: X:458.17, Y:-69.47, Z:-9.27 [[ 9.87582048e-01 1.56221324e-01 1.66311663e-02 4.58171417e+02] [-1.56199378e-01 9.87722075e-01 -2.61845088e-03 -6.94742120e+01] [-1.68360280e-02 -1.18427585e-05 9.99858264e-01 -9.27196310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.304012739 meters 0.017579122943523092 Centerline is valid? [True, True] Translation: X:458.23, Y:-69.50, Z:-9.27 [[ 9.87824011e-01 1.54525073e-01 1.80478411e-02 4.58226936e+02] [-1.54498963e-01 9.87988867e-01 -2.84061605e-03 -6.94956555e+01] [-1.82700125e-02 1.76560110e-05 9.99833089e-01 -9.26973775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.364012739 meters 0.017468959754385095 Centerline is valid? [True, True] Translation: X:458.28, Y:-69.51, Z:-9.27 [[ 9.87722652e-01 1.55093801e-01 1.87049464e-02 4.58284914e+02] [-1.55065879e-01 9.87899748e-01 -2.94283494e-03 -6.95077820e+01] [-1.89350273e-02 6.20577777e-06 9.99820716e-01 -9.26871636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.424012739 meters 0.017876062154850825 Centerline is valid? [True, True] Translation: X:458.34, Y:-69.52, Z:-9.27 [[ 9.87135358e-01 1.58776965e-01 1.88058835e-02 4.58343537e+02] [-1.58749425e-01 9.87314474e-01 -2.95785216e-03 -6.95167196e+01] [-1.90369597e-02 -6.56227435e-05 9.99818779e-01 -9.27001005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.484012739 meters 0.018522928471589782 Centerline is valid? [True, True] Translation: X:458.40, Y:-69.53, Z:-9.27 [[ 9.86923923e-01 1.60150284e-01 1.82498598e-02 4.58400793e+02] [-1.60124600e-01 9.87092639e-01 -2.86949274e-03 -6.95281168e+01] [-1.84738524e-02 -9.02804726e-05 9.99829340e-01 -9.27234952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.544012739 meters 0.019969768532149348 Centerline is valid? [True, True] Translation: X:458.46, Y:-69.54, Z:-9.27 [[ 9.86420046e-01 1.63251857e-01 1.80090121e-02 4.58459102e+02] [-1.63227371e-01 9.86584416e-01 -2.83121063e-03 -6.95364114e+01] [-1.82296111e-02 -1.46800784e-04 9.99833816e-01 -9.27395813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.604012739 meters 0.023366599833350637 Centerline is valid? [True, True] Translation: X:458.52, Y:-69.54, Z:-9.28 [[ 9.85949781e-01 1.66222337e-01 1.65276503e-02 4.58517140e+02] [-1.66202142e-01 9.86088282e-01 -2.59766122e-03 -6.95370949e+01] [-1.67295116e-02 -1.85767368e-04 9.99860035e-01 -9.27798840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.664012739 meters 0.023410391336204962 Centerline is valid? [True, True] Translation: X:458.58, Y:-69.54, Z:-9.28 [[ 9.85640774e-01 1.67940381e-01 1.75582951e-02 4.58575596e+02] [-1.67917881e-01 9.85797127e-01 -2.75851393e-03 -6.95447951e+01] [-1.77721827e-02 -2.29447902e-04 9.99842036e-01 -9.27650549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.724012739 meters 0.02824860894806539 Centerline is valid? [True, True] Translation: X:458.63, Y:-69.54, Z:-9.27 [[ 9.85141319e-01 1.70560261e-01 2.01439475e-02 4.58634601e+02] [-1.70531215e-01 9.85347196e-01 -3.16363259e-03 -6.95434735e+01] [-2.03883722e-02 -3.18546670e-04 9.99792085e-01 -9.27292559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.784012739 meters 0.026510166905528477 Centerline is valid? [True, True] Translation: X:458.69, Y:-69.55, Z:-9.28 [[ 9.85504783e-01 1.68673887e-01 1.81505505e-02 4.58692707e+02] [-1.68650004e-01 9.85671881e-01 -2.84957864e-03 -6.95515589e+01] [-1.83711368e-02 -2.52817036e-04 9.99831204e-01 -9.27899424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.844012739 meters 0.023382665561793543 Centerline is valid? [True, True] Translation: X:458.75, Y:-69.56, Z:-9.28 [[ 9.85627538e-01 1.68015778e-01 1.75799381e-02 4.58750613e+02] [-1.67993281e-01 9.85784279e-01 -2.75928139e-03 -6.95630682e+01] [-1.77936294e-02 -2.33687760e-04 9.99841654e-01 -9.28021085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.904012739 meters 0.026419594343669413 Centerline is valid? [True, True] Translation: X:458.81, Y:-69.56, Z:-9.28 [[ 9.85648813e-01 1.67942344e-01 1.70817738e-02 4.58807889e+02] [-1.67921105e-01 9.85796793e-01 -2.68040877e-03 -6.95623146e+01] [-1.72893119e-02 -2.26448613e-04 9.99850503e-01 -9.28303242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.964012739 meters 0.02196075852827144 Centerline is valid? [True, True] Translation: X:458.87, Y:-69.57, Z:-9.28 [[ 9.85905495e-01 1.66329663e-01 1.80221408e-02 4.58865866e+02] [-1.66305783e-01 9.86070179e-01 -2.82629709e-03 -6.95724579e+01] [-1.82411927e-02 -2.10724408e-04 9.99833593e-01 -9.28164469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.024012739 meters 0.022688136023440695 Centerline is valid? [True, True] Translation: X:458.92, Y:-69.57, Z:-9.28 [[ 9.85859264e-01 1.66403302e-01 1.97851762e-02 4.58923679e+02] [-1.66374556e-01 9.86057750e-01 -3.10172924e-03 -6.95721890e+01] [-2.00254643e-02 -2.33881410e-04 9.99799443e-01 -9.27867748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.084012739 meters 0.023603283003148724 Centerline is valid? [True, True] Translation: X:458.98, Y:-69.57, Z:-9.28 [[ 9.85656493e-01 1.67636897e-01 1.94717429e-02 4.58983151e+02] [-1.67609328e-01 9.85848774e-01 -3.05093071e-03 -6.95741263e+01] [-1.97076424e-02 -2.56476076e-04 9.99805753e-01 -9.27990662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.144012739 meters 0.025804519007219365 Centerline is valid? [True, True] Translation: X:459.04, Y:-69.57, Z:-9.28 [[ 9.85075491e-01 1.70935033e-01 2.01864014e-02 4.59042448e+02] [-1.70906115e-01 9.85282245e-01 -3.16192404e-03 -6.95721506e+01] [-2.04297864e-02 -3.35245552e-04 9.99791234e-01 -9.27989058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.204012739 meters 0.028274921976552653 Centerline is valid? [True, True] Translation: X:459.10, Y:-69.57, Z:-9.28 [[ 9.84643006e-01 1.73359155e-01 2.06095499e-02 4.59101646e+02] [-1.73329581e-01 9.84858592e-01 -3.22634633e-03 -6.95716891e+01] [-2.08568090e-02 -3.95445305e-04 9.99782395e-01 -9.28004701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.264012739 meters 0.025453497089147056 Centerline is valid? [True, True] Translation: X:459.16, Y:-69.58, Z:-9.28 [[ 9.84946657e-01 1.71795075e-01 1.91451192e-02 4.59159773e+02] [-1.71769280e-01 9.85132650e-01 -2.99603033e-03 -6.95800304e+01] [-1.93751853e-02 -3.37613288e-04 9.99812226e-01 -9.28431174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.324012739 meters 0.025104676996594643 Centerline is valid? [True, True] Translation: X:459.22, Y:-69.59, Z:-9.29 [[ 9.85411498e-01 1.69153077e-01 1.87461042e-02 4.59217769e+02] [-1.69127885e-01 9.85589751e-01 -2.93268527e-03 -6.95854891e+01] [-1.89720409e-02 -2.80587183e-04 9.99819975e-01 -9.28620480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.384012739 meters 0.023639107224960577 Centerline is valid? [True, True] Translation: X:459.28, Y:-69.60, Z:-9.29 [[ 9.85542718e-01 1.68423242e-01 1.84163486e-02 4.59275525e+02] [-1.68398823e-01 9.85714737e-01 -2.87995089e-03 -6.95955279e+01] [-1.86383169e-02 -2.62976791e-04 9.99826257e-01 -9.28781474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.444012739 meters 0.0221217259666373 Centerline is valid? [True, True] Translation: X:459.33, Y:-69.60, Z:-9.30 [[ 9.86208973e-01 1.64766102e-01 1.56202892e-02 4.59333224e+02] [-1.64748086e-01 9.86332654e-01 -2.44209019e-03 -6.96030707e+01] [-1.58091750e-02 -1.65001479e-04 9.99875014e-01 -9.29542764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.504012739 meters 0.01857159911176917 Centerline is valid? [True, True] Translation: X:459.39, Y:-69.63, Z:-9.30 [[ 9.87156418e-01 1.58996624e-01 1.55653315e-02 4.59389625e+02] [-1.58978026e-01 9.87279124e-01 -2.43290413e-03 -6.96265361e+01] [-1.57541504e-02 -7.28887479e-05 9.99875893e-01 -9.29668467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.564012739 meters 0.01755677805770301 Centerline is valid? [True, True] Translation: X:459.45, Y:-69.64, Z:-9.30 [[ 9.87797326e-01 1.54871158e-01 1.64732437e-02 4.59445840e+02] [-1.54849778e-01 9.87934676e-01 -2.57332790e-03 -6.96431083e+01] [-1.66730230e-02 -8.95172038e-06 9.99860995e-01 -9.29606600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.624012739 meters 0.01769337054656547 Centerline is valid? [True, True] Translation: X:459.50, Y:-69.66, Z:-9.29 [[ 9.88203350e-01 1.52141673e-01 1.75228345e-02 4.59501036e+02] [-1.52117074e-01 9.88358695e-01 -2.73601857e-03 -6.96601156e+01] [-1.77351083e-02 3.82203999e-05 9.99842720e-01 -9.29482211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.684012739 meters 0.017548399014712716 Centerline is valid? [True, True] Translation: X:459.56, Y:-69.67, Z:-9.29 [[ 9.87427462e-01 1.56917296e-01 1.90779970e-02 4.59559875e+02] [-1.56889059e-01 9.87611745e-01 -2.97718182e-03 -6.96654926e+01] [-1.93088252e-02 -5.33779159e-05 9.99813566e-01 -9.29229647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.744012739 meters 0.019731463334650524 Centerline is valid? [True, True] Translation: X:459.62, Y:-69.67, Z:-9.29 [[ 9.86569674e-01 1.62327773e-01 1.81651594e-02 4.59618362e+02] [-1.62303106e-01 9.86736880e-01 -2.83390763e-03 -6.96704973e+01] [-1.83842546e-02 -1.52414471e-04 9.99830984e-01 -9.29444649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.804012739 meters 0.021446042444710406 Centerline is valid? [True, True] Translation: X:459.68, Y:-69.68, Z:-9.30 [[ 9.86166053e-01 1.64807084e-01 1.77521829e-02 4.59676393e+02] [-1.64783942e-01 