+ python -m lidar_slam --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 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 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters 0.5448706939727985 Centerline is valid? [0, False] SLAMing on 0.08592 meters 0.4809898265976377 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.00 [[ 9.99979585e-01 -2.88991430e-03 5.69893608e-03 3.64547323e-02] [ 2.89509440e-03 9.99995403e-01 -9.00918665e-04 -3.38137154e-03] [-5.69630630e-03 9.17399231e-04 9.99983355e-01 4.30265856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters 0.4323893073849855 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:0.01 [[ 0.99993424 -0.00204183 0.0112849 0.07363112] [ 0.0020223 0.99999644 0.00174206 -0.00450929] [-0.01128842 -0.00171913 0.99993481 0.00772616] [ 0. 0. 0. 1. ]] SLAMing on 0.20592 meters 0.3928573127510915 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:0.02 [[ 0.99993917 -0.0041637 -0.01021394 0.12860896] [ 0.00413411 0.9999872 -0.00291621 -0.00150275] [ 0.01022595 0.00287381 0.99994358 0.0206914 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26592 meters 0.3764751454117594 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.02 [[ 9.99994308e-01 -3.25230170e-03 8.97581732e-04 1.23804833e-01] [ 3.25156714e-03 9.99994379e-01 8.18636322e-04 -1.41078866e-02] [-9.00239139e-04 -8.15713116e-04 9.99999262e-01 -2.23863725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32592 meters SLAMing on 0.38592 meters SLAMing on 0.44592 meters 0.3553174675647642 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.00 [[ 0.99998467 -0.00476842 0.002815 0.16658814] [ 0.00477845 0.99998223 -0.00356494 -0.02186435] [-0.00279795 0.00357833 0.99998968 0.00333932] [ 0. 0. 0. 1. ]] SLAMing on 0.5059199999999999 meters 0.5189314983209838 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:0.00 [[ 0.99998677 0.00430058 0.00282383 0.19120436] [-0.00429155 0.99998568 -0.00319864 -0.02211387] [-0.00283755 0.00318648 0.9999909 0.00280653] [ 0. 0. 0. 1. ]] SLAMing on 0.56592 meters 0.3474011596606696 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:0.04 [[ 0.99999836 -0.00113122 -0.00141705 0.23771371] [ 0.00112228 0.99997956 -0.00629448 -0.02240061] [ 0.00142414 0.00629288 0.99997919 0.04110362] [ 0. 0. 0. 1. ]] SLAMing on 0.62592 meters 0.29563380214014484 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:0.11 [[ 0.99982251 -0.00561525 -0.01798392 0.31098535] [ 0.00549014 0.99996044 -0.0069986 -0.02265411] [ 0.01802251 0.00689863 0.99981378 0.11451379] [ 0. 0. 0. 1. ]] SLAMing on 0.6859199999999999 meters 0.3475118283912561 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:0.02 [[ 9.99871609e-01 -4.86856289e-03 1.52663998e-02 3.14690410e-01] [ 4.87891896e-03 9.99987892e-01 -6.41186338e-04 -3.38021274e-02] [-1.52630933e-02 7.15587542e-04 9.99883256e-01 2.46977115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7459199999999999 meters 0.4747956311984496 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:0.15 [[ 0.99969963 -0.00207189 -0.02442038 0.41398681] [ 0.00191941 0.99997853 -0.00626605 -0.02576689] [ 0.02443284 0.0062173 0.99968214 0.14640573] [ 0. 0. 0. 1. ]] SLAMing on 0.80592 meters 0.340311355289969 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.11 [[ 9.99999619e-01 -4.88115050e-04 7.23626994e-04 4.20448582e-01] [ 4.89031216e-04 9.99999078e-01 -1.26643805e-03 -3.10844398e-02] [-7.23008160e-04 1.26679144e-03 9.99998936e-01 1.05675654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.86592 meters 0.47360426661051 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:0.17 [[ 0.99986736 -0.00382268 -0.01583197 0.49512486] [ 0.00378505 0.99998994 -0.00240606 -0.03123334] [ 0.01584101 0.00234581 0.99987177 0.1718514 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9259199999999999 meters 0.47134725184204534 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:0.17 [[ 9.99937722e-01 -2.97970728e-03 -1.07551994e-02 5.35745682e-01] [ 2.97518237e-03 9.99995479e-01 -4.36693956e-04 -3.07601186e-02] [ 1.07564520e-02 4.04668080e-04 9.99942066e-01 1.73169795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9859199999999999 meters 0.39988359985035965 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:0.14 [[ 0.99996825 -0.00105837 0.00789747 0.55673222] [ 0.00103255 0.99999411 0.0032721 -0.03449055] [-0.00790089 -0.00326384 0.99996346 0.14482521] [ 0. 0. 0. 1. ]] SLAMing on 1.04592 meters 0.48310735096974905 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:0.15 [[ 0.99989679 -0.00341386 0.0139553 0.59070184] [ 0.00338564 0.99999218 0.00204524 -0.03481422] [-0.01396217 -0.00199778 0.99990053 0.15151451] [ 0. 0. 0. 1. ]] SLAMing on 1.10592 meters 0.48188008883698236 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.15 [[ 9.99877539e-01 3.71594119e-03 1.52019151e-02 6.17222830e-01] [-3.71241371e-03 9.99993075e-01 -2.60254885e-04 -3.23136561e-02] [-1.52027770e-02 2.03787216e-04 9.99884410e-01 1.45797358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1659199999999998 meters 0.3440444108192693 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:0.12 [[ 9.99926805e-01 3.01060394e-03 1.17184237e-02 6.38990525e-01] [-3.01042273e-03 9.99995468e-01 -3.31025477e-05 -3.66370311e-02] [-1.17184702e-02 -2.17728427e-06 9.99931336e-01 1.22289916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22592 meters 0.34604112898099587 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:0.13 [[ 9.99996850e-01 1.16254275e-03 2.22466716e-03 7.05394600e-01] [-1.16327604e-03 9.99999269e-01 3.28349050e-04 -3.90983796e-02] [-2.22428382e-03 -3.30935918e-04 9.99997472e-01 1.27637030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28592 meters 0.3552047320513331 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:0.09 [[ 9.99993395e-01 7.67899397e-04 -3.55251979e-03 7.38974891e-01] [-7.63200098e-04 9.99998832e-01 1.32397372e-03 -4.56423101e-02] [ 3.55353232e-03 -1.32125369e-03 9.99992813e-01 9.28295485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3459199999999998 meters 0.35368411045621806 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:0.10 [[ 9.99997264e-01 -1.09432007e-03 2.06730836e-03 7.74287106e-01] [ 1.09265941e-03 9.99999080e-01 8.04253279e-04 -4.81575108e-02] [-2.06818657e-03 -8.01992215e-04 9.99997540e-01 9.86067226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4059199999999998 meters 0.35578334362198477 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:0.09 [[ 9.99976333e-01 6.74151408e-03 1.37286220e-03 8.04012229e-01] [-6.74185377e-03 9.99977244e-01 2.42957144e-04 -5.14057145e-02] [-1.37119306e-03 -2.52207030e-04 9.99999028e-01 9.13805519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46592 meters 0.3704212574907078 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.07 [[ 0.99997 0.00751329 -0.00188243 0.82555143] [-0.00751067 0.99997082 0.00139392 -0.05354924] [ 0.00189285 -0.00137974 0.99999726 0.06853744] [ 0. 0. 0. 1. ]] SLAMing on 1.52592 meters 0.36739171450589964 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.07 [[ 0.9999451 0.00961148 0.00417234 0.8616244 ] [-0.00963025 0.99994349 0.00450246 -0.05563675] [-0.00412883 -0.0045424 0.99998116 0.0725599 ] [ 0. 0. 0. 1. ]] SLAMing on 1.58592 meters 0.4886336311519924 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.06, Z:0.07 [[ 0.99995462 0.00309208 0.00901118 0.88273131] [-0.00316181 0.99996509 0.00773508 -0.05574188] [-0.00898695 -0.00776322 0.99992948 0.06798207] [ 0. 0. 0. 1. ]] SLAMing on 1.6459199999999998 meters 0.39359224670328447 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:0.07 [[ 0.99994565 0.00505746 0.00911686 0.93306677] [-0.00509314 0.99997944 0.00389481 -0.03433105] [-0.00909697 -0.00394103 0.99995086 0.07221502] [ 0. 0. 0. 1. ]] SLAMing on 1.7059199999999999 meters 0.4721205069927807 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.03, Z:0.07 [[ 0.9999519 -0.00280259 0.00939929 0.9605175 ] [ 0.0027585 0.99998515 0.00470054 -0.0280736 ] [-0.00941232 -0.00467439 0.99994478 0.06552281] [ 0. 0. 0. 1. ]] SLAMing on 1.76592 meters 0.4703072005830109 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.02, Z:0.07 [[ 0.99998574 -0.00322487 0.0042569 1.00965819] [ 0.00321016 0.99998887 0.00345652 -0.02013678] [-0.00426799 -0.0034428 0.99998497 0.0679992 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8259199999999998 meters 0.5034877732621287 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.06 [[ 0.99999049 0.00297468 0.00319057 1.04392009] [-0.00296843 0.99999367 -0.00196199 -0.00656646] [-0.00319639 0.0019525 0.99999299 0.0582473 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8859199999999998 meters SLAMing on 1.9459199999999999 meters SLAMing on 2.00592 meters SLAMing on 2.06592 meters 0.5384687665446425 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.06, Z:0.10 [[ 9.99698673e-01 -2.45446226e-02 -3.52235522e-04 1.14611485e+00] [ 2.45446352e-02 9.99698735e-01 3.14773006e-05 -5.83855565e-02] [ 3.51356807e-04 -4.01133080e-05 9.99999937e-01 9.79745288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1259200000000003 meters 0.3518722132381901 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.07, Z:0.10 [[ 0.99994596 -0.0095547 0.0040971 1.18284508] [ 0.00956082 0.9999532 -0.00147727 -0.06669669] [-0.00408279 0.00151636 0.99999052 0.10367919] [ 0. 0. 0. 1. ]] SLAMing on 2.1859200000000003 meters 0.2297392738204939 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.07, Z:0.10 [[ 9.99925751e-01 7.82511583e-03 9.34132856e-03 1.22335943e+00] [-7.81362138e-03 9.99968671e-01 -1.26635638e-03 -7.30226990e-02] [-9.35094529e-03 1.19327275e-03 9.99955567e-01 1.04044712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.24592 meters 0.5551169307778713 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.09, Z:0.09 [[ 9.99942098e-01 7.25075880e-03 7.95153501e-03 1.23324311e+00] [-7.25690107e-03 9.99973392e-01 7.43882709e-04 -8.67367130e-02] [-7.94592972e-03 -8.01543140e-04 9.99968109e-01 9.22921855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30592 meters 0.6037565735812238 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.09, Z:0.07 [[ 0.99994165 0.00968541 0.00478387 1.25054607] [-0.00970392 0.99994546 0.00386052 -0.09029898] [-0.00474622 -0.00390672 0.99998111 0.07406317] [ 0. 0. 0. 1. ]] SLAMing on 2.36592 meters 0.6099107888260421 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.09, Z:0.06 [[ 0.99992781 0.01184163 0.00203622 1.26694747] [-0.01185346 0.99991234 0.00589984 -0.08989529] [-0.00196618 -0.00592355 0.99998052 0.05727292] [ 0. 0. 0. 1. ]] SLAMing on 2.42592 meters 0.6021417101333366 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.09, Z:0.05 [[ 0.99997563 0.0047243 0.00514095 1.29182128] [-0.00476205 0.99996162 0.00735394 -0.08545157] [-0.00510601 -0.00737825 0.99995974 0.05101832] [ 0. 0. 0. 1. ]] SLAMing on 2.48592 meters 0.5889978234582902 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.08, Z:0.04 [[ 0.99997913 -0.00415814 0.00494417 1.32346631] [ 0.00412736 0.99997214 0.00621924 -0.07604103] [-0.00496989 -0.00619871 0.99996844 0.0404398 ] [ 0. 0. 0. 1. ]] SLAMing on 2.54592 meters 0.5707508007535881 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.06, Z:0.05 [[ 0.99994812 -0.00330695 0.00963441 1.35940349] [ 0.00327291 0.99998835 0.00354697 -0.05601051] [-0.00964603 -0.00351525 0.9999473 0.04705907] [ 0. 0. 0. 1. ]] SLAMing on 2.6059200000000002 meters SLAMing on 2.66592 meters SLAMing on 2.72592 meters SLAMing on 2.78592 meters SLAMing on 2.84592 meters 0.42915654079152005 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.04 [[ 9.99814632e-01 -1.92022697e-02 1.40532157e-03 1.41636382e+00] [ 1.92086902e-02 9.99804414e-01 -4.70753283e-03 -6.09285832e-02] [-1.31465139e-03 4.73365459e-03 9.99987932e-01 3.91033840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.90592 meters 0.3375505518957135 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.07, Z:0.07 [[ 9.99981214e-01 -6.05970901e-03 9.22291560e-04 1.45496705e+00] [ 6.07173558e-03 9.99888408e-01 -1.36493963e-02 -6.63002475e-02] [-8.39477269e-04 1.36547398e-02 9.99906417e-01 6.96618785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96592 meters 0.3419239485700063 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.09, Z:0.07 [[ 0.9999587 -0.00760408 0.00497803 1.49816442] [ 0.00765874 0.99990956 -0.01105479 -0.08891448] [-0.00489352 0.01109246 0.9999265 0.06888925] [ 0. 0. 0. 1. ]] SLAMing on 3.02592 meters 0.34369505410446144 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.11, Z:0.09 [[ 0.999894 -0.00325905 0.01419074 1.54145008] [ 0.00344225 0.99991081 -0.01290464 -0.1109603 ] [-0.01414742 0.01295212 0.99981603 0.0881591 ] [ 0. 0. 0. 1. ]] SLAMing on 3.08592 meters 0.3543200429575781 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.13, Z:0.08 [[ 0.99988139 0.0035729 0.01498107 1.56843469] [-0.0034041 0.9999306 -0.01127834 -0.13459349] [-0.01502032 0.011226 0.99982417 0.08315763] [ 0. 0. 0. 1. ]] SLAMing on 3.1459200000000003 meters 0.3549633119006069 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:0.09 [[ 9.99804869e-01 1.23606527e-03 1.97153708e-02 1.60325182e+00] [-1.07218201e-03 9.99964806e-01 -8.32086652e-03 -1.63161612e-01] [-1.97249621e-02 8.29810440e-03 9.99771007e-01 9.35327621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20592 meters 0.3756588963069068 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.19, Z:0.08 [[ 9.99838401e-01 3.72278466e-04 1.79731440e-02 1.61478749e+00] [-2.94905248e-04 9.99990680e-01 -4.30739356e-03 -1.87889547e-01] [-1.79745800e-02 4.30139711e-03 9.99829192e-01 8.23674382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26592 meters 0.3697667381273456 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:0.10 [[ 0.99965183 0.00819663 0.02508049 1.65771931] [-0.00804406 0.99994856 -0.00617819 -0.19497658] [-0.02512984 0.00597429 0.99966634 0.10197335] [ 0. 0. 0. 1. ]] SLAMing on 3.32592 meters 0.38626340205123305 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.21, Z:0.10 [[ 9.99665551e-01 1.04870319e-03 2.58396092e-02 1.68354330e+00] [-1.03367753e-03 9.99999289e-01 -5.94847671e-04 -2.13563006e-01] [-2.58402146e-02 5.67938902e-04 9.99665925e-01 9.78961239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38592 meters 0.3982407664204729 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.23, Z:0.10 [[ 9.99994826e-01 1.54096317e-03 2.82355677e-03 1.73020560e+00] [-1.53873461e-03 9.99998503e-01 -7.91279062e-04 -2.28306139e-01] [-2.82477187e-03 7.86930264e-04 9.99995701e-01 9.52034688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44592 meters 0.41669683920382233 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.25, Z:0.09 [[ 9.99978644e-01 -6.42478030e-03 1.19769130e-03 1.76154793e+00] [ 6.42048515e-03 9.99973065e-01 3.55618782e-03 -2.45617987e-01] [-1.22050676e-03 -3.54842212e-03 9.99992960e-01 8.79010129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50592 meters 0.4079583526193746 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.24, Z:0.10 [[ 9.99980793e-01 3.63835015e-04 6.18713566e-03 1.81312504e+00] [-3.56717108e-04 9.99999273e-01 -1.15150112e-03 -2.43811770e-01] [-6.18755013e-03 1.14927194e-03 9.99980197e-01 9.84038350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56592 meters 0.40664537279746976 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.27, Z:0.11 [[ 9.99958582e-01 -1.49490089e-03 8.97768606e-03 1.85168952e+00] [ 1.49346890e-03 9.99998871e-01 1.66206530e-04 -2.65293047e-01] [-8.97792438e-03 -1.52791751e-04 9.99959686e-01 1.06183461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.62592 meters 0.42825264529468515 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.27, Z:0.09 [[ 9.99973193e-01 -2.93733110e-03 6.70718101e-03 1.86774493e+00] [ 2.93574809e-03 9.99995660e-01 2.45851658e-04 -2.72826548e-01] [-6.70787406e-03 -2.26154473e-04 9.99977476e-01 9.00328006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68592 meters 0.4284625940025668 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.28, Z:0.10 [[ 9.99950950e-01 4.52115946e-03 8.81231094e-03 1.88383772e+00] [-4.51083470e-03 9.99989117e-01 -1.19115307e-03 -2.80497038e-01] [-8.81760042e-03 1.15134377e-03 9.99960461e-01 9.60230903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74592 meters 0.4503192501763962 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.28, Z:0.09 [[ 9.99963798e-01 -2.71811636e-03 8.06321963e-03 1.91339116e+00] [ 2.70967410e-03 9.99995769e-01 1.05774792e-03 -2.84874519e-01] [-8.06606060e-03 -1.03586093e-03 9.99966932e-01 8.81883709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80592 meters 0.3144400490269523 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.29, Z:0.09 [[ 9.99937514e-01 -2.82303913e-03 1.08165565e-02 1.95211198e+00] [ 2.83069728e-03 9.99995754e-01 -6.92758936e-04 -2.85401115e-01] [-1.08145549e-02 7.23334045e-04 9.99941259e-01 9.06596412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86592 meters 0.3013222629360272 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.28, Z:0.09 [[ 0.99992887 0.00595692 0.01033289 1.97799368] [-0.00592082 0.99997627 -0.00352117 -0.28122851] [-0.01035362 0.00345974 0.99994041 0.08657964] [ 0. 0. 0. 1. ]] SLAMing on 3.92592 meters 0.3050813214676428 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.28, Z:0.08 [[ 9.99953774e-01 2.88168387e-04 9.61073303e-03 2.00362028e+00] [-2.88272270e-04 9.99999958e-01 9.42385072e-06 -2.84187789e-01] [-9.61072991e-03 -1.21939229e-05 9.99953816e-01 8.30184780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98592 meters 0.10436058992978998 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.28, Z:0.09 [[ 9.99919143e-01 1.31791502e-03 1.26479291e-02 2.03932503e+00] [-1.30024663e-03 9.99998168e-01 -1.40506067e-03 -2.80826410e-01] [-1.26497576e-02 1.38850164e-03 9.99919025e-01 8.80846785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04592 meters 0.05758047959525714 Centerline is valid? [False, True] Translation: X:2.06, Y:-0.28, Z:0.09 [[ 0.9999137 -0.00415454 0.01246295 2.06358648] [ 0.00412688 0.99998897 0.00224411 -0.28272549] [-0.01247214 -0.00219248 0.99991982 0.08537589] [ 0. 0. 0. 1. ]] SLAMing on 4.10592 meters 0.05763970117965351 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.28, Z:0.08 [[ 9.99702899e-01 -3.77051626e-04 2.43715416e-02 2.12506391e+00] [ 3.01697257e-04 9.99995163e-01 3.09550300e-03 -2.81122804e-01] [-2.43725909e-02 -3.08723049e-03 9.99698177e-01 8.36471052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16592 meters 0.05736088902960875 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.28, Z:0.08 [[ 0.99949977 -0.00449473 0.03130509 2.18571941] [ 0.00437243 0.99998254 0.00397397 -0.27648075] [-0.03132241 -0.00383511 0.99950198 0.08133337] [ 0. 0. 0. 1. ]] SLAMing on 4.22592 meters 0.05419023775245451 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.27, Z:0.08 [[ 0.99924958 -0.0127125 0.03658794 2.24552138] [ 0.01255087 0.99991045 0.00464396 -0.26711025] [-0.0366437 -0.00418127 0.99931965 0.07590702] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters 0.0503860162058961 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.26, Z:0.07 [[ 0.998403 -0.02260586 0.05177289 2.3056285 ] [ 0.02229524 0.99972985 0.0065693 -0.26412038] [-0.05190741 -0.00540452 0.99863728 0.07080104] [ 0. 0. 0. 1. ]] SLAMing on 4.3459200000000004 meters 0.04851928062825018 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.26, Z:0.07 [[ 0.99813068 -0.02841368 0.0541092 2.3664037 ] [ 0.02808279 0.99958202 0.00686586 -0.26059195] [-0.05428167 -0.00533348 0.99851142 0.06912441] [ 0. 0. 0. 1. ]] SLAMing on 4.40592 meters 0.045963169158842555 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.26, Z:0.06 [[ 0.99738024 -0.03160595 0.06506699 2.42683991] [ 0.03113413 0.99948114 0.00825276 -0.25822457] [-0.06529407 -0.00620534 0.99784677 0.06207062] [ 0. 0. 0. 1. ]] SLAMing on 4.46592 meters 0.046443301321853474 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.27, Z:0.06 [[ 0.99659832 -0.03190305 0.07598672 2.48910147] [ 0.03126001 0.99946482 0.00963727 -0.26540134] [-0.07625351 -0.00722914 0.99706226 0.05839224] [ 0. 0. 0. 1. ]] SLAMing on 4.52592 meters 0.04586144683944516 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.27, Z:0.05 [[ 0.99636558 -0.0354794 0.07743931 2.55003725] [ 0.03482219 0.99934527 0.00982104 -0.26803178] [-0.07773706 -0.00708874 0.99694869 0.051609 ] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters 0.044484158758001206 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.28, Z:0.04 [[ 0.99549986 -0.03844716 0.08661316 2.6115598 ] [ 0.03763575 0.99923117 0.0109823 -0.2755657 ] [-0.08696881 -0.00767312 0.99618148 0.0429714 ] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters 0.04432331802810158 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.27, Z:0.03 [[ 0.99504 -0.03762582 0.09208529 2.67314168] [ 0.03670436 0.9992579 0.01168035 -0.27269421] [-0.09245644 -0.00824249 0.99568261 0.03456569] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters 0.0466021115285442 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.28, Z:0.03 [[ 0.99469061 -0.0343667 0.09700269 2.73603838] [ 0.03333289 0.99936913 0.01225844 -0.28444339] [-0.09736278 -0.00895998 0.99520863 0.02622921] [ 0. 0. 0. 1. ]] SLAMing on 4.76592 meters 0.04633532705602019 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.30, Z:0.02 [[ 0.99427441 -0.03595904 0.10062479 2.79882668] [ 0.03485488 0.99931156 0.01271033 -0.29584493] [-0.10101257 -0.00913029 0.99484325 0.01905722] [ 0. 0. 0. 1. ]] SLAMing on 4.82592 meters 0.05010670836213041 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.31, Z:0.01 [[ 0.99374044 -0.02805774 0.10813277 2.8614731 ] [ 0.0267362 0.99954929 0.01365225 -0.30667589] [-0.10846709 -0.01067574 0.99404272 0.0133841 ] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters 0.05282633540153626 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.30, Z:0.01 [[ 0.99403502 -0.01904272 0.107386 2.92254134] [ 0.01768821 0.9997517 0.01355196 -0.30460204] [-0.1076174 -0.01157166 0.99412504 0.00788294] [ 0. 0. 0. 1. ]] SLAMing on 4.94592 meters 0.05485617159968275 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.30, Z:0.00 [[ 9.93987493e-01 -6.11662484e-03 1.09322688e-01 2.98292276e+00] [ 4.63613892e-03 9.99894146e-01 1.37914031e-02 -2.97157667e-01] [-1.09395473e-01 -1.32016471e-02 9.93910633e-01 1.94519735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.00592 meters 0.06633840601130893 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.30, Z:-0.01 [[ 0.99313331 0.00705244 0.11677537 3.04426688] [-0.00883192 0.99985253 0.01472802 -0.29591482] [-0.11665428 -0.01565823 0.99304914 -0.00577051] [ 0. 0. 0. 1. ]] SLAMing on 5.06592 meters 0.0649817918324981 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.28, Z:-0.01 [[ 0.99368174 0.01622109 0.11105622 3.10278626] [-0.01788476 0.99974203 0.01400064 -0.27654864] [-0.11080047 -0.0158984 0.9937155 -0.01399432] [ 0. 0. 0. 1. ]] SLAMing on 5.12592 meters 0.06839454130969849 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.26, Z:-0.02 [[ 0.99360218 0.01668836 0.11169692 3.16340354] [-0.0183734 0.99973214 0.01407345 -0.26488895] [-0.11143214 -0.01603567 0.99364266 -0.02183813] [ 0. 0. 0. 1. ]] SLAMing on 5.18592 meters 0.06602885844328724 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.25, Z:-0.03 [[ 0.99295506 0.01298298 0.11777817 3.22328569] [-0.01482743 0.99978056 0.01479764 -0.25244937] [-0.11756021 -0.01643974 0.99292967 -0.0283107 ] [ 0. 0. 0. 1. ]] SLAMing on 5.24592 meters 0.06519687137401228 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.24, Z:-0.03 [[ 0.99301154 0.01035185 0.1175624 3.28305373] [-0.01217096 0.9998169 0.01476621 -0.24084764] [-0.11738802 -0.01609386 0.99295571 -0.03483614] [ 0. 0. 0. 1. ]] SLAMing on 5.3059199999999995 meters 0.06625819137611308 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.23, Z:-0.04 [[ 0.99321048 0.0092029 0.11596655 3.34419393] [-0.01096438 0.99983387 0.0145608 -0.23446938] [-0.11581329 -0.01573344 0.99314638 -0.04250773] [ 0. 0. 0. 1. ]] SLAMing on 5.36592 meters 0.06498364333988027 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.22, Z:-0.05 [[ 0.99292141 0.00998482 0.11835273 3.40490605] [-0.01182441 0.9998198 0.01485129 -0.21835075] [-0.11818312 -0.01614561 0.99286055 -0.04715285] [ 0. 0. 0. 1. ]] SLAMing on 5.42592 meters 0.06537978695175042 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.21, Z:-0.05 [[ 0.99321174 0.00812759 0.11603609 3.46530054] [-0.00988167 0.99984532 0.01454943 -0.20724704] [-0.11589989 -0.01559729 0.99313843 -0.0531998 ] [ 0. 0. 0. 1. ]] SLAMing on 5.48592 meters 0.05692435431877339 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.18, Z:-0.06 [[ 9.93325949e-01 -5.38339895e-05 1.15341046e-01 3.52313946e+00] [-1.62416252e-03 9.99894215e-01 1.44541005e-02 -1.84580901e-01] [-1.15329622e-01 -1.45449657e-02 9.93220782e-01 -6.24602937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54592 meters 0.05683732738285594 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.18, Z:-0.07 [[ 0.99286784 -0.01097482 0.118714 3.58302758] [ 0.00927427 0.99984646 0.01486779 -0.17814054] [-0.11885895 -0.01366076 0.99281717 -0.07140994] [ 0. 0. 0. 1. ]] SLAMing on 5.60592 meters 0.05299207049482428 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.17, Z:-0.08 [[ 0.9929187 -0.01773 0.11746533 3.64381766] [ 0.01611271 0.99976206 0.01470368 -0.1713691 ] [-0.11769807 -0.01270688 0.99296813 -0.07759493] [ 0. 0. 0. 1. ]] SLAMing on 5.66592 meters 0.05464197060198486 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.17, Z:-0.08 [[ 0.99289429 -0.01391505 0.11818335 3.7053857 ] [ 0.0122518 0.99981558 0.01478839 -0.17025936] [-0.11836734 -0.01323535 0.99288166 -0.08370042] [ 0. 0. 0. 1. ]] SLAMing on 5.72592 meters 0.05737095327018526 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.17, Z:-0.09 [[ 9.92721127e-01 -5.20236446e-03 1.20323315e-01 3.76626948e+00] [ 3.41597389e-03 9.99880936e-01 1.50480860e-02 -1.66816042e-01] [-1.20387275e-01 -1.45275316e-02 9.92620700e-01 -8.93939920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78592 meters 0.0623732535232119 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.16, Z:-0.10 [[ 0.99315502 0.00654571 0.11662016 3.82702695] [-0.0083016 0.99985929 0.0145771 -0.15855659] [-0.11650834 -0.01544545 0.99306961 -0.0951719 ] [ 0. 0. 0. 1. ]] SLAMing on 5.84592 meters 0.06709395330770809 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.15, Z:-0.10 [[ 0.99260803 0.01346166 0.12061547 3.88698225] [-0.01538985 0.99976801 0.01506894 -0.14826645] [-0.12038463 -0.01681381 0.99258493 -0.10225811] [ 0. 0. 0. 1. ]] SLAMing on 5.90592 meters 0.06467964080063723 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.12, Z:-0.11 [[ 0.99259389 0.01608104 0.12041085 3.94529417] [-0.01802044 0.99972457 0.01503492 -0.12267291] [-0.12013591 -0.01709343 0.99261028 -0.10784592] [ 0. 0. 0. 1. ]] SLAMing on 5.96592 meters 0.06890770188997085 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.10, Z:-0.12 [[ 0.99270355 0.01877953 0.11910918 4.00455157] [-0.02069518 0.99967529 0.01486655 -0.10382342] [-0.11879132 -0.01722306 0.99276986 -0.11539485] [ 0. 0. 0. 1. ]] SLAMing on 6.02592 meters 0.06633924587972494 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.07, Z:-0.12 [[ 0.99302264 0.01686553 0.11671157 4.06207415] [-0.01868897 0.99971952 0.01454671 -0.07319325] [-0.11643349 -0.01662643 0.99305932 -0.12281636] [ 0. 0. 0. 1. ]] SLAMing on 6.08592 meters 0.0643415659509704 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.05, Z:-0.13 [[ 0.99325524 0.01161631 0.11536505 4.12081608] [-0.01336238 0.99980741 0.0143733 -0.05018202] [-0.11517587 -0.01581791 0.99321917 -0.12955201] [ 0. 0. 0. 1. ]] SLAMing on 6.14592 meters 0.05482847914030768 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.02, Z:-0.14 [[ 9.92702156e-01 2.84274840e-04 1.20591661e-01 4.17767891e+00] [-2.10970582e-03 9.99885120e-01 1.50098881e-02 -1.50231899e-02] [-1.20573540e-01 -1.51547612e-02 9.92588714e-01 -1.36200117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.20592 meters 0.052375858072363085 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.00, Z:-0.14 [[ 9.92283666e-01 -1.29279238e-02 1.23312594e-01 4.23662792e+00] [ 1.11198786e-02 9.99820511e-01 1.53393050e-02 -1.40222818e-03] [-1.23488766e-01 -1.38497207e-02 9.92249318e-01 -1.44139190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters 0.04268016262082771 Centerline is valid? [True, True] Translation: X:4.29, Y:0.02, Z:-0.16 [[ 0.99167482 -0.03971422 0.1224901 4.29461352] [ 0.03813275 0.99915663 0.01522931 0.01843423] [-0.12299161 -0.01043163 0.99235288 -0.15613327] [ 0. 0. 0. 1. ]] SLAMing on 6.32592 meters 0.03383893885250267 Centerline is valid? [True, True] Translation: X:4.36, Y:0.02, Z:-0.16 [[ 0.98987573 -0.06487689 0.12624191 4.3552255 ] [ 0.06340014 0.99786492 0.01568503 0.02198416] [-0.12698997 -0.00752248 0.99187548 -0.16361693] [ 0. 0. 0. 1. ]] SLAMing on 6.38592 meters 0.032312918870583913 Centerline is valid? [True, True] Translation: X:4.42, Y:0.02, Z:-0.17 [[ 0.98950435 -0.06922569 0.12684218 4.41738968] [ 0.0677716 0.99757655 0.01574894 0.01814772] [-0.12762501 -0.00698735 0.99179788 -0.17169645] [ 0. 0. 0. 1. ]] SLAMing on 6.44592 meters 0.031347732887908555 Centerline is valid? [True, True] Translation: X:4.48, Y:0.02, Z:-0.18 [[ 0.9894105 -0.07113708 0.12651634 4.48012796] [ 0.06970767 0.99744398 0.01569558 0.01684916] [-0.1273095 -0.00671021 0.99184034 -0.17995991] [ 0. 0. 0. 1. ]] SLAMing on 6.50592 meters 0.03136193137047088 Centerline is valid? [True, True] Translation: X:4.54, Y:0.02, Z:-0.19 [[ 0.98931921 -0.07210949 0.1266796 4.54279399] [ 0.0706883 0.99737513 0.01568458 0.01548812] [-0.12747809 -0.00656229 0.99181968 -0.18633905] [ 0. 0. 0. 1. ]] SLAMing on 6.56592 meters 0.030900250864577674 Centerline is valid? [True, True] Translation: X:4.61, Y:0.02, Z:-0.19 [[ 0.98930511 -0.07174518 0.12699618 4.60585903] [ 0.07032079 0.99740134 0.01566994 0.01574554] [-0.1277904 -0.00657188 0.99177942 -0.19258811] [ 0. 0. 0. 1. ]] SLAMing on 6.62592 meters 0.03188688390853091 Centerline is valid? [True, True] Translation: X:4.67, Y:0.00, Z:-0.20 [[ 9.89708783e-01 -6.94299950e-02 1.25123943e-01 4.66966901e+00] [ 6.80364947e-02 9.97564260e-01 1.53812710e-02 3.12968453e-03] [-1.25887095e-01 -6.70998454e-03 9.92021883e-01 -2.00685140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68592 meters 0.031789556900439046 Centerline is valid? [True, True] Translation: X:4.73, Y:0.00, Z:-0.21 [[ 9.89817914e-01 -6.88779143e-02 1.24564559e-01 4.73304873e+00] [ 6.74991851e-02 9.97602619e-01 1.52602401e-02 4.21228984e-04] [-1.25317024e-01 -6.69685280e-03 9.92094147e-01 -2.08849910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.74592 meters 0.03195584308137997 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.00, Z:-0.22 [[ 9.89827663e-01 -6.82187001e-02 1.24849535e-01 4.79635767e+00] [ 6.68358693e-02 9.97647646e-01 1.52362061e-02 -4.58281609e-03] [-1.25595239e-01 -6.73679107e-03 9.92058694e-01 -2.16159093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8059199999999995 meters 0.03248608208837001 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.01, Z:-0.22 [[ 0.9903489 -0.06591157 0.12192095 4.8596257 ] [ 0.06458278 0.99780226 0.01482294 -0.0116497 ] [-0.12263 -0.00680589 0.99242912 -0.22363122] [ 0. 0. 0. 1. ]] SLAMing on 6.86592 meters 0.03265521576131091 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.02, Z:-0.23 [[ 0.99066921 -0.06244435 0.12114129 4.92171466] [ 0.06111289 0.99802292 0.014679 -0.01504087] [-0.1218184 -0.00713874 0.99252673 -0.23090243] [ 0. 0. 0. 1. ]] SLAMing on 6.92592 meters 0.0344328749517362 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.02, Z:-0.24 [[ 0.99063644 -0.06096111 0.12216047 4.98469646] [ 0.05960161 0.99811318 0.01475562 -0.02128121] [-0.12282949 -0.00733649 0.99240067 -0.23798784] [ 0. 0. 0. 1. ]] SLAMing on 6.98592 meters 0.033788793711695214 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.03, Z:-0.24 [[ 0.99030193 -0.06362682 0.12350592 5.04745782] [ 0.06226362 0.99794896 0.01487001 -0.029407 ] [-0.12419873 -0.00703587 0.99223242 -0.24354077] [ 0. 0. 0. 1. ]] SLAMing on 7.04592 meters 0.031861981158580216 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.03, Z:-0.25 [[ 0.98985335 -0.06853339 0.12447296 5.10882228] [ 0.06718803 0.99762788 0.01497928 -0.03240222] [-0.12520427 -0.0064642 0.99210993 -0.25222477] [ 0. 0. 0. 1. ]] SLAMing on 7.10592 meters 0.032520010121155365 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.04, Z:-0.26 [[ 0.98987695 -0.06735558 0.1249274 5.17164914] [ 0.06599227 0.99770702 0.015024 -0.0386174 ] [-0.12565289 -0.00662767 0.99205213 -0.25801415] [ 0. 0. 0. 1. ]] SLAMing on 7.16592 meters 0.033311221921390244 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.04, Z:-0.27 [[ 0.9899629 -0.06454306 0.12572845 5.23326429] [ 0.06314577 0.9978905 0.01507165 -0.03919507] [-0.126436 -0.00698115 0.9919502 -0.26675798] [ 0. 0. 0. 1. ]] SLAMing on 7.2259199999999995 meters 0.034370164151356984 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.04, Z:-0.27 [[ 0.99064321 -0.06172726 0.12172011 5.29500656] [ 0.06040006 0.99806795 0.0145669 -0.04145662] [-0.12238412 -0.0070787 0.99245757 -0.2738764 ] [ 0. 0. 0. 1. ]] SLAMing on 7.28592 meters 0.03538997349949672 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.03, Z:-0.28 [[ 0.99126748 -0.05707923 0.1188728 5.35592303] [ 0.05578557 0.99834201 0.01418465 -0.03471199] [-0.11948536 -0.00742939 0.99280817 -0.2789119 ] [ 0. 0. 0. 1. ]] SLAMing on 7.34592 meters 0.03789574487585855 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.03, Z:-0.29 [[ 0.99119282 -0.05254363 0.12155643 5.41592171] [ 0.05115754 0.99858536 0.01449789 -0.02625302] [-0.12214624 -0.00815168 0.99247864 -0.28819356] [ 0. 0. 0. 1. ]] SLAMing on 7.40592 meters 0.03747125986271707 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.02, Z:-0.29 [[ 0.99114327 -0.05311829 0.12171055 5.47752944] [ 0.05173388 0.99855551 0.01450875 -0.01697422] [-0.12230542 -0.00808369 0.99245959 -0.29436807] [ 0. 0. 0. 1. ]] SLAMing on 7.46592 meters 0.035843072395796254 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.01, Z:-0.30 [[ 0.99109404 -0.05626531 0.12069308 5.53758821] [ 0.05492921 0.99838682 0.0143714 -0.00677324] [-0.12130699 -0.00761383 0.99258584 -0.29990045] [ 0. 0. 0. 1. ]] SLAMing on 7.52592 meters 0.036759128709655926 Centerline is valid? [True, True] Translation: X:5.60, Y:0.00, Z:-0.31 [[ 9.91018612e-01 -5.32288990e-02 1.22673532e-01 5.59821071e+00] [ 5.18264329e-02 9.98549415e-01 1.45974953e-02 1.47054671e-03] [-1.23272592e-01 -8.10865793e-03 9.92339719e-01 -3.08288476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.58592 meters 0.040230174312991925 Centerline is valid? [True, True] Translation: X:5.66, Y:0.00, Z:-0.31 [[ 9.91802370e-01 -4.32805328e-02 1.20228341e-01 5.65957640e+00] [ 4.18662594e-02 9.99021376e-01 1.42655399e-02 3.16597501e-03] [-1.20728103e-01 -9.11508534e-03 9.92643763e-01 -3.13994536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64592 meters 0.042938963203518365 Centerline is valid? [True, True] Translation: X:5.72, Y:0.01, Z:-0.32 [[ 0.99182002 -0.03828161 0.1217685 5.71964485] [ 0.0367941 0.99921851 0.01444185 0.00891951] [-0.12222619 -0.00984335 0.99245346 -0.32326454] [ 0. 0. 0. 1. ]] SLAMing on 7.70592 meters 0.04385130780271223 Centerline is valid? [True, True] Translation: X:5.78, Y:0.02, Z:-0.33 [[ 0.99199697 -0.03080966 0.12244496 5.77988206] [ 0.02924975 0.99946671 0.01451725 0.01818491] [-0.12282693 -0.01081959 0.99236913 -0.32924928] [ 0. 0. 0. 1. ]] SLAMing on 7.7659199999999995 meters 0.04958749756729709 Centerline is valid? [True, True] Translation: X:5.84, Y:0.02, Z:-0.34 [[ 0.99292625 -0.01705685 0.1175012 5.83998703] [ 0.01552681 0.99978249 0.01392466 0.02463333] [-0.11771315 -0.01200174 0.99297511 -0.33556195] [ 0. 0. 0. 1. ]] SLAMing on 7.82592 meters 0.059180486047508495 Centerline is valid? [True, True] Translation: X:5.90, Y:0.03, Z:-0.34 [[ 9.93123716e-01 1.27011299e-03 1.17062683e-01 5.90113538e+00] [-2.91311661e-03 9.99899630e-01 1.38652185e-02 2.65239282e-02] [-1.17033323e-01 -1.41108945e-02 9.93027736e-01 -3.39737544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88592 meters 0.06303855121316691 Centerline is valid? [True, True] Translation: X:5.96, Y:0.05, Z:-0.34 [[ 0.99306837 0.01865149 0.11604881 5.96056693] [-0.02038142 0.99969788 0.01373814 0.0468485 ] [-0.11575751 -0.01600815 0.9931485 -0.34394563] [ 0. 0. 0. 1. ]] SLAMing on 7.94592 meters 0.07114224230385494 Centerline is valid? [True, True] Translation: X:6.02, Y:0.06, Z:-0.35 [[ 0.99246193 0.02872446 0.11913951 6.01998509] [-0.03061829 0.99943175 0.01409568 0.06164363] [-0.11866692 -0.01763727 0.99277746 -0.35195293] [ 0. 0. 0. 1. ]] SLAMing on 8.00592 meters 0.06821285784220507 Centerline is valid? [True, True] Translation: X:6.08, Y:0.08, Z:-0.36 [[ 0.99220532 0.0292242 0.12113858 6.07946174] [-0.03118357 0.99941123 0.01431008 0.0827924 ] [-0.12064905 -0.01797607 0.99253245 -0.36045955] [ 0. 0. 0. 1. ]] SLAMing on 8.065919999999998 meters 0.06743693800566804 Centerline is valid? [True, True] Translation: X:6.14, Y:0.11, Z:-0.37 [[ 0.99258824 0.02208573 0.11950235 6.13755943] [-0.02393704 0.99961433 0.01407848 0.11040553] [-0.11914533 -0.01683467 0.9927341 -0.36768031] [ 0. 0. 0. 1. ]] SLAMing on 8.125919999999999 meters 0.06618497113673802 Centerline is valid? [True, True] Translation: X:6.20, Y:0.13, Z:-0.37 [[ 0.99244844 0.01886325 0.12120344 6.19707255] [-0.02074302 0.99968305 0.01426614 0.12622915] [-0.12089592 -0.01667253 0.99252517 -0.37417815] [ 0. 0. 0. 1. ]] SLAMing on 8.18592 meters 0.06409151868392914 Centerline is valid? [True, True] Translation: X:6.26, Y:0.15, Z:-0.38 [[ 0.99212104 0.01459067 0.1244305 6.25600924] [-0.01653915 0.99975603 0.01464052 0.14518819] [-0.12418653 -0.01658314 0.99212031 -0.38052619] [ 0. 0. 0. 1. ]] SLAMing on 8.245919999999998 meters 0.06047228739247198 Centerline is valid? [True, True] Translation: X:6.31, Y:0.17, Z:-0.39 [[ 0.99264025 0.00857596 0.12079649 6.31437935] [-0.01036679 0.99984537 0.01420455 0.16767165] [-0.120656 -0.01535228 0.99257566 -0.38744097] [ 0. 0. 0. 1. ]] SLAMing on 8.305919999999999 meters 0.05865297780545355 Centerline is valid? [True, True] Translation: X:6.37, Y:0.19, Z:-0.39 [[ 9.92533749e-01 3.02475951e-03 1.21932802e-01 6.37318481e+00] [-4.80757579e-03 9.99885766e-01 1.43297556e-02 1.85047146e-01] [-1.21875529e-01 -1.48089672e-02 9.92434910e-01 -3.93962577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36592 meters 0.056069682979371635 Centerline is valid? [True, True] Translation: X:6.43, Y:0.20, Z:-0.40 [[ 9.92219262e-01 -2.06902169e-03 1.24485565e-01 6.43247852e+00] [ 2.49994688e-04 9.99893000e-01 1.46261999e-02 2.04974835e-01] [-1.24502507e-01 -1.44812765e-02 9.92113612e-01 -4.00854878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42592 meters 0.05514111763889984 Centerline is valid? [True, True] Translation: X:6.49, Y:0.22, Z:-0.41 [[ 9.92189482e-01 -3.66947956e-03 1.24685873e-01 6.49230088e+00] [ 1.85792474e-03 9.99891072e-01 1.46421276e-02 2.17367081e-01] [-1.24726021e-01 -1.42961081e-02 9.92088222e-01 -4.08403121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485919999999998 meters 0.04923959186544762 Centerline is valid? [True, True] Translation: X:6.55, Y:0.24, Z:-0.42 [[ 0.99240428 -0.01090135 0.12253536 6.55105168] [ 0.00920725 0.99985416 0.01438319 0.24089969] [-0.12267429 -0.01314573 0.99235992 -0.41695597] [ 0. 0. 0. 1. ]] SLAMing on 8.545919999999999 meters 0.04650995390785379 Centerline is valid? [True, True] Translation: X:6.61, Y:0.25, Z:-0.43 [[ 0.99189313 -0.02126833 0.12528241 6.61030589] [ 0.01957944 0.99970028 0.01469676 0.25407196] [-0.12555743 -0.01212465 0.99201226 -0.42521329] [ 0. 0. 0. 1. ]] SLAMing on 8.60592 meters 0.04287785559636319 Centerline is valid? [True, True] Translation: X:6.67, Y:0.27, Z:-0.43 [[ 0.99116671 -0.03222467 0.12864725 6.67005909] [ 0.03053545 0.99941989 0.01508204 0.26713021] [-0.12905864 -0.01102052 0.99157572 -0.43347525] [ 0. 0. 0. 1. ]] SLAMing on 8.66592 meters 0.038695346674865155 Centerline is valid? [True, True] Translation: X:6.73, Y:0.27, Z:-0.44 [[ 0.99077127 -0.04184857 0.12892242 6.73077301] [ 0.04023373 0.9990761 0.0151059 0.27280179] [-0.12943547 -0.00977946 0.99153962 -0.44138463] [ 0. 0. 0. 1. ]] SLAMing on 8.725919999999999 meters 0.036797954466197304 Centerline is valid? [True, True] Translation: X:6.79, Y:0.27, Z:-0.45 [[ 0.99053451 -0.04803781 0.12858362 6.7915769 ] [ 0.046484 0.99880551 0.01505965 0.27298028] [-0.12915346 -0.00894002 0.99158432 -0.44803614] [ 0. 0. 0. 1. ]] SLAMing on 8.785919999999999 meters 0.03695118235976997 Centerline is valid? [True, True] Translation: X:6.86, Y:0.27, Z:-0.45 [[ 0.99089346 -0.04724082 0.12608904 6.85514109] [ 0.04574213 0.99884428 0.01475665 0.27215094] [-0.12664043 -0.00885469 0.99190917 -0.45303464] [ 0. 0. 0. 1. ]] SLAMing on 8.84592 meters 0.038452059030982824 Centerline is valid? [True, True] Translation: X:6.92, Y:0.27, Z:-0.46 [[ 0.99059481 -0.04480651 0.12928382 6.916205 ] [ 0.04321751 0.998952 0.01507159 0.27408509] [-0.12982364 -0.00934251 0.99149309 -0.46145764] [ 0. 0. 0. 1. ]] SLAMing on 8.905919999999998 meters 0.040248417659858114 Centerline is valid? [True, True] Translation: X:6.98, Y:0.27, Z:-0.47 [[ 0.99085578 -0.04063 0.12866243 6.97799159] [ 0.03902703 0.99912622 0.01495649 0.2712629 ] [-0.12915769 -0.00979841 0.99157566 -0.46852467] [ 0. 0. 0. 1. ]] SLAMing on 8.965919999999999 meters 0.03847236687767936 Centerline is valid? [True, True] Translation: X:7.04, Y:0.28, Z:-0.47 [[ 0.99116372 -0.03821033 0.12702148 7.0388414 ] [ 0.03662972 0.99921994 0.01475714 0.28255178] [-0.12748627 -0.00997398 0.99179018 -0.4747974 ] [ 0. 0. 0. 1. ]] SLAMing on 9.02592 meters 0.04066172966854069 Centerline is valid? [True, True] Translation: X:7.10, Y:0.29, Z:-0.48 [[ 0.99124178 -0.03639111 0.12694655 7.10030235] [ 0.03479984 0.99928573 0.01473104 0.2863789 ] [-0.12739195 -0.0101843 0.99180017 -0.48144794] [ 0. 0. 0. 1. ]] SLAMing on 9.08592 meters 0.04337633655775344 Centerline is valid? [True, True] Translation: X:7.16, Y:0.30, Z:-0.49 [[ 0.99132292 -0.03075679 0.12780022 7.16021552] [ 0.02909937 0.99946671 0.01481628 0.29676445] [-0.12818776 -0.01096881 0.99168926 -0.488513 ] [ 0. 0. 0. 1. ]] SLAMing on 9.145919999999998 meters 0.04460770440678796 Centerline is valid? [True, True] Translation: X:7.22, Y:0.31, Z:-0.49 [[ 0.99192458 -0.02720364 0.12387734 7.22037248] [ 0.02562068 0.99956868 0.01435388 0.30656154] [-0.12421439 -0.01106414 0.99219372 -0.49448469] [ 0. 0. 0. 1. ]] SLAMing on 9.205919999999999 meters 0.04587287305411971 Centerline is valid? [True, True] Translation: X:7.28, Y:0.32, Z:-0.50 [[ 0.99204592 -0.02235808 0.12387496 7.2804673 ] [ 0.02074111 0.99968221 0.01432773 0.32195598] [-0.12415593 -0.01164447 0.99219439 -0.49890538] [ 0. 0. 0. 1. ]] SLAMing on 9.26592 meters 0.04613254139457212 Centerline is valid? [True, True] Translation: X:7.34, Y:0.34, Z:-0.51 [[ 0.9920371 -0.02169398 0.12406351 7.34051034] [ 0.02006806 0.99969577 0.01434043 0.34213187] [-0.12433687 -0.01173653 0.99217065 -0.50728456] [ 0. 0. 0. 1. ]] SLAMing on 9.325919999999998 meters 0.045260548425052304 Centerline is valid? [True, True] Translation: X:7.40, Y:0.35, Z:-0.51 [[ 0.99190867 -0.02374892 0.12471239 7.40027737] [ 0.02212739 0.99965186 0.01437144 0.35404146] [-0.12501028 -0.01149559 0.99208885 -0.51349038] [ 0. 0. 0. 1. ]] SLAMing on 9.385919999999999 meters 0.041178633176555464 Centerline is valid? [True, True] Translation: X:7.46, Y:0.37, Z:-0.52 [[ 0.99117668 -0.02966627 0.12918478 7.45885463] [ 0.02797604 0.99949785 0.0148793 0.37456281] [-0.12956133 -0.01113394 0.9915089 -0.52264318] [ 0. 0. 0. 1. ]] SLAMing on 9.44592 meters 0.042941542190307484 Centerline is valid? [True, True] Translation: X:7.52, Y:0.38, Z:-0.53 [[ 0.99137356 -0.0298143 0.12763059 7.52030367] [ 0.02816773 0.99949531 0.014687 0.38205214] [-0.12800405 -0.01096524 0.99171303 -0.52863052] [ 0. 0. 0. 1. ]] SLAMing on 9.50592 meters 0.0420963834987353 Centerline is valid? [True, True] Translation: X:7.58, Y:0.39, Z:-0.54 [[ 0.9914791 -0.02887218 0.12702593 7.58125988] [ 0.02724003 0.99952277 0.01456774 0.39235301] [-0.12738591 -0.01098342 0.99179241 -0.5350836 ] [ 0. 0. 0. 1. ]] SLAMing on 9.565919999999998 meters 0.04193077341801345 Centerline is valid? [True, True] Translation: X:7.64, Y:0.40, Z:-0.54 [[ 0.99144014 -0.02855231 0.12740182 7.64315825] [ 0.02691422 0.99953169 0.01456098 0.40463427] [-0.1277579 -0.01100742 0.9917443 -0.54272196] [ 0. 0. 0. 1. ]] SLAMing on 9.625919999999999 meters 0.04567880474516863 Centerline is valid? [True, True] Translation: X:7.70, Y:0.42, Z:-0.55 [[ 0.99166437 -0.0206827 0.12717706 7.70265397] [ 0.01899306 0.9997147 0.01448419 0.422178 ] [-0.12744035 -0.01194797 0.99177427 -0.54752747] [ 0. 0. 0. 1. ]] SLAMing on 9.68592 meters 0.04881872504807421 Centerline is valid? [True, True] Translation: X:7.76, Y:0.44, Z:-0.55 [[ 0.99156844 -0.01224692 0.129004 7.76098961] [ 0.01043815 0.99983764 0.01468784 0.44315826] [-0.12916294 -0.01321743 0.99153529 -0.55446413] [ 0. 0. 0. 1. ]] SLAMing on 9.745919999999998 meters 0.048500809237344296 Centerline is valid? [True, True] Translation: X:7.82, Y:0.47, Z:-0.56 [[ 0.99152773 -0.01217454 0.1293234 7.82080612] [ 0.01035722 0.99983807 0.01471577 0.46631652] [-0.12948162 -0.01325166 0.99149327 -0.56226288] [ 0. 0. 0. 1. ]] SLAMing on 9.805919999999999 meters 0.04531246346362755 Centerline is valid? [True, True] Translation: X:7.88, Y:0.49, Z:-0.57 [[ 0.99118108 -0.01913004 0.13112631 7.87894003] [ 0.01732706 0.99973919 0.01487721 0.49124093] [-0.13137672 -0.01247398 0.99125403 -0.57025127] [ 0. 0. 0. 1. ]] SLAMing on 9.86592 meters 0.04275270459734336 Centerline is valid? [True, True] Translation: X:7.94, Y:0.51, Z:-0.58 [[ 0.99103423 -0.02537221 0.131177 7.93865 ] [ 0.02362258 0.99961025 0.01487709 0.50856841] [-0.13150333 -0.01164497 0.99124733 -0.57632042] [ 0. 0. 0. 1. ]] SLAMing on 9.92592 meters 0.03977078229961062 Centerline is valid? [True, True] Translation: X:8.00, Y:0.53, Z:-0.58 [[ 0.99051753 -0.03309429 0.13334087 7.99799023] [ 0.03135676 0.99939403 0.01511029 0.52828022] [-0.13376013 -0.01078587 0.99095504 -0.58454542] [ 0. 0. 0. 1. ]] SLAMing on 9.985919999999998 meters 0.036764651968171434 Centerline is valid? [True, True] Translation: X:8.06, Y:0.55, Z:-0.59 [[ 0.99083675 -0.03971334 0.1290945 8.05684281] [ 0.03814236 0.99916536 0.01461991 0.55063501] [-0.12956736 -0.00956197 0.99152452 -0.59176147] [ 0. 0. 0. 1. ]] SLAMing on 10.045919999999999 meters 0.035221262630063546 Centerline is valid? [True, True] Translation: X:8.12, Y:0.57, Z:-0.60 [[ 0.99069549 -0.04350698 0.12895579 8.11630573] [ 0.04197281 0.99901219 0.01459204 0.57144274] [-0.12946327 -0.00904364 0.99154298 -0.59622937] [ 0. 0. 0. 1. ]] SLAMing on 10.10592 meters 0.035835843284364094 Centerline is valid? [True, True] Translation: X:8.18, Y:0.59, Z:-0.60 [[ 0.990269 -0.04236256 0.13256215 8.17630531] [ 0.04073197 0.99905767 0.01498939 0.59176633] [-0.13307222 -0.00944401 0.99106135 -0.60455143] [ 0. 0. 0. 1. ]] SLAMing on 10.165919999999998 meters 0.0340710440188121 Centerline is valid? [True, True] Translation: X:8.24, Y:0.61, Z:-0.61 [[ 0.9903622 -0.04481594 0.13105051 8.23563623] [ 0.04324578 0.99895477 0.0148043 0.61139128] [-0.131577 -0.00899424 0.99126515 -0.61065974] [ 0. 0. 0. 