9.86325802e-01 -2.76867129e-03 -6.96764937e+01] [-1.79657326e-02 -1.94905025e-04 9.99838584e-01 -9.29629402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.864012739 meters 0.02472259402254389 Centerline is valid? [True, True] Translation: X:459.74, Y:-69.68, Z:-9.30 [[ 9.85364798e-01 1.69377818e-01 1.91668708e-02 4.59737037e+02] [-1.69351728e-01 9.85551147e-01 -2.98801378e-03 -6.96765236e+01] [-1.93960347e-02 -3.01659094e-04 9.99811834e-01 -9.29593558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.924012739 meters 0.02762584865608147 Centerline is valid? [True, True] Translation: X:459.80, Y:-69.68, Z:-9.29 [[ 9.84737691e-01 1.72775224e-01 2.09857403e-02 4.59796926e+02] [-1.72744731e-01 9.84961196e-01 -3.27099637e-03 -6.96763936e+01] [-2.12352870e-02 -4.04102640e-04 9.99774424e-01 -9.29405677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.984012739 meters 0.02980345402933773 Centerline is valid? [True, True] Translation: X:459.86, Y:-69.68, Z:-9.30 [[ 9.84515265e-01 1.74320901e-01 1.84910075e-02 4.59855383e+02] [-1.74297509e-01 9.84688821e-01 -2.88160109e-03 -6.96758812e+01] [-1.87102117e-02 -3.85956293e-04 9.99824874e-01 -9.29903114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.044012739 meters 0.027021700361783963 Centerline is valid? [True, True] Translation: X:459.91, Y:-69.68, Z:-9.30 [[ 9.85118496e-01 1.70955976e-01 1.77652419e-02 4.59912570e+02] [-1.70933855e-01 9.85278619e-01 -2.76753650e-03 -6.96824960e+01] [-1.79768399e-02 -3.10329885e-04 9.99838355e-01 -9.30231379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.104012739 meters 0.022109701400284867 Centerline is valid? [True, True] Translation: X:459.97, Y:-69.70, Z:-9.30 [[ 9.86126744e-01 1.65002155e-01 1.81199986e-02 4.59969546e+02] [-1.64978165e-01 9.86293185e-01 -2.82116746e-03 -6.96975150e+01] [-1.83371299e-02 -2.07375454e-04 9.99831839e-01 -9.30277772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.164012739 meters 0.018843284061550544 Centerline is valid? [True, True] Translation: X:460.03, Y:-69.71, Z:-9.30 [[ 9.86893582e-01 1.60167337e-01 1.96845612e-02 4.60026423e+02] [-1.60138078e-01 9.87089868e-01 -3.06401170e-03 -6.97125675e+01] [-1.99211855e-02 -1.28394324e-04 9.99801545e-01 -9.30114700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.224012739 meters 0.01704623241737964 Centerline is valid? [True, True] Translation: X:460.08, Y:-69.73, Z:-9.30 [[ 9.87771209e-01 1.54682190e-01 1.95309851e-02 4.60081556e+02] [-1.54652331e-01 9.87964281e-01 -3.03921202e-03 -6.97326244e+01] [-1.97660276e-02 -1.84662519e-05 9.99804633e-01 -9.30256835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.284012739 meters 0.017298699702729566 Centerline is valid? [True, True] Translation: X:460.14, Y:-69.75, Z:-9.31 [[ 9.88227557e-01 1.51984053e-01 1.75254770e-02 4.60139107e+02] [-1.51959604e-01 9.88382945e-01 -2.72621535e-03 -6.97472674e+01] [-1.77362238e-02 3.09565994e-05 9.99842700e-01 -9.30685684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.344012739 meters 0.0173178604708917 Centerline is valid? [True, True] Translation: X:460.20, Y:-69.76, Z:-9.31 [[ 9.88276897e-01 1.51691230e-01 1.72784832e-02 4.60196872e+02] [-1.51667433e-01 9.88427928e-01 -2.68702507e-03 -6.97596376e+01] [-1.74861334e-02 3.49416106e-05 9.99847105e-01 -9.30717583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.404012739 meters 0.017100933265568614 Centerline is valid? [True, True] Translation: X:460.25, Y:-69.77, Z:-9.31 [[ 9.88192680e-01 1.52130073e-01 1.82117621e-02 4.60254588e+02] [-1.52103727e-01 9.88360481e-01 -2.83122758e-03 -6.97694245e+01] [-1.84305008e-02 2.77214820e-05 9.99830144e-01 -9.30579215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.464012739 meters 0.017616563647119086 Centerline is valid? [True, True] Translation: X:460.31, Y:-69.79, Z:-9.30 [[ 9.88537919e-01 1.49535559e-01 2.07821687e-02 4.60310547e+02] [-1.49500702e-01 9.88756345e-01 -3.22967920e-03 -6.97872739e+01] [-2.10314530e-02 8.57115497e-05 9.99778811e-01 -9.30376178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.524012739 meters 0.019091802106622684 Centerline is valid? [True, True] Translation: X:460.37, Y:-69.80, Z:-9.30 [[ 9.89051587e-01 1.46087716e-01 2.08647481e-02 4.60367704e+02] [-1.46051840e-01 9.89271628e-01 -3.24127280e-03 -6.98041412e+01] [-2.11144134e-02 1.58451151e-04 9.99777053e-01 -9.30412948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.584012739 meters 0.02227957244192261 Centerline is valid? [True, True] Translation: X:460.42, Y:-69.83, Z:-9.31 [[ 9.89713702e-01 1.41714520e-01 1.95903749e-02 4.60424879e+02] [-1.41682054e-01 9.89907541e-01 -3.04241915e-03 -6.98260621e+01] [-1.98238148e-02 2.35519360e-04 9.99803461e-01 -9.30838930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.644012739 meters 0.023548625058602352 Centerline is valid? [True, True] Translation: X:460.48, Y:-69.84, Z:-9.31 [[ 9.89910662e-01 1.40272959e-01 2.00094414e-02 4.60482156e+02] [-1.40238804e-01 9.90112834e-01 -3.10702046e-03 -6.98430502e+01] [-2.02474357e-02 2.69572552e-04 9.99794963e-01 -9.30914784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.704012739 meters 0.022730553036430925 Centerline is valid? [True, True] Translation: X:460.54, Y:-69.85, Z:-9.31 [[ 9.89725310e-01 1.41817171e-01 1.82126398e-02 4.60540643e+02] [-1.41789140e-01 9.89892844e-01 -2.82782670e-03 -6.98548395e+01] [-1.84295962e-02 2.16417119e-04 9.99830137e-01 -9.31432639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.764012739 meters 0.020425376827317956 Centerline is valid? [True, True] Translation: X:460.60, Y:-69.86, Z:-9.32 [[ 9.89215886e-01 1.45555672e-01 1.62934980e-02 4.60598969e+02] [-1.45533746e-01 9.89350054e-01 -2.52972940e-03 -6.98639526e+01] [-1.64881896e-02 1.31194710e-04 9.99864052e-01 -9.31982439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.824012739 meters 0.01905120102102666 Centerline is valid? [True, True] Translation: X:460.66, Y:-69.87, Z:-9.32 [[ 9.88864524e-01 1.47764015e-01 1.76847301e-02 4.60656330e+02] [-1.47738545e-01 9.89022642e-01 -2.74534739e-03 -6.98746607e+01] [-1.78962621e-02 1.02060346e-04 9.99839844e-01 -9.31796311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.884012739 meters 0.020085245114828208 Centerline is valid? [True, True] Translation: X:460.71, Y:-69.89, Z:-9.32 [[ 9.89079833e-01 1.46491093e-01 1.61692028e-02 4.60714444e+02] [-1.46469643e-01 9.89211983e-01 -2.50933946e-03 -6.98904751e+01] [-1.63623650e-02 1.13639697e-04 9.99866121e-01 -9.32296745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.944012739 meters 0.022117085961469298 Centerline is valid? [True, True] Translation: X:460.77, Y:-69.91, Z:-9.33 [[ 9.89483631e-01 1.43806100e-01 1.55547599e-02 4.60772192e+02] [-1.43785925e-01 9.89605872e-01 -2.41354737e-03 -6.99148963e+01] [-1.57401646e-02 1.51610067e-04 9.99876104e-01 -9.32577376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.004012739 meters 0.020866046160690186 Centerline is valid? [True, True] Translation: X:460.83, Y:-69.93, Z:-9.32 [[ 9.89250551e-01 1.45027508e-01 1.87181749e-02 4.60830437e+02] [-1.44998510e-01 9.89427611e-01 -2.90441364e-03 -6.99300871e+01] [-1.89414989e-02 1.59085331e-04 9.99820581e-01 -9.31957390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.064012739 meters 0.018934673440292933 Centerline is valid? [True, True] Translation: X:460.89, Y:-69.94, Z:-9.32 [[ 9.88784619e-01 1.48348110e-01 1.72573159e-02 4.60889936e+02] [-1.48323970e-01 9.88935200e-01 -2.67753467e-03 -6.99391013e+01] [-1.74635743e-02 8.78314987e-05 9.99847496e-01 -9.32329606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.124012739 meters 0.017449787895126842 Centerline is valid? [True, True] Translation: X:460.95, Y:-69.94, Z:-9.32 [[ 9.87685828e-01 1.55346231e-01 1.85540953e-02 4.60949125e+02] [-1.55319560e-01 9.87860085e-01 -2.87880842e-03 -6.99444147e+01] [-1.87760622e-02 -3.84556376e-05 9.99823713e-01 -9.32123904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.184012739 meters 0.022031112967632282 Centerline is valid? [True, True] Translation: X:461.01, Y:-69.94, Z:-9.32 [[ 9.86445630e-01 1.62875439e-01 1.99150590e-02 4.61007988e+02] [-1.62846262e-01 9.86646620e-01 -3.08902643e-03 -6.99435383e+01] [-2.01522522e-02 -1.95936285e-04 9.99796904e-01 -9.31874961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.244012739 meters 0.03357971528044893 Centerline is valid? [True, True] Translation: X:461.07, Y:-69.93, Z:-9.32 [[ 9.84749325e-01 1.72849542e-01 1.97940027e-02 4.61070602e+02] [-1.72822751e-01 9.84948160e-01 -3.06914536e-03 -6.99341315e+01] [-2.00265669e-02 -3.98515177e-04 9.99799369e-01 -9.32003195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.304012739 meters 0.037498646487347125 Centerline is valid? [True, True] Translation: X:461.13, Y:-69.94, Z:-9.32 [[ 9.84222351e-01 1.75821873e-01 1.98250596e-02 4.61130864e+02] [-1.75795602e-01 9.84421890e-01 -3.07388261e-03 -6.99363742e+01] [-2.00566784e-02 -4.59774312e-04 9.99798739e-01 -9.32144517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.364012739 meters 0.04306461042075467 Centerline is valid? [True, True] Translation: X:461.19, Y:-69.93, Z:-9.32 [[ 9.83282736e-01 1.80891045e-01 2.08204679e-02 4.61192277e+02] [-1.80863214e-01 9.83502964e-01 -3.22776234e-03 -6.99330624e+01] [-2.10608652e-02 -5.91853745e-04 9.99778020e-01 -9.31999626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.424012739 meters 0.03698931743323519 Centerline is valid? [True, True] Translation: X:461.25, Y:-69.95, Z:-9.32 [[ 9.83286399e-01 1.80984308e-01 1.98125503e-02 4.61250109e+02] [-1.80959129e-01 9.83485821e-01 -3.07132069e-03 -6.99455781e+01] [-2.00412232e-02 -5.65273979e-04 9.99798995e-01 -9.32324762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.484012739 meters 0.03239000794870679 Centerline is valid? [True, True] Translation: X:461.31, Y:-69.96, Z:-9.33 [[ 9.84319564e-01 1.75460074e-01 1.81317241e-02 4.61307543e+02] [-1.75438063e-01 9.84486460e-01 -2.80996130e-03 -6.99566072e+01] [-1.83434729e-02 -4.15094666e-04 9.99831658e-01 -9.32857329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.544012739 meters 0.02726608789217021 Centerline is valid? [True, True] Translation: X:461.37, Y:-69.97, Z:-9.33 [[ 9.85250577e-01 1.70039102e-01 1.91834642e-02 4.61366265e+02] [-1.70013449e-01 9.85437260e-01 -2.97221913e-03 -6.99723122e+01] [-1.94094938e-02 -3.33066296e-04 9.99811563e-01 -9.32717092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.604012739 meters 0.02477574752598454 Centerline is valid? [True, True] Translation: X:461.42, Y:-69.98, Z:-9.33 [[ 9.85596298e-01 1.68041603e-01 1.90251608e-02 4.61424275e+02] [-1.68016003e-01 9.85779861e-01 -2.94751775e-03 -6.99831125e+01] [-1.92499259e-02 -2.91468884e-04 9.99814661e-01 -9.32894649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.664012739 meters 0.025916964083205755 Centerline is valid? [True, True] Translation: X:461.48, Y:-69.99, Z:-9.33 [[ 9.85678992e-01 1.67731561e-01 1.74082703e-02 4.61481650e+02] [-1.67710092e-01 9.85832671e-01 -2.69630227e-03 -6.99892135e+01] [-1.76138966e-02 -2.61854116e-04 9.99844829e-01 -9.33295977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.724012739 meters 0.02413470414562366 Centerline is valid? [True, True] Translation: X:461.54, Y:-70.00, Z:-9.33 [[ 9.85771094e-01 1.67071330e-01 1.85073148e-02 4.61539149e+02] [-1.67046971e-01 9.85944775e-01 -2.86534783e-03 -7.00009794e+01] [-1.87259078e-02 -2.67013814e-04 9.99824619e-01 -9.33167994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.784012739 meters 0.023903458932408774 Centerline is valid? [True, True] Translation: X:461.60, Y:-70.01, Z:-9.33 [[ 9.86022706e-01 1.65450277e-01 1.96323329e-02 4.61596239e+02] [-1.65422565e-01 9.86218101e-01 -3.03852802e-03 -7.00098968e+01] [-1.98644874e-02 -2.51573242e-04 9.99802650e-01 -9.33057952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.844012739 meters 0.020609959931190212 Centerline is valid? [True, True] Translation: X:461.65, Y:-70.03, Z:-9.33 [[ 9.86582650e-01 1.62017064e-01 2.01282505e-02 4.61653464e+02] [-1.61987245e-01 9.86787938e-01 -3.11402742e-03 -7.00273481e+01] [-2.03668404e-02 -1.88274411e-04 9.99792557e-01 -9.33074759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.904012739 meters 0.019541676589996896 Centerline is valid? [True, True] Translation: X:461.71, Y:-70.04, Z:-9.33 [[ 9.87116100e-01 1.58930503e-01 1.85175637e-02 4.61710780e+02] [-1.58904746e-01 9.87289766e-01 -2.86358728e-03 -7.00436309e+01] [-1.87373125e-02 -1.15835644e-04 9.99824434e-01 -9.33428989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.964012739 meters 0.021371195634067905 Centerline is valid? [True, True] Translation: X:461.77, Y:-70.05, Z:-9.34 [[ 9.86754266e-01 1.61203983e-01 1.81464516e-02 4.61768100e+02] [-1.61179638e-01 9.86921097e-01 -2.80583092e-03 -7.00512117e+01] [-1.83614270e-02 -1.56172871e-04 9.99831403e-01 -9.33564528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.024012739 meters 0.027716304854747253 Centerline is valid? [True, True] Translation: X:461.83, Y:-70.05, Z:-9.34 [[ 9.85420658e-01 1.69126463e-01 1.85031485e-02 4.61828708e+02] [-1.69102569e-01 9.85594309e-01 -2.85976622e-03 -7.00499517e+01] [-1.87202601e-02 -3.10857248e-04 9.99824712e-01 -9.33559069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.084012739 meters 0.03546684917796687 Centerline is valid? [True, True] Translation: X:461.89, Y:-70.05, Z:-9.34 [[ 9.84120573e-01 1.76536695e-01 1.84795464e-02 4.61889852e+02] [-1.76514174e-01 9.84293956e-01 -2.85567413e-03 -7.00452807e+01] [-1.86934371e-02 -4.51574206e-04 9.99825160e-01 -9.33620066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.144012739 meters 0.04795539778337039 Centerline is valid? [True, True] Translation: X:461.95, Y:-70.03, Z:-9.34 [[ 9.82177771e-01 1.87143984e-01 1.74343231e-02 4.61953297e+02] [-1.87125609e-01 9.82332301e-01 -2.69394656e-03 -7.00314833e+01] [-1.76304546e-02 -6.16473889e-04 9.99844381e-01 -9.34059909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.204012739 meters 0.05072948789314415 Centerline is valid? [True, True] Translation: X:462.01, Y:-70.03, Z:-9.34 [[ 9.80858888e-01 1.94064018e-01 1.59686607e-02 4.62014473e+02] [-1.94049518e-01 9.80988632e-01 -2.46740203e-03 -7.00296606e+01] [-1.61439086e-02 -6.78537701e-04 9.99869448e-01 -9.34396286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.264012739 meters 0.05200317346229048 Centerline is valid? [True, True] Translation: X:462.07, Y:-70.03, Z:-9.34 [[ 9.80608621e-01 1.95231232e-01 1.70733090e-02 4.62073949e+02] [-1.95214835e-01 9.80756957e-01 -2.63799919e-03 -7.00315263e+01] [-1.72597864e-02 -7.46118440e-04 9.99850760e-01 -9.34460540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.324012739 meters 0.053679536266459 Centerline is valid? [True, True] Translation: X:462.13, Y:-70.03, Z:-9.34 [[ 9.80280481e-01 1.96668342e-01 1.92806001e-02 4.62134648e+02] [-1.96647728e-01 9.80469685e-01 -2.97799252e-03 -7.00265925e+01] [-1.94897208e-02 -8.72218275e-04 9.99809677e-01 -9.34079992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.384012739 meters 0.05991146079572925 Centerline is valid? [True, True] Translation: X:462.20, Y:-70.01, Z:-9.34 [[ 9.79240233e-01 2.01909511e-01 1.79196853e-02 4.62198101e+02] [-2.01892591e-01 9.79403760e-01 -2.76711847e-03 -7.00106236e+01] [-1.81093147e-02 -9.08177974e-04 9.99835600e-01 -9.34474519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.444012739 meters 0.06350989618154808 Centerline is valid? [True, True] Translation: X:462.26, Y:-70.00, Z:-9.35 [[ 9.78901967e-01 2.03505888e-01 1.83382576e-02 4.62257711e+02] [-2.03488446e-01 9.79073252e-01 -2.83187616e-03 -7.00044590e+01] [-1.85308010e-02 -9.59494400e-04 9.99827830e-01 -9.34512782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.504012739 meters 0.05618926233079453 Centerline is valid? [True, True] Translation: X:462.32, Y:-70.01, Z:-9.34 [[ 9.80271588e-01 1.96506212e-01 2.12819755e-02 4.62317671e+02] [-1.96481101e-01 9.80502109e-01 -3.28516511e-03 -7.00109405e+01] [-2.15125772e-02 -9.61151955e-04 9.99768116e-01 -9.34140112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.564012739 meters 0.04358674106017473 Centerline is valid? [True, True] Translation: X:462.38, Y:-70.03, Z:-9.34 [[ 9.82635547e-01 1.84417998e-01 2.04299479e-02 4.62376336e+02] [-1.84392245e-01 9.82847677e-01 -3.15354403e-03 -7.00289072e+01] [-2.06610971e-02 -6.68339484e-04 9.99786313e-01 -9.34485262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.624012739 meters 0.03431434599727669 Centerline is valid? [True, True] Translation: X:462.43, Y:-70.05, Z:-9.35 [[ 9.84049917e-01 1.76785628e-01 1.98141926e-02 4.62434326e+02] [-1.76759857e-01 9.84249257e-01 -3.05844756e-03 -7.00461486e+01] [-2.00427939e-02 -4.92688777e-04 9.99799002e-01 -9.34645173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.684012739 meters 0.02520551389089177 Centerline is valid? [True, True] Translation: X:462.49, Y:-70.07, Z:-9.35 [[ 9.85631126e-01 1.67814322e-01 1.92259412e-02 4.62492350e+02] [-1.67788352e-01 9.85818575e-01 -2.96751260e-03 -7.00659199e+01] [-1.94512810e-02 -3.01016197e-04 9.99810761e-01 -9.34843051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.744012739 meters 0.020751413978925222 Centerline is valid? [True, True] Translation: X:462.55, Y:-70.08, Z:-9.35 [[ 9.86993475e-01 1.59731129e-01 1.81616709e-02 4.62548840e+02] [-1.59706585e-01 9.87160549e-01 -2.80324675e-03 -7.00842547e+01] [-1.83762508e-02 -1.33752184e-04 9.99831134e-01 -9.35180124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.804012739 meters 0.019122803368600522 Centerline is valid? [True, True] Translation: X:462.60, Y:-70.11, Z:-9.35 [[ 9.88272681e-01 1.51645184e-01 1.79121894e-02 4.62603171e+02] [-1.51619987e-01 9.88434994e-01 -2.76433642e-03 -7.01093683e+01] [-1.81242332e-02 1.60722415e-05 9.99835742e-01 -9.35393186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.864012739 meters 0.020249030791182992 Centerline is valid? [True, True] Translation: X:462.66, Y:-70.13, Z:-9.36 [[ 9.88893038e-01 1.47634647e-01 1.71630708e-02 4.62659787e+02] [-1.47610929e-01 9.89041963e-01 -2.64761213e-03 -7.01281982e+01] [-1.73658765e-02 8.47483717e-05 9.99849198e-01 -9.35589603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.924012739 meters 0.020247955535499303 Centerline is valid? [True, True] Translation: X:462.72, Y:-70.14, Z:-9.36 [[ 9.89044469e-01 1.46710414e-01 1.63429527e-02 4.62717471e+02] [-1.46688794e-01 9.89179481e-01 -2.52043499e-03 -7.01428252e+01] [-1.65358876e-02 9.54942681e-05 9.99863268e-01 -9.35623237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.984012739 meters 0.019626009135395514 Centerline