1. ]] SLAMing on 10.225919999999999 meters 0.03141761836066937 Centerline is valid? [True, True] Translation: X:8.29, Y:0.63, Z:-0.62 [[ 9.89414261e-01 -5.31854906e-02 1.35021198e-01 8.29485951e+00] [ 5.15969529e-02 9.98551702e-01 1.52398377e-02 6.28479512e-01] [-1.35636185e-01 -8.11183040e-03 9.90725504e-01 -6.19365860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters 0.02962906512563859 Centerline is valid? [True, True] Translation: X:8.35, Y:0.64, Z:-0.63 [[ 9.88648940e-01 -6.10421423e-02 1.37284849e-01 8.35461913e+00] [ 5.94794993e-02 9.98109803e-01 1.54599484e-02 6.37222776e-01] [-1.37969062e-01 -7.11882748e-03 9.90410955e-01 -6.27907235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters 0.027265855563578568 Centerline is valid? [True, True] Translation: X:8.41, Y:0.65, Z:-0.63 [[ 9.88361413e-01 -6.89742205e-02 1.35588618e-01 8.41479245e+00] [ 6.75262095e-02 9.97600866e-01 1.52552789e-02 6.48544156e-01] [-1.36315544e-01 -5.92194354e-03 9.90647769e-01 -6.34642046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters 0.024937221865856767 Centerline is valid? [True, True] Translation: X:8.48, Y:0.65, Z:-0.64 [[ 9.88148975e-01 -7.75579148e-02 1.32462722e-01 8.47596448e+00] [ 7.62567273e-02 9.96977245e-01 1.48756515e-02 6.52920939e-01] [-1.33216044e-01 -4.59818615e-03 9.91076355e-01 -6.41030976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters 0.024540189933364848 Centerline is valid? [True, True] Translation: X:8.54, Y:0.66, Z:-0.65 [[ 9.87603998e-01 -8.00818487e-02 1.35000888e-01 8.53731800e+00] [ 7.87557660e-02 9.96778914e-01 1.51435209e-02 6.56112520e-01] [-1.35778760e-01 -4.32370342e-03 9.90729748e-01 -6.48502506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters 0.024103231998273755 Centerline is valid? [True, True] Translation: X:8.60, Y:0.66, Z:-0.65 [[ 9.87829861e-01 -8.16959181e-02 1.32355365e-01 8.59918637e+00] [ 8.04438372e-02 9.96649428e-01 1.47887134e-02 6.59008304e-01] [-1.33120077e-01 -3.96155923e-03 9.91091999e-01 -6.54861511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters 0.02468885492794511 Centerline is valid? [True, True] Translation: X:8.66, Y:0.66, Z:-0.66 [[ 9.87828043e-01 -7.73063099e-02 1.34979596e-01 8.66059494e+00] [ 7.59707144e-02 9.96996832e-01 1.50255592e-02 6.63336797e-01] [-1.35735800e-01 -4.58817239e-03 9.90734445e-01 -6.61135403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters 0.02713162735338091 Centerline is valid? [True, True] Translation: X:8.72, Y:0.67, Z:-0.67 [[ 9.88346097e-01 -6.85540116e-02 1.35912987e-01 8.72115396e+00] [ 6.71218753e-02 9.97630554e-01 1.50974026e-02 6.66839504e-01] [-1.36625936e-01 -5.79872438e-03 9.90605738e-01 -6.70072326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters 0.02905283502125321 Centerline is valid? [True, True] Translation: X:8.78, Y:0.68, Z:-0.67 [[ 9.89406642e-01 -5.92101811e-02 1.32546787e-01 8.78221440e+00] [ 5.77708198e-02 9.98221903e-01 1.46821126e-02 6.75183052e-01] [-1.33180437e-01 -6.86924314e-03 9.91068002e-01 -6.74264345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters 0.030481693599850847 Centerline is valid? [True, True] Translation: X:8.84, Y:0.68, Z:-0.68 [[ 9.89697373e-01 -5.59700867e-02 1.31781864e-01 8.84310701e+00] [ 5.45204445e-02 9.98406118e-01 1.45857424e-02 6.82507786e-01] [-1.32388185e-01 -7.25066512e-03 9.91171426e-01 -6.82834905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters 0.030952252756169755 Centerline is valid? [True, True] Translation: X:8.90, Y:0.70, Z:-0.69 [[ 9.89669321e-01 -5.40395546e-02 1.32794430e-01 8.90393417e+00] [ 5.25530964e-02 9.98510287e-01 1.46757958e-02 6.95014607e-01] [-1.33389678e-01 -7.54542638e-03 9.91034944e-01 -6.89057977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters 0.03209197508364339 Centerline is valid? [True, True] Translation: X:8.96, Y:0.70, Z:-0.70 [[ 9.89852849e-01 -4.97766705e-02 1.33092525e-01 8.96402158e+00] [ 4.82525971e-02 9.98727661e-01 1.46542190e-02 7.01946977e-01] [-1.33652625e-01 -8.08346042e-03 9.90995274e-01 -6.97423309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters 0.03252646061095369 Centerline is valid? [True, True] Translation: X:9.02, Y:0.71, Z:-0.70 [[ 9.90268969e-01 -4.81113006e-02 1.30585878e-01 9.02498754e+00] [ 4.66360858e-02 9.98809106e-01 1.43333761e-02 7.10432178e-01] [-1.31119962e-01 -8.10388334e-03 9.91333386e-01 -7.04634183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters 0.03161217545682758 Centerline is valid? [True, True] Translation: X:9.09, Y:0.73, Z:-0.71 [[ 9.90173089e-01 -5.00792739e-02 1.30573047e-01 9.08539962e+00] [ 4.86285174e-02 9.98714883e-01 1.42775780e-02 7.27315994e-01] [-1.31120256e-01 -7.78769978e-03 9.91335882e-01 -7.12159468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters 0.031544612919078424 Centerline is valid? [True, True] Translation: X:9.15, Y:0.74, Z:-0.72 [[ 9.90051224e-01 -4.96649904e-02 1.31650909e-01 9.14690227e+00] [ 4.81938838e-02 9.98735070e-01 1.43390884e-02 7.41159232e-01] [-1.32196530e-01 -7.85166341e-03 9.91192428e-01 -7.20056959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters 0.030488344770236125 Centerline is valid? [True, True] Translation: X:9.21, Y:0.76, Z:-0.73 [[ 9.89707503e-01 -4.96891385e-02 1.34201518e-01 9.20653345e+00] [ 4.81689744e-02 9.98733182e-01 1.45527118e-02 7.59216629e-01] [-1.34754621e-01 -7.93857857e-03 9.90847199e-01 -7.27414794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters 0.029233737354681617 Centerline is valid? [True, True] Translation: X:9.27, Y:0.77, Z:-0.74 [[ 9.88993420e-01 -5.76388044e-02 1.36270992e-01 9.26630677e+00] [ 5.61527938e-02 9.98313568e-01 1.47269564e-02 7.72375871e-01] [-1.36890025e-01 -6.91286605e-03 9.90562130e-01 -7.37275416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters 0.025521126498017774 Centerline is valid? [True, True] Translation: X:9.33, Y:0.79, Z:-0.74 [[ 9.88353560e-01 -7.19614742e-02 1.34084996e-01 9.32624225e+00] [ 7.06552465e-02 9.97395676e-01 1.44811037e-02 7.86879003e-01] [-1.34777877e-01 -4.83864194e-03 9.90864023e-01 -7.43795077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters 0.022912590450351558 Centerline is valid? [True, True] Translation: X:9.39, Y:0.80, Z:-0.75 [[ 9.86440887e-01 -8.76530724e-02 1.38749111e-01 9.38633396e+00] [ 8.64095061e-02 9.96147181e-01 1.49730051e-02 7.95077237e-01] [-1.39526965e-01 -2.78074232e-03 9.90214367e-01 -7.53439454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters 0.021445483008256456 Centerline is valid? [True, True] Translation: X:9.45, Y:0.79, Z:-0.76 [[ 9.84207443e-01 -1.04723357e-01 1.42719055e-01 9.44861902e+00] [ 1.03587797e-01 9.94501328e-01 1.53843244e-02 7.94806924e-01] [-1.43545388e-01 -3.57414047e-04 9.89643670e-01 -7.59271306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters 0.021608762778980932 Centerline is valid? [True, True] Translation: X:9.51, Y:0.79, Z:-0.77 [[ 9.82930400e-01 -1.19170045e-01 1.40165366e-01 9.51180125e+00] [ 1.18226948e-01 9.92872295e-01 1.50663098e-02 7.88776177e-01] [-1.40961762e-01 1.76218956e-03 9.90013473e-01 -7.67372160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters 0.021538682520976196 Centerline is valid? [True, True] Translation: X:9.58, Y:0.78, Z:-0.77 [[ 9.82560179e-01 -1.21234192e-01 1.40988527e-01 9.57564320e+00] [ 1.20311860e-01 9.92621612e-01 1.50795010e-02 7.77244580e-01] [-1.41776410e-01 2.14607465e-03 9.89896380e-01 -7.72595120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters 0.021332012705868722 Centerline is valid? [True, True] Translation: X:9.64, Y:0.77, Z:-0.78 [[ 9.83150238e-01 -1.16469291e-01 1.40891851e-01 9.63863023e+00] [ 1.15509235e-01 9.93193121e-01 1.50013414e-02 7.70024243e-01] [-1.41680013e-01 1.52573754e-03 9.89911332e-01 -7.79618921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters 0.02073119372279306 Centerline is valid? [True, True] Translation: X:9.70, Y:0.75, Z:-0.79 [[ 9.85504470e-01 -1.05266205e-01 1.33041218e-01 9.70217504e+00] [ 1.04315998e-01 9.94444078e-01 1.41119618e-02 7.53983815e-01] [-1.33787565e-01 -2.90739864e-05 9.91010034e-01 -7.87440924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665919999999998 meters 0.021416393105846223 Centerline is valid? [True, True] Translation: X:9.77, Y:0.74, Z:-0.79 [[ 9.86370754e-01 -9.50520190e-02 1.34305063e-01 9.76579046e+00] [ 9.39921962e-02 9.95471313e-01 1.42243692e-02 7.42006078e-01] [-1.35048892e-01 -1.40687389e-03 9.90837937e-01 -7.93661688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters 0.02272741830280345 Centerline is valid? [True, True] Translation: X:9.83, Y:0.73, Z:-0.80 [[ 9.87320587e-01 -8.49789893e-02 1.34076953e-01 9.82843423e+00] [ 8.38382201e-02 9.96379026e-01 1.41417439e-02 7.30548351e-01] [-1.34793215e-01 -2.72166180e-03 9.90870013e-01 -8.01367197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785919999999999 meters 0.02422557774617244 Centerline is valid? [True, True] Translation: X:9.89, Y:0.72, Z:-0.81 [[ 9.88262210e-01 -7.72513711e-02 1.31795413e-01 9.89165888e+00] [ 7.60853469e-02 9.97004866e-01 1.38678567e-02 7.21691963e-01] [-1.32471979e-01 -3.67737896e-03 9.91179929e-01 -8.09360060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters 0.025641472944752046 Centerline is valid? [True, True] Translation: X:9.95, Y:0.71, Z:-0.82 [[ 9.88845885e-01 -7.02876684e-02 1.31314353e-01 9.95414938e+00] [ 6.90768433e-02 9.97516456e-01 1.37589954e-02 7.12745227e-01] [-1.31955316e-01 -4.53474500e-03 9.91245293e-01 -8.17861090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters 0.026950602207079625 Centerline is valid? [True, True] Translation: X:10.02, Y:0.71, Z:-0.83 [[ 9.88978695e-01 -6.55069325e-02 1.32777945e-01 1.00163348e+01] [ 6.42325621e-02 9.97838660e-01 1.38631032e-02 7.09057911e-01] [-1.33399096e-01 -5.18164610e-03 9.91048854e-01 -8.25733267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters 0.02839843999629462 Centerline is valid? [True, True] Translation: X:10.08, Y:0.70, Z:-0.83 [[ 9.89136665e-01 -6.03832923e-02 1.34024309e-01 1.00777216e+01] [ 5.90405321e-02 9.98157770e-01 1.39743108e-02 7.01099410e-01] [-1.34621220e-01 -5.90963662e-03 9.90879510e-01 -8.32736535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters 0.03056779464092693 Centerline is valid? [True, True] Translation: X:10.14, Y:0.70, Z:-0.84 [[ 9.89784912e-01 -5.44818260e-02 1.31748084e-01 1.01395063e+01] [ 5.31363700e-02 9.98493158e-01 1.37091411e-02 6.95774350e-01] [-1.32296459e-01 -6.56848603e-03 9.91188429e-01 -8.39460854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters 0.03266017907569666 Centerline is valid? [True, True] Translation: X:10.20, Y:0.70, Z:-0.85 [[ 9.90390056e-01 -4.70560160e-02 1.30051026e-01 1.02005654e+01] [ 4.56826326e-02 9.98864439e-01 1.35251224e-02 6.97290363e-01] [-1.30539783e-01 -7.45407356e-03 9.91415050e-01 -8.46297295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters 0.0360653294216716 Centerline is valid? [True, True] Translation: X:10.26, Y:0.70, Z:-0.85 [[ 9.91573089e-01 -3.32008624e-02 1.25221854e-01 1.02620160e+01] [ 3.18193060e-02 9.99408864e-01 1.30174456e-02 6.96919659e-01] [-1.25580021e-01 -8.92327621e-03 9.92043363e-01 -8.50312966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters 0.037377699355980024 Centerline is valid? [True, True] Translation: X:10.32, Y:0.71, Z:-0.86 [[ 9.91575938e-01 -3.17128022e-02 1.25584459e-01 1.03230121e+01] [ 3.03130669e-02 9.99455369e-01 1.30416033e-02 7.06966631e-01] [-1.25929648e-01 -9.12488991e-03 9.91997208e-01 -8.59338757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters 0.03643510709919316 Centerline is valid? [True, True] Translation: X:10.38, Y:0.72, Z:-0.87 [[ 9.91299784e-01 -3.36337243e-02 1.27253725e-01 1.03848589e+01] [ 3.22181981e-02 9.99394135e-01 1.31662474e-02 7.15474390e-01] [-1.27619456e-01 -8.95181247e-03 9.91782809e-01 -8.65913552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters 0.03510983547804873 Centerline is valid? [True, True] Translation: X:10.45, Y:0.72, Z:-0.87 [[ 9.90784045e-01 -3.83057875e-02 1.29921683e-01 1.04452161e+01] [ 3.68719401e-02 9.99229823e-01 1.34246670e-02 7.24952671e-01] [-1.30335863e-01 -8.51048133e-03 9.91433374e-01 -8.72921520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385919999999999 meters 0.034357846132020343 Centerline is valid? [True, True] Translation: X:10.51, Y:0.73, Z:-0.88 [[ 9.90681314e-01 -4.15138628e-02 1.29719438e-01 1.05057088e+01] [ 4.01128570e-02 9.99105359e-01 1.33955628e-02 7.31993174e-01] [-1.30159488e-01 -8.06731645e-03 9.91460249e-01 -8.80830699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters 0.03250326086353737 Centerline is valid? [True, True] Translation: X:10.57, Y:0.74, Z:-0.89 [[ 9.90864763e-01 -4.52337653e-02 1.27046954e-01 1.05661470e+01] [ 4.39216076e-02 9.98948931e-01 1.31120668e-02 7.40990214e-01] [-1.27506527e-01 -7.41217848e-03 9.91810035e-01 -8.89250171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters 0.031766284468120805 Centerline is valid? [True, True] Translation: X:10.63, Y:0.74, Z:-0.89 [[ 9.91003511e-01 -4.60256667e-02 1.25672905e-01 1.06282811e+01] [ 4.47499656e-02 9.98914191e-01 1.29567997e-02 7.42797352e-01] [-1.26132794e-01 -7.21637580e-03 9.91987118e-01 -8.94467949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters 0.03152353829838028 Centerline is valid? [True, True] Translation: X:10.69, Y:0.75, Z:-0.90 [[ 9.90947176e-01 -4.64936605e-02 1.25944570e-01 1.06894055e+01] [ 4.52227512e-02 9.98893207e-01 1.29330228e-02 7.48688241e-01] [-1.26406479e-01 -7.12038244e-03 9.91952974e-01 -9.01714360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters 0.03211691718019363 Centerline is valid? [True, True] Translation: X:10.75, Y:0.75, Z:-0.91 [[ 9.91199724e-01 -4.38812910e-02 1.24890113e-01 1.07507582e+01] [ 4.26175641e-02 9.99009796e-01 1.27738040e-02 7.51671271e-01] [-1.25326978e-01 -7.33887862e-03 9.92088348e-01 -9.08304215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters 0.03338001537764014 Centerline is valid? [True, True] Translation: X:10.81, Y:0.76, Z:-0.92 [[ 9.90799788e-01 -4.18752640e-02 1.28694375e-01 1.08120009e+01] [ 4.05221337e-02 9.99092553e-01 1.31159034e-02 7.55136046e-01] [-1.29126824e-01 -7.78026363e-03 9.91597565e-01 -9.17398885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters 0.03241961308570408 Centerline is valid? [True, True] Translation: X:10.87, Y:0.76, Z:-0.92 [[ 9.90389548e-01 -4.51469941e-02 1.30729846e-01 1.08725226e+01] [ 4.37806280e-02 9.98952521e-01 1.33085694e-02 7.60441566e-01] [-1.31193751e-01 -7.45723330e-03 9.91328699e-01 -9.23854205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters 0.02994830519202657 Centerline is valid? [True, True] Translation: X:10.93, Y:0.77, Z:-0.93 [[ 9.89830196e-01 -5.40758258e-02 1.31575032e-01 1.09321505e+01] [ 5.27709943e-02 9.98516915e-01 1.33863020e-02 7.69147862e-01] [-1.32103770e-01 -6.30682066e-03 9.91215828e-01 -9.32844393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters 0.027953214060138072 Centerline is valid? [True, True] Translation: X:10.99, Y:0.77, Z:-0.94 [[ 9.89255059e-01 -6.05204426e-02 1.33085329e-01 1.09930091e+01] [ 5.92447547e-02 9.98151814e-01 1.35282856e-02 7.71318710e-01] [-1.33658100e-01 -5.49831729e-03 9.91012251e-01 -9.42549115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters 0.02644824830465043 Centerline is valid? [True, True] Translation: X:11.05, Y:0.77, Z:-0.95 [[ 9.88863270e-01 -6.57994696e-02 1.33491062e-01 1.10543960e+01] [ 6.45652718e-02 9.97821378e-01 1.35581484e-02 7.70119137e-01] [-1.34092354e-01 -4.78826829e-03 9.90957271e-01 -9.49043919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters 0.02581476559524825 Centerline is valid? [True, True] Translation: X:11.12, Y:0.77, Z:-0.96 [[ 9.88726221e-01 -6.92114357e-02 1.32778904e-01 1.11166958e+01] [ 6.80230801e-02 9.97592803e-01 1.34707190e-02 7.65656163e-01] [-1.33391607e-01 -4.28682306e-03 9.91054137e-01 -9.56533053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters 0.025409208545510303 Centerline is valid? [True, True] Translation: X:11.18, Y:0.76, Z:-0.96 [[ 9.88931357e-01 -7.01308172e-02 1.30753353e-01 1.11785355e+01] [ 6.89940722e-02 9.97529614e-01 1.32093406e-02 7.62797933e-01] [-1.31356724e-01 -4.04192482e-03 9.91326926e-01 -9.64517426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters 0.02617528384370746 Centerline is valid? [True, True] Translation: X:11.24, Y:0.75, Z:-0.97 [[ 9.88992049e-01 -6.69823535e-02 1.31939724e-01 1.12411536e+01] [ 6.58044560e-02 9.97744262e-01 1.32725389e-02 7.52177479e-01] [-1.32531128e-01 -4.44421366e-03 9.91168880e-01 -9.70895794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters 0.02784562784784616 Centerline is valid? [True, True] Translation: X:11.30, Y:0.75, Z:-0.98 [[ 9.89291428e-01 -6.02849049e-02 1.32921782e-01 1.13019975e+01] [ 5.90359622e-02 9.98166975e-01 1.33208402e-02 7.49270207e-01] [-1.33481179e-01 -5.33102773e-03 9.91037010e-01 -9.78189974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters 0.031775816247173856 Centerline is valid? [True, True] Translation: X:11.36, Y:0.74, Z:-0.98 [[ 9.90292126e-01 -4.61120863e-02 1.31130398e-01 1.13645011e+01] [ 4.47771118e-02 9.98910943e-01 1.31124926e-02 7.39917889e-01] [-1.31592234e-01 -7.11355770e-03 9.91278408e-01 -9.83332537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters 0.03799135938863601 Centerline is valid? [True, True] Translation: X:11.43, Y:0.73, Z:-0.99 [[ 9.90939599e-01 -3.14062407e-02 1.30584679e-01 1.14264804e+01] [ 2.99569360e-02 9.99466015e-01 1.30486671e-02 7.34628711e-01] [-1.30924758e-01 -9.01852412e-03 9.91351287e-01 -9.91211612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters 0.04164905702087985 Centerline is valid? [True, True] Translation: X:11.49, Y:0.74, Z:-1.00 [[ 9.91413273e-01 -2.14045365e-02 1.29002198e-01 1.14866323e+01] [ 1.99073440e-02 9.99718806e-01 1.28843738e-02 7.40646740e-01] [-1.29241708e-01 -1.02056481e-02 9.91560601e-01 -9.97909934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters 0.044203313311567946 Centerline is valid? [True, True] Translation: X:11.55, Y:0.75, Z:-1.00 [[ 9.91800260e-01 -1.60593636e-02 1.26784629e-01 1.15464345e+01] [ 1.45709859e-02 9.99813711e-01 1.26581933e-02 7.50189665e-01] [-1.26964293e-01 -1.07070224e-02 9.91849499e-01 -1.00455633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters 0.046509790694768516 Centerline is valid? [True, True] Translation: X:11.61, Y:0.77, Z:-1.01 [[ 9.91726084e-01 -8.68829175e-03 1.28077660e-01 1.16052201e+01] [ 7.10926740e-03 9.99893051e-01 1.27806569e-02 7.69862599e-01] [-1.28175004e-01 -1.17643725e-02 9.91681788e-01 -1.01042000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters 0.048126946917261534 Centerline is valid? [True, True] Translation: X:11.66, Y:0.79, Z:-1.02 [[ 9.91664010e-01 -5.94446321e-03 1.28713460e-01 1.16649515e+01] [ 4.32849592e-03 9.99908312e-01 1.28308614e-02 7.85191415e-01] [-1.28777931e-01 -1.21667677e-02 9.91598817e-01 -1.01645727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters 0.04457980619367812 Centerline is valid? [True, True] Translation: X:11.72, Y:0.82, Z:-1.02 [[ 9.91758930e-01 -8.82080059e-03 1.27813998e-01 1.17226652e+01] [ 7.25576882e-03 9.99892962e-01 1.27050475e-02 8.16066333e-01] [-1.27912385e-01 -1.16729555e-02 9.91716776e-01 -1.02291523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters 0.041279429704227884 Centerline is valid? [True, True] Translation: X:11.78, Y:0.84, Z:-1.03 [[ 9.91175025e-01 -1.85362929e-02 1.31257290e-01 1.17810167e+01] [ 1.69703622e-02 9.99770971e-01 1.30388820e-02 8.40232062e-01] [-1.31468921e-01 -1.06963304e-02 9.91262584e-01 -1.03098926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters 0.038182374890686856 Centerline is valid? [True, True] Translation: X:11.84, Y:0.86, Z:-1.04 [[ 9.90883862e-01 -2.67661076e-02 1.32033127e-01 1.18396311e+01] [ 2.52552602e-02 9.99595139e-01 1.31045999e-02 8.64295041e-01] [-1.32330431e-01 -9.65060554e-03 9.91158677e-01 -1.04087321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters 0.033822920884250804 Centerline is valid? [True, True] Translation: X:11.90, Y:0.88, Z:-1.05 [[ 9.91034059e-01 -3.57378431e-02 1.28741217e-01 1.18988361e+01] [ 3.43785121e-02 9.99327346e-01 1.27661330e-02 8.83206607e-01] [-1.29110853e-01 -8.22574107e-03 9.91596049e-01 -1.04647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters 0.031815394806462796 Centerline is valid? [True, True] Translation: X:11.96, Y:0.90, Z:-1.05 [[ 9.90310008e-01 -4.38999750e-02 1.31753102e-01 1.19586578e+01] [ 4.25486352e-02 9.99009090e-01 1.30557437e-02 8.99151045e-01] [-1.32195693e-01 -7.32331898e-03 9.91196584e-01 -1.05381661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters 0.030425495140125408 Centerline is valid? [True, True] Translation: X:12.02, Y:0.91, Z:-1.06 [[ 9.90372315e-01 -4.53926061e-02 1.30775338e-01 1.20188674e+01] [ 4.40760221e-02 9.98944296e-01 1.29459650e-02 9.13395471e-01] [-1.31224929e-01 -7.05726859e-03 9.91327500e-01 -1.06064023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters 0.031125410856157866 Centerline is valid? [True, True] Translation: X:12.08, Y:0.93, Z:-1.07 [[ 9.90634021e-01 -4.51758967e-02 1.28854081e-01 1.20789329e+01] [ 4.39029776e-02 9.98955028e-01 1.27035627e-02 9.27696394e-01] [-1.29293327e-01 -6.92750358e-03 9.91582193e-01 -1.06860265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters 0.02955008024937239 Centerline is valid? [True, True] Translation: X:12.14, Y:0.95, Z:-1.07 [[ 9.90642340e-01 -4.75204540e-02 1.27943585e-01 1.21387238e+01] [ 4.62913103e-02 9.98848954e-01 1.25650994e-02 9.45193961e-01] [-1.28393415e-01 -6.52484331e-03 9.91701849e-01 -1.07407510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters 0.02975503029286387 Centerline is valid? [True, True] Translation: X:12.20, Y:0.96, Z:-1.08 [[ 9.90491790e-01 -4.81726709e-02 1.28861975e-01 1.21993032e+01] [ 4.69333233e-02 9.98818063e-01 1.26388133e-02 9.58464878e-01] [-1.29318514e-01 -6.47072006e-03 9.91581995e-01 -1.08206745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters 0.028890205170446305 Centerline is valid? [True, True] Translation: X:12.26, Y:0.97, Z:-1.09 [[ 9.90386266e-01 -4.92192942e-02 1.29276851e-01 1.22598482e+01] [ 4.79879334e-02 9.98768130e-01 1.26246285e-02 9.70729773e-01] [-1.29738974e-01 -6.29952972e-03 9.91528171e-01 -1.08897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18592 meters 0.028475950649768236 Centerline is valid? [True, True] Translation: X:12.32, Y:0.98, Z:-1.10 [[ 9.90276459e-01 -5.13892862e-02 1.29273650e-01 1.23206967e+01] [ 5.01834224e-02 9.98660909e-01 1.25703067e-02 9.80722958e-01] [-1.29746519e-01 -5.96068468e-03 9.91529279e-01 -1.09669185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters 0.026859380059507772 Centerline is valid? [True, True] Translation: X:12.38, Y:0.99, Z:-1.10 [[ 9.89700260e-01 -5.69667595e-02 1.31332341e-01 1.23804297e+01] [ 5.57773520e-02 9.98362198e-01 1.27203966e-02 9.92025276e-01] [-1.31841884e-01 -5.26400966e-03 9.91256782e-01 -1.10450379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters 0.026157544593346342 Centerline is valid? [True, True] Translation: X:12.44, Y:1.00, Z:-1.11 [[ 9.89582727e-01 -5.98273975e-02 1.30945445e-01 1.24418251e+01] [ 5.86711980e-02 9.98196913e-01 1.26733645e-02 1.00181089e+00] [-1.31467553e-01 -4.85861653e-03 9.91308568e-01 -1.11296033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters 0.025240660876884737 Centerline is valid? [True, True] Translation: X:12.50, Y:1.01, Z:-1.12 [[ 9.89529903e-01 -6.42601169e-02 1.29233153e-01 1.25024679e+01] [ 6.31741383e-02 9.97924368e-01 1.24893462e-02 1.00685164e+00] [-1.29767479e-01 -4.19438845e-03 9.91535581e-01 -1.12078769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters 0.023694761916329823 Centerline is valid? [True, True] Translation: X:12.56, Y:1.01, Z:-1.13 [[ 9.88664067e-01 -7.23251220e-02 1.31576746e-01 1.25628258e+01] [ 7.12712646e-02 9.97376021e-01 1.27074436e-02 1.01329980e+00] [-1.32150558e-01 -3.18575184e-03 9.91224536e-01 -1.12782216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters 0.02283494680444534 Centerline is valid? [True, True] Translation: X:12.62, Y:1.01, Z:-1.13 [[ 9.88202855e-01 -7.68189671e-02 1.32491371e-01 1.26249715e+01] [ 7.57925732e-02 9.97041699e-01 1.27802759e-02 1.01379985e+00] [-1.33081189e-01 -2.58764318e-03 9.91101761e-01 -1.13458009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters 0.0226871596757772 Centerline is valid? [True, True] Translation: X:12.69, Y:1.01, Z:-1.14 [[ 9.88259392e-01 -7.63319070e-02 1.32351100e-01 1.26873909e+01] [ 7.53114308e-02 9.97079101e-01 1.27065083e-02 1.01410283e+00] [-1.32934428e-01 -2.58977546e-03 9.91121451e-01 -1.14285094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters 0.023316458944597683 Centerline is valid? [True, True] Translation: X:12.75, Y:1.01, Z:-1.15 [[ 9.88460243e-01 -7.32061364e-02 1.32616774e-01 1.27493858e+01] [ 