is valid? [True, True] Translation: X:462.78, Y:-70.15, Z:-9.35 [[ 9.88785649e-01 1.48098850e-01 1.92268250e-02 4.62775515e+02] [-1.48069208e-01 9.88972560e-01 -2.96411794e-03 -7.01529463e+01] [-1.94537848e-02 8.39765195e-05 9.99810754e-01 -9.35203195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.044012739 meters 0.018873668371071687 Centerline is valid? [True, True] Translation: X:462.83, Y:-70.16, Z:-9.35 [[ 9.88292958e-01 1.50932052e-01 2.22832745e-02 4.62833834e+02] [-1.50892982e-01 9.88544139e-01 -3.43412766e-03 -7.01605345e+01] [-2.25463204e-02 3.15344343e-05 9.99745799e-01 -9.34685836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.104012739 meters 0.01881639001388036 Centerline is valid? [True, True] Translation: X:462.89, Y:-70.17, Z:-9.35 [[ 9.88249599e-01 1.51275474e-01 2.18737779e-02 4.62890782e+02] [-1.51237933e-01 9.88491644e-01 -3.37002919e-03 -7.01739303e+01] [-2.21318494e-02 2.22850495e-05 9.99755060e-01 -9.34989210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.164012739 meters 0.01877346132962484 Centerline is valid? [True, True] Translation: X:462.95, Y:-70.18, Z:-9.35 [[ 9.88214634e-01 1.51547634e-01 2.15673691e-02 4.62948045e+02] [-1.51511225e-01 9.88449955e-01 -3.32181693e-03 -7.01841978e+01] [-2.18216785e-02 1.49695934e-05 9.99761879e-01 -9.35238889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.224012739 meters 0.019277363971729664 Centerline is valid? [True, True] Translation: X:463.01, Y:-70.19, Z:-9.36 [[ 9.87648371e-01 1.55560866e-01 1.87486635e-02 4.63006834e+02] [-1.55534092e-01 9.87826307e-01 -2.88673377e-03 -7.01909213e+01] [-1.89694858e-02 -6.49784507e-05 9.99820061e-01 -9.35832680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.284012739 meters 0.021851313933845852 Centerline is valid? [True, True] Translation: X:463.07, Y:-70.19, Z:-9.36 [[ 9.86687971e-01 1.61516188e-01 1.89570056e-02 4.63065991e+02] [-1.61489932e-01 9.86870046e-01 -2.91789130e-03 -7.01914903e+01] [-1.91793877e-02 -1.82317301e-04 9.99816042e-01 -9.35947606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.344012739 meters 0.024521266571729112 Centerline is valid? [True, True] Translation: X:463.12, Y:-70.19, Z:-9.36 [[ 9.86119159e-01 1.64951906e-01 1.89702942e-02 4.63124212e+02] [-1.64926266e-01 9.86301580e-01 -2.91902879e-03 -7.01940284e+01] [-1.91919305e-02 -2.50189564e-04 9.99815787e-01 -9.36027840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.404012739 meters 0.027553749950273664 Centerline is valid? [True, True] Translation: X:463.18, Y:-70.19, Z:-9.36 [[ 9.85451164e-01 1.68903583e-01 1.89098492e-02 4.63184596e+02] [-1.68878855e-01 9.85632524e-01 -2.90854863e-03 -7.01947528e+01] [-1.91294267e-02 -3.27241058e-04 9.99816962e-01 -9.36187637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.464012739 meters 0.030504044073153644 Centerline is valid? [True, True] Translation: X:463.24, Y:-70.19, Z:-9.36 [[ 9.85030097e-01 1.71434499e-01 1.80532835e-02 4.63243498e+02] [-1.71412392e-01 9.85195454e-01 -2.77645895e-03 -7.01942597e+01] [-1.82619937e-02 -3.59660877e-04 9.99833171e-01 -9.36443583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.524012739 meters 0.03137213165551841 Centerline is valid? [True, True] Translation: X:463.30, Y:-70.20, Z:-9.36 [[ 9.85117372e-01 1.70826486e-01 1.90282773e-02 4.63300989e+02] [-1.70801837e-01 9.85301059e-01 -2.92518031e-03 -7.02008590e+01] [-1.92482800e-02 -3.68418766e-04 9.99814667e-01 -9.36350173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.584012739 meters 0.02741968446590743 Centerline is valid? [True, True] Translation: X:463.36, Y:-70.22, Z:-9.37 [[ 9.85878354e-01 1.66388866e-01 1.89371681e-02 4.63357526e+02] [-1.66363655e-01 9.86060174e-01 -2.91003094e-03 -7.02201253e+01] [-1.91573840e-02 -2.81519986e-04 9.99816441e-01 -9.36599880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.644012739 meters 0.024208501313713243 Centerline is valid? [True, True] Translation: X:463.41, Y:-70.24, Z:-9.36 [[ 9.86641291e-01 1.61517547e-01 2.12378355e-02 4.63412763e+02] [-1.61484733e-01 9.86869818e-01 -3.26246433e-03 -7.02442926e+01] [-2.14859241e-02 -2.10704176e-04 9.99769129e-01 -9.36300387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.704012739 meters 0.022531125103902053 Centerline is valid? [True, True] Translation: X:463.47, Y:-70.26, Z:-9.36 [[ 9.87123470e-01 1.58528635e-01 2.13524210e-02 4.63469042e+02] [-1.58494787e-01 9.87354369e-01 -3.27906834e-03 -7.02625488e+01] [-2.16022324e-02 -1.47402109e-04 9.99766634e-01 -9.36376766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.764012739 meters 0.02221624908344669 Centerline is valid? [True, True] Translation: X:463.53, Y:-70.28, Z:-9.37 [[ 9.87294237e-01 1.57554147e-01 2.06586565e-02 4.63526189e+02] [-1.57522269e-01 9.87510342e-01 -3.17161460e-03 -7.02777701e+01] [-2.09003379e-02 -1.22881623e-04 9.99781557e-01 -9.36691673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.824012739 meters 0.021589828170556543 Centerline is valid? [True, True] Translation: X:463.58, Y:-70.29, Z:-9.37 [[ 9.87500723e-01 1.56350053e-01 1.99244202e-02 4.63583272e+02] [-1.56320174e-01 9.87701702e-01 -3.05800952e-03 -7.02926435e+01] [-2.01575037e-02 -9.48022068e-05 9.99796812e-01 -9.36883047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.884012739 meters 0.021906805527788197 Centerline is valid? [True, True] Translation: X:463.64, Y:-70.30, Z:-9.37 [[ 9.87476815e-01 1.56665473e-01 1.85867952e-02 4.63640542e+02] [-1.56639542e-01 9.87651720e-01 -2.85191234e-03 -7.03013850e+01] [-1.88040765e-02 -9.52297760e-05 9.99823183e-01 -9.37232747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.944012739 meters 0.02469045442872449 Centerline is valid? [True, True] Translation: X:463.70, Y:-70.30, Z:-9.37 [[ 9.86739121e-01 1.61241742e-01 1.86281282e-02 4.63700404e+02] [-1.61216531e-01 9.86914924e-01 -2.85713721e-03 -7.03000805e+01] [-1.88450675e-02 -1.83913139e-04 9.99822399e-01 -9.37422532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.004012739 meters 0.027395458163837476 Centerline is valid? [True, True] Translation: X:463.76, Y:-70.30, Z:-9.37 [[ 9.86051773e-01 1.65301921e-01 1.94209966e-02 4.63759487e+02] [-1.65275323e-01 9.86242972e-01 -2.97787379e-03 -7.03006566e+01] [-1.96460696e-02 -2.73473745e-04 9.99806960e-01 -9.37373039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.064012739 meters 0.02759903906439551 Centerline is valid? [True, True] Translation: X:463.82, Y:-70.31, Z:-9.37 [[ 9.86001951e-01 1.65555723e-01 1.97852202e-02 4.63818564e+02] [-1.65528202e-01 9.86200396e-01 -3.03206284e-03 -7.03062229e+01] [-2.00141674e-02 -2.85392043e-04 9.99799656e-01 -9.37480107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.124012739 meters 0.026945502563168612 Centerline is valid? [True, True] Translation: X:463.88, Y:-70.31, Z:-9.37 [[ 9.86182083e-01 1.64437805e-01 2.01272611e-02 4.63876512e+02] [-1.64409110e-01 9.86387417e-01 -3.08353744e-03 -7.03148040e+01] [-2.03603273e-02 -2.68175719e-04 9.99792671e-01 -9.37481531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.184012739 meters 0.027159364782916858 Centerline is valid? [True, True] Translation: X:463.93, Y:-70.32, Z:-9.38 [[ 9.86228605e-01 1.64277795e-01 1.91296641e-02 4.63933079e+02] [-1.64251859e-01 9.86414083e-01 -2.92991355e-03 -7.03205810e+01] [-1.93510898e-02 -2.52518328e-04 9.99812718e-01 -9.37730065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.244012739 meters 0.034719882787126524 Centerline is valid? [True, True] Translation: X:463.99, Y:-70.32, Z:-9.37 [[ 9.86038227e-01 1.65325838e-01 1.98993273e-02 4.63991969e+02] [-1.65298019e-01 9.86238960e-01 -3.04615021e-03 -7.03220325e+01] [-2.01290992e-02 -2.85698840e-04 9.99797348e-01 -9.36985806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.304012739 meters 0.04199025336387367 Centerline is valid? [True, True] Translation: X:464.05, Y:-70.32, Z:-9.37 [[ 9.85782321e-01 1.66777581e-01 2.04561614e-02 4.64051029e+02] [-1.66748521e-01 9.85994489e-01 -3.13021617e-03 -7.03242779e+01] [-2.06917123e-02 -3.25322896e-04 9.99785851e-01 -9.36804584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.364012739 meters 0.04734197907896937 Centerline is valid? [True, True] Translation: X:464.11, Y:-70.33, Z:-9.37 [[ 9.85844548e-01 1.66379401e-01 2.06983427e-02 4.64108597e+02] [-1.66349580e-01 9.86061758e-01 -3.16634754e-03 -7.03342638e+01] [-2.09366592e-02 -3.21634148e-04 9.99780752e-01 -9.36765762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.424012739 meters 0.05209373859846391 Centerline is valid? [True, True] Translation: X:464.17, Y:-70.34, Z:-9.37 [[ 9.86343619e-01 1.63501187e-01 1.98400119e-02 4.64166176e+02] [-1.63473224e-01 9.86543105e-01 -3.03413509e-03 -7.03410774e+01] [-2.00691116e-02 -2.50610929e-04 9.99798564e-01 -9.36943248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.484012739 meters 0.05380673250815202 Centerline is valid? [True, True] Translation: X:464.22, Y:-70.36, Z:-9.37 [[ 9.86743333e-01 1.61142489e-01 1.92533846e-02 4.64223748e+02] [-1.61115728e-01 9.86931132e-01 -2.94329967e-03 -7.03555798e+01] [-1.94760553e-02 -1.97741765e-04 9.99810304e-01 -9.37071706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.544012739 meters 0.05726434570762096 Centerline is valid? [True, True] Translation: X:464.28, Y:-70.37, Z:-9.37 [[ 9.86966943e-01 1.59848138e-01 1.85694728e-02 