7.21625038e-02 9.97312471e-01 1.26652660e-02 1.00749514e+00] [-1.33187538e-01 -2.94915343e-03 9.91086466e-01 -1.15068304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters 0.023695895279648063 Centerline is valid? [True, True] Translation: X:12.81, Y:1.01, Z:-1.16 [[ 9.88865834e-01 -7.12435057e-02 1.30647334e-01 1.28118364e+01] [ 7.02211890e-02 9.97454109e-01 1.24211706e-02 1.00705173e+00] [-1.31199648e-01 -3.10866009e-03 9.91351093e-01 -1.15822751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters 0.023433321447372247 Centerline is valid? [True, True] Translation: X:12.87, Y:1.00, Z:-1.16 [[ 9.88754026e-01 -7.28096520e-02 1.30630132e-01 1.28740130e+01] [ 7.18099018e-02 9.97341828e-01 1.23538261e-02 1.00338836e+00] [-1.31182373e-01 -2.83435834e-03 9.91354201e-01 -1.16427886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters 0.02318101109492599 Centerline is valid? [True, True] Translation: X:12.94, Y:1.00, Z:-1.17 [[ 9.88659835e-01 -7.31425660e-02 1.31155999e-01 1.29367664e+01] [ 7.21454674e-02 9.97317725e-01 1.23444731e-02 1.00022458e+00] [-1.31707109e-01 -2.74217395e-03 9.91284882e-01 -1.17400955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters 0.023389702799354657 Centerline is valid? [True, True] Translation: X:13.00, Y:1.00, Z:-1.18 [[ 9.88683911e-01 -7.25645455e-02 1.31295513e-01 1.29995147e+01] [ 7.15691302e-02 9.97359913e-01 1.22907578e-02 9.96203789e-01] [-1.31840754e-01 -2.75496881e-03 9.91267081e-01 -1.18016726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters 0.023763574118359082 Centerline is valid? [True, True] Translation: X:13.06, Y:0.99, Z:-1.19 [[ 9.88308631e-01 -7.18165684e-02 1.34493232e-01 1.30616332e+01] [ 7.07741964e-02 9.97413766e-01 1.25217066e-02 9.92613583e-01] [-1.35044667e-01 -2.85666022e-03 9.90835394e-01 -1.18713823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters 0.023329953941446727 Centerline is valid? [True, True] Translation: X:13.12, Y:0.99, Z:-1.20 [[ 9.87845709e-01 -7.46371850e-02 1.36345686e-01 1.31236600e+01] [ 7.36008669e-02 9.97207759e-01 1.26331797e-02 9.87644520e-01] [-1.36907881e-01 -2.44447175e-03 9.90580767e-01 -1.19643072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters 0.02277803605025175 Centerline is valid? [True, True] Translation: X:13.19, Y:0.99, Z:-1.20 [[ 9.87998800e-01 -7.70711226e-02 1.33859680e-01 1.31855367e+01] [ 7.61026044e-02 9.97023573e-01 1.23445999e-02 9.86216349e-01] [-1.34412668e-01 -2.00937962e-03 9.90923406e-01 -1.20198383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters 0.02238176493369149 Centerline is valid? [True, True] Translation: X:13.25, Y:0.97, Z:-1.21 [[ 9.87527084e-01 -8.05548631e-02 1.35281825e-01 1.32488412e+01] [ 7.96063565e-02 9.96749061e-01 1.24152010e-02 9.74222893e-01] [-1.35842137e-01 -1.49105406e-03 9.90729373e-01 -1.21040371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters 0.02243584949201046 Centerline is valid? [True, True] Translation: X:13.31, Y:0.97, Z:-1.22 [[ 9.87740333e-01 -8.01823735e-02 1.33939618e-01 1.33108660e+01] [ 7.92573539e-02 9.96779131e-01 1.22326121e-02 9.69258793e-01] [-1.34489056e-01 -1.46694459e-03 9.90913993e-01 -1.21743488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters 0.02213837612510808 Centerline is valid? [True, True] Translation: X:13.37, Y:0.96, Z:-1.22 [[ 9.88878437e-01 -7.73068993e-02 1.27055424e-01 1.33734877e+01] [ 7.64583372e-02 9.97005883e-01 1.15495456e-02 9.60756775e-01] [-1.27567865e-01 -1.70665011e-03 9.91828376e-01 -1.22324075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters 0.023134614115766932 Centerline is valid? [True, True] Translation: X:13.44, Y:0.95, Z:-1.23 [[ 9.88977949e-01 -7.25726394e-02 1.29057465e-01 1.34357642e+01] [ 7.16639704e-02 9.97360479e-01 1.16769370e-02 9.53532634e-01] [-1.29564242e-01 -2.29946280e-03 9.91568364e-01 -1.22810443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters 0.024607584524145895 Centerline is valid? [True, True] Translation: X:13.50, Y:0.94, Z:-1.23 [[ 9.89193360e-01 -6.49633002e-02 1.31439210e-01 1.34985094e+01] [ 6.39582318e-02 9.97882119e-01 1.18583902e-02 9.43231295e-01] [-1.31931197e-01 -3.32362140e-03 9.91253304e-01 -1.23314574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters 0.026223901904116633 Centerline is valid? [True, True] Translation: X:13.56, Y:0.94, Z:-1.24 [[ 9.89673476e-01 -5.74924556e-02 1.31305094e-01 1.35596762e+01] [ 5.64304202e-02 9.98336824e-01 1.17980602e-02 9.38747848e-01] [-1.31765010e-01 -4.26662566e-03 9.91271798e-01 -1.24186092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters 0.027494607123074676 Centerline is valid? [True, True] Translation: X:13.62, Y:0.94, Z:-1.25 [[ 9.89866383e-01 -5.15821898e-02 1.32302009e-01 1.36210643e+01] [ 5.04533513e-02 9.98655846e-01 1.18726770e-02 9.38757970e-01] [-1.32736593e-01 -5.07728414e-03 9.91138345e-01 -1.24811359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505919999999998 meters 0.029192537779846862 Centerline is valid? [True, True] Translation: X:13.68, Y:0.94, Z:-1.25 [[ 9.90414057e-01 -4.84491698e-02 1.29354839e-01 1.36823428e+01] [ 4.73455120e-02 9.98811269e-01 1.15953616e-02 9.40397376e-01] [-1.29762856e-01 -5.35983802e-03 9.91530571e-01 -1.25485557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters 0.02678691337779656 Centerline is valid? [True, True] Translation: X:13.74, Y:0.95, Z:-1.26 [[ 9.90547395e-01 -5.40393604e-02 1.26077779e-01 1.37425642e+01] [ 5.30420335e-02 9.98528833e-01 1.12566338e-02 9.48406447e-01] [-1.26500599e-01 -4.46280754e-03 9.91956492e-01 -1.26349158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters 0.025877842505341673 Centerline is valid? [True, True] Translation: X:13.80, Y:0.95, Z:-1.27 [[ 9.89509020e-01 -5.90996864e-02 1.31829917e-01 1.38043929e+01] [ 5.80556905e-02 9.98244170e-01 1.17521733e-02 9.49261275e-01] [-1.32292996e-01 -3.97540462e-03 9.91202683e-01 -1.27105152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68592 meters 0.02420429036947788 Centerline is valid? [True, True] Translation: X:13.87, Y:0.95, Z:-1.28 [[ 9.89068196e-01 -6.65541699e-02 1.31585127e-01 1.38654654e+01] [ 6.55862946e-02 9.97778532e-01 1.16806808e-02 9.50900456e-01] [-1.32070213e-01 -2.92280896e-03 9.91236055e-01 -1.27852376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters 0.02304296798498197 Centerline is valid? [True, True] Translation: X:13.93, Y:0.95, Z:-1.29 [[ 9.88828464e-01 -7.32199348e-02 1.29834933e-01 1.39275378e+01] [ 7.23360731e-02 9.97313820e-01 1.15168144e-02 9.46275931e-01] [-1.30329434e-01 -1.99640468e-03 9.91468735e-01 -1.28579351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters 0.023298217639055357 Centerline is valid? [True, True] Translation: X:13.99, Y:0.94, Z:-1.29 [[ 9.88318456e-01 -7.48322260e-02 1.32765836e-01 1.39906639e+01] [ 7.39249934e-02 9.97194506e-01 1.17564073e-02 9.41261276e-01] [-1.33273121e-01 -1.80436075e-03 9.91077706e-01 -1.29422717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86592 meters 0.02366806691589192 Centerline is valid? [True, True] Translation: X:14.05, Y:0.93, Z:-1.30 [[ 9.88533912e-01 -7.14133702e-02 1.33044485e-01 1.40535467e+01] [ 7.04804068e-02 9.97444372e-01 1.17148183e-02 9.33525572e-01] [-1.33541067e-01 -2.20346580e-03 9.91040831e-01 -1.30139053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters 0.02375713307607036 Centerline is valid? [True, True] Translation: X:14.12, Y:0.92, Z:-1.31 [[ 9.88793970e-01 -7.15490543e-02 1.31023729e-01 1.41161830e+01] [ 7.06530005e-02 9.97434882e-01 1.14808343e-02 9.23502431e-01] [-1.31509081e-01 -2.09496008e-03 9.91312752e-01 -1.30939503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985919999999998 meters 0.02345552476869742 Centerline is valid? [True, True] Translation: X:14.18, Y:0.92, Z:-1.32 [[ 9.88448493e-01 -7.50626861e-02 1.31663093e-01 1.41783907e+01] [ 7.41964663e-02 9.97177568e-01 1.14796140e-02 9.17172415e-01] [-1.32153174e-01 -1.57807088e-03 9.91228051e-01 -1.31837028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters 0.023276734917493692 Centerline is valid? [True, True] Translation: X:14.24, Y:0.92, Z:-1.33 [[ 9.88288821e-01 -7.58317330e-02 1.32418863e-01 1.42405394e+01] [ 7.49701509e-02 9.97119610e-01 1.14873817e-02 9.17079122e-01] [-1.32908553e-01 -1.42538878e-03 9.91127280e-01 -1.32541812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105919999999998 meters 0.023378899517585407 Centerline is valid? [True, True] Translation: X:14.30, Y:0.90, Z:-1.33 [[ 9.88207682e-01 -7.56451595e-02 1.33129211e-01 1.43042739e+01] [ 7.47815457e-02 9.97133829e-01 1.14824505e-02 9.04679697e-01] [-1.33616232e-01 -1.39143758e-03 9.91032172e-01 -1.33296119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters 0.02431417731242045 Centerline is valid? [True, True] Translation: X:14.37, Y:0.89, Z:-1.34 [[ 9.88765812e-01 -6.88614647e-02 1.32666002e-01 1.43669202e+01] [ 6.79517573e-02 9.97623728e-01 1.13778706e-02 8.91102021e-01] [-1.33134248e-01 -2.23516154e-03 9.91095493e-01 -1.34015935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters 0.026024195769080744 Centerline is valid? [True, True] Translation: X:14.43, Y:0.88, Z:-1.34 [[ 9.89885918e-01 -5.75791825e-02 1.29655336e-01 1.44304486e+01] [ 5.66207179e-02 9.98334393e-01 1.10695550e-02 8.75277521e-01] [-1.30076758e-01 -3.61641836e-03 9.91497332e-01 -1.34467027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters 0.029812776074676455 Centerline is valid? [True, True] Translation: X:14.49, Y:0.86, Z:-1.35 [[ 9.90685378e-01 -4.48381790e-02 1.28576903e-01 1.44919721e+01] [ 4.37907490e-02 9.98980570e-01 1.09632049e-02 8.64361437e-01] [-1.28937398e-01 -5.23060788e-03 9.91638940e-01 -1.35124332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters 0.036372104855770575 Centerline is valid? [True, True] Translation: X:14.55, Y:0.86, Z:-1.36 [[ 9.91079374e-01 -3.01275240e-02 1.29822979e-01 1.45531085e+01] [ 2.89347237e-02 9.99520062e-01 1.10647345e-02 8.57665764e-01] [-1.30094025e-01 -7.20963813e-03 9.91475449e-01 -1.35833148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40592 meters 0.039656282117303016 Centerline is valid? [True, True] Translation: X:14.61, Y:0.86, Z:-1.36 [[ 9.91995675e-01 -1.86631150e-02 1.24885021e-01 1.46146246e+01] [ 1.74702900e-02 9.99790769e-01 1.06398513e-02 8.59372493e-01] [-1.25057464e-01 -8.37290895e-03 9.92114169e-01 -1.36218594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters 0.04033707101650374 Centerline is valid? [True, True] Translation: X:14.67, Y:0.87, Z:-1.37 [[ 9.91967489e-01 -1.52433760e-02 1.25571256e-01 1.46745559e+01] [ 1.40112405e-02 9.99844696e-01 1.06896569e-02 8.68422759e-01] [-1.25714700e-01 -8.84438309e-03 9.92027011e-01 -1.36886887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters 0.0403499019653162 Centerline is valid? [True, True] Translation: X:14.73, Y:0.88, Z:-1.38 [[ 9.91313276e-01 -1.31280169e-02 1.30864987e-01 1.47342886e+01] [ 1.17744325e-02 9.99868937e-01 1.11117964e-02 8.77157049e-01] [-1.30993712e-01 -9.47441029e-03 9.91337926e-01 -1.37740095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters 0.03911187672304117 Centerline is valid? [True, True] Translation: X:14.80, Y:0.88, Z:-1.38 [[ 9.91271139e-01 -2.01404607e-02 1.30291559e-01 1.47950775e+01] [ 1.88618299e-02 9.99761143e-01 1.10403346e-02 8.84491103e-01] [-1.30482795e-01 -8.48642780e-03 9.91414253e-01 -1.38270337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64592 meters 0.037650257828001944 Centerline is valid? [True, True] Translation: X:14.85, Y:0.90, Z:-1.39 [[ 9.90473935e-01 -2.61639711e-02 1.35191832e-01 1.48549656e+01] [ 2.48436017e-02 9.99625836e-01 1.14447856e-02 8.97673985e-01] [-1.35440689e-01 -7.97710981e-03 9.90753342e-01 -1.39436043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70592 meters 0.03689986189413978 Centerline is valid? [True, True] Translation: X:14.92, Y:0.90, Z:-1.40 [[ 9.91152075e-01 -2.60546893e-02 1.30148825e-01 1.49168950e+01] [ 2.48325331e-02 9.99631052e-01 1.10047846e-02 9.02187254e-01] [-1.30387534e-01 -7.67549007e-03 9.91433396e-01 -1.39862018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765919999999998 meters 0.03655021909862319 Centerline is valid? [True, True] Translation: X:14.98, Y:0.91, Z:-1.41 [[ 9.90914170e-01 -2.58678890e-02 1.31984697e-01 1.49790061e+01] [ 2.46159838e-02 9.99635263e-01 1.11083092e-02 9.09401388e-01] [-1.32223906e-01 -7.75844784e-03 9.91189510e-01 -1.40729382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters 0.037599408720914704 Centerline is valid? [True, True] Translation: X:15.04, Y:0.91, Z:-1.41 [[ 9.90817464e-01 -2.35884037e-02 1.33132792e-01 1.50403218e+01] [ 2.23017215e-02 9.99689132e-01 1.11477844e-02 9.11371476e-01] [-1.33354364e-01 -8.07632900e-03 9.91035512e-01 -1.41405182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters 0.03791934826046378 Centerline is valid? [True, True] Translation: X:15.10, Y:0.92, Z:-1.42 [[ 9.91177140e-01 -2.14605611e-02 1.30794962e-01 1.51014848e+01] [ 2.02067759e-02 9.99736341e-01 1.09056835e-02 9.15875161e-01] [-1.30994519e-01 -8.16651968e-03 9.91349456e-01 -1.42026595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945919999999997 meters 0.03923421681168653 Centerline is valid? [True, True] Translation: X:15.16, Y:0.92, Z:-1.43 [[ 9.91236450e-01 -1.74343425e-02 1.30944051e-01 1.51622275e+01] [ 1.61488193e-02 9.99810480e-01 1.08728882e-02 9.18907156e-01] [-1.31108796e-01 -8.66301124e-03 9.91330135e-01 -1.42702524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters 0.03893928636488577 Centerline is valid? [True, True] Translation: X:15.22, Y:0.92, Z:-1.44 [[ 9.91020340e-01 -1.73808766e-02 1.32576738e-01 1.52242941e+01] [ 1.60650042e-02 9.99810565e-01 1.09886405e-02 9.22653529e-01] [-1.32742616e-01 -8.76012036e-03 9.91111829e-01 -1.43628446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters 0.039729932363624286 Centerline is valid? [True, True] Translation: X:15.29, Y:0.93, Z:-1.44 [[ 9.91340065e-01 -1.44265586e-02 1.30524902e-01 1.52857488e+01] [ 1.31327373e-02 9.99855782e-01 1.07678261e-02 9.26761524e-01] [-1.30661421e-01 -8.96042818e-03 9.91386556e-01 -1.44245833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters 0.04254964254092492 Centerline is valid? [True, True] Translation: X:15.35, Y:0.94, Z:-1.45 [[ 9.91454743e-01 -6.95234930e-03 1.30265718e-01 1.53459152e+01] [ 5.60154478e-03 9.99926708e-01 1.07331509e-02 9.35142584e-01] [-1.30330792e-01 -9.91174412e-03 9.91421022e-01 -1.45004893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters 0.045731227468358795 Centerline is valid? [True, True] Translation: X:15.41, Y:0.94, Z:-1.46 [[ 9.91446035e-01 3.29834712e-03 1.30475592e-01 1.54061819e+01] [-4.74043735e-03 9.99931050e-01 1.07435275e-02 9.41025084e-01] [-1.30431160e-01 -1.12701392e-02 9.91393311e-01 -1.45729143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters 0.04902031181593532 Centerline is valid? [True, True] Translation: X:15.47, Y:0.95, Z:-1.46 [[ 9.91340690e-01 1.16443010e-02 1.30797733e-01 1.54663859e+01] [-1.31639434e-02 9.99855460e-01 1.07596264e-02 9.47180359e-01] [-1.30653539e-01 -1.23882694e-02 9.91350686e-01 -1.46454471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters 0.052189390897117924 Centerline is valid? [True, True] Translation: X:15.53, Y:0.96, Z:-1.47 [[ 9.91348026e-01 1.69102496e-02 1.30165798e-01 1.55267049e+01] [-1.84557196e-02 9.99772680e-01 1.06758889e-02 9.55473205e-01] [-1.29955677e-01 -1.29858249e-02 9.91434764e-01 -1.47137032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters 0.05344475637931422 Centerline is valid? [True, True] Translation: X:15.59, Y:0.97, Z:-1.48 [[ 9.91355979e-01 2.36192392e-02 1.29056016e-01 1.55868300e+01] [-2.51928997e-02 9.99626679e-01 1.05745563e-02 9.68649444e-01] [-1.28758073e-01 -1.37344448e-02 9.91580921e-01 -1.47647942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters 0.05771769871908828 Centerline is valid? [True, True] Translation: X:15.65, Y:0.98, Z:-1.49 [[ 9.90956526e-01 2.83704802e-02 1.31149832e-01 1.56464232e+01] [-3.00329096e-02 9.99491479e-01 1.07148790e-02 9.82990499e-01] [-1.30779154e-01 -1.45567903e-02 9.91304652e-01 -1.48575923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters 0.053396130842394356 Centerline is valid? [True, True] Translation: X:15.71, Y:1.01, Z:-1.49 [[ 9.90967244e-01 2.95756171e-02 1.30802156e-01 1.57060575e+01] [-3.12383714e-02 9.99454924e-01 1.06780094e-02 1.00677246e+00] [-1.30415050e-01 -1.46676039e-02 9.91350985e-01 -1.49077527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54592 meters 0.05312353674125783 Centerline is valid? [True, True] Translation: X:15.77, Y:1.03, Z:-1.50 [[ 9.91017202e-01 2.80703049e-02 1.30755355e-01 1.57657000e+01] [-2.97172564e-02 9.99501488e-01 1.06611374e-02 1.02658077e+00] [-1.30390911e-01 -1.44510609e-02 9.91357341e-01 -1.49774321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters 0.049038164856425745 Centerline is valid? [True, True] Translation: X:15.82, Y:1.06, Z:-1.51 [[ 9.90925047e-01 1.04868245e-02 1.34005889e-01 1.58239816e+01] [-1.20574326e-02 9.99867740e-01 1.09142546e-02 1.06205618e+00] [-1.33873709e-01 -1.24309752e-02 9.90920431e-01 -1.50832170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters 0.043707104130260264 Centerline is valid? [True, True] Translation: X:15.88, Y:1.08, Z:-1.52 [[ 9.90584783e-01 -2.58493555e-03 1.36876240e-01 1.58839021e+01] [ 1.07077765e-03 9.99937434e-01 1.11347139e-02 1.07958612e+00] [-1.36896459e-01 -1.08833141e-02 9.90525574e-01 -1.51620872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters 0.03627987306776522 Centerline is valid? [True, True] Translation: X:15.94, Y:1.10, Z:-1.53 [[ 9.90520322e-01 -2.05868034e-02 1.35814854e-01 1.59429395e+01] [ 1.92651264e-02 9.99753470e-01 1.10387698e-02 1.09841415e+00] [-1.36008624e-01 -8.31763546e-03 9.90672737e-01 -1.52549643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters 0.031198557494216662 Centerline is valid? [True, True] Translation: X:16.00, Y:1.11, Z:-1.53 [[ 9.89716637e-01 -3.69376264e-02 1.38190413e-01 1.60032968e+01] [ 3.57292561e-02 9.99298570e-01 1.12155246e-02 1.11035058e+00] [-1.38507757e-01 -6.16275067e-03 9.90342174e-01 -1.53427989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters 0.027365207464795916 Centerline is valid? [True, True] Translation: X:16.06, Y:1.11, Z:-1.54 [[ 9.89165880e-01 -4.77936408e-02 1.38804285e-01 1.60638987e+01] [ 4.66838377e-02 9.98846452e-01 1.12420818e-02 1.11468855e+00] [-1.39181468e-01 -4.64036703e-03 9.90256020e-01 -1.53959608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters 0.02657362338285568 Centerline is valid? [True, True] Translation: X:16.13, Y:1.12, Z:-1.55 [[ 9.88977795e-01 -5.19639214e-02 1.38645851e-01 1.61250829e+01] [ 5.09003919e-02 9.98640842e-01 1.12079576e-02 1.11609995e+00] [-1.39039819e-01 -4.02729299e-03 9.90278602e-01 -1.54945192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters 0.026472030533185073 Centerline is valid? [True, True] Translation: X:16.19, Y:1.12, Z:-1.56 [[ 9.89111185e-01 -5.10900888e-02 1.38017633e-01 1.61871099e+01] [ 5.00359769e-02 9.98685748e-01 1.10985758e-02 1.11868308e+00] [-1.38403270e-01 -4.07187841e-03 9.90367586e-01 -1.55635404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02592 meters 0.027976976144621496 Centerline is valid? [True, True] Translation: X:16.25, Y:1.12, Z:-1.56 [[ 9.89887462e-01 -4.46595549e-02 1.34641508e-01 1.62493982e+01] [ 4.36050609e-02 9.98990770e-01 1.07721616e-02 1.11562477e+00] [-1.34986704e-01 -4.79217652e-03 9.90835821e-01 -1.56016730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters 0.031091182121871175 Centerline is valid? [True, True] Translation: X:16.31, Y:1.11, Z:-1.57 [[ 9.89823944e-01 -3.56815112e-02 1.37751189e-01 1.63102981e+01] [ 3.44930370e-02 9.99344335e-01 1.10059455e-02 1.11491982e+00] [-1.38053579e-01 -6.14249154e-03 9.90405714e-01 -1.56701747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters 0.034270601252340355 Centerline is valid? [True, True] Translation: X:16.37, Y:1.12, Z:-1.58 [[ 9.90329361e-01 -2.65314323e-02 1.36175770e-01 1.63707329e+01] [ 2.52858288e-02 9.99621175e-01 1.08689152e-02 1.11997762e+00] [-1.36412551e-01 -7.32048860e-03 9.90625069e-01 -1.57529233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters 0.035475230868394624 Centerline is valid? [True, True] Translation: X:16.43, Y:1.13, Z:-1.58 [[ 9.90583822e-01 -2.24712974e-02 1.35050854e-01 1.64317910e+01] [ 2.12130342e-02 9.99717194e-01 1.07489422e-02 1.12723393e+00] [-1.35254204e-01 -7.78288981e-03 9.90780363e-01 -1.58206928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters 0.03540846825817454 Centerline is valid? [True, True] Translation: X:16.49, Y:1.14, Z:-1.59 [[ 9.90668408e-01 -2.18336813e-02 1.34533996e-01 1.64934584e+01] [ 2.05818600e-02 9.99731032e-01 1.06888242e-02 1.13780482e+00] [-1.34731187e-01 -7.82012060e-03 9.90851327e-01 -1.59007566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters 0.03533557160274881 Centerline is valid? [True, True] Translation: X:16.55, Y:1.14, Z:-1.60 [[ 9.90583823e-01 -2.34892176e-02 1.34877525e-01 1.65542847e+01] [ 2.22542518e-02 9.99695544e-01 1.06568116e-02 1.14455283e+00] [-1.35086781e-01 -7.55486681e-03 9.90804968e-01 -1.59863402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38592 meters 0.03432134398641866 Centerline is valid? [True, True] Translation: X:16.62, Y:1.15, Z:-1.61 [[ 9.90367511e-01 -2.38078232e-02 1.36401540e-01 1.66156305e+01] [ 2.25551597e-02 9.99688103e-01 1.07220217e-02 1.15402566e+00] [-1.36614265e-01 -7.54218344e-03 9.90595608e-01 -1.60670607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters 0.033824627670606296 Centerline is valid? [True, True] Translation: X:16.68, Y:1.16, Z:-1.61 [[ 9.90635455e-01 -2.15999900e-02 1.34814077e-01 1.66773645e+01] [ 2.03642325e-02 9.99737081e-01 1.05388123e-02 1.15576649e+00] [-1.35006270e-01 -7.69473595e-03 9.90814866e-01 -1.60965353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters 0.03491421121714799 Centerline is valid? [True, True] Translation: X:16.74, Y:1.16, Z:-1.62 [[ 9.91104520e-01 -2.01482232e-02 1.31551811e-01 1.67396416e+01] [ 1.89662210e-02 9.99767767e-01 1.02319897e-02 1.15918841e+00] [-1.31727417e-01 -7.64593052e-03 9.91256489e-01 -1.61791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56592 meters 0.035306548533546485 Centerline is valid? [True, True] Translation: X:16.80, Y:1.16, Z:-1.63 [[ 9.91021110e-01 -1.97128436e-02 1.32244331e-01 1.68017052e+01] [ 1.85225468e-02 9.99776157e-01 1.02249836e-02 1.16238748e+00] [-1.32416293e-01 -7.68367277e-03 9.91164409e-01 -1.62540843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters 0.036004480161457936 Centerline is valid? [True, True] Translation: X:16.86, Y:1.17, Z:-1.63 [[ 9.90905568e-01 -1.69087106e-02 1.33492512e-01 1.68628657e+01] [ 1.56778635e-02 9.99824390e-01 1.02661860e-02 1.16802720e+00] [-1.33642657e-01 -8.07994352e-03 9.90996647e-01 -1.63162645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68592 meters 0.03718160234104458 Centerline is valid? [True, True] Translation: X:16.92, Y:1.17, Z:-1.64 [[ 9.90980293e-01 -1.46525409e-02 1.33204212e-01 1.69236897e+01] [ 1.34105311e-02 9.99857880e-01 1.02165419e-02 1.17329390e+00] [-1.33334980e-01 -8.33805243e-03 9.91035953e-01 -1.63927708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745919999999998 meters 0.0343922486493233 Centerline is valid? [True, True] Translation: X:16.98, Y:1.18, Z:-1.65 [[ 9.91223038e-01 -2.00101606e-02 1.30677018e-01 1.69843904e+01] [ 1.88668822e-02 9.99772182e-01 9.98120111e-03 1.17816448e+00] [-1.30846973e-01 -7.42812857e-03 9.91374749e-01 -1.64624461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters 0.032920073434720885 Centerline is valid? [True, True] Translation: X:17.05, Y:1.18, Z:-1.65 [[ 9.91339192e-01 -2.36722307e-02 1.29175200e-01 1.70454672e+01] [ 2.25871666e-02 9.99696267e-01 9.85868171e-03 1.18311208e+00] [-1.29369342e-01 -6.85559581e-03 9.91572778e-01 -1.65226463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters 0.0313790045929707 Centerline is valid? [True, True] Translation: X:17.11, Y:1.19, Z:-1.66 [[ 9.91038809e-01 -2.82678433e-02 1.30548873e-01 1.71068325e+01] [ 2.72004709e-02 9.99580455e-01 9.95229858e-03 1.18667723e+00] [-1.30775432e-01 -6.31212331e-03 9.91391922e-01 -1.65954855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters 0.03164291467004672 Centerline is valid? [True, True] Translation: X:17.17, Y:1.18, Z:-1.67 [[ 9.90806814e-01 -2.71306808e-02 1.32535974e-01 1.71682724e+01] [ 2.60224354e-02 9.99610466e-01 1.00871191e-02 1.18396449e+00] [-1.32758017e-01 -6.54547753e-03 9.91126867e-01 -1.66643254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters 0.03207885283782346 Centerline is valid? [True, True] Translation: X:17.23, Y:1.18, Z:-1.67 [[ 9.91421902e-01 -2.39004310e-02 1.28496618e-01 1.72300305e+01] [ 2.28382977e-02 9.99691792e-01 9.73314431e-03 1.18474728e+00] [-1.28689641e-01 -6.71500843e-03 9.91662183e-01 -1.67325735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters 0.03301632743892661 Centerline is valid? [True, True] Translation: X:17.29, Y:1.19, Z:-1.68 [[ 9.91241390e-01 -2.17782826e-02 1.30254420e-01 1.72915665e+01] [ 2.06747391e-02 9.99738040e-01 9.81863422e-03 1.19059517e+00] [-1.30434132e-01 -7.03966047e-03 9.91431985e-01 -1.67887811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters 0.03364322223718398 Centerline is valid? [True, True] Translation: X:17.35, Y:1.20, Z:-1.69 [[ 9.90915909e-01 -1.98297420e-02 1.33012943e-01 1.73518104e+01] [ 1.86638597e-02 9.99775741e-01 1.00063906e-02 1.20045437e+00] [-1.33181538e-01 -7.43295672e-03 9.91063787e-01 -1.68811288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters 0.03449488420408123 Centerline is valid? [True, True] Translation: X:17.41, Y:1.21, Z:-1.70 [[ 9.90820159e-01 -1.77414392e-02 1.34017364e-01 1.74127697e+01] [ 1.65455274e-02 9.99812784e-01 1.00321007e-02 1.20972819e+00] [-1.34170258e-01 -7.72261962e-03 9.90928203e-01 -1.69523972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters 0.03205163485227401 Centerline is valid? [True, True] Translation: X:17.47, Y:1.23, Z:-1.70 [[ 9.90629948e-01 -2.18051740e-02 1.34821517e-01 1.74729485e+01] [ 2.06384444e-02 9.99736535e-01 1.00456368e-02 1.22698443e+00] [-1.35005043e-01 -7.16900232e-03 9.90818976e-01 -1.70227704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters 0.02904574050784883 Centerline is valid? [True, True] Translation: X:17.53, Y:1.24, Z:-1.71 [[ 9.90632867e-01 -3.00833251e-02 1.33197285e-01 1.75331358e+01] [ 2.90215871e-02 9.99529700e-01 9.90589973e-03 1.23758760e+00] [-1.33432645e-01 -5.94751324e-03 9.91040038e-01 -1.70940760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters 0.027343174359096202 Centerline is valid? [True, True] Translation: X:17.59, Y:1.24, Z:-1.72 [[ 9.90313450e-01 -3.59849500e-02 1.34105755e-01 1.75940146e+01] [ 3.49674233e-02 9.99339061e-01 9.93586329e-03 1.24242512e+00] [-1.34374661e-01 -5.15028635e-03 9.90917214e-01 -1.71646538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters 0.026658597670940542 Centerline is valid? [True, True] Translation: X:17.66, Y:1.25, Z:-1.73 [[ 9.89502215e-01 -4.13742068e-02 1.38468559e-01 1.76556574e+01] [ 4.03430570e-02 9.99133349e-01 1.02464097e-02 1.24841594e+00] [-1.38772492e-01 -4.55260013e-03 9.90313824e-01 -1.72585986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters 0.026893813153303782 Centerline is valid? [True, True] Translation: X:17.72, Y:1.25, Z:-1.73 [[ 9.89625052e-01 -4.03406019e-02 1.37894500e-01 1.77180326e+01] [ 3.93133233e-02 9.99175214e-01 1.01663225e-02 1.25265367e+00] [-1.38190882e-01 -4.63975639e-03 9.90394746e-01 -1.73126609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters 0.027628808499217915 Centerline is valid? [True, True] Translation: X:17.78, Y:1.26, Z:-1.74 [[ 9.90035969e-01 -3.71878601e-02 1.35815475e-01 1.77785256e+01] [ 3.61706304e-02 9.99296087e-01 9.95069234e-03 1.26237849e+00] [-1.36089917e-01 -4.93901200e-03 9.90684178e-01 -1.74170743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters 0.027957191524614042 Centerline is valid? [True, True] Translation: X:17.84, Y:1.27, Z:-1.75 [[ 9.89879929e-01 -3.52135851e-02 1.37469010e-01 1.78404618e+01] [ 3.41602374e-02 9.99366190e-01 1.00148609e-02 1.26658515e+00] [-1.37734540e-01 -5.21753574e-03 9.90455438e-01 -1.74679188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64592 meters 0.028931491596279783 Centerline is valid? [True, True] Translation: X:17.90, Y:1.27, Z:-1.76 [[ 9.89370119e-01 -3.31455820e-02 1.41591445e-01 1.79015512e+01] [ 3.20138759e-02 9.99434723e-01 1.02638494e-02 1.27244950e+00] [-1.41851608e-01 -5.62185496e-03 9.89871970e-01 -1.75517555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters 0.02863982740180149 Centerline is valid? [True, True] Translation: X:17.96, Y:1.27, Z:-1.76 [[ 9.89734491e-01 -3.35774865e-02 1.38917927e-01 1.79633478e+01] [ 3.24959547e-02 9.99421369e-01 1.00468705e-02 1.27302365e+00] [-1.39174893e-01 -5.42946356e-03 9.90252932e-01 -1.76167173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters 0.027767549410461466 Centerline is valid? [True, True] Translation: X:18.03, Y:1.27, Z:-1.77 [[ 9.89831457e-01 -3.55948617e-02 1.37719618e-01 1.80251203e+01] [ 3.45591986e-02 9.99353571e-01 9.90469055e-03 1.27465514e+00] [-1.37983148e-01 -5.04449465e-03 9.90421730e-01 -1.76897398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters 0.027465252385611403 Centerline is valid? [True, True] Translation: X:18.09, Y:1.28, Z:-1.78 [[ 9.89844156e-01 -3.61291382e-02 1.37489028e-01 1.80864793e+01] [ 3.51098354e-02 9.99335090e-01 9.83242300e-03 1.27515947e+00] [-1.37752847e-01 -4.90534931e-03 9.90454487e-01 -1.77535780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters 0.02831137763672534 Centerline is valid? [True, True] Translation: X:18.15, Y:1.28, Z:-1.78 [[ 9.89727858e-01 -3.43212410e-02 1.38783356e-01 1.81471606e+01] [ 3.32727577e-02 9.99397586e-01 9.86854853e-03 1.28042769e+00] [-1.39038452e-01 -5.14947242e-03 9.90273594e-01 -1.78476983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945919999999997 meters 0.02947904975711718 Centerline is valid? [True, True] Translation: X:18.21, Y:1.28, Z:-1.79 [[ 9.89857923e-01 -2.83720185e-02 1.39198855e-01 1.82077571e+01] [ 2.72660531e-02 9.99579719e-01 9.84617055e-03 1.28478817e+00] [-1.39419708e-01 -5.95090655e-03 9.90215498e-01 -1.79153447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters 0.031160229636829028 Centerline is valid? [True, True] Translation: X:18.27, Y:1.29, Z:-1.80 [[ 9.90146380e-01 -2.38852771e-02 1.37984204e-01 1.82691013e+01] [ 2.27610274e-02 9.99693681e-01 9.72003872e-03 1.29070179e+00] [-1.38174103e-01 -6.48359890e-03 9.90386733e-01 -1.79914439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters 0.03206471290214769 Centerline is valid? [True, True] Translation: X:18.33, Y:1.30, Z:-1.81 [[ 9.89780800e-01 -2.24512325e-02 1.40818717e-01 1.83303452e+01] [ 2.12678507e-02 9.99724766e-01 9.90310789e-03 1.30047192e+00] [-1.41002295e-01 -6.80699461e-03 9.89985867e-01 -1.80503661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters 0.03080518347202331 Centerline is valid? [True, True] Translation: X:18.39, Y:1.31, Z:-1.81 [[ 9.90051039e-01 -2.50578340e-02 1.38459542e-01 1.83909039e+01] [ 2.39416506e-02 9.99666091e-01 9.72132961e-03 1.31133650e+00] [-1.38656905e-01 -6.30966249e-03 9.90320378e-01 -1.81338151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters 0.027540399013955438 Centerline is valid? [True, True] Translation: X:18.45, Y:1.33, Z:-1.82 [[ 9.89606050e-01 -3.42977488e-02 1.39655040e-01 1.84509813e+01] [ 3.32557747e-02 9.99398938e-01 9.78853294e-03 1.32651695e+00] [-1.39906823e-01 -5.04245488e-03 9.90151834e-01 -1.82043734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245919999999998 meters 0.02656339868343227 Centerline is valid? [True, True] Translation: X:18.51, Y:1.33, Z:-1.83 [[ 9.89195663e-01 -4.07013927e-02 1.40837979e-01 1.85112636e+01] [ 3.97078828e-02 9.99162697e-01 9.85847562e-03 1.33423854e+00] [-1.41121309e-01 -4.15958336e-03 9.89983573e-01 -1.82832528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters 0.02408428497481662 Centerline is valid? [True, True] Translation: X:18.57, Y:1.34, Z:-1.84 [[ 9.88915725e-01 -5.08344611e-02 1.39504645e-01 1.85717989e+01] [ 4.99614044e-02 9.98703504e-01 9.75548875e-03 1.34163586e+00] [-1.39819693e-01 -2.67750825e-03 9.90173361e-01 -1.83773772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36592 meters 0.023748422751464535 Centerline is valid? [True, True] Translation: X:18.63, Y:1.34, Z:-1.85 [[ 9.88849706e-01 -5.24877189e-02 1.39360319e-01 1.86336276e+01] [ 5.16361109e-02 9.98618643e-01 9.72200364e-03 1.34470705e+00] [-1.39678099e-01 -2.41757553e-03 9.90194013e-01 -1.84547649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters 0.02347300541586689 Centerline is valid? [True, True] Translation: X:18.70, Y:1.34, Z:-1.85 [[ 9.88820732e-01 -5.30989630e-02 1.39334346e-01 1.86958846e+01] [ 5.22622409e-02 9.98586675e-01 9.65971170e-03 1.34219365e+00] [-1.39650342e-01 -2.26979804e-03 9.90198278e-01 -1.85135636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters 0.023287394086375788 Centerline is valid? [True, True] Translation: X:18.76, Y:1.34, Z:-1.86 [[ 9.88676831e-01 -5.41296030e-02 1.39957530e-01 1.87588316e+01] [ 5.33043997e-02 9.98531770e-01 9.64080576e-03 1.34170152e+00] [-1.40273893e-01 -2.07128916e-03 9.90110572e-01 -1.85809499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters 0.02321127703300766 Centerline is valid? [True, True] Translation: X:18.82, Y:1.34, Z:-1.86 [[ 9.89059234e-01 -5.27929595e-02 1.37748812e-01 1.88213345e+01] [ 5.19901352e-02 9.98603149e-01 9.42216647e-03 1.33713896e+00] [-1.38053822e-01 -2.15750139e-03 9.90422378e-01 -1.86405211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605919999999998 meters 0.024015531083259413 Centerline is valid? [True, True] Translation: X:18.88, Y:1.33, Z:-1.87 [[ 9.89155149e-01 -4.80755370e-02 1.38783409e-01 1.88832993e+01] [ 4.72229289e-02 9.98839846e-01 9.43166630e-03 1.33203771e+00] [-1.39075831e-01 -2.77562225e-03 9.90277844e-01 -1.87075304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters 0.026088782706256315 Centerline is valid? [True, True] Translation: X:18.94, Y:1.33, Z:-1.88 [[ 9.89372934e-01 -3.97923809e-02 1.39849078e-01 1.89448563e+01] [ 3.88515298e-02 9.99200286e-01 9.45237845e-03 1.32819010e+00] [-1.40113371e-01 -3.91857679e-03 9.90127713e-01 -1.87937843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters 0.028256775384276633 Centerline is valid? [True, True] Translation: X:19.01, Y:1.32, Z:-1.89 [[ 9.90038037e-01 -3.10139987e-02 1.37341970e-01 1.90063494e+01] [ 3.00253564e-02 9.99506199e-01 9.26475011e-03 1.32129883e+00] [-1.37561487e-01 -5.04871342e-03 9.90480362e-01 -1.88594618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785919999999997 meters 0.031142818396399735 Centerline is valid? [True, True] Translation: X:19.07, Y:1.32, Z:-1.89 [[ 9.90696449e-01 -2.03644860e-02 1.34557920e-01 1.90673379e+01] [ 1.93244816e-02 9.99772479e-01 9.03073812e-03 1.32438387e+00] [-1.34711211e-01 -6.34645814e-03 9.90864578e-01 -1.89229784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters 0.03374501940217527 Centerline is valid? [True, True] Translation: X:19.13, Y:1.33, Z:-1.90 [[ 9.90929906e-01 -1.11600326e-02 1.33915555e-01 1.91279128e+01] [ 1.00513783e-02 9.99909412e-01 8.95198667e-03 1.33018211e+00] [-1.34003329e-01 -7.52475539e-03 9.90952313e-01 -1.89820453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90592 meters 0.03685097744972947 Centerline is valid? [True, True] Translation: X:19.19, Y:1.34, Z:-1.90 [[ 9.90777546e-01 -4.90825751e-03 1.35409615e-01 1.91884891e+01] [ 3.71828409e-03 9.99952230e-01 9.03946634e-03 1.33573844e+00] [-1.35447515e-01 -8.45260886e-03 9.90748467e-01 -1.90470023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters 0.03775373067732871 Centerline is valid? [True, True] Translation: X:19.25, Y:1.35, Z:-1.91 [[ 9.90695780e-01 -7.77157456e-04 1.36092861e-01 1.92486744e+01] [-4.58165844e-04 9.99958984e-01 9.04550424e-03 1.34666367e+00] [-1.36094308e-01 -9.02369599e-03 9.90654790e-01 -1.90970406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters 0.038287632793553544 Centerline is valid? [True, True] Translation: X:19.31, Y:1.36, Z:-1.92 [[ 9.90722394e-01 -1.36094102e-03 1.35894394e-01 1.93096036e+01] [ 1.40125396e-04 9.99959555e-01 8.99272276e-03 1.36288781e+00] [-1.35901136e-01 -8.89024956e-03 9.90682515e-01 -1.91922017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085919999999998 meters 0.036744474931124024 Centerline is valid? [True, True] Translation: X:19.37, Y:1.38, Z:-1.93 [[ 9.90560308e-01 -4.54880541e-03 1.37002131e-01 1.93699969e+01] [ 3.34051061e-03 9.99953485e-01 9.04815564e-03 1.37689480e+00] [-1.37036917e-01 -8.50508677e-03 9.90529428e-01 -1.92643225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters 0.03368739792716844 Centerline is valid? [True, True] Translation: X:19.43, Y:1.39, Z:-1.93 [[ 9.90601564e-01 -1.12958137e-02 1.36311946e-01 1.94297599e+01] [ 1.01654399e-02 9.99907955e-01 8.98581053e-03 1.38782680e+00] [-1.36400901e-01 -7.51568707e-03 9.90625211e-01 -1.93470322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters 0.031182565552841244 Centerline is valid? [True, True] Translation: X:19.49, Y:1.40, Z:-1.94 [[ 9.90298146e-01 -2.07041651e-02 1.37407859e-01 1.94897617e+01] [ 1.96517162e-02 9.99766273e-01 9.01162323e-03 1.39574407e+00] [-1.37562321e-01 -6.22389353e-03 9.90473559e-01 -1.94196800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265919999999998 meters 0.029144545009822803 Centerline is valid? [True, True] Translation: X:19.55, Y:1.40, Z:-1.95 [[ 9.89862309e-01 -2.66603336e-02 1.39505683e-01 1.95502320e+01] [ 2.56397592e-02 9.99629754e-01 9.10809793e-03 1.40370855e+00] [-1.39696856e-01 -5.43887074e-03 9.90179381e-01 -1.94803898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32592 meters 0.02838715821676849 Centerline is valid? [True, True] Translation: X:19.61, Y:1.41, Z:-1.96 [[ 9.89712812e-01 -2.99148037e-02 1.39905873e-01 1.96117062e+01] [ 2.89230491e-02 9.99540062e-01 9.11707588e-03 1.40752335e+00] [-1.40114261e-01 -4.97678237e-03 9.90122834e-01 -1.95708495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters 0.027726342330268102 Centerline is valid? [True, True] Translation: X:19.67, Y:1.41, Z:-1.97 [[ 9.89874556e-01 -3.11457743e-02 1.38485757e-01 1.96729615e+01] [ 3.01940976e-02 9.99503822e-01 8.96808139e-03 1.41173287e+00] [-1.38696361e-01 -4.69582314e-03 9.90323820e-01 -1.96519439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445919999999997 meters 0.028015926894560488 Centerline is valid? [True, True] Translation: X:19.73, Y:1.42, Z:-1.97 [[ 9.89656243e-01 -2.88428587e-02 1.40529748e-01 1.97349357e+01] [ 2.78468022e-02 9.99571239e-01 9.04954552e-03 1.41677295e+00] [-1.40730509e-01 -5.04263513e-03 9.90035098e-01 -1.97145073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters 0.028844970028023813 Centerline is valid? [True, True] Translation: X:19.80, Y:1.42, Z:-1.98 [[ 9.89663544e-01 -2.70242237e-02 1.40839486e-01 1.97967419e+01] [ 2.60089430e-02 9.99620791e-01 9.04485827e-03 1.42078263e+00] [-1.41030509e-01 -5.28828034e-03 9.89991126e-01 -1.97946631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters 0.02714140725773918 Centerline is valid? [True, True] Translation: X:19.86, Y:1.43, Z:-1.99 [[ 9.89819675e-01 -3.20260907e-02 1.38677111e-01 1.98571829e+01] [ 3.10975782e-02 9.99477105e-01 8.85762370e-03 1.42725891e+00] [-1.38888273e-01 -4.45492791e-03 9.90298037e-01 -1.98745598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters 0.026006498791464702 Centerline is valid? [True, True] Translation: X:19.92, Y:1.43, Z:-1.99 [[ 9.89508047e-01 -3.57581374e-02 1.39982784e-01 1.99190043e+01] [ 3.48515374e-02 9.99352663e-01 8.92333398e-03 1.43035777e+00] [-1.40211250e-01 -3.95109556e-03 9.90113728e-01 -1.99498719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters 0.026046543062724394 Centerline is valid? [True, True] Translation: X:19.98, Y:1.43, Z:-2.00 [[ 9.89515587e-01 -3.71548954e-02 1.39565098e-01 1.99802904e+01] [ 3.62758429e-02 9.99302733e-01 8.83800175e-03 1.43302362e+00] [-1.39796159e-01 -3.68249892e-03 9.90173456e-01 -2.00199085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745919999999998 meters 0.026121288947777627 Centerline is valid? [True, True] Translation: X:20.04, Y:1.44, Z:-2.01 [[ 9.89681139e-01 -3.58060070e-02 1.38741390e-01 2.00425388e+01] [ 3.49326204e-02 9.99351576e-01 8.72583141e-03 1.43586955e+00] [-1.38963864e-01 -3.78919047e-03 9.90290203e-01 -2.00828786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters 0.026376038939929267 Centerline is valid? [True, True] Translation: X:20.11, Y:1.44, Z:-2.02 [[ 9.89675018e-01 -3.49590850e-02 1.39000794e-01 2.01051983e+01] [ 3.40835129e-02 9.99381336e-01 8.67517248e-03 1.43525963e+00] [-1.39218075e-01 -3.84796613e-03 9.90254271e-01 -2.01680251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters 0.026739245742045604 Centerline is valid? [True, True] Translation: X:20.17, Y:1.44, Z:-2.02 [[ 9.89676438e-01 -3.34399198e-02 1.39363981e-01 2.01668685e+01] [ 3.25540420e-02 9.99432701e-01 8.63193623e-03 1.43530035e+00] [-1.39573571e-01 -4.00596301e-03 9.90203600e-01 -2.02339136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters 0.02715723756485472 Centerline is valid? [True, True] Translation: X:20.23, Y:1.44, Z:-2.03 [[ 9.89839132e-01 -3.19618218e-02 1.38553001e-01 2.02285348e+01] [ 3.10801711e-02 9.99480558e-01 8.52273026e-03 1.43696608e+00] [-1.38753432e-01 -4.12988096e-03 9.90318347e-01 -2.03305940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters 0.02772766253784136 Centerline is valid? [True, True] Translation: X:20.29, Y:1.44, Z:-2.04 [[ 9.89851968e-01 -2.92262867e-02 1.39064394e-01 2.02901175e+01] [ 2.83202531e-02 9.99562846e-01 8.48996707e-03 1.43814383e+00] [-1.39251731e-01 -4.46547180e-03 9.90246946e-01 -2.03726819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters 0.027416684945931278 Centerline is valid? [True, True] Translation: X:20.35, Y:1.44, Z:-2.04 [[ 9.89835047e-01 -2.93767580e-02 1.39153100e-01 2.03519477e+01] [ 2.84786473e-02 9.99558758e-01 8.44129591e-03 1.44347147e+00] [-1.39339678e-01 -4.39259848e-03 9.90234901e-01 -2.04388841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105919999999998 meters 0.027494231173471616 Centerline is valid? [True, True] Translation: X:20.41, Y:1.45, Z:-2.05 [[ 9.89374787e-01 -3.23429683e-02 1.41744362e-01 2.04130847e+01] [ 3.14496120e-02 9.99468864e-01 8.53886933e-03 1.44599250e+00] [-1.41945248e-01 -3.99033684e-03 9.89866468e-01 -2.05223409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16592 meters 0.025789987187537947 Centerline is valid? [True, True] Translation: X:20.47, Y:1.45, Z:-2.06 [[ 9.89009586e-01 -3.92817294e-02 1.42537662e-01 2.04734559e+01] [ 3.84573944e-02 9.99223793e-01 8.53463482e-03 1.45242327e+00] [-1.42762279e-01 -2.95920856e-03 9.89752583e-01 -2.05906540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters 0.026119297590355254 Centerline is valid? [True, True] Translation: X:20.54, Y:1.45, Z:-2.07 [[ 9.88461821e-01 -4.24781631e-02 1.45392004e-01 2.05359733e+01] [ 4.16589586e-02 9.99094220e-01 8.67583654e-03 1.45435596e+00] [-1.45628844e-01 -2.51885372e-03 9.89336088e-01 -2.06706896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters 0.026319428387713836 Centerline is valid? [True, True] Translation: X:20.60, Y:1.46, Z:-2.08 [[ 9.88179709e-01 -4.34911860e-02 1.47001289e-01 2.05970168e+01] [ 4.26753333e-02 9.99051106e-01 8.70073294e-03 1.45523788e+00] [-1.47240206e-01 -2.32455872e-03 9.89098033e-01 -2.07584849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters 0.026506655825223872 Centerline is valid? [True, True] Translation: X:20.66, Y:1.45, Z:-2.08 [[ 9.88181394e-01 -4.25950300e-02 1.47252151e-01 2.06595591e+01] [ 4.17762208e-02 9.99089546e-01 8.65023051e-03 1.45224806e+00] [-1.47486541e-01 -2.39635848e-03 9.89061160e-01 -2.08197065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters 0.02739331398831092 Centerline is valid? [True, True] Translation: X:20.72, Y:1.45, Z:-2.09 [[ 9.88406156e-01 -3.82581406e-02 1.46933948e-01 2.07214606e+01] [ 3.74056141e-02 9.99263486e-01 8.56183107e-03 1.45069084e+00] [-1.47153289e-01 -2.96641198e-03 9.89109251e-01 -2.09078913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters 0.028347284417823873 Centerline is valid? [True, True] Translation: X:20.78, Y:1.44, Z:-2.10 [[ 9.88591339e-01 -3.49874377e-02 1.46502708e-01 2.07836842e+01] [ 3.41134369e-02 9.99382035e-01 8.47471350e-03 1.44229957e+00] [-1.46708683e-01 -3.38031748e-03 9.89173966e-01 -2.09570617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters 0.029370753193739413 Centerline is valid? [True, True] Translation: X:20.85, Y:1.44, Z:-2.10 [[ 9.88234184e-01 -3.24303770e-02 1.49470627e-01 2.08455812e+01] [ 3.14991972e-02 9.99466832e-01 8.59368018e-03 1.43571656e+00] [-1.49669631e-01 -3.78436377e-03 9.88728820e-01 -2.10439412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters 0.029661688733295537 Centerline is valid? [True, True] Translation: X:20.91, Y:1.43, Z:-2.11 [[ 9.88478017e-01 -3.14807294e-02 1.48054628e-01 2.09081106e+01] [ 3.05594331e-02 9.99496861e-01 8.49390775e-03 1.43038513e+00] [-1.48247531e-01 -3.87157557e-03 9.88942708e-01 -2.11213076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters 0.030645130795845604 Centerline is valid? [True, True] Translation: X:20.97, Y:1.42, Z:-2.12 [[ 9.88284677e-01 -2.85800269e-02 1.49921909e-01 2.09702770e+01] [ 2.76051828e-02 9.99582083e-01 8.57982441e-03 1.42450221e+00] [-1.50104466e-01 -4.34068729e-03 9.88660613e-01 -2.11901780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters 0.03170034070377789 Centerline is valid? [True, True] Translation: X:21.03, Y:1.42, Z:-2.13 [[ 9.88215788e-01 -2.60372087e-02 1.50836403e-01 2.10317665e+01] [ 2.50252490e-02 9.99649796e-01 8.60365379e-03 1.42115736e+00] [-1.51007595e-01 -4.72754795e-03 9.88521298e-01 -2.12722872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters 0.032404295249667446 Centerline is valid? [True, True] Translation: X:21.09, Y:1.42, Z:-2.13 [[ 9.88606821e-01 -2.23818888e-02 1.48847586e-01 2.10932091e+01] [ 2.13645870e-02 9.99736209e-01 8.43015527e-03 1.41854372e+00] [-1.48997004e-01 -5.15404181e-03 9.88824215e-01 -2.13448354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters 0.03364692102413271 Centerline is valid? [True, True] Translation: X:21.15, Y:1.42, Z:-2.14 [[ 9.88795442e-01 -1.80717279e-02 1.48178903e-01 2.11549923e+01] [ 1.70244172e-02 9.99820347e-01 8.33327154e-03 1.41607240e+00] [-1.48302879e-01 -5.71724143e-03 9.88925462e-01 -2.13948116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters 0.03558847995753597 Centerline is valid? [True, True] Translation: X:21.22, Y:1.42, Z:-2.15 [[ 9.88887012e-01 -9.94703220e-03 1.48335881e-01 2.12154393e+01] [ 8.81525755e-03 9.99926820e-01 8.28532223e-03 1.42090368e+00] [-1.48407441e-01 -6.88562854e-03 9.88902331e-01 -2.14694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters 0.03926361812115598 Centerline is valid? [True, True] Translation: X:21.28, Y:1.42, Z:-2.15 [[ 9.89202434e-01 -1.29348117e-03 1.46549896e-01 2.12758173e+01] [ 1.02320906e-04 9.99966903e-01 8.13526519e-03 1.42389323e+00] [-1.46555569e-01 -8.03242901e-03 9.89169826e-01 -2.15408232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters 0.04074184426960423 Centerline is valid? [True, True] Translation: X:21.34, Y:1.44, Z:-2.16 [[ 9.88780575e-01 2.34130860e-03 1.49356929e-01 2.13363414e+01] [-3.61360905e-03 9.99959458e-01 8.24771081e-03 1.44058661e+00] [-1.49331563e-01 -8.69489378e-03 9.88748948e-01 -2.16239138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06592 meters 0.04039838932706165 Centerline is valid? [True, True] Translation: X:21.40, Y:1.45, Z:-2.17 [[ 9.88821686e-01 2.71957954e-03 1.49078094e-01 2.13981190e+01] [-3.98753129e-03 9.99958371e-01 8.20704815e-03 1.45313043e+00] [-1.49049568e-01 -8.70976075e-03 9.88791366e-01 -2.16868629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125919999999997 meters 0.04091588222784315 Centerline is valid? [True, True] Translation: X:21.46, Y:1.47, Z:-2.18 [[ 9.88705774e-01 2.00909852e-03 1.49856119e-01 