4.64280922e+02] [-1.59823032e-01 9.87141603e-01 -2.83790752e-03 -7.03678080e+01] [-1.87843334e-02 -1.66908526e-04 9.99823545e-01 -9.37249380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.604012739 meters 0.06057739784011401 Centerline is valid? [True, True] Translation: X:464.34, Y:-70.37, Z:-9.37 [[ 9.86828955e-01 1.60661292e-01 1.88828826e-02 4.64338272e+02] [-1.60635497e-01 9.87009582e-01 -2.88490427e-03 -7.03722983e+01] [-1.91010785e-02 -1.86354162e-04 9.99817540e-01 -9.37246308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.664012739 meters 0.06197113489630287 Centerline is valid? [True, True] Translation: X:464.40, Y:-70.38, Z:-9.37 [[ 9.86517979e-01 1.62678309e-01 1.78337947e-02 4.64396442e+02] [-1.62655648e-01 9.86679138e-01 -2.72361235e-03 -7.03812201e+01] [-1.80393058e-02 -2.13874885e-04 9.99837256e-01 -9.37477199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.724012739 meters 0.06415037734024195 Centerline is valid? [True, True] Translation: X:464.46, Y:-70.39, Z:-9.38 [[ 9.86237318e-01 1.64456721e-01 1.70275843e-02 4.64455222e+02] [-1.64436341e-01 9.86384272e-01 -2.59973174e-03 -7.03865053e+01] [-1.72232847e-02 -2.36001194e-04 9.99851640e-01 -9.37805235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.784012739 meters 0.06651308600042792 Centerline is valid? [True, True] Translation: X:464.52, Y:-70.39, Z:-9.38 [[ 9.85686538e-01 1.67750260e-01 1.67898251e-02 4.64515828e+02] [-1.67730937e-01 9.85829481e-01 -2.56258506e-03 -7.03860538e+01] [-1.69817789e-02 -2.90267506e-04 9.99855757e-01 -9.37781282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.844012739 meters 0.06832285750142686 Centerline is valid? [True, True] Translation: X:464.58, Y:-70.39, Z:-9.38 [[ 9.84927452e-01 1.71950886e-01 1.87298330e-02 4.64575500e+02] [-1.71927607e-01 9.85105440e-01 -2.85819872e-03 -7.03896188e+01] [-1.89423302e-02 -4.05056975e-04 9.99820496e-01 -9.37561603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.904012739 meters 0.07052277390451211 Centerline is valid? [True, True] Translation: X:464.64, Y:-70.39, Z:-9.38 [[ 9.84294575e-01 1.75409896e-01 1.98886374e-02 4.64635013e+02] [-1.75384362e-01 9.84495362e-01 -3.03452601e-03 -7.03922074e+01] [-2.01125572e-02 -5.01288504e-04 9.99797596e-01 -9.37529827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.964012739 meters 0.06971221186184148 Centerline is valid? [True, True] Translation: X:464.69, Y:-70.40, Z:-9.38 [[ 9.84294826e-01 1.75403949e-01 1.99286331e-02 4.64692458e+02] [-1.75378325e-01 9.84496420e-01 -3.03991747e-03 -7.04012839e+01] [-2.01528815e-02 -5.02875267e-04 9.99796784e-01 -9.37696197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.024012739 meters 0.07041156200892627 Centerline is valid? [True, True] Translation: X:464.75, Y:-70.41, Z:-9.38 [[ 9.84761777e-01 1.72623005e-01 2.11078481e-02 4.64749902e+02] [-1.72593655e-01 9.84987855e-01 -3.21816635e-03 -7.04102564e+01] [-2.13465035e-02 -4.73953437e-04 9.99772025e-01 -9.37566491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.084012739 meters 0.06884039776956123 Centerline is valid? [True, True] Translation: X:464.81, Y:-70.42, Z:-9.38 [[ 9.84954165e-01 1.71664083e-01 1.99182129e-02 4.64807699e+02] [-1.71637784e-01 9.85155449e-01 -3.03519303e-03 -7.04245248e+01] [-2.01435696e-02 -4.29191913e-04 9.99797006e-01 -9.37908819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.144012739 meters 0.06872023992710748 Centerline is valid? [True, True] Translation: X:464.87, Y:-70.43, Z:-9.38 [[ 9.84958028e-01 1.71929574e-01 1.72599145e-02 4.64865275e+02] [-1.71909875e-01 9.85109171e-01 -2.62968238e-03 -7.04332940e+01] [-1.74550202e-02 -3.77022975e-04 9.99847578e-01 -9.38498457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.204012739 meters 0.07066396443689892 Centerline is valid? [True, True] Translation: X:464.93, Y:-70.43, Z:-9.39 [[ 9.84384774e-01 1.75178284e-01 1.72969645e-02 4.64925094e+02] [-1.75159022e-01 9.84536631e-01 -2.63421814e-03 -7.04305251e+01] [-1.74909530e-02 -4.36635153e-04 9.99846926e-01 -9.38707718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.264012739 meters 0.07084185771798791 Centerline is valid? [True, True] Translation: X:464.98, Y:-70.43, Z:-9.39 [[ 9.83912648e-01 1.77863836e-01 1.67438894e-02 4.64984549e+02] [-1.77846184e-01 9.84054996e-01 -2.54941461e-03 -7.04346189e+01] [-1.69303567e-02 -4.69435544e-04 9.99856561e-01 -9.38830244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.324012739 meters 0.07321780622523852 Centerline is valid? [True, True] Translation: X:465.04, Y:-70.43, Z:-9.39 [[ 9.83392647e-01 1.80709739e-01 1.68193767e-02 4.65044316e+02] [-1.80692352e-01 9.83536333e-01 -2.56036473e-03 -7.04310602e+01] [-1.70051509e-02 -5.21288888e-04 9.99855266e-01 -9.39045709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.384012739 meters 0.06969681944746339 Centerline is valid? [True, True] Translation: X:465.10, Y:-70.44, Z:-9.39 [[ 9.83831833e-01 1.78055576e-01 1.92648941e-02 4.65103127e+02] [-1.78032278e-01 9.84020281e-01 -2.93151098e-03 -7.04421401e+01] [-1.94790184e-02 -5.45659162e-04 9.99810117e-01 -9.38686593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.444012739 meters 0.0715605760809087 Centerline is valid? [True, True] Translation: X:465.16, Y:-70.45, Z:-9.39 [[ 9.84595344e-01 1.74005391e-01 1.71502929e-02 4.65162070e+02] [-1.73986320e-01 9.84744612e-01 -2.60937110e-03 -7.04474491e+01] [-1.73427032e-02 -4.14741710e-04 9.99849518e-01 -9.39289674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.504012739 meters 0.07213394856773545 Centerline is valid? [True, True] Translation: X:465.22, Y:-70.45, Z:-9.39 [[ 9.84722641e-01 1.73292562e-01 1.70589385e-02 4.65220723e+02] [-1.73273586e-01 9.84870310e-01 -2.59548518e-03 -7.04520770e+01] [-1.72506204e-02 -4.00030426e-04 9.99851117e-01 -9.39354877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.564012739 meters 0.07365706004367857 Centerline is valid? [True, True] Translation: X:465.28, Y:-70.45, Z:-9.39 [[ 9.84742401e-01 1.73118151e-01 1.76779407e-02 4.65278775e+02] [-1.73097800e-01 9.84900977e-01 -2.68651452e-03 -7.04541614e+01] [-1.78761055e-02 -4.14487885e-04 9.99840124e-01 -9.39263269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.624012739 meters 0.07247528689883213 Centerline is valid? [True, True] Translation: X:465.34, Y:-70.47, Z:-9.40 [[ 9.84959934e-01 1.71920587e-01 1.72406266e-02 4.65336087e+02] [-1.71901059e-01 9.85110737e-01 -2.61945485e-03 -7.04658288e+01] [-1.74342646e-02 -3.83623886e-04 9.99847938e-01 -9.39501219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.684012739 meters 0.07269185440281888 Centerline is valid? [True, True] Translation: X:465.39, Y:-70.48, Z:-9.40 [[ 9.85601369e-01 1.68355610e-01 1.56949178e-02 4.65392832e+02] [-1.68339018e-01 9.85726281e-01 -2.38182414e-03 -7.04756595e+01] [-1.58718864e-02 -2.94537921e-04 9.99873990e-01 -9.39985477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.744012739 meters 0.0724667450257619 Centerline is valid? [True, True] Translation: X:465.45, Y:-70.49, Z:-9.40 [[ 9.85504789e-01 1.69007450e-01 1.47238783e-02 4.65451309e+02] [-1.68992924e-01 9.85614732e-01 -2.23427317e-03 -7.04851166e+01] [-1.48896802e-02 -2.86344340e-04 9.99889102e-01 -9.40071744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.804012739 meters 0.07383738406409233 Centerline is valid? [True, True] Translation: X:465.51, Y:-70.48, Z:-9.40 [[ 9.84937106e-01 1.72283390e-01 1.47421156e-02 4.65511417e+02] [-1.72269241e-01 9.85047369e-01 -2.23385608e-03 -7.04841277e+01] [-1.49065385e-02 -3.39405330e-04 9.99888834e-01 -9.40168679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.864012739 meters 0.07443113186809448 Centerline is valid? [True, True] Translation: X:465.57, Y:-70.49, Z:-9.40 [[ 9.84914292e-01 1.72469733e-01 1.40722668e-02 4.65570292e+02] [-1.72456855e-01 9.85014764e-01 -2.13269377e-03 -7.04861792e+01] [-1.42292157e-02 -3.26338301e-04 9.99898706e-01 -9.40378853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.924012739 meters 0.07203810524054795 Centerline is valid? [True, True] Translation: X:465.63, Y:-70.49, Z:-9.40 [[ 9.85530317e-01 1.68859033e-01 1.47180516e-02 4.65628531e+02] [-1.68844594e-01 9.85640169e-01 -2.22718536e-03 -7.04913994e+01] [-1.48827833e-02 -2.90104753e-04 9.99889203e-01 -9.40466187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.984012739 meters 0.07010387575752672 Centerline is valid? [True, True] Translation: X:465.69, Y:-70.50, Z:-9.41 [[ 9.86893908e-01 1.60788114e-01 1.36966283e-02 4.65686628e+02] [-1.60774835e-01 9.86988935e-01 -2.07228609e-03 -7.05026299e+01] [-1.38516195e-02 -1.56946643e-04 9.99904049e-01 -9.40830862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.044012739 meters 0.06793791505823331 Centerline is valid? [True, True] Translation: X:465.74, Y:-70.52, Z:-9.41 [[ 9.87890313e-01 1.54536776e-01 1.38244394e-02 4.65743008e+02] [-1.54522638e-01 9.87987034e-01 -2.09145748e-03 -7.05210392e+01] [-1.39815740e-02 -7.00582705e-05 9.99902251e-01 -9.40929400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.104012739 meters 0.06702413790132494 Centerline is valid? [True, True] Translation: X:465.80, Y:-70.54, Z:-9.41 [[ 9.89281180e-01 1.45271347e-01 1.47980624e-02 4.65799554e+02] [-1.45254122e-01 9.89391849e-01 -2.23797947e-03 -7.05424366e+01] [-1.49661966e-02 6.45114100e-05 