2.14582603e+01] [-3.27267305e-03 9.99961140e-01 8.18578713e-03 1.46913641e+00] [-1.49833849e-01 -8.58376508e-03 9.88673928e-01 -2.17980745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters 0.03857119349490437 Centerline is valid? [True, True] Translation: X:21.52, Y:1.49, Z:-2.19 [[ 9.89364343e-01 -2.50483476e-03 1.45437005e-01 2.15183714e+01] [ 1.37168362e-03 9.99967924e-01 7.89111102e-03 1.48553153e+00] [-1.45452106e-01 -7.60769032e-03 9.89336044e-01 -2.18612511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245919999999998 meters 0.03702110582280414 Centerline is valid? [True, True] Translation: X:21.58, Y:1.50, Z:-2.19 [[ 9.89776906e-01 -8.65658107e-03 1.42361297e-01 2.15786371e+01] [ 7.64035608e-03 9.99941293e-01 7.68344262e-03 1.49747185e+00] [-1.42419452e-01 -6.51720307e-03 9.89784939e-01 -2.19395798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters 0.03467963559991256 Centerline is valid? [True, True] Translation: X:21.64, Y:1.51, Z:-2.20 [[ 9.89578917e-01 -1.54695409e-02 1.43158167e-01 2.16392695e+01] [ 1.45146836e-02 9.99864916e-01 7.71193381e-03 1.50884324e+00] [-1.43258129e-01 -5.55367161e-03 9.89669776e-01 -2.20113429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters 0.033645454171505045 Centerline is valid? [True, True] Translation: X:21.70, Y:1.52, Z:-2.21 [[ 9.89938509e-01 -1.90055827e-02 1.40216036e-01 2.16994471e+01] [ 1.81268508e-02 9.99807252e-01 7.54158921e-03 1.51827900e+00] [-1.40332342e-01 -4.92403442e-03 9.90092212e-01 -2.20878195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters 0.032225242565857945 Centerline is valid? [True, True] Translation: X:21.76, Y:1.53, Z:-2.22 [[ 9.90045382e-01 -2.40087503e-02 1.38685697e-01 2.17601407e+01] [ 2.32002539e-02 9.99703127e-01 7.44358332e-03 1.52862649e+00] [-1.38823236e-01 -4.15194192e-03 9.90308472e-01 -2.21552204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters 0.03157457813752586 Centerline is valid? [True, True] Translation: X:21.82, Y:1.53, Z:-2.22 [[ 9.89920250e-01 -2.77694248e-02 1.38876773e-01 2.18214059e+01] [ 2.69983228e-02 9.99607840e-01 7.43355616e-03 1.53451238e+00] [-1.39028736e-01 -3.60918783e-03 9.90281770e-01 -2.22448779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54592 meters 0.03148556690987822 Centerline is valid? [True, True] Translation: X:21.88, Y:1.54, Z:-2.23 [[ 9.90040315e-01 -2.82204793e-02 1.37926717e-01 2.18823568e+01] [ 2.74723115e-02 9.99595723e-01 7.32544406e-03 1.54111502e+00] [-1.38077684e-01 -3.46331921e-03 9.90415347e-01 -2.23090305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605919999999998 meters 0.03198594241458233 Centerline is valid? [True, True] Translation: X:21.94, Y:1.54, Z:-2.24 [[ 9.89921689e-01 -2.79097118e-02 1.38838385e-01 2.19441613e+01] [ 2.71567907e-02 9.99604423e-01 7.31480135e-03 1.54286089e+00] [-1.38987618e-01 -3.47067553e-03 9.90288037e-01 -2.23880323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters 0.03205596570446744 Centerline is valid? [True, True] Translation: X:22.01, Y:1.55, Z:-2.25 [[ 9.89603216e-01 -2.82003322e-02 1.41032679e-01 2.20057013e+01] [ 2.74352294e-02 9.99596438e-01 7.36680593e-03 1.54556480e+00] [-1.41183509e-01 -3.42095094e-03 9.89977532e-01 -2.24592328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters 0.03197937258960984 Centerline is valid? [True, True] Translation: X:22.07, Y:1.55, Z:-2.25 [[ 9.89804914e-01 -2.80084990e-02 1.39648686e-01 2.20672509e+01] [ 2.72647208e-02 9.99602053e-01 7.23672029e-03 1.54660174e+00] [-1.39795803e-01 -3.35545887e-03 9.90174669e-01 -2.25295160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters 0.03253417064920033 Centerline is valid? [True, True] Translation: X:22.13, Y:1.55, Z:-2.26 [[ 9.89976005e-01 -2.61050654e-02 1.38802141e-01 2.21299827e+01] [ 2.53601482e-02 9.99652932e-01 7.13293710e-03 1.54666837e+00] [-1.38940173e-01 -3.54139370e-03 9.90294444e-01 -2.25871995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters 0.03388529137980751 Centerline is valid? [True, True] Translation: X:22.19, Y:1.55, Z:-2.27 [[ 9.90576902e-01 -2.01508967e-02 1.35467128e-01 2.21919761e+01] [ 1.93948619e-02 9.99788102e-01 6.89853415e-03 1.54561700e+00] [-1.35577434e-01 -4.20616235e-03 9.90757825e-01 -2.26691375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters 0.035521573904546695 Centerline is valid? [True, True] Translation: X:22.25, Y:1.55, Z:-2.27 [[ 9.90618218e-01 -1.36424549e-02 1.35975844e-01 2.22531071e+01] [ 1.28265000e-02 9.99894101e-01 6.87508571e-03 1.54561195e+00] [-1.36055237e-01 -5.06649099e-03 9.90688298e-01 -2.27337700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965919999999997 meters 0.0386954621092249 Centerline is valid? [True, True] Translation: X:22.31, Y:1.55, Z:-2.28 [[ 9.90759831e-01 -1.50121566e-03 1.35619705e-01 2.23140090e+01] [ 5.77932330e-04 9.99976392e-01 6.84699973e-03 1.54995521e+00] [-1.35626782e-01 -6.70535329e-03 9.90737308e-01 -2.27950526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters 0.043219831215383336 Centerline is valid? [True, True] Translation: X:22.37, Y:1.56, Z:-2.28 [[ 9.90657062e-01 1.24071990e-02 1.35811073e-01 2.23749153e+01] [-1.34615210e-02 9.99885943e-01 6.84750537e-03 1.55522132e+00] [-1.35710624e-01 -8.61175317e-03 9.90711090e-01 -2.28439594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters 0.04606054683041209 Centerline is valid? [True, True] Translation: X:22.44, Y:1.56, Z:-2.29 [[ 9.90756458e-01 1.93016914e-02 1.34272430e-01 2.24357152e+01] [-2.03930306e-02 9.99769206e-01 6.75708437e-03 1.56141700e+00] [-1.34111017e-01 -9.43284675e-03 9.90921418e-01 -2.29333354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters 0.047273548677641906 Centerline is valid? [True, True] Translation: X:22.50, Y:1.57, Z:-2.30 [[ 9.90719971e-01 2.35458310e-02 1.33863856e-01 2.24963987e+01] [-2.46671043e-02 9.99673110e-01 6.72368804e-03 1.57484005e+00] [-1.33661782e-01 -9.96332572e-03 9.90976922e-01 -2.30169048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20592 meters 0.045469185170916186 Centerline is valid? [True, True] Translation: X:22.56, Y:1.59, Z:-2.31 [[ 9.90378509e-01 2.06049947e-02 1.36842403e-01 2.25570729e+01] [-2.17478028e-02 9.99739944e-01 6.86132563e-03 1.59108727e+00] [-1.36665438e-01 -9.77133104e-03 9.90569068e-01 -2.30743441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters 0.04418756553217397 Centerline is valid? [True, True] Translation: X:22.62, Y:1.61, Z:-2.32 [[ 9.90674110e-01 1.55850371e-02 1.35358464e-01 2.26164422e+01] [-1.66542920e-02 9.99838384e-01 6.77059708e-03 1.60729310e+00] [-1.35231068e-01 -8.96175463e-03 9.90773559e-01 -2.31794406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters 0.0415900823661916 Centerline is valid? [True, True] Translation: X:22.68, Y:1.62, Z:-2.33 [[ 9.90207097e-01 5.48152693e-03 1.39498592e-01 2.26759786e+01] [-6.51172758e-03 9.99954787e-01 6.92967399e-03 1.62106109e+00] [-1.39454300e-01 -7.77018920e-03 9.90198022e-01 -2.32770823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters 0.03752504327053696 Centerline is valid? [True, True] Translation: X:22.74, Y:1.63, Z:-2.34 [[ 9.90214752e-01 -7.15740880e-03 1.39368273e-01 2.27361485e+01] [ 6.25954352e-03 9.99956743e-01 6.87966377e-03 1.63209975e+00] [-1.39411485e-01 -5.93996278e-03 9.90216721e-01 -2.33556662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters 0.03450886169291595 Centerline is valid? [True, True] Translation: X:22.80, Y:1.64, Z:-2.34 [[ 9.90033279e-01 -1.76829587e-02 1.39719074e-01 2.27966704e+01] [ 1.68897468e-02 9.99833818e-01 6.86097195e-03 1.63881292e+00] [-1.39817177e-01 -4.43277077e-03 9.90167414e-01 -2.34051664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters 0.034117942830587805 Centerline is valid? [True, True] Translation: X:22.86, Y:1.64, Z:-2.35 [[ 9.90069427e-01 -1.89907413e-02 1.39290635e-01 2.28579097e+01] [ 1.82179442e-02 9.99810772e-01 6.82112047e-03 1.64307983e+00] [-1.39393815e-01 -4.21579383e-03 9.90228050e-01 -2.34893596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters 0.03385141227236668 Centerline is valid? [True, True] Translation: X:22.92, Y:1.64, Z:-2.35 [[ 9.90165430e-01 -1.94554849e-02 1.38542074e-01 2.29199413e+01] [ 1.87038228e-02 9.99802448e-01 6.72548524e-03 1.63929244e+00] [-1.38645553e-01 -4.06807658e-03 9.90333712e-01 -2.35113705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters 0.03341974367332017 Centerline is valid? [True, True] Translation: X:22.98, Y:1.64, Z:-2.36 [[ 9.90232538e-01 -2.09823456e-02 1.37837808e-01 2.29819719e+01] [ 2.02602442e-02 9.99772692e-01 6.63985595e-03 1.63831007e+00] [-1.37945796e-01 -3.78237378e-03 9.90432558e-01 -2.36042722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters 0.032750517032459875 Centerline is valid? [True, True] Translation: X:23.04, Y:1.64, Z:-2.37 [[ 9.90354623e-01 -2.25068948e-02 1.36715621e-01 2.30434107e+01] [ 2.18147029e-02 9.99740513e-01 6.55932864e-03 1.63639748e+00] [-1.36827775e-01 -3.51365079e-03 9.90588620e-01 -2.36689826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters 0.03355548822062336 Centerline is valid? [True, True] Translation: X:23.11, Y:1.63, Z:-2.37 [[ 9.90571401e-01 -1.71058017e-02 1.35925317e-01 2.31050975e+01] [ 1.63782896e-02 9.99844941e-01 6.46887656e-03 1.63273735e+00] [-1.36014896e-01 -4.18165992e-03 9.90697967e-01 -2.37280832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters 0.035528449445846946 Centerline is valid? [True, True] Translation: X:23.17, Y:1.63, Z:-2.38 [[ 9.90637052e-01 -1.00933092e-02 1.36148285e-01 2.31663542e+01] [ 9.30121231e-03 9.99935922e-01 6.45279409e-03 1.63047162e+00] [-1.36204691e-01 -5.12603281e-03 9.90667455e-01 -2.38049084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86592 meters 0.0380913178743624 Centerline is valid? [True, True] Translation: X:23.23, Y:1.64, Z:-2.39 [[ 9.91541078e-01 1.09356210e-03 1.29788657e-01 2.32267898e+01] [-1.90628242e-03 9.99979346e-01 6.13780764e-03 1.63541876e+00] [-1.29779265e-01 -6.33330224e-03 9.91522683e-01 -2.38551855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925919999999998 meters 0.039517658376511326 Centerline is valid? [True, True] Translation: X:23.29, Y:1.64, Z:-2.39 [[ 9.91210748e-01 5.32933286e-03 1.32184910e-01 2.32868610e+01] [-6.20431574e-03 9.99961480e-01 6.20840058e-03 1.64309769e+00] [-1.32146731e-01 -6.97395030e-03 9.91205632e-01 -2.39409095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters 0.0394578507484423 Centerline is valid? [True, True] Translation: X:23.35, Y:1.65, Z:-2.40 [[ 9.91088987e-01 5.59248315e-03 1.33083972e-01 2.33491430e+01] [-6.47560838e-03 9.99959788e-01 6.20394679e-03 1.65481453e+00] [-1.33043925e-01 -7.01046303e-03 9.91085348e-01 -2.39841486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters 0.038533732708338785 Centerline is valid? [True, True] Translation: X:23.41, Y:1.67, Z:-2.41 [[ 9.91262797e-01 6.75645083e-03 1.31728574e-01 2.34106855e+01] [-7.62453662e-03 9.99952408e-01 6.08668412e-03 1.66599068e+00] [-1.31681181e-01 -7.03787286e-03 9.91267136e-01 -2.40705960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters 0.03848776002899185 Centerline is valid? [True, True] Translation: X:23.47, Y:1.67, Z:-2.41 [[ 9.91109879e-01 5.38135594e-03 1.32937009e-01 2.34722549e+01] [-6.25008700e-03 9.99961750e-01 6.11848327e-03 1.67437924e+00] [-1.32898999e-01 -6.89495709e-03 9.91105603e-01 -2.41321735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16592 meters 0.03775316907390214 Centerline is valid? [True, True] Translation: X:23.53, Y:1.68, Z:-2.42 [[ 9.90959209e-01 -1.45046329e-04 1.34163429e-01 2.35330742e+01] [-6.82993283e-04 9.99981004e-01 6.12582775e-03 1.68321899e+00] [-1.34161769e-01 -6.16207814e-03 9.90940285e-01 -2.42091191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters 0.036422470304699105 Centerline is valid? [True, True] Translation: X:23.59, Y:1.69, Z:-2.43 [[ 9.90893638e-01 -3.67762648e-03 1.34596703e-01 2.35938553e+01] [ 2.87825307e-03 9.99977050e-01 6.13313257e-03 1.69179633e+00] [-1.34616169e-01 -5.68987868e-03 9.90881482e-01 -2.42943611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285919999999997 meters 0.036112908094729466 Centerline is valid? [True, True] Translation: X:23.66, Y:1.70, Z:-2.44 [[ 9.90991314e-01 -2.79087926e-03 1.33897073e-01 2.36560001e+01] [ 1.99485058e-03 9.99979534e-01 6.07886730e-03 1.69689972e+00] [-1.33911298e-01 -5.75700004e-03 9.90976600e-01 -2.43531576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters 0.03720154464046515 Centerline is valid? [True, True] Translation: X:23.72, Y:1.70, Z:-2.44 [[ 9.91072588e-01 4.90634857e-04 1.33322480e-01 2.37177929e+01] [-1.30109599e-03 9.99981202e-01 5.99189973e-03 1.70128099e+00] [-1.33317034e-01 -6.11187292e-03 9.91054597e-01 -2.44153442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters 0.03751574130307696 Centerline is valid? [True, True] Translation: X:23.78, Y:1.71, Z:-2.45 [[ 9.90702222e-01 3.19744567e-03 1.36010601e-01 2.37789688e+01] [-4.05942034e-03 9.99973394e-01 6.06067577e-03 1.70523065e+00] [-1.35987603e-01 -6.55644915e-03 9.90688844e-01 -2.44735234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters 0.03709457141567091 Centerline is valid? [True, True] Translation: X:23.84, Y:1.71, Z:-2.46 [[ 9.90943017e-01 1.59276834e-03 1.34273605e-01 2.38407337e+01] [-2.41469281e-03 9.99979332e-01 5.95863618e-03 1.71213914e+00] [-1.34261339e-01 -6.22889842e-03 9.90926382e-01 -2.45547973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52592 meters 0.035864480406440157 Centerline is valid? [True, True] Translation: X:23.90, Y:1.71, Z:-2.46 [[ 9.90781793e-01 -1.46416808e-03 1.35459571e-01 2.39019512e+01] [ 6.59381515e-04 9.99981867e-01 5.98583269e-03 1.71492974e+00] [-1.35465879e-01 -5.84133451e-03 9.90764793e-01 -2.46268431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters 0.03561649667144275 Centerline is valid? [True, True] Translation: X:23.96, Y:1.72, Z:-2.47 [[ 9.90724794e-01 -4.75415442e-03 1.35800519e-01 2.39634442e+01] [ 3.98362473e-03 9.99974393e-01 5.94516790e-03 1.71934977e+00] [-1.35825306e-01 -5.34904694e-03 9.90718363e-01 -2.47088094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters 0.03505311546373414 Centerline is valid? [True, True] Translation: X:24.03, Y:1.72, Z:-2.48 [[ 9.90896522e-01 -5.41507244e-03 1.34516762e-01 2.40252605e+01] [ 4.67278347e-03 9.99972068e-01 5.83329756e-03 1.72469520e+00] [-1.34544592e-01 -5.15162657e-03 9.90894148e-01 -2.47777966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters 0.03489188652005602 Centerline is valid? [True, True] Translation: X:24.09, Y:1.73, Z:-2.48 [[ 9.91239716e-01 -4.62718787e-03 1.31993998e-01 2.40868685e+01] [ 3.91289209e-03 9.99976267e-01 5.67043976e-03 1.73234011e+00] [-1.32017103e-01 -5.10428683e-03 9.91234297e-01 -2.48459291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters 0.03467468164171027 Centerline is valid? [True, True] Translation: X:24.15, Y:1.73, Z:-2.49 [[ 9.91120081e-01 -7.03467932e-03 1.32783653e-01 2.41490223e+01] [ 6.33999145e-03 9.99963919e-01 5.65380337e-03 1.73498152e+00] [-1.32818634e-01 -4.76175083e-03 9.91128920e-01 -2.49183526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters 0.03313073119569907 Centerline is valid? [True, True] Translation: X:24.21, Y:1.74, Z:-2.50 [[ 9.90839604e-01 -1.44785654e-02 1.34265598e-01 2.42102375e+01] [ 1.38387974e-02 9.99888009e-01 5.69703200e-03 1.73650537e+00] [-1.34333046e-01 -3.78677053e-03 9.90929005e-01 -2.49921396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters 0.032100406267977596 Centerline is valid? [True, True] Translation: X:24.27, Y:1.74, Z:-2.51 [[ 9.90541795e-01 -1.95940154e-02 1.35805106e-01 2.42714892e+01] [ 1.89904901e-02 9.99803197e-01 5.73826039e-03 1.74093507e+00] [-1.35890815e-01 -3.10498122e-03 9.90718954e-01 -2.50689134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters 0.03188219042217151 Centerline is valid? [True, True] Translation: X:24.33, Y:1.74, Z:-2.51 [[ 9.90527234e-01 -1.94182144e-02 1.35936498e-01 2.43347613e+01] [ 1.88199945e-02 9.99806728e-01 5.68459794e-03 1.73886566e+00] [-1.36020610e-01 -3.07242494e-03 9.90701244e-01 -2.51213634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters 0.03184840012217155 Centerline is valid? [True, True] Translation: X:24.40, Y:1.74, Z:-2.52 [[ 9.90485018e-01 -1.86063152e-02 1.36357006e-01 2.43970085e+01] [ 1.80059358e-02 9.99822000e-01 5.63516033e-03 1.74050042e+00] [-1.36437584e-01 -3.12630638e-03 9.90643736e-01 -2.52044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters 0.030932093695667295 Centerline is valid? [True, True] Translation: X:24.46, Y:1.74, Z:-2.53 [[ 9.90382246e-01 -2.17426785e-02 1.36639168e-01 2.44580547e+01] [ 2.11785842e-02 9.99760132e-01 5.58089915e-03 1.74361577e+00] [-1.36727736e-01 -2.63339932e-03 9.90605164e-01 -2.52870532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters 0.030676444705559122 Centerline is valid? [True, True] Translation: X:24.52, Y:1.74, Z:-2.53 [[ 9.90407521e-01 -2.29752312e-02 1.36253741e-01 2.45203699e+01] [ 2.24339942e-02 9.99733161e-01 5.50666675e-03 1.74229133e+00] [-1.36343900e-01 -2.39712852e-03 9.90658667e-01 -2.53450370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters 0.030524768793407316 Centerline is valid? [True, True] Translation: X:24.58, Y:1.74, Z:-2.54 [[ 9.90647333e-01 -2.15903865e-02 1.34728310e-01 2.45823923e+01] [ 2.10566342e-02 9.99763779e-01 5.38556332e-03 1.74144363e+00] [-1.34812761e-01 -2.49826919e-03 9.90867942e-01 -2.54349092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters 0.0305809579844977 Centerline is valid? [True, True] Translation: X:24.64, Y:1.74, Z:-2.55 [[ 9.90465435e-01 -2.03058034e-02 1.36256729e-01 2.46446865e+01] [ 1.97569741e-02 9.99790341e-01 5.37915613e-03 1.73599667e+00] [-1.36337390e-01 -2.63584755e-03 9.90658957e-01 -2.54890696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters 0.03048763051136945 Centerline is valid? [True, True] Translation: X:24.71, Y:1.73, Z:-2.56 [[ 9.90554431e-01 -2.05920459e-02 1.35565067e-01 2.47066125e+01] [ 2.00596258e-02 9.99784778e-01 5.29238682e-03 1.73425390e+00] [-1.35644871e-01 -2.52301270e-03 9.90754310e-01 -2.55667431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters 0.03010644374549722 Centerline is valid? [True, True] Translation: X:24.77, Y:1.73, Z:-2.56 [[ 9.90130419e-01 -2.36566312e-02 1.38138035e-01 2.47697112e+01] [ 2.31420725e-02 9.99717977e-01 5.33009984e-03 1.72596770e+00] [-1.38225170e-01 -2.08069355e-03 9.90398644e-01 -2.56387823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters 0.03023576826250462 Centerline is valid? [True, True] Translation: X:24.83, Y:1.72, Z:-2.57 [[ 9.90429882e-01 -2.26556164e-02 1.36144672e-01 2.48314287e+01] [ 2.21554890e-02 9.99741077e-01 5.18780474e-03 1.72265764e+00] [-1.36226954e-01 -2.12180505e-03 9.90675383e-01 -2.57138182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters 0.030437385296035246 Centerline is valid? [True, True] Translation: X:24.89, Y:1.72, Z:-2.58 [[ 9.90712517e-01 -1.74856175e-02 1.34844211e-01 2.48939361e+01] [ 1.69553060e-02 9.99843342e-01 5.08026514e-03 1.71530212e+00] [-1.34911918e-01 -2.74675741e-03 9.90853788e-01 -2.57728567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters 0.030742453717437376 Centerline is valid? [True, True] Translation: X:24.96, Y:1.71, Z:-2.58 [[ 9.90891918e-01 -1.52368493e-02 1.33794784e-01 2.49564017e+01] [ 1.47023689e-02 9.99879503e-01 4.98191893e-03 1.71148880e+00] [-1.33854571e-01 -2.96944293e-03 9.90996537e-01 -2.58254480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters 0.030096057112198038 Centerline is valid? [True, True] Translation: X:25.02, Y:1.71, Z:-2.59 [[ 9.91130680e-01 -1.73059405e-02 1.31759173e-01 2.50186733e+01] [ 1.68136921e-02 9.99846888e-01 4.84766764e-03 1.70648813e+00] [-1.31822893e-01 -2.58931395e-03 9.91269903e-01 -2.59150611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters 0.03001661878284407 Centerline is valid? [True, True] Translation: X:25.08, Y:1.70, Z:-2.60 [[ 9.90600996e-01 -1.96997500e-02 1.35357253e-01 2.50815016e+01] [ 1.92061744e-02 9.99803283e-01 4.95148421e-03 1.70471361e+00] [-1.35428169e-01 -2.30525020e-03 9.90784486e-01 -2.59916194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters 0.029925567028440205 Centerline is valid? [True, True] Translation: X:25.14, Y:1.70, Z:-2.60 [[ 9.90499252e-01 -1.98948974e-02 1.36071398e-01 2.51441168e+01] [ 1.94071988e-02 9.99799607e-01 4.90988354e-03 1.70060449e+00] [-1.36141812e-01 -2.22247131e-03 9.90686867e-01 -2.60481362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters 0.030044538499305707 Centerline is valid? [True, True] Translation: X:25.21, Y:1.70, Z:-2.61 [[ 9.90656942e-01 -1.71170445e-02 1.35299041e-01 2.52056668e+01] [ 1.66179671e-02 9.99850307e-01 4.81731255e-03 1.69588255e+00] [-1.35361246e-01 -2.52390912e-03 9.90793098e-01 -2.61400956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters 0.030561457110454097 Centerline is valid? [True, True] Translation: X:25.27, Y:1.69, Z:-2.62 [[ 9.90437687e-01 -1.51501862e-02 1.37126438e-01 2.52674579e+01] [ 1.46269706e-02 9.99881391e-01 4.82245683e-03 1.69035086e+00] [-1.37183235e-01 -2.77059861e-03 9.90541813e-01 -2.62305008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters 0.030781965495583877 Centerline is valid? [True, True] Translation: X:25.33, Y:1.69, Z:-2.63 [[ 9.90590004e-01 -1.33639626e-02 1.36208841e-01 2.53305506e+01] [ 1.28391399e-02 9.99906383e-01 4.73088149e-03 1.68808967e+00] [-1.36259312e-01 -2.93755956e-03 9.90668850e-01 -2.62816176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters 0.03178323935560998 Centerline is valid? [True, True] Translation: X:25.39, Y:1.69, Z:-2.64 [[ 9.90615216e-01 -9.72490945e-03 1.36333858e-01 2.53920070e+01] [ 9.17378852e-03 9.99947014e-01 4.67015084e-03 1.68697303e+00] [-1.36372051e-01 -3.37562451e-03 9.90651941e-01 -2.63932938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters 0.03212112207313556 Centerline is valid? [True, True] Translation: X:25.45, Y:1.68, Z:-2.64 [[ 9.90992821e-01 -6.59423327e-03 1.33752552e-01 2.54543816e+01] [ 6.04326448e-03 9.99971502e-01 4.52487539e-03 1.68284403e+00] [-1.33778578e-01 -3.67581698e-03 9.91004430e-01 -2.64454207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters 0.03262575485148909 Centerline is valid? [True, True] Translation: X:25.52, Y:1.68, Z:-2.65 [[ 9.90691681e-01 -4.44056157e-03 1.36052469e-01 2.55156489e+01] [ 3.85887105e-03 9.99982254e-01 4.53892029e-03 1.68279819e+00] [-1.36070210e-01 -3.97166163e-03 9.90691235e-01 -2.65187711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters 0.03303509832341849 Centerline is valid? [True, True] Translation: X:25.58, Y:1.68, Z:-2.66 [[ 9.91203690e-01 -2.48358103e-03 1.32321866e-01 2.55776284e+01] [ 1.92339215e-03 9.99988640e-01 4.36117957e-03 1.68090304e+00] [-1.32331195e-01 -4.06831044e-03 9.91197207e-01 -2.65704819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters 0.0333377125013951 Centerline is valid? [True, True] Translation: X:25.64, Y:1.68, Z:-2.67 [[ 9.91132720e-01 -4.87043728e-05 1.32875615e-01 2.56387575e+01] [-5.30684202e-04 9.99990506e-01 4.32496504e-03 1.67663660e+00] [-1.32874564e-01 -4.35712935e-03 9.91123285e-01 -2.66563212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters 0.03369993963429899 Centerline is valid? [True, True] Translation: X:25.70, Y:1.67, Z:-2.67 [[ 9.91232209e-01 1.38506595e-03 1.32124142e-01 2.57012598e+01] [-1.96366712e-03 9.99989045e-01 4.24902905e-03 1.67496118e+00] [-1.32116810e-01 -4.47122228e-03 9.91224070e-01 -2.67104745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters 0.03424380650348186 Centerline is valid? [True, True] Translation: X:25.76, Y:1.67, Z:-2.68 [[ 9.91468662e-01 4.21858800e-03 1.30276998e-01 2.57623811e+01] [-4.79789960e-03 9.99979948e-01 4.13322151e-03 1.67311470e+00] [-1.30256949e-01 -4.72301555e-03 9.91469021e-01 -2.67879509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters 0.036337418662080824 Centerline is valid? [True, True] Translation: X:25.82, Y:1.67, Z:-2.69 [[ 9.91391279e-01 1.19660738e-02 1.30384605e-01 2.58239474e+01] [-1.26094983e-02 9.99912049e-01 4.11034178e-03 1.66891193e+00] [-1.30323953e-01 -5.71904145e-03 