9.99887998e-01 -9.40711442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.164012739 meters 0.0670841164234491 Centerline is valid? [True, True] Translation: X:465.86, Y:-70.56, Z:-9.41 [[ 9.90144645e-01 1.39324608e-01 1.42209376e-02 4.65855727e+02] [-1.39308096e-01 9.90246753e-01 -2.15006602e-03 -7.05639941e+01] [-1.43817944e-02 1.47784615e-04 9.99896566e-01 -9.40912791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.224012739 meters 0.06649253097832303 Centerline is valid? [True, True] Translation: X:465.91, Y:-70.58, Z:-9.41 [[ 9.90341006e-01 1.37784641e-01 1.54946876e-02 4.65912957e+02] [-1.37764862e-01 9.90462194e-01 -2.34183397e-03 -7.05795188e+01] [-1.56695710e-02 1.84590711e-04 9.99877208e-01 -9.40819745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.284012739 meters 0.06606586994260845 Centerline is valid? [True, True] Translation: X:465.97, Y:-70.59, Z:-9.41 [[ 9.90283211e-01 1.38311793e-01 1.44571414e-02 4.65968620e+02] [-1.38294637e-01 9.90388722e-01 -2.18459884e-03 -7.05932136e+01] [-1.46203456e-02 1.64026430e-04 9.99893104e-01 -9.41112979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.344012739 meters 0.06561511268862255 Centerline is valid? [True, True] Translation: X:466.03, Y:-70.61, Z:-9.41 [[ 9.90400111e-01 1.37521219e-01 1.39833411e-02 4.66025002e+02] [-1.37505108e-01 9.90498807e-01 -2.11168132e-03 -7.06112617e+01] [-1.41408837e-02 1.68628584e-04 9.99899998e-01 -9.41273095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.404012739 meters 0.06514224663859841 Centerline is valid? [True, True] Translation: X:466.08, Y:-70.63, Z:-9.42 [[ 9.90411131e-01 1.37502732e-01 1.33712128e-02 4.66080960e+02] [-1.37488007e-01 9.90501374e-01 -2.01872133e-03 -7.06291459e+01] [-1.35217844e-02 1.60982678e-04 9.99908564e-01 -9.41602491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.464012739 meters 0.06447820813261985 Centerline is valid? [True, True] Translation: X:466.14, Y:-70.64, Z:-9.42 [[ 9.90025817e-01 1.40382360e-01 1.19027146e-02 4.66139110e+02] [-1.40370907e-01 9.90097360e-01 -1.79635915e-03 -7.06361237e+01] [-1.20370234e-02 1.07647089e-04 9.99927547e-01 -9.41772634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.524012739 meters 0.0661058450526866 Centerline is valid? [True, True] Translation: X:466.20, Y:-70.63, Z:-9.42 [[ 9.88645852e-01 1.49778192e-01 1.20777931e-02 4.66198487e+02] [-1.49767107e-01 9.88719623e-01 -1.82227485e-03 -7.06301745e+01] [-1.22144881e-02 -7.27164880e-06 9.99925400e-01 -9.41793744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.584012739 meters 0.06845932250748243 Centerline is valid? [True, True] Translation: X:466.26, Y:-70.61, Z:-9.42 [[ 9.86916477e-01 1.60814620e-01 1.15985355e-02 4.66261479e+02] [-1.60805169e-01 9.86984619e-01 -1.74899384e-03 -7.06140545e+01] [-1.17288399e-02 -1.38993617e-04 9.99931205e-01 -9.41975284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.644012739 meters 0.06954859509817676 Centerline is valid? [True, True] Translation: X:466.32, Y:-70.61, Z:-9.42 [[ 9.86896444e-01 1.60863464e-01 1.25838914e-02 4.66321213e+02] [-1.60852331e-01 9.86976658e-01 -1.89850138e-03 -7.06099675e+01] [-1.27254066e-02 -1.50524016e-04 9.99919017e-01 -9.41939546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.704012739 meters 0.0687111458403913 Centerline is valid? [True, True] Translation: X:466.38, Y:-70.62, Z:-9.42 [[ 9.87929563e-01 1.54272192e-01 1.39738507e-02 4.66378828e+02] [-1.54257859e-01 9.88028383e-01 -2.10427279e-03 -7.06231997e+01] [-1.41311919e-02 -7.67029891e-05 9.99900147e-01 -9.41692635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.764012739 meters 0.06945541891864153 Centerline is valid? [True, True] Translation: X:466.43, Y:-70.64, Z:-9.42 [[ 9.89967683e-01 1.40686575e-01 1.30871759e-02 4.66434860e+02] [-1.40672821e-01 9.90054178e-01 -1.97017200e-03 -7.06449523e+01] [-1.32341900e-02 1.09396649e-04 9.99912418e-01 -9.41985445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.824012739 meters 0.07164349018447068 Centerline is valid? [True, True] Translation: X:466.49, Y:-70.67, Z:-9.42 [[ 9.91442350e-01 1.29808206e-01 1.38526624e-02 4.66490940e+02] [-1.29791747e-01 9.91539085e-01 -2.08444499e-03 -7.06693528e+01] [-1.40060343e-02 2.68645793e-04 9.99901875e-01 -9.41938873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.884012739 meters 0.07272181167994751 Centerline is valid? [True, True] Translation: X:466.55, Y:-70.68, Z:-9.42 [[ 9.91766802e-01 1.27349790e-01 1.34402893e-02 4.66549532e+02] [-1.27334069e-01 9.91857825e-01 -2.02247666e-03 -7.06759906e+01] [-1.35884181e-02 2.94418474e-04 9.99907630e-01 -9.41991448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.944012739 meters 0.0729309021887948 Centerline is valid? [True, True] Translation: X:466.61, Y:-70.68, Z:-9.42 [[ 9.91844462e-01 1.26841229e-01 1.24846346e-02 4.66606926e+02] [-1.26827630e-01 9.91922993e-01 -1.87824711e-03 -7.06842854e+01] [-1.26220353e-02 2.79532381e-04 9.99920300e-01 -9.42229379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.004012739 meters 0.07227133853104047 Centerline is valid? [True, True] Translation: X:466.66, Y:-70.69, Z:-9.42 [[ 9.91948163e-01 1.26002319e-01 1.27380167e-02 4.66664839e+02] [-1.25988104e-01 9.92029903e-01 -1.91552249e-03 -7.06939063e+01] [-1.28778538e-02 2.95260447e-04 9.99917033e-01 -9.42252838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.064012739 meters 0.0725889027604113 Centerline is valid? [True, True] Translation: X:466.72, Y:-70.70, Z:-9.42 [[ 9.92158607e-01 1.24230034e-01 1.37185226e-02 4.66722765e+02] [-1.24213386e-01 9.92253386e-01 -2.06227837e-03 -7.07041970e+01] [-1.38684474e-02 3.42083087e-04 9.99903770e-01 -9.42192148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.124012739 meters 0.07338727869697394 Centerline is valid? [True, True] Translation: X:466.78, Y:-70.72, Z:-9.42 [[ 9.92390601e-01 1.22068350e-01 1.61311413e-02 4.66778790e+02] [-1.22045060e-01 9.92521600e-01 -2.42408724e-03 -7.07214064e+01] [-1.63064105e-02 4.36915268e-04 9.99866946e-01 -9.41887249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.184012739 meters 0.07479039314909988 Centerline is valid? [True, True] Translation: X:466.84, Y:-70.74, Z:-9.42 [[ 9.92853807e-01 1.18511107e-01 1.40155359e-02 4.66836522e+02] [-1.18493185e-01 9.92952634e-01 -2.10522360e-03 -7.07403975e+01] [-1.41662556e-02 4.29433779e-04 9.99899561e-01 -9.42426713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.244012739 meters 0.07643158727529756 Centerline is valid? [True, True] Translation: X:466.89, Y:-70.76, Z:-9.43 [[ 9.93154917e-01 1.16260010e-01 1.12659141e-02 4.66891670e+02] [-1.16248284e-01 9.93218743e-01 -1.69243319e-03 -7.07647870e+01] [-1.13862794e-02 3.71205163e-04 9.99935105e-01 -9.42951673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.304012739 meters 0.07479601463357191 Centerline is valid? [True, True] Translation: X:466.95, Y:-70.78, Z:-9.42 [[ 9.92866623e-01 1.18134728e-01 1.61262010e-02 4.66950978e+02] [-1.18110966e-01 9.92997451e-01 -2.42137450e-03 -7.07775559e+01] [-1.62993249e-02 4.99420745e-04 9.99867032e-01 -9.42188489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.364012739 meters 0.07127287202501209 Centerline is valid? [True, True] Translation: X:467.01, Y:-70.78, Z:-9.42 [[ 9.92110956e-01 1.24267853e-01 1.65333350e-02 4.67010919e+02] [-1.24243737e-01 9.92248625e-01 -2.48192523e-03 -7.07845985e+01] [-1.67136025e-02 4.08181895e-04 9.99860235e-01 -9.42285715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.424012739 meters 0.06728205349745509 Centerline is valid? [True, True] Translation: X:467.07, Y:-70.78, Z:-9.43 [[ 9.90910014e-01 1.33855893e-01 1.34143339e-02 4.67072177e+02] [-1.33840895e-01 9.91000787e-01 -2.01369404e-03 -7.07833383e+01] [-1.35631602e-02 2.00003142e-04 9.99907996e-01 -9.42986169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.484012739 meters 0.06472601278291634 Centerline is valid? [True, True] Translation: X:467.13, Y:-70.78, Z:-9.43 [[ 9.89782854e-01 1.41792079e-01 1.49969302e-02 4.67132686e+02] [-1.41774241e-01 9.89896457e-01 -2.25132317e-03 -7.07778139e+01] [-1.51646279e-02 1.02142671e-04 9.99885005e-01 -9.42764986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.544012739 meters 0.06271523298786606 Centerline is valid? [True, True] Translation: X:467.19, Y:-70.77, Z:-9.43 [[ 9.89143143e-01 1.46068106e-01 1.61230216e-02 4.67191445e+02] [-1.46048060e-01 9.89274536e-01 -2.42020909e-03 -7.07748365e+01] [-1.63036100e-02 3.91972081e-05 9.99867087e-01 -9.42866797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.604012739 meters 0.06322899638806055 Centerline is valid? [True, True] Translation: X:467.25, Y:-70.78, Z:-9.43 [[ 9.89212605e-01 1.45565936e-01 1.64006145e-02 4.67247815e+02] [-1.45545146e-01 9.89348551e-01 -2.46056938e-03 -7.07821404e+01] [-1.65840993e-02 4.69964145e-05 9.99862473e-01 -9.42944103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.664012739 meters 0.06295977169937336 Centerline is valid? [True, True] Translation: X:467.31, Y:-70.79, Z:-9.43 [[ 9.89529268e-01 1.43400865e-01 1.63713016e-02 4.67305403e+02] [-1.43379875e-01 9.89664683e-01 -2.45484639e-03 -7.07913552e+01] [-1.65541261e-02 8.18271747e-05 9.99862968e-01 -9.43096168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.724012739 meters 0.06137159190787415 Centerline is valid? [True, True] Translation: X:467.36, Y:-70.80, Z:-9.43 [[ 9.89766046e-01 1.41846617e-01 1.55791996e-02 4.67363496e+02] [-1.41827430e-01 9.89888644e-01 -2.33523638e-03 -7.08011481e+01] [-1.57529182e-02 1.01779831e-04 9.99875910e-01 -9.43453486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.784012739 meters 0.06166951007422911 Centerline is valid? [True, True] Translation: X:467.42, Y:-70.81, Z:-9.43 [[ 9.90029697e-01 1.39917412e-01 1.62578355e-02 4.67420038e+02] [-1.39896266e-01 9.90163168e-01 -2.43635944e-03 -7.08148561e+01] [-1.64387990e-02 1.37657721e-04 9.99864864e-01 -9.43228403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.844012739 meters 0.06131073818606069 Centerline is valid? [True, True] Translation: X:467.48, Y:-70.83, Z:-9.43 [[ 9.90246166e-01 1.38244916e-01 1.73457322e-02 4.67477202e+02] [-1.38220616e-01 9.90398058e-01 -2.59786489e-03 -7.08320361e+01] [-1.75383211e-02 1.74987955e-04 9.99846177e-01 -9.43212328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.904012739 meters 0.061181451118477996 Centerline is valid? [True, True] Translation: X:467.53, Y:-70.84, Z:-9.43 [[ 9.90206412e-01 1.38436256e-01 1.80738802e-02 4.67534883e+02] [-1.38409919e-01 9.90371330e-01 -2.70611833e-03 -7.08449436e+01] [-1.82744777e-02 1.78011431e-04 9.99832992e-01 -9.43185032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.964012739 meters 0.060604856147258 Centerline is valid? [True, True] Translation: X:467.59, Y:-70.85, Z:-9.43 [[ 9.89872634e-01 1.40719633e-01 1.87123758e-02 4.67593193e+02] [-1.40691825e-01 9.90049476e-01 -2.80089699e-03 -7.08511650e+01] [-1.89203190e-02 1.39852995e-04 9.99820985e-01 -9.43139591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.024012739 meters 0.06079625511247913 Centerline is valid? [True, True] Translation: X:467.65, Y:-70.86, Z:-9.44 [[ 9.89564319e-01 1.43118013e-01 1.67240107e-02 4.67652110e+02] [-1.43096154e-01 9.89705627e-01 -2.50266141e-03 -7.08562361e+01] [-1.69100234e-02 8.34028281e-05 9.99857012e-01 -9.43758228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.084012739 meters 0.06052539558118889 Centerline is valid? [True, True] Translation: X:467.71, Y:-70.86, Z:-9.44 [[ 9.89557000e-01 1.43255588e-01 1.59618303e-02 4.67709835e+02] [-1.43235705e-01 9.89685723e-01 -2.38797043e-03 -7.08648300e+01] [-1.61392856e-02 7.67288553e-05 9.99869750e-01 -9.44017006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.144012739 meters 0.06130217884181172 Centerline is valid? [True, True] Translation: X:467.77, Y:-70.87, Z:-9.44 [[ 9.89685293e-01 1.42311742e-01 1.64434848e-02 4.67767805e+02] [-1.42290522e-01 9.89821883e-01 -2.45930637e-03 -7.08745505e+01] [-1.66261093e-02 9.41873106e-05 9.99861772e-01 -9.44009456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.204012739 meters 0.06317568429916694 Centerline is valid? [True, True] Translation: X:467.83, Y:-70.89, Z:-9.44 [[ 9.89925465e-01 1.40660345e-01 1.61938525e-02 4.67825714e+02] [-1.40639555e-01 9.90057904e-01 -2.42129671e-03 -7.08855626e+01] [-1.63734321e-02 1.19407066e-04 9.99865939e-01 -9.44323794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.264012739 meters 0.0635580539408936 Centerline is valid? [True, True] Translation: X:467.88, Y:-70.90, Z:-9.45 [[ 9.90356417e-01 1.37648748e-01 1.57158984e-02 4.67882342e+02] [-1.37628797e-01 9.90481093e-01 -2.34919306e-03 -7.09031073e+01] [-1.58896637e-02 1.63578232e-04 9.99873738e-01 -9.44577738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.324012739 meters 0.0634290060148126 Centerline is valid? [True, True] Translation: X:467.94, Y:-70.91, Z:-9.44 [[ 9.90567704e-01 1.36000671e-01 1.67165179e-02 4.67939937e+02] [-1.35977877e-01 9.90708725e-01 -2.49800798e-03 -7.09146679e+01] [-1.69009308e-02 2.01369415e-04 9.99857149e-01 -9.44323181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.384012739 meters 0.06215522515962162 Centerline is valid? [True, True] Translation: X:468.00, Y:-70.92, Z:-9.44 [[ 9.90463952e-01 1.36383703e-01 1.95101121e-02 4.67997711e+02] [-1.36352748e-01 9.90656063e-01 -2.91444693e-03 -7.09237266e+01] [-1.97252939e-02 2.26397233e-04 9.99805412e-01 -9.43921418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.444012739 meters 0.0593825643988253 Centerline is valid? [True, True] Translation: X:468.06, Y:-70.93, Z:-9.44 [[ 9.89768544e-01 1.41391869e-01 1.91459743e-02 4.68056850e+02] [-1.41363012e-01 9.89953698e-01 -2.85915114e-03 -7.09280973e+01] [-1.93578888e-02 1.23365269e-04 9.99812611e-01 -9.44138031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.504012739 meters 0.059784952381952 Centerline is valid? [True, True] Translation: X:468.11, Y:-70.93, Z:-9.44 [[ 9.89190820e-01 1.45326522e-01 1.95377614e-02 4.68114808e+02] [-1.45297257e-01 9.89383747e-01 -2.91672224e-03 -7.09319275e+01] [-1.97542207e-02 4.64117255e-05 9.99804865e-01 -9.44201687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.564012739 meters 0.05778527869305259 Centerline is valid? [True, True] Translation: X:468.17, Y:-70.94, Z:-9.45 [[ 9.89113138e-01 1.45957065e-01 1.87545966e-02 4.68171681e+02] [-1.45930232e-01 9.89290925e-01 -2.79877037e-03 -7.09400048e+01] [-1.89622526e-02 3.14379016e-05 9.99820200e-01 -9.44542922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.624012739 meters 0.056571802397590555 Centerline is valid? [True, True] Translation: X:468.23, Y:-70.95, Z:-9.45 [[ 9.89116017e-01 1.46077563e-01 1.76309770e-02 4.68228814e+02] [-1.46053890e-01 9.89273140e-01 -2.62990518e-03 -7.09486743e+01] [-1.78260221e-02 2.62085670e-05 9.99841103e-01 -9.44977333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.684012739 meters 0.05479504595704887 Centerline is valid? [True, True] Translation: X:468.29, Y:-70.95, Z:-9.45 [[ 9.88574075e-01 1.49884531e-01 1.59976733e-02 4.68287867e+02] [-1.49865553e-01 9.88703508e-01 -2.38539383e-03 -7.09524180e+01] [-1.61744893e-02 -3.93616543e-05 9.99869184e-01 -9.45372250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.744012739 meters 0.057065284654269764 Centerline is valid? [True, True] Translation: X:468.35, Y:-70.95, Z:-9.45 [[ 9.87852995e-01 1.54490847e-01 1.67044611e-02 4.68346014e+02] [-1.54470824e-01 9.87994212e-01 -2.49014677e-03 -7.09513130e+01] [-1.68886158e-02 -1.20452935e-04 9.99857370e-01 -9.45374667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.804012739 meters 0.05687950014547832 Centerline is valid? [True, True] Translation: X:468.41, Y:-70.95, Z:-9.45 [[ 9.86774708e-01 1.60729285e-01 2.10183979e-02 4.68407061e+02] [-1.60699047e-01 9.86998487e-01 -3.13091639e-03 -7.09485445e+01] [-2.12483569e-02 -2.88127395e-04 9.99774187e-01 -9.44866000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.864012739 meters 0.05874853779106565 Centerline is valid? [True, True] Translation: X:468.47, Y:-70.95, Z:-9.45 [[ 9.86575909e-01 1.62091404e-01 1.98583011e-02 4.68465257e+02] [-1.62064695e-01 9.86775702e-01 -2.95770232e-03 -7.09526389e+01] [-2.00751071e-02 -3.00331648e-04 9.99798430e-01 -9.45264110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.924012739 meters 0.05874312664926004 Centerline is valid? [True, True] Translation: X:468.52, Y:-70.96, Z:-9.46 [[ 9.86574371e-01 1.62161131e-01 1.93592021e-02 4.68523471e+02] [-1.62135782e-01 9.86764248e-01 -2.88231429e-03 -7.09600163e+01] [-1.95703679e-02 -2.95201978e-04 9.99808438e-01 -9.45548460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.984012739 meters 0.05923873602434001 Centerline is valid? [True, True] Translation: X:468.58, Y:-70.96, Z:-9.46 [[ 9.86457714e-01 1.62775838e-01 2.01297121e-02 4.68582865e+02] [-1.62748578e-01 9.86663024e-01 -2.99611398e-03 -7.09631807e+01] [-2.03489376e-02 -3.20542277e-04 9.99792888e-01 -9.45568772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.044012739 meters 0.060283557874112374 Centerline is valid? [True, True] Translation: X:468.64, Y:-70.97, Z:-9.45 [[ 9.86522820e-01 1.61824129e-01 2.42007556e-02 4.68641585e+02] [-1.61784469e-01 9.86819548e-01 -3.60081944e-03 -7.09707467e+01] [-2.44644782e-02 -3.63015858e-04 9.99700634e-01 -9.44961957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.104012739 meters 0.05995570221278194 Centerline is valid? [True, True] Translation: X:468.70, Y:-70.98, Z:-9.45 [[ 9.87101668e-01 1.58134099e-01 2.49780668e-02 4.68699476e+02] [-1.58090696e-01 9.87417605e-01 -3.71542355e-03 -7.09847767e+01] [-2.52513180e-02 -2.81299166e-04 9.99681095e-01 -9.45081346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.164012739 meters 0.05969944144971608 Centerline is valid? [True, True] Translation: X:468.76, Y:-71.01, Z:-9.46 [[ 9.88230266e-01 1.51055472e-01 2.41492561e-02 4.68755507e+02] [-1.51012805e-01 9.88525283e-01 -3.59134528e-03 -7.10078975e+01] [-2.44146426e-02 -9.77708065e-05 9.99701913e-01 -9.45513189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.224012739 meters 0.06049068890546705 Centerline is valid? [True, True] Translation: X:468.81, Y:-71.02, Z:-9.45 [[ 9.88469071e-01 1.49224211e-01 2.57104994e-02 4.68813830e+02] [-1.49175259e-01 9.88803384e-01 -3.82237675e-03 -7.10181657e+01] [-2.59930200e-02 -5.70692101e-05 9.99662123e-01 -9.45376439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.284012739 meters 0.06130865685196962 Centerline is valid? [True, True] Translation: X:468.87, Y:-71.03, Z:-9.45 [[ 9.88492707e-01 1.48649895e-01 2.80245662e-02 4.68871754e+02] [-1.48591537e-01 