9.91454971e-01 -2.68521951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445919999999997 meters 0.039127706919529257 Centerline is valid? [True, True] Translation: X:25.89, Y:1.67, Z:-2.69 [[ 9.91365585e-01 2.03703277e-02 1.29535043e-01 2.58850395e+01] [-2.10752017e-02 9.99769597e-01 4.07299305e-03 1.66658812e+00] [-1.29422229e-01 -6.76780229e-03 9.91566480e-01 -2.68999131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters 0.039631347642710195 Centerline is valid? [True, True] Translation: X:25.95, Y:1.67, Z:-2.70 [[ 9.91161717e-01 2.12058301e-02 1.30953286e-01 2.59465287e+01] [-2.19311578e-02 9.99751080e-01 4.09896138e-03 1.66812685e+00] [-1.30833767e-01 -6.93469077e-03 9.91380066e-01 -2.69863365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters 0.03839307205725219 Centerline is valid? [True, True] Translation: X:26.01, Y:1.67, Z:-2.70 [[ 9.90884769e-01 1.90169506e-02 1.33363149e-01 2.60080463e+01] [-1.97426830e-02 9.99796600e-01 4.12138877e-03 1.67065417e+00] [-1.33257646e-01 -6.71676773e-03 9.91058669e-01 -2.70459047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625919999999997 meters 0.03885003133682481 Centerline is valid? [True, True] Translation: X:26.07, Y:1.67, Z:-2.71 [[ 9.90936433e-01 1.93386520e-02 1.32932322e-01 2.60701933e+01] [-2.00554391e-02 9.99790646e-01 4.05516022e-03 1.67240933e+00] [-1.32826071e-01 -6.68442208e-03 9.91116821e-01 -2.71208915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters 0.03862956850143153 Centerline is valid? [True, True] Translation: X:26.13, Y:1.68, Z:-2.72 [[ 9.91036454e-01 1.95147907e-02 1.32158692e-01 2.61315141e+01] [-2.02169244e-02 9.99787723e-01 3.97295819e-03 1.67588764e+00] [-1.32053106e-01 -6.60918869e-03 9.91220609e-01 -2.72017608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters 0.040182205400271835 Centerline is valid? [True, True] Translation: X:26.19, Y:1.67, Z:-2.73 [[ 9.91169432e-01 2.08549565e-02 1.30951240e-01 2.61928071e+01] [-2.15490596e-02 9.99760242e-01 3.88551392e-03 1.67234127e+00] [-1.30838811e-01 -6.67307871e-03 9.91381196e-01 -2.72739105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters 0.03823369395930413 Centerline is valid? [True, True] Translation: X:26.25, Y:1.68, Z:-2.74 [[ 9.91035099e-01 2.02415568e-02 1.32059504e-01 2.62543567e+01] [-2.09357832e-02 9.99773331e-01 3.87043130e-03 1.67794770e+00] [-1.31951226e-01 -6.60050240e-03 9.91234234e-01 -2.73503098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters 0.0394896239451031 Centerline is valid? [True, True] Translation: X:26.32, Y:1.68, Z:-2.74 [[ 9.90992238e-01 2.30270496e-02 1.31924749e-01 2.63158817e+01] [-2.37413082e-02 9.99710747e-01 3.84357899e-03 1.67810507e+00] [-1.31798083e-01 -6.94102307e-03 9.91252282e-01 -2.74446895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters 0.041179202275723914 Centerline is valid? [True, True] Translation: X:26.38, Y:1.68, Z:-2.75 [[ 9.91170301e-01 2.66153335e-02 1.29896337e-01 2.63781413e+01] [-2.73321632e-02 9.99619416e-01 3.73855292e-03 1.67708446e+00] [-1.29747398e-01 -7.25589050e-03 9.91520532e-01 -2.75018167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters 0.04163391273714156 Centerline is valid? [True, True] Translation: X:26.44, Y:1.68, Z:-2.76 [[ 9.91239793e-01 2.91832998e-02 1.28809964e-01 2.64393437e+01] [-2.99077232e-02 9.99545842e-01 3.69287726e-03 1.68172070e+00] [-1.28643694e-01 -7.51293964e-03 9.91662420e-01 -2.75818368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters 0.04262876689233369 Centerline is valid? [True, True] Translation: X:26.50, Y:1.68, Z:-2.76 [[ 9.90762500e-01 3.21784723e-02 1.31735398e-01 2.64999993e+01] [-3.29602865e-02 9.99449597e-01 3.75794771e-03 1.68489595e+00] [-1.31541966e-01 -8.06527014e-03 9.91277793e-01 -2.76482146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters 0.04168773027517512 Centerline is valid? [True, True] Translation: X:26.56, Y:1.69, Z:-2.77 [[ 9.91227555e-01 2.99713295e-02 1.28723166e-01 2.65609738e+01] [-3.06938818e-02 9.99522230e-01 3.63268991e-03 1.69165582e+00] [-1.28552789e-01 -7.55183597e-03 9.91673913e-01 -2.77220738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters 0.041306970319928145 Centerline is valid? [True, True] Translation: X:26.62, Y:1.70, Z:-2.78 [[ 9.90832487e-01 2.91956317e-02 1.31903746e-01 2.66222765e+01] [-2.99457071e-02 9.99544656e-01 3.70604913e-03 1.70008926e+00] [-1.31735484e-01 -7.62202483e-03 9.91255601e-01 -2.77884831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters 0.042677917208002104 Centerline is valid? [True, True] Translation: X:26.68, Y:1.71, Z:-2.79 [[ 9.91325601e-01 3.40792344e-02 1.26933677e-01 2.66834559e+01] [-3.48074554e-02 9.99387828e-01 3.52270224e-03 1.71399240e+00] [-1.26735921e-01 -7.91038323e-03 9.91904951e-01 -2.78577821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters 0.04177502155659137 Centerline is valid? [True, True] Translation: X:26.74, Y:1.73, Z:-2.79 [[ 9.91203055e-01 3.40071193e-02 1.27906294e-01 2.67443229e+01] [-3.47440538e-02 9.99389994e-01 3.53413083e-03 1.72576403e+00] [-1.27708085e-01 -7.94702443e-03 9.91779960e-01 -2.79267490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters 0.04158980874311499 Centerline is valid? [True, True] Translation: X:26.81, Y:1.74, Z:-2.80 [[ 9.91299494e-01 3.00099395e-02 1.28158952e-01 2.68051006e+01] [-3.07108190e-02 9.99522198e-01 3.49580424e-03 1.74091651e+00] [-1.27992808e-01 -7.40125535e-03 9.91747479e-01 -2.80022108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters 0.038140496810642396 Centerline is valid? [True, True] Translation: X:26.87, Y:1.76, Z:-2.81 [[ 9.91340986e-01 1.97307450e-02 1.29821980e-01 2.68654100e+01] [-2.03606700e-02 9.99786480e-01 3.52663406e-03 1.75546368e+00] [-1.29724678e-01 -6.13935939e-03 9.91531047e-01 -2.80694518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters 0.03470204329003307 Centerline is valid? [True, True] Translation: X:26.93, Y:1.77, Z:-2.82 [[ 9.91198137e-01 8.42306723e-03 1.32118527e-01 2.69259410e+01] [-8.97076564e-03 9.99953457e-01 3.55083422e-03 1.77082205e+00] [-1.32082469e-01 -4.70478461e-03 9.91227565e-01 -2.81618269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters 0.033578338981104176 Centerline is valid? [True, True] Translation: X:26.99, Y:1.77, Z:-2.82 [[ 9.90737312e-01 3.23944917e-03 1.35753762e-01 2.69874348e+01] [-3.76653434e-03 9.99986333e-01 3.62598585e-03 1.77411083e+00] [-1.35740160e-01 -4.10372068e-03 9.90735973e-01 -2.82250147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters 0.03288389529622625 Centerline is valid? [True, True] Translation: X:27.05, Y:1.78, Z:-2.83 [[ 9.90916507e-01 -1.31903461e-03 1.34472062e-01 2.70487213e+01] [ 8.50405816e-04 9.99993364e-01 3.54233203e-03 1.77773507e+00] [-1.34475842e-01 -3.39579946e-03 9.90911054e-01 -2.83097948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters 0.03201377555931384 Centerline is valid? [True, True] Translation: X:27.11, Y:1.78, Z:-2.84 [[ 9.90881307e-01 -5.50094408e-03 1.34625317e-01 2.71108357e+01] [ 5.07146894e-03 9.99980899e-01 3.53288117e-03 1.77779856e+00] [-1.34642179e-01 -2.81791780e-03 9.90890278e-01 -2.83905605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters 0.032141158753840826 Centerline is valid? [True, True] Translation: X:27.17, Y:1.78, Z:-2.85 [[ 9.90652350e-01 -5.01866136e-03 1.36318504e-01 2.71726349e+01] [ 4.57732453e-03 9.99983220e-01 3.55080071e-03 1.77974111e+00] [-1.36334037e-01 -2.89363504e-03 9.90658699e-01 -2.84523228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters 0.03324778248346526 Centerline is valid? [True, True] Translation: X:27.23, Y:1.78, Z:-2.85 [[ 9.90581119e-01 1.44769292e-03 1.36919506e-01 2.72340695e+01] [-1.94652020e-03 9.99991948e-01 3.50939690e-03 1.77668338e+00] [-1.36913323e-01 -3.74285889e-03 9.90575960e-01 -2.85181131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters 0.03363776906615908 Centerline is valid? [True, True] Translation: X:27.30, Y:1.78, Z:-2.86 [[ 9.90451935e-01 2.86325588e-03 1.37828758e-01 2.72956307e+01] [-3.37479051e-03 9.99988258e-01 3.47783393e-03 1.77769084e+00] [-1.37817182e-01 -3.90977053e-03 9.90449967e-01 -2.85962205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters 0.034644722109983817 Centerline is valid? [True, True] Translation: X:27.36, Y:1.78, Z:-2.87 [[ 9.90240843e-01 6.70275285e-03 1.39205408e-01 2.73576962e+01] [-7.25520339e-03 9.99967689e-01 3.46152098e-03 1.77802273e+00] [-1.39177709e-01 -4.43770300e-03 9.90257478e-01 -2.86529339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters 0.03483960186594602 Centerline is valid? [True, True] Translation: X:27.42, Y:1.78, Z:-2.87 [[ 9.90648016e-01 9.18586323e-03 1.36132760e-01 2.74199769e+01] [-9.73405494e-03 9.99946972e-01 3.36176313e-03 1.77995047e+00] [-1.36094660e-01 -4.65544774e-03 9.90684900e-01 -2.87499597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters 0.034588516561191454 Centerline is valid? [True, True] Translation: X:27.48, Y:1.78, Z:-2.88 [[ 9.90579723e-01 1.06144984e-02 1.36525254e-01 2.74820178e+01] [-1.11707527e-02 9.99932131e-01 3.30886104e-03 1.78259893e+00] [-1.36480867e-01 -4.80278051e-03 9.90631065e-01 -2.88071327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters 0.03543849862562366 Centerline is valid? [True, True] Translation: X:27.54, Y:1.79, Z:-2.89 [[ 9.90242842e-01 1.28087823e-02 1.38762566e-01 2.75433753e+01] [-1.33970185e-02 9.99904791e-01 3.30592731e-03 1.78525869e+00] [-1.38707009e-01 -5.13267552e-03 9.90320161e-01 -2.88980221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125919999999997 meters 0.03594190589467536 Centerline is valid? [True, True] Translation: X:27.60, Y:1.79, Z:-2.90 [[ 9.90487282e-01 1.59757291e-02 1.36673773e-01 2.76046621e+01] [-1.65685514e-02 9.99857608e-01 3.20094453e-03 1.79241164e+00] [-1.36603175e-01 -5.43498129e-03 9.90610940e-01 -2.89639205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters 0.03604034308484989 Centerline is valid? [True, True] Translation: X:27.67, Y:1.80, Z:-2.90 [[ 9.90251804e-01 1.71323536e-02 1.38231140e-01 2.76667261e+01] [-1.77422069e-02 9.99837535e-01 3.18077549e-03 1.79707370e+00] [-1.38154188e-01 -5.60229415e-03 9.90394888e-01 -2.90241789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245919999999998 meters 0.03488048727666325 Centerline is valid? [True, True] Translation: X:27.73, Y:1.81, Z:-2.91 [[ 9.90194020e-01 1.43677336e-02 1.38958162e-01 2.77283852e+01] [-1.49491442e-02 9.99883321e-01 3.14120455e-03 1.81000645e+00] [-1.38896817e-01 -5.18770755e-03 9.90293271e-01 -2.90969077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305919999999997 meters 0.033631474436663956 Centerline is valid? [True, True] Translation: X:27.79, Y:1.82, Z:-2.92 [[ 9.90351189e-01 9.88540117e-03 1.38227351e-01 2.77894863e+01] [-1.04105423e-02 9.99941076e-01 3.07662912e-03 1.82276455e+00] [-1.38188792e-01 -4.48596499e-03 9.90395746e-01 -2.91733504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters 0.033220130094691984 Centerline is valid? [True, True] Translation: X:27.85, Y:1.83, Z:-2.92 [[ 9.90466014e-01 8.43589973e-03 1.37498767e-01 2.78509461e+01] [-8.93884443e-03 9.99955424e-01 3.04073931e-03 1.82783080e+00] [-1.37466987e-01 -4.24082903e-03 9.90497270e-01 -2.92459360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters 0.03175376251660731 Centerline is valid? [True, True] Translation: X:27.91, Y:1.83, Z:-2.93 [[ 9.90339304e-01 1.68030906e-03 1.38655107e-01 2.79119733e+01] [-2.11886336e-03 9.99993209e-01 3.01536689e-03 1.83457630e+00] [-1.38649099e-01 -3.28002758e-03 9.90336139e-01 -2.93374348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters 0.03067233461041148 Centerline is valid? [True, True] Translation: X:27.97, Y:1.83, Z:-2.94 [[ 9.89902437e-01 -8.85786978e-03 1.41473331e-01 2.79736254e+01] [ 8.51184721e-03 9.99959120e-01 3.05081786e-03 1.83391952e+00] [-1.41494572e-01 -1.81581265e-03 9.89937366e-01 -2.94133985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters 0.029881228990069262 Centerline is valid? [True, True] Translation: X:28.04, Y:1.84, Z:-2.95 [[ 9.90023560e-01 -1.47366206e-02 1.40129165e-01 2.80350398e+01] [ 1.44642869e-02 9.99891000e-01 2.96176447e-03 1.83687525e+00] [-1.40157538e-01 -9.05348155e-04 9.90128802e-01 -2.95130169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters 0.029420402766817552 Centerline is valid? [True, True] Translation: X:28.10, Y:1.83, Z:-2.96 [[ 9.90023351e-01 -1.89002803e-02 1.39630022e-01 2.80965233e+01] [ 1.86796369e-02 9.99821342e-01 2.89068835e-03 1.83266637e+00] [-1.39659711e-01 -2.53610859e-04 9.90199526e-01 -2.95687468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters 0.02952028326259415 Centerline is valid? [True, True] Translation: X:28.16, Y:1.83, Z:-2.96 [[ 9.89848984e-01 -1.99332211e-02 1.40718355e-01 2.81581934e+01] [ 1.97283971e-02 9.99801313e-01 2.85056490e-03 1.82533717e+00] [-1.40747217e-01 -4.54811758e-05 9.90045564e-01 -2.96312375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters 0.029272989920125166 Centerline is valid? [True, True] Translation: X:28.22, Y:1.82, Z:-2.97 [[ 9.90435094e-01 -1.53798252e-02 1.37119601e-01 2.82203640e+01] [ 1.51502471e-02 9.99881535e-01 2.71782316e-03 1.81819944e+00] [-1.37145156e-01 -6.14431609e-04 9.90550770e-01 -2.96847441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters 0.03032293618387591 Centerline is valid? [True, True] Translation: X:28.28, Y:1.81, Z:-2.98 [[ 9.90421778e-01 -5.20471098e-03 1.37976859e-01 2.82820045e+01] [ 4.88255157e-03 9.99984507e-01 2.67323772e-03 1.81202425e+00] [-1.37988634e-01 -1.97395373e-03 9.90431845e-01 -2.97504745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters 0.03177845862507324 Centerline is valid? [True, True] Translation: X:28.34, Y:1.80, Z:-2.98 [[ 9.90946215e-01 5.46232595e-03 1.34148282e-01 2.83436170e+01] [-5.85614956e-03 9.99979623e-01 2.54132659e-03 1.80228652e+00] [-1.34131667e-01 -3.30391037e-03 9.90958011e-01 -2.98104880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters 0.033159757196668437 Centerline is valid? [True, True] Translation: X:28.40, Y:1.80, Z:-2.99 [[ 9.90702248e-01 1.15462008e-02 1.35557148e-01 2.84049489e+01] [-1.19979303e-02 9.99924857e-01 2.51586387e-03 1.79854798e+00] [-1.35517913e-01 -4.11887722e-03 9.90766335e-01 -2.99204824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters 0.033880895016813184 Centerline is valid? [True, True] Translation: X:28.47, Y:1.80, Z:-3.00 [[ 9.90395930e-01 1.48621922e-02 1.37459148e-01 2.84668002e+01] [-1.53563039e-02 9.99878872e-01 2.53478132e-03 1.79853678e+00] [-1.37404826e-01 -4.62130156e-03 9.90504194e-01 -2.99766963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters 0.035212740342801946 Centerline is valid? [True, True] Translation: X:28.53, Y:1.80, Z:-3.00 [[ 9.90843571e-01 2.01101679e-02 1.33508797e-01 2.85283468e+01] [-2.06205572e-02 9.99784393e-01 2.44114663e-03 1.79658164e+00] [-1.33430920e-01 -5.17182023e-03 9.91044622e-01 -3.00457926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters 0.0358828019202108 Centerline is valid? [True, True] Translation: X:28.59, Y:1.80, Z:-3.01 [[ 9.90673620e-01 2.28703504e-02 1.34323214e-01 2.85899194e+01] [-2.34048173e-02 9.99723186e-01 2.40104051e-03 1.79960774e+00] [-1.34231119e-01 -5.52245779e-03 9.90934664e-01 -3.01307741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145919999999997 meters 0.03610327550898598 Centerline is valid? [True, True] Translation: X:28.65, Y:1.80, Z:-3.02 [[ 9.90478123e-01 2.35269176e-02 1.35645022e-01 2.86517180e+01] [-2.40706644e-02 9.99707451e-01 2.36965363e-03 1.80236168e+00] [-1.35549588e-01 -5.61215587e-03 9.90754668e-01 -3.02017348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters 0.03679701635888694 Centerline is valid? [True, True] Translation: X:28.71, Y:1.81, Z:-3.03 [[ 9.90170022e-01 2.52200794e-02 1.37576434e-01 2.87129950e+01] [-2.57880933e-02 9.99664675e-01 2.34759981e-03 1.80616041e+00] [-1.37471095e-01 -5.87235689e-03 9.90488371e-01 -3.02951274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265919999999998 meters 0.037347304585906405 Centerline is valid? [True, True] Translation: X:28.77, Y:1.81, Z:-3.04 [[ 9.90356245e-01 2.84363710e-02 1.35594548e-01 2.87743584e+01] [-2.90105651e-02 9.99576550e-01 2.26015561e-03 1.80995510e+00] [-1.35472860e-01 -6.17203370e-03 9.90761833e-01 -3.03593170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters 0.03759370955260885 Centerline is valid? [True, True] Translation: X:28.84, Y:1.82, Z:-3.04 [[ 9.89975431e-01 2.95166471e-02 1.38121009e-01 2.88355267e+01] [-3.01153756e-02 9.99543905e-01 2.24656074e-03 1.81817134e+00] [-1.37991702e-01 -6.38360601e-03 9.90412813e-01 -3.04327701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38592 meters 0.037508856167094005 Centerline is valid? [True, True] Translation: X:28.90, Y:1.82, Z:-3.05 [[ 9.89746055e-01 2.90533553e-02 1.39852242e-01 2.88972829e+01] [-2.96547205e-02 9.99557742e-01 2.21760046e-03 1.82253682e+00] [-1.39725962e-01 -6.34214045e-03 9.90169901e-01 -3.05138613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters 0.03601367653483282 Centerline is valid? [True, True] Translation: X:28.96, Y:1.83, Z:-3.06 [[ 9.90395904e-01 2.37858059e-02 1.36199074e-01 2.89580875e+01] [-2.42994796e-02 9.99702497e-01 2.10996677e-03 1.83165853e+00] [-1.36108367e-01 -5.39926907e-03 9.90679242e-01 -3.06028928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters 0.03491350232463793 Centerline is valid? [True, True] Translation: X:29.02, Y:1.84, Z:-3.07 [[ 9.90431072e-01 1.86978988e-02 1.36735807e-01 2.90191326e+01] [-1.91659708e-02 9.99814095e-01 2.10735075e-03 1.83606266e+00] [-1.36670984e-01 -4.70786015e-03 9.90605309e-01 -3.06622333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters 0.03396378090400522 Centerline is valid? [True, True] Translation: X:29.08, Y:1.84, Z:-3.07 [[ 9.90387858e-01 1.60069470e-02 1.37388750e-01 2.90807832e+01] [-1.64513476e-02 9.99862463e-01 2.09965894e-03 1.83789515e+00] [-1.37336245e-01 -4.33970680e-03 9.90514979e-01 -3.07428935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters 0.033488541517517095 Centerline is valid? [True, True] Translation: X:29.14, Y:1.84, Z:-3.08 [[ 9.90617707e-01 1.57140901e-02 1.35755759e-01 2.91427990e+01] [-1.61376147e-02 9.99867740e-01 2.01976811e-03 1.83873769e+00] [-1.35706065e-01 -4.19159219e-03 9.90740276e-01 -3.07992464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters 0.03413017276611497 Centerline is valid? [True, True] Translation: X:29.21, Y:1.84, Z:-3.09 [[ 9.90675843e-01 1.60462843e-02 1.35291872e-01 2.92050706e+01] [-1.64621166e-02 9.99862578e-01 1.95534302e-03 1.83623129e+00] [-1.35241904e-01 -4.16430167e-03 9.90803858e-01 -3.08563093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters 0.03386606125455463 Centerline is valid? [True, True] Translation: X:29.27, Y:1.84, Z:-3.09 [[ 9.90416879e-01 1.69176727e-02 1.37070049e-01 2.92665103e+01] [-1.73439107e-02 9.99847748e-01 1.91584494e-03 1.84104948e+00] [-1.37016768e-01 -4.27481585e-03 9.90559504e-01 -3.09464482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters 0.035170244113071826 Centerline is valid? [True, True] Translation: X:29.33, Y:1.84, Z:-3.10 [[ 9.90260737e-01 2.10804857e-02 1.37620078e-01 2.93281429e+01] [-2.15431874e-02 9.99766163e-01 1.87339221e-03 1.83879939e+00] [-1.37548406e-01 -4.81992189e-03 9.90483319e-01 -3.10019298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters 0.03714270906817286 Centerline is valid? [True, True] Translation: X:29.39, Y:1.84, Z:-3.11 [[ 9.90278234e-01 2.99214403e-02 1.35844497e-01 2.93888176e+01] [-3.04519027e-02 9.99534561e-01 1.82813901e-03 1.84085984e+00] [-1.35726569e-01 -5.94708967e-03 9.90728485e-01 -3.10755147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters 0.03911519249615303 Centerline is valid? [True, True] Translation: X:29.45, Y:1.84, Z:-3.12 [[ 9.89916725e-01 3.63280088e-02 1.36912944e-01 2.94496980e+01] [-3.69210294e-02 9.99316577e-01 1.79357106e-03 1.84293289e+00] [-1.36754218e-01 -6.83045281e-03 9.90581460e-01 -3.11569492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters 0.039865090709340724 Centerline is valid? [True, True] Translation: X:29.51, Y:1.85, Z:-3.12 [[ 9.89647598e-01 3.98338736e-02 1.37879999e-01 2.95112334e+01] [-4.04632495e-02 9.99179471e-01 1.76362703e-03 1.85075884e+00] [-1.37696613e-01 -7.32444206e-03 9.90447371e-01 -3.12267036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters 0.03914544824068735 Centerline is valid? [True, True] Translation: X:29.57, Y:1.86, Z:-3.13 [[ 9.89677403e-01 3.75261863e-02 1.38312775e-01 2.95725796e+01] [-3.81342781e-02 9.99271095e-01 1.74821157e-03 1.85739638e+00] [-1.38146355e-01 -7.00462333e-03 9.90387056e-01 -3.12946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters 0.03825204562506768 Centerline is valid? [True, True] Translation: X:29.63, Y:1.87, Z:-3.14 [[ 9.89693792e-01 3.78881865e-02 1.38096642e-01 2.96348342e+01] [-3.84900763e-02 9.99257554e-01 1.68963605e-03 1.86732826e+00] [-1.37930096e-01 -6.98757262e-03 9.90417317e-01 -3.13634133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters 0.03929959214406091 Centerline is valid? [True, True] Translation: X:29.70, Y:1.88, Z:-3.14 [[ 9.89714398e-01 3.92545523e-02 1.37566316e-01 2.96965767e+01] [-3.98563686e-02 9.99204103e-01 1.62185142e-03 1.87507437e+00] [-1.37393162e-01 -7.08806348e-03 9.90491231e-01 -3.14470304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22592 meters 0.03968066629065799 Centerline is valid? [True, True] Translation: X:29.76, Y:1.88, Z:-3.15 [[ 9.89560618e-01 4.17504407e-02 1.37937250e-01 2.97576195e+01] [-4.23719339e-02 9.99100671e-01 1.57103165e-03 1.88374318e+00] [-1.37747608e-01 -7.39929909e-03 9.90439724e-01 -3.15131243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285919999999997 meters 0.03917955123772093 Centerline is valid? [True, True] Translation: X:29.82, Y:1.89, Z:-3.16 [[ 9.89905355e-01 4.28078855e-02 1.35110594e-01 2.98189093e+01] [-4.34068828e-02 9.99056367e-01 1.48926291e-03 1.89294837e+00] [-1.34919347e-01 -7.33895905e-03 9.90829405e-01 -3.15707767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters 0.039888248760677716 Centerline is valid? [True, True] Translation: X:29.88, Y:1.90, Z:-3.17 [[ 9.89711472e-01 4.45614378e-02 1.35961321e-01 2.98801562e+01] [-4.51770553e-02 9.98977952e-01 1.44420472e-03 1.90406734e+00] [-1.35758006e-01 -7.57167810e-03 9.90713093e-01 -3.16573272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters 0.03852152740656015 Centerline is valid? [True, True] Translation: X:29.94, Y:1.93, Z:-3.17 [[ 9.89314168e-01 4.14186671e-02 1.39792600e-01 2.99420250e+01] [-4.20307199e-02 9.99115299e-01 1.42756322e-03 1.92612579e+00] [-1.39609798e-01 -7.28789213e-03 9.90179777e-01 -3.17067154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters 0.03636146366330766 Centerline is valid? [True, True] Translation: X:30.00, Y:1.94, Z:-3.18 [[ 9.89650505e-01 3.42842567e-02 1.39342984e-01 3.00025261e+01] [-3.48146405e-02 9.99392848e-01 1.36989799e-03 1.93627895e+00] [-1.39211416e-01 -6.20689614e-03 9.90243231e-01 -3.17880034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters 0.03298091410940222 Centerline is valid? [True, True] Translation: X:30.06, Y:1.95, Z:-3.18 [[ 9.89763539e-01 1.94625920e-02 1.41383676e-01 3.00641221e+01] [-1.98530489e-02 9.99801995e-01 1.35153990e-03 1.95314509e+00] [-1.41329377e-01 -4.14460195e-03 9.89953953e-01 -3.18302130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters 0.0309774540931 Centerline is valid? [True, True] Translation: X:30.12, Y:1.96, Z:-3.19 [[ 9.89340946e-01 3.95580929e-03 1.45563885e-01 3.01249543e+01] [-4.20102524e-03 9.99990227e-01 1.37723485e-03 1.96373945e+00] [-1.45557014e-01 -1.97407239e-03 9.89347896e-01 -3.18994842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters 0.02992889350688923 Centerline is valid? [True, True] Translation: X:30.19, Y:1.97, Z:-3.20 [[ 9.89700799e-01 -8.48681813e-03 1.42899621e-01 3.01858521e+01] [ 8.38161285e-03 9.99963978e-01 1.33816649e-03 1.96675595e+00] [-1.42905831e-01 -1.26655146e-04 9.89736282e-01 -3.20146611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters 0.029792320935568058 Centerline is