9.88889886e-01 -4.16514495e-03 -7.10278012e+01] [-2.83323584e-02 -4.69979692e-05 9.99598557e-01 -9.45090289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.344012739 meters 0.06188065176859552 Centerline is valid? [True, True] Translation: X:468.93, Y:-71.03, Z:-9.46 [[ 9.88490769e-01 1.48912605e-01 2.66652496e-02 4.68929826e+02] [-1.48859897e-01 9.88850359e-01 -3.96203432e-03 -7.10343079e+01] [-2.69579385e-02 -5.29519657e-05 9.99636567e-01 -9.45626851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.404012739 meters 0.06210538381996912 Centerline is valid? [True, True] Translation: X:468.99, Y:-71.05, Z:-9.46 [[ 9.89228838e-01 1.44129719e-01 2.55524924e-02 4.68986788e+02] [-1.44079750e-01 9.89558800e-01 -3.79566184e-03 -7.10507512e+01] [-2.58327614e-02 7.31814525e-05 9.99666276e-01 -9.46051793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.464012739 meters 0.0811101388524862 Centerline is valid? [True, True] Translation: X:469.05, Y:-71.03, Z:-9.46 [[ 9.89488818e-01 1.41934083e-01 2.76874443e-02 4.69048749e+02] [-1.41874590e-01 9.89876102e-01 -4.11148950e-03 -7.10292596e+01] [-2.79906999e-02 1.40128088e-04 9.99608174e-01 -9.45596234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.524012739 meters 0.08321502109787007 Centerline is valid? [True, True] Translation: X:469.11, Y:-71.04, Z:-9.46 [[ 9.90037810e-01 1.38041607e-01 2.77425595e-02 4.69106423e+02] [-1.37980386e-01 9.90426399e-01 -4.11831465e-03 -7.10433783e+01] [-2.80454621e-02 2.49358145e-04 9.99606618e-01 -9.45830225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.584012739 meters 0.0854014579700625 Centerline is valid? [True, True] Translation: X:469.16, Y:-71.06, Z:-9.46 [[ 9.90599743e-01 1.33731047e-01 2.87777110e-02 4.69164313e+02] [-1.33663382e-01 9.91017588e-01 -4.27093830e-03 -7.10589860e+01] [-2.90903748e-02 3.84264201e-04 9.99576712e-01 -9.45827254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.644012739 meters 0.11261431737673781 Centerline is valid? [True, False] Translation: X:469.17, Y:-71.06, Z:-9.46 [[ 9.91437186e-01 1.25594224e-01 3.57546718e-02 4.69165770e+02] [-1.25819028e-01 9.92044740e-01 4.09943237e-03 -7.10610571e+01] [-3.49553691e-02 -8.56294775e-03 9.99352189e-01 -9.46261494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.704012739 meters 0.11097239773919504 Centerline is valid? [False, False] Translation: X:469.17, Y:-71.06, Z:-9.46 [[ 9.92792409e-01 1.15016332e-01 3.36819803e-02 4.69165796e+02] [-1.15468097e-01 9.93241298e-01 1.17831440e-02 -7.10564434e+01] [-3.20990798e-02 -1.55874101e-02 9.99363138e-01 -9.46032495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.764012739 meters 0.11124372295771416 Centerline is valid? [False, False] Translation: X:469.15, Y:-71.04, Z:-9.45 [[ 9.92813632e-01 1.16553555e-01 2.71359598e-02 4.69145688e+02] [-1.16656310e-01 9.93169842e-01 2.22949544e-03 -7.10385287e+01] [-2.66907613e-02 -5.37905440e-03 9.99629266e-01 -9.45373888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.824012739 meters 0.6084169439758815 Centerline is valid? [False, False] Translation: X:469.15, Y:-71.03, Z:-9.46 [[ 9.93846810e-01 1.06677789e-01 2.98054960e-02 4.69146647e+02] [-1.07013662e-01 9.94208201e-01 9.90603956e-03 -7.10310580e+01] [-2.85761141e-02 -1.30346811e-02 9.99506630e-01 -9.45533272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.884012739 meters 0.6228805378930601 Centerline is valid? [False, False] Translation: X:469.17, Y:-71.00, Z:-9.45 [[ 9.95443677e-01 9.47502483e-02 1.06899979e-02 4.69167238e+02] [-9.47725863e-02 9.95497660e-01 1.60161608e-03 -7.10003316e+01] [-1.04901144e-02 -2.60743734e-03 9.99941578e-01 -9.45333977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.944012739 meters 0.6377416431487218 Centerline is valid? [False, False] Translation: X:469.20, Y:-70.99, Z:-9.45 [[ 9.95389927e-01 9.49476248e-02 1.35588151e-02 4.69201820e+02] [-9.49711963e-02 9.95479409e-01 1.10384221e-03 -7.09920373e+01] [-1.33927141e-02 -2.38645031e-03 9.99907466e-01 -9.44655370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.004012739 meters 0.6325351428598118 Centerline is valid? [False, False] Translation: X:469.20, Y:-70.99, Z:-9.44 [[ 9.96327156e-01 8.48486333e-02 1.15285512e-02 4.69199642e+02] [-8.49555049e-02 9.96343012e-01 9.11941662e-03 -7.09874808e+01] [-1.07126214e-02 -1.00653363e-02 9.99891959e-01 -9.44279032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.064012739 meters 0.7032038464444672 Centerline is valid? [False, False] Translation: X:469.20, Y:-70.97, Z:-9.44 [[ 9.97133105e-01 7.48243232e-02 1.12646302e-02 4.69196774e+02] [-7.47942565e-02 9.97194268e-01 -3.06774531e-03 -7.09714479e+01] [-1.14625666e-02 2.21642077e-03 9.99931846e-01 -9.43864773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.124012739 meters 0.7041093432881512 Centerline is valid? [False, False] Translation: X:469.20, Y:-70.97, Z:-9.44 [[ 9.97705901e-01 6.49441124e-02 1.91101630e-02 4.69200377e+02] [-6.50015815e-02 9.97882272e-01 2.40096712e-03 -7.09699774e+01] [-1.89137642e-02 -3.63764988e-03 9.99814501e-01 -9.44499801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.184012739 meters 0.6937756719586949 Centerline is valid? [False, False] Translation: X:469.21, Y:-70.97, Z:-9.45 [[ 9.98338725e-01 5.64680763e-02 1.14519515e-02 4.69207358e+02] [-5.65939596e-02 9.98336863e-01 1.09832189e-02 -7.09662852e+01] [-1.08127041e-02 -1.16130840e-02 9.99874103e-01 -9.44617282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.244012739 meters 0.6254491368493896 Centerline is valid? [False, False] Translation: X:469.26, Y:-70.93, Z:-9.44 [[ 9.98309526e-01 5.77116619e-02 6.88871077e-03 4.69264884e+02] [-5.77368307e-02 9.98325659e-01 3.51229553e-03 -7.09327718e+01] [-6.67447631e-03 -3.90409042e-03 9.99970104e-01 -9.44177074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.304012739 meters 0.640091070373379 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.45 [[ 9.98694730e-01 4.93309854e-02 1.32397401e-02 4.69283088e+02] [-4.94006823e-02 9.98766577e-01 4.98964526e-03 -7.09343899e+01] [-1.29772658e-02 -5.63718462e-03 9.99899901e-01 -9.44504645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.364012739 meters 0.49841790922787854 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.44 [[ 9.99410115e-01 3.25427410e-02 1.09722933e-02 4.69281490e+02] [-3.26205521e-02 9.99443373e-01 6.98877386e-03 -7.09345718e+01] [-1.07387520e-02 -7.34257355e-03 9.99915379e-01 -9.44164610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.424012739 meters 0.6188634054034865 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.44 [[ 9.99553966e-01 2.78000635e-02 1.09098430e-02 4.69280671e+02] [-2.78216243e-02 9.99611230e-01 1.82947459e-03 -7.09302344e+01] [-1.08547421e-02 -2.13218814e-03 9.99938812e-01 -9.44064277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.484012739 meters 0.6941911186880586 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.44 [[ 9.99666557e-01 2.35030377e-02 1.06949613e-02 4.69280825e+02] [-2.34694562e-02 9.99719256e-01 -3.25470134e-03 -7.09251187e+01] [-1.07684541e-02 3.00261115e-03 9.99937510e-01 -9.44002306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.544012739 meters 0.7352623961123919 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.44 [[ 9.99664209e-01 2.36105104e-02 1.06776507e-02 4.69281402e+02] [-2.35788313e-02 9.99717227e-01 -3.08308765e-03 -7.09258745e+01] [-1.07474246e-02 2.83028585e-03 9.99938239e-01 -9.44087586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.604012739 meters 0.6897442542471621 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.44 [[ 9.99663205e-01 2.36680294e-02 1.06442822e-02 4.69281870e+02] [-2.36374247e-02 9.99716120e-01 -2.99191178e-03 -7.09262822e+01] [-1.07120732e-02 2.73930070e-03 9.99938872e-01 -9.44144181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.664012739 meters 0.701410226121572 Centerline is valid? [False, False] Translation: X:469.28, Y:-70.93, Z:-9.44 [[ 9.99661944e-01 2.37572733e-02 1.05635848e-02 4.69282861e+02] [-2.37283004e-02 9.99714354e-01 -2.85965849e-03 -7.09268214e+01] [-1.06285051e-02 2.60803585e-03 9.99940115e-01 -9.44257838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.724012739 meters 0.6905113887417885 Centerline is valid? [False, False] Translation: X:469.27, Y:-70.93, Z:-9.44 [[ 9.99808372e-01 1.93369044e-02 3.05010438e-03 4.69267580e+02] [-1.93433393e-02 9.99810706e-01 2.09453223e-03 -7.09305343e+01] [-3.00902524e-03 -2.15313007e-03 9.99993155e-01 -9.44107433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.784012739 meters 0.7047680248453376 Centerline is valid? [False, False] Translation: X:469.27, Y:-70.93, Z:-9.44 [[ 9.99804548e-01 1.95407917e-02 3.00382786e-03 4.69267925e+02] [-1.95482442e-02 9.99805859e-01 2.47197968e-03 -7.09325493e+01] [-2.95494025e-03 -2.53021609e-03 9.99992433e-01 -9.44137310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.844012739 meters 0.7041958318629014 Centerline is valid? [False, False] Translation: X:469.27, Y:-70.94, Z:-9.44 [[ 9.99940973e-01 1.01651238e-02 -3.83674244e-03 4.69273689e+02] [-1.01248626e-02 9.99894959e-01 1.03710578e-02 -7.09409091e+01] [ 3.94176251e-03 -1.03315992e-02 9.99938858e-01 -9.44392759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4476.61 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%| | 0/16022 [00:00