valid? [True, True] Translation: X:30.25, Y:1.97, Z:-3.20 [[ 9.89460010e-01 -1.76253601e-02 1.43729731e-01 3.02478135e+01] [ 1.76182879e-02 9.99843912e-01 1.32204869e-03 1.96641224e+00] [-1.43730598e-01 1.22415747e-03 9.89616096e-01 -3.20489618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters 0.029975484168443572 Centerline is valid? [True, True] Translation: X:30.31, Y:1.96, Z:-3.21 [[ 9.89286000e-01 -1.93688416e-02 1.44699889e-01 3.03088082e+01] [ 1.93897541e-02 9.99811200e-01 1.26587804e-03 1.96222737e+00] [-1.44697088e-01 1.55337985e-03 9.89474780e-01 -3.21453836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters 0.029898154151114315 Centerline is valid? [True, True] Translation: X:30.37, Y:1.96, Z:-3.22 [[ 9.89274925e-01 -1.40055055e-02 1.45392466e-01 3.03702292e+01] [ 1.39786800e-02 9.99901566e-01 1.20617817e-03 1.95610271e+00] [-1.45395048e-01 8.39152947e-04 9.89373325e-01 -3.22457020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters 0.030064208186611072 Centerline is valid? [True, True] Translation: X:30.43, Y:1.95, Z:-3.23 [[ 9.89387299e-01 -5.67788035e-03 1.45191373e-01 3.04322963e+01] [ 5.57155428e-03 9.99983830e-01 1.13893471e-03 1.95266771e+00] [-1.45195492e-01 -3.17905916e-04 9.89402935e-01 -3.22933669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters 0.03081247296934517 Centerline is valid? [True, True] Translation: X:30.49, Y:1.95, Z:-3.24 [[ 9.88770020e-01 -7.29499231e-04 1.49443353e-01 3.04935068e+01] [ 5.69339798e-04 9.99999217e-01 1.11448608e-03 1.95141085e+00] [-1.49444049e-01 -1.01688638e-03 9.88769661e-01 -3.23931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters 0.030855595078536555 Centerline is valid? [True, True] Translation: X:30.55, Y:1.95, Z:-3.25 [[ 9.88715984e-01 3.46838918e-03 1.49762054e-01 3.05548827e+01] [-3.67257606e-03 9.99992665e-01 1.08686354e-03 1.94757434e+00] [-1.49757186e-01 -1.62461189e-03 9.88721470e-01 -3.24524666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters 0.030538347997782714 Centerline is valid? [True, True] Translation: X:30.62, Y:1.95, Z:-3.25 [[ 9.89023858e-01 4.38931043e-03 1.47690697e-01 3.06163673e+01] [-4.58848200e-03 9.99988965e-01 1.00789139e-03 1.94985980e+00] [-1.47684643e-01 -1.67450473e-03 9.89033084e-01 -3.25363665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters 0.030865099867894423 Centerline is valid? [True, True] Translation: X:30.68, Y:1.95, Z:-3.26 [[ 9.88820122e-01 5.74525634e-03 1.49002546e-01 3.06781123e+01] [-5.95345801e-03 9.99981826e-01 9.51306956e-04 1.94697685e+00] [-1.48994373e-01 -1.82775186e-03 9.88836355e-01 -3.25994529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters 0.030502876710855175 Centerline is valid? [True, True] Translation: X:30.74, Y:1.95, Z:-3.27 [[ 9.89012642e-01 6.49404537e-03 1.47688260e-01 3.07390900e+01] [-6.69722557e-03 9.99977187e-01 8.78495916e-04 1.94669463e+00] [-1.47679186e-01 -1.85794516e-03 9.89033572e-01 -3.26926828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters 0.03009429295034122 Centerline is valid? [True, True] Translation: X:30.80, Y:1.95, Z:-3.28 [[ 9.89355508e-01 7.04583030e-03 1.45347976e-01 3.08013167e+01] [-7.24057865e-03 9.99973458e-01 8.10902814e-04 1.94635355e+00] [-1.45338405e-01 -1.85467462e-03 9.89380265e-01 -3.27591115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters 0.029954945307964633 Centerline is valid? [True, True] Translation: X:30.86, Y:1.94, Z:-3.28 [[ 9.89236543e-01 7.31238570e-03 1.46142367e-01 3.08637410e+01] [-7.50721619e-03 9.99971515e-01 7.81670605e-04 1.94433890e+00] [-1.46132488e-01 -1.87037947e-03 9.89263260e-01 -3.28173022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters 0.029726229583996625 Centerline is valid? [True, True] Translation: X:30.93, Y:1.94, Z:-3.29 [[ 9.89307682e-01 2.05726062e-03 1.45828936e-01 3.09250878e+01] [-2.18403632e-03 9.99997363e-01 7.09246856e-04 1.93662195e+00] [-1.45827092e-01 -1.02015906e-03 9.89309567e-01 -3.29017439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters 0.029611151811524256 Centerline is valid? [True, True] Translation: X:30.99, Y:1.93, Z:-3.30 [[ 9.88934857e-01 1.78647865e-04 1.48350318e-01 3.09867926e+01] [-2.79002275e-04 9.99999746e-01 6.55659234e-04 1.93283747e+00] [-1.48350163e-01 -6.89794346e-04 9.88934656e-01 -3.29564238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters 0.02995226557157001 Centerline is valid? [True, True] Translation: X:31.05, Y:1.92, Z:-3.30 [[ 9.89409695e-01 7.07917226e-03 1.44977036e-01 3.10481664e+01] [-7.23946861e-03 9.99973628e-01 5.78125086e-04 1.92290124e+00] [-1.44969120e-01 -1.62155927e-03 9.89434851e-01 -3.30263104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters 0.030075721654375994 Centerline is valid? [True, True] Translation: X:31.11, Y:1.92, Z:-3.31 [[ 9.89572400e-01 1.07730391e-02 1.43632886e-01 3.11105944e+01] [-1.09597542e-02 9.99939811e-01 5.08794389e-04 1.91519915e+00] [-1.43618759e-01 -2.07767001e-03 9.89630909e-01 -3.31006238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters 0.030402556341467473 Centerline is valid? [True, True] Translation: X:31.17, Y:1.91, Z:-3.32 [[ 9.89865499e-01 1.41983887e-02 1.41296497e-01 3.11726481e+01] [-1.44040842e-02 9.99896162e-01 4.33072183e-04 1.91292032e+00] [-1.41275676e-01 -2.46392985e-03 9.89967228e-01 -3.31742566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters 0.031592480835931316 Centerline is valid? [True, True] Translation: X:31.23, Y:1.91, Z:-3.32 [[ 9.89433280e-01 2.01541927e-02 1.43581312e-01 3.12344475e+01] [-2.04212575e-02 9.99791390e-01 3.86425191e-04 1.91069882e+00] [-1.43543571e-01 -3.31445289e-03 9.89638448e-01 -3.32479843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters 0.033494998346674236 Centerline is valid? [True, True] Translation: X:31.30, Y:1.91, Z:-3.33 [[ 9.89159271e-01 3.05430825e-02 1.43635150e-01 3.12956312e+01] [-3.09155741e-02 9.99521934e-01 3.61651314e-04 1.91070420e+00] [-1.43555437e-01 -4.79829388e-03 9.89630645e-01 -3.33192459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters 0.03508238324813113 Centerline is valid? [True, True] Translation: X:31.36, Y:1.91, Z:-3.34 [[ 9.89018730e-01 3.83925319e-02 1.42716382e-01 3.13572225e+01] [-3.88348292e-02 9.99245594e-01 3.13944541e-04 1.90832031e+00] [-1.42596663e-01 -5.85286334e-03 9.89763576e-01 -3.33868355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters 0.03555900369104197 Centerline is valid? [True, True] Translation: X:31.42, Y:1.91, Z:-3.34 [[ 9.88662720e-01 3.80099775e-02 1.45262755e-01 3.14188198e+01] [-3.84606339e-02 9.99260073e-01 2.94238973e-04 1.91485946e+00] [-1.45144087e-01 -5.87780074e-03 9.89393069e-01 -3.34351113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters 0.035043972304097545 Centerline is valid? [True, True] Translation: X:31.48, Y:1.92, Z:-3.36 [[ 9.88977838e-01 3.45505509e-02 1.43976021e-01 3.14796604e+01] [-3.49495543e-02 9.99389048e-01 2.42349355e-04 1.91971789e+00] [-1.43879686e-01 -5.27157592e-03 9.89581147e-01 -3.35504034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters 0.033638332135534875 Centerline is valid? [True, True] Translation: X:31.54, Y:1.92, Z:-3.36 [[ 9.88918419e-01 2.81614116e-02 1.45764521e-01 3.15412089e+01] [-2.84996671e-02 9.99593775e-01 2.32388746e-04 1.92378918e+00] [-1.45698764e-01 -4.38405385e-03 9.89319286e-01 -3.36171890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters 0.03256395800343319 Centerline is valid? [True, True] Translation: X:31.60, Y:1.92, Z:-3.37 [[ 9.88805301e-01 1.94761144e-02 1.47934977e-01 3.16018921e+01] [-1.97247288e-02 9.99805426e-01 2.13550184e-04 1.92127219e+00] [-1.47902034e-01 -3.12913686e-03 9.88997066e-01 -3.36872288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters 0.0317841617088658 Centerline is valid? [True, True] Translation: X:31.66, Y:1.92, Z:-3.38 [[ 9.89125020e-01 1.41405682e-02 1.46395829e-01 3.16629394e+01] [-1.43180706e-02 9.99897479e-01 1.58770693e-04 1.92079452e+00] [-1.46378576e-01 -2.25314988e-03 9.89226079e-01 -3.37678446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters 0.031719776366580354 Centerline is valid? [True, True] Translation: X:31.73, Y:1.92, Z:-3.38 [[ 9.88949143e-01 1.23228888e-02 1.47742136e-01 3.17254045e+01] [-1.24746870e-02 9.99922183e-01 1.00858649e-04 1.91575080e+00] [-1.47729396e-01 -1.94278097e-03 9.89025910e-01 -3.38410847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters 0.031515180321713354 Centerline is valid? [True, True] Translation: X:31.79, Y:1.91, Z:-3.39 [[ 9.89235323e-01 1.25969326e-02 1.45790239e-01 3.17877676e+01] [-1.27387370e-02 9.99918858e-01 3.90845969e-05 1.91364361e+00] [-1.45777917e-01 -1.89584738e-03 9.89315523e-01 -3.38981739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters 0.031503140260780285 Centerline is valid? [True, True] Translation: X:31.85, Y:1.90, Z:-3.40 [[ 9.89605192e-01 1.29270608e-02 1.43228678e-01 3.18497947e+01] [-1.30629698e-02 9.99914676e-01 8.55224503e-06 1.90404493e+00] [-1.43216347e-01 -1.87945525e-03 9.89689621e-01 -3.39531158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters 0.032516763655944254 Centerline is valid? [True, True] Translation: X:31.91, Y:1.90, Z:-3.40 [[ 9.89434939e-01 2.15496855e-02 1.43367054e-01 3.19112316e+01] [-2.17669585e-02 9.99763070e-01 -5.29450145e-05 1.89586818e+00] [-1.43334227e-01 -3.06827907e-03 9.89669584e-01 -3.39999353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters 0.03401298425619508 Centerline is valid? [True, True] Translation: X:31.97, Y:1.89, Z:-3.41 [[ 9.89286375e-01 2.99087616e-02 1.42891339e-01 3.19723930e+01] [-3.02038663e-02 9.99543754e-01 -1.03871836e-04 1.88915555e+00] [-1.42829252e-01 -4.21311190e-03 9.89738377e-01 -3.40636365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters 0.03515748725240983 Centerline is valid? [True, True] Translation: X:32.03, Y:1.89, Z:-3.41 [[ 9.89382020e-01 3.85950379e-02 1.40120095e-01 3.20335904e+01] [-3.89607006e-02 9.99240735e-01 -1.33581000e-04 1.88572780e+00] [-1.40018863e-01 -5.32701444e-03 9.90134507e-01 -3.41417336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters 0.036301228846755865 Centerline is valid? [True, True] Translation: X:32.10, Y:1.88, Z:-3.42 [[ 9.88784669e-01 4.21060840e-02 1.43289764e-01 3.20951783e+01] [-4.25184567e-02 9.99095665e-01 -1.84296887e-04 1.88399712e+00] [-1.43167942e-01 -5.91022970e-03 9.89680761e-01 -3.42070101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters 0.03664558990824152 Centerline is valid? [True, True] Translation: X:32.16, Y:1.89, Z:-3.43 [[ 9.88803388e-01 4.42669209e-02 1.42507190e-01 3.21573675e+01] [-4.46936155e-02 9.99000720e-01 -2.06919228e-04 1.88596003e+00] [-1.42373945e-01 -6.16455910e-03 9.89793745e-01 -3.42544170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters 0.037573710481910376 Centerline is valid? [True, True] Translation: X:32.22, Y:1.88, Z:-3.44 [[ 9.89046655e-01 3.87656316e-02 1.42421698e-01 3.22180782e+01] [-3.91281105e-02 9.99234170e-01 -2.55697345e-04 1.88206010e+00] [-1.42322540e-01 -5.31979536e-03 9.89806039e-01 -3.43866685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters 0.0344571594912176 Centerline is valid? [True, True] Translation: X:32.28, Y:1.89, Z:-3.44 [[ 9.89293893e-01 3.43435703e-02 1.41838331e-01 3.22792878e+01] [-3.46560897e-02 9.99399262e-01 -2.67071244e-04 1.88539567e+00] [-1.41762296e-01 -4.65134998e-03 9.89889800e-01 -3.44185769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters 0.03373788919137961 Centerline is valid? [True, True] Translation: X:32.34, Y:1.88, Z:-3.45 [[ 9.89522876e-01 3.11619650e-02 1.40973083e-01 3.23413136e+01] [-3.14355465e-02 9.99505740e-01 -2.86370262e-04 1.88439010e+00] [-1.40912330e-01 -4.14819599e-03 9.90013388e-01 -3.44811187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters 0.033904512630447435 Centerline is valid? [True, True] Translation: X:32.40, Y:1.88, Z:-3.45 [[ 9.89580629e-01 3.30638243e-02 1.40131946e-01 3.24026740e+01] [-3.33448434e-02 9.99443847e-01 -3.42709987e-04 1.88206340e+00] [-1.40065343e-01 -4.33353864e-03 9.90132779e-01 -3.45499570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters 0.03410980226821382 Centerline is valid? [True, True] Translation: X:32.46, Y:1.88, Z:-3.46 [[ 9.89392347e-01 3.66921637e-02 1.40557705e-01 3.24645798e+01] [-3.70030300e-02 9.99315072e-01 -4.02094924e-04 1.88186864e+00] [-1.40476187e-01 -4.80323134e-03 9.90072406e-01 -3.46144964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters 0.03421273192448259 Centerline is valid? [True, True] Translation: X:32.53, Y:1.88, Z:-3.47 [[ 9.89297139e-01 3.76537686e-02 1.40972922e-01 3.25268134e+01] [-3.79678731e-02 9.99278854e-01 -4.61837083e-04 1.88044382e+00] [-1.40888650e-01 -4.89554791e-03 9.90013344e-01 -3.46556639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters 0.034575416326832954 Centerline is valid? [True, True] Translation: X:32.59, Y:1.88, Z:-3.47 [[ 9.89322015e-01 3.88117529e-02 1.40483447e-01 3.25887448e+01] [-3.91267827e-02 9.99234119e-01 -5.19920573e-04 1.88218644e+00] [-1.40396032e-01 -4.98229643e-03 9.90082891e-01 -3.47464077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045919999999995 meters 0.03399937555072882 Centerline is valid? [True, True] Translation: X:32.65, Y:1.88, Z:-3.48 [[ 9.89083795e-01 3.72484492e-02 1.42568580e-01 3.26515556e+01] [-3.75472088e-02 9.99294678e-01 -5.95091032e-04 1.87897471e+00] [-1.42490190e-01 -4.76445736e-03 9.89784747e-01 -3.48131334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters 0.03302743338480597 Centerline is valid? [True, True] Translation: X:32.71, Y:1.88, Z:-3.49 [[ 9.89356431e-01 3.57789636e-02 1.41045094e-01 3.27140302e+01] [-3.60482992e-02 9.99349840e-01 -6.45785664e-04 1.87850223e+00] [-1.40976497e-01 -4.44552353e-03 9.90002962e-01 -3.48619679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters 0.03320490939456232 Centerline is valid? [True, True] Translation: X:32.78, Y:1.87, Z:-3.49 [[ 9.89379742e-01 3.69939807e-02 1.40567320e-01 3.27761589e+01] [-3.72695165e-02 9.99305024e-01 -6.72746356e-04 1.87471336e+00] [-1.40494516e-01 -4.57327442e-03 9.90070894e-01 -3.49363075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters 0.034521772083247755 Centerline is valid? [True, True] Translation: X:32.84, Y:1.87, Z:-3.50 [[ 9.89223176e-01 4.23172149e-02 1.40166906e-01 3.28371958e+01] [-4.26351526e-02 9.99090438e-01 -7.35150040e-04 1.86997739e+00] [-1.40070525e-01 -5.24880998e-03 9.90127617e-01 -3.50278037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters 0.036945782771744665 Centerline is valid? [True, True] Translation: X:32.90, Y:1.87, Z:-3.51 [[ 9.88475879e-01 5.03714003e-02 1.42752089e-01 3.28985535e+01] [-5.07768828e-02 9.98709699e-01 -8.03366027e-04 1.87113615e+00] [-1.42608363e-01 -6.45439816e-03 9.89758150e-01 -3.50764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters 0.038868910059186496 Centerline is valid? [True, True] Translation: X:32.96, Y:1.87, Z:-3.52 [[ 9.87818015e-01 5.80779153e-02 1.44369403e-01 3.29597712e+01] [-5.85668114e-02 9.98283117e-01 -8.64801586e-04 1.87414724e+00] [-1.44171763e-01 -7.60098900e-03 9.89523485e-01 -3.51618766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters 0.040996134756763856 Centerline is valid? [True, True] Translation: X:33.02, Y:1.88, Z:-3.52 [[ 9.87378368e-01 6.30262668e-02 1.45298480e-01 3.30211570e+01] [-6.35680729e-02 9.97977085e-01 -9.15563142e-04 1.88272472e+00] [-1.45062258e-01 -8.33233711e-03 9.89387444e-01 -3.52367193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters 0.04033324892457774 Centerline is valid? [True, True] Translation: X:33.08, Y:1.90, Z:-3.53 [[ 9.86686933e-01 6.17871233e-02 1.50436855e-01 3.30833822e+01] [-6.23496925e-02 9.98053885e-01 -9.78827011e-04 1.89614003e+00] [-1.50204567e-01 -8.41389583e-03 9.88619135e-01 -3.52971644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52592 meters 0.04012270603084838 Centerline is valid? [True, True] Translation: X:33.14, Y:1.90, Z:-3.54 [[ 9.87091765e-01 5.97611750e-02 1.48588189e-01 3.31439917e+01] [-6.02786453e-02 9.98181066e-01 -1.02241621e-03 1.90208863e+00] [-1.48379017e-01 -7.94747611e-03 9.88898632e-01 -3.53843753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters 0.038276085840256345 Centerline is valid? [True, True] Translation: X:33.20, Y:1.92, Z:-3.55 [[ 9.87154461e-01 5.44482212e-02 1.50204730e-01 3.32046134e+01] [-5.49086257e-02 9.98490796e-01 -1.08354026e-03 1.91883850e+00] [-1.50037038e-01 -7.17791373e-03 9.88654320e-01 -3.54898199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters 0.037663958700886346 Centerline is valid? [True, True] Translation: X:33.27, Y:1.93, Z:-3.56 [[ 9.87111095e-01 4.99689304e-02 1.52035499e-01 3.32662860e+01] [-5.03822102e-02 9.98729365e-01 -1.13525760e-03 1.92750796e+00] [-1.51899045e-01 -6.53925911e-03 9.88374382e-01 -3.55669603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters 0.036270796952215134 Centerline is valid? [True, True] Translation: X:33.33, Y:1.94, Z:-3.56 [[ 9.87550432e-01 4.55635253e-02 1.50559321e-01 3.33272510e+01] [-4.59143615e-02 9.98944721e-01 -1.14702653e-03 1.93546858e+00] [-1.50452701e-01 -5.78008853e-03 9.88600311e-01 -3.56414372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters 0.03539071461398026 Centerline is valid? [True, True] Translation: X:33.39, Y:1.94, Z:-3.57 [[ 9.87640244e-01 4.06577946e-02 1.51372695e-01 3.33886574e+01] [-4.09493620e-02 9.99160512e-01 -1.19192556e-03 1.94107851e+00] [-1.51294081e-01 -5.02142164e-03 9.88476042e-01 -3.57146226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters 0.03427001677306923 Centerline is valid? [True, True] Translation: X:33.45, Y:1.95, Z:-3.58 [[ 9.87312643e-01 3.20876258e-02 1.55512473e-01 3.34501047e+01] [-3.22857868e-02 9.99477894e-01 -1.25203569e-03 1.94503569e+00] [-1.55471454e-01 -3.78469189e-03 9.87833135e-01 -3.57864098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters 0.032884417231929114 Centerline is valid? [True, True] Translation: X:33.51, Y:1.95, Z:-3.58 [[ 9.88082367e-01 2.92265130e-02 1.51125933e-01 3.35110230e+01] [-2.93712781e-02 9.99567758e-01 -1.27468624e-03 1.94767138e+00] [-1.51097865e-01 -3.17926681e-03 9.88513696e-01 -3.58482651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters 0.03405929643597128 Centerline is valid? [True, True] Translation: X:33.57, Y:1.94, Z:-3.59 [[ 9.87167044e-01 2.86597848e-02 1.57098196e-01 3.35722407e+01] [-2.88022535e-02 9.99584190e-01 -1.37004956e-03 1.94193600e+00] [-1.57072138e-01 -3.17231430e-03 9.87582037e-01 -3.59245696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters 0.03371738048852586 Centerline is valid? [True, True] Translation: X:33.63, Y:1.94, Z:-3.60 [[ 9.87309642e-01 2.91357420e-02 1.56111430e-01 3.36334553e+01] [-2.92763979e-02 9.99570376e-01 -1.39870964e-03 1.93776397e+00] [-1.56085113e-01 -3.18942084e-03 9.87738460e-01 -3.59970858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters 0.034089137040573425 Centerline is valid? [True, True] Translation: X:33.70, Y:1.94, Z:-3.61 [[ 9.87235275e-01 2.91816168e-02 1.56572489e-01 3.36956178e+01] [-2.93127498e-02 9.99569205e-01 -1.47193734e-03 1.93620381e+00] [-1.56547992e-01 -3.13642172e-03 9.87665373e-01 -3.61008442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters 0.03407825882132216 Centerline is valid? [True, True] Translation: X:33.76, Y:1.94, Z:-3.62 [[ 9.87248911e-01 2.98991614e-02 1.56350974e-01 3.37584418e+01] [-3.00268333e-02 9.99547898e-01 -1.54578723e-03 1.93570518e+00] [-1.56326505e-01 -3.16864787e-03 9.87700351e-01 -3.61628335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters 0.034497490046267815 Centerline is valid? [True, True] Translation: X:33.82, Y:1.93, Z:-3.62 [[ 9.87515166e-01 3.37754689e-02 1.53860375e-01 3.38196875e+01] [-3.39346165e-02 9.99422786e-01 -1.59251422e-03 1.92986893e+00] [-1.53825353e-01 -3.64856088e-03 9.88091316e-01 -3.62267089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters 0.03516706956414776 Centerline is valid? [True, True] Translation: X:33.88, Y:1.92, Z:-3.63 [[ 9.87835802e-01 4.04706151e-02 1.50141791e-01 3.38808519e+01] [-4.06893434e-02 9.99170539e-01 -1.61617939e-03 1.92316492e+00] [-1.50082662e-01 -4.51265102e-03 9.88663153e-01 -3.63013369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters 0.03642984498022877 Centerline is valid? [True, True] Translation: X:33.94, Y:1.92, Z:-3.64 [[ 9.87394497e-01 4.50793432e-02 1.51723299e-01 3.39426617e+01] [-4.53487541e-02 9.98969793e-01 -1.68591026e-03 1.92137568e+00] [-1.51642993e-01 -5.21580408e-03 9.88421569e-01 -3.63611447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365919999999996 meters 0.036270864789563345 Centerline is valid? [True, True] Translation: X:34.00, Y:1.92, Z:-3.64 [[ 9.87667913e-01 4.50881180e-02 1.49930504e-01 3.40046210e+01] [-4.53469519e-02 9.98969862e-01 -1.69372918e-03 1.91733730e+00] [-1.49852422e-01 -5.12604940e-03 9.88695087e-01 -3.64328575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters 0.03558977419111789 Centerline is valid? [True, True] Translation: X:34.07, Y:1.91, Z:-3.65 [[ 9.87902643e-01 4.13522521e-02 1.49460228e-01 3.40655936e+01] [-4.15579203e-02 9.99134567e-01 -1.74819162e-03 1.91364703e+00] [-1.49403172e-01 -4.48421314e-03 9.88766193e-01 -3.65136556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters 0.03489948448669095 Centerline is valid? [True, True] Translation: X:34.13, Y:1.91, Z:-3.66 [[ 9.88114526e-01 3.99086467e-02 1.48448587e-01 3.41269641e+01] [-4.00869345e-02 9.99194589e-01 -1.79201109e-03 1.90964990e+00] [-1.48400542e-01 -4.18013661e-03 9.88918503e-01 -3.65838511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters 0.034549722462650326 Centerline is valid? [True, True] Translation: X:34.19, Y:1.90, Z:-3.66 [[ 9.88692207e-01 4.23907781e-02 1.43842765e-01 3.41885614e+01] [-4.25755573e-02 9.99091638e-01 -1.79466898e-03 1.90036894e+00] [-1.43788182e-01 -4.34981067e-03 9.89598928e-01 -3.66399815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters 0.03456247071357272 Centerline is valid? [True, True] Translation: X:34.25, Y:1.90, Z:-3.67 [[ 9.88635951e-01 4.56226004e-02 1.43239428e-01 3.42500916e+01] [-4.58308691e-02 9.98947506e-01 -1.84682386e-03 1.89530778e+00] [-1.43172926e-01 -4.73895102e-03 9.89686342e-01 -3.67019960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters 0.03550778671002842 Centerline is valid? [True, True] Translation: X:34.31, Y:1.89, Z:-3.68 [[ 9.88379354e-01 4.77614326e-02 1.44309034e-01 3.43117371e+01] [-4.79866047e-02 9.98846130e-01 -1.92193642e-03 1.88850641e+00] [-1.44234314e-01 -5.02529826e-03 9.89530802e-01 -3.67817877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725919999999995 meters 0.035146136220608165 Centerline is valid? [True, True] Translation: X:34.37, Y:1.88, Z:-3.69 [[ 9.88983292e-01 4.82219130e-02 1.39952472e-01 3.43729903e+01] [-4.84297932e-02 9.98824740e-01 -1.92196177e-03 1.88404430e+00] [-1.39880672e-01 -4.87708119e-03 9.90156357e-01 -3.68578919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters 0.03515005822723786 Centerline is valid? [True, True] Translation: X:34.43, Y:1.88, Z:-3.69 [[ 9.88676743e-01 4.94116402e-02 1.41692581e-01 3.44345670e+01] [-4.96284567e-02 9.98765736e-01 -2.00541393e-03 1.87858840e+00] [-1.41616786e-01 -5.04927801e-03 9.89908678e-01 -3.68990521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters 0.03688309707957712 Centerline is valid? [True, True] Translation: X:34.50, Y:1.87, Z:-3.70 [[ 9.88057946e-01 5.32401770e-02 1.44592459e-01 3.44955112e+01] [-5.34980972e-02 9.98565729e-01 -2.10658386e-03 1.87133758e+00] [-1.44497229e-01 -5.65399453e-03 9.89489051e-01 -3.69899217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters 0.0371658059198244 Centerline is valid? [True, True] Translation: X:34.56, Y:1.87, Z:-3.71 [[ 9.88411312e-01 5.68649295e-02 1.40746078e-01 3.45573545e+01] [-5.71380238e-02 9.98364073e-01 -2.10331714e-03 1.86803074e+00] [-1.40635433e-01 -5.96301031e-03 9.90043493e-01 -3.70720686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters 0.03751746909212989 Centerline is valid? [True, True] Translation: X:34.62, Y:1.87, Z:-3.71 [[ 9.88385332e-01 5.86712539e-02 1.40186019e-01 3.46186786e+01] [-5.89522147e-02 9.98258488e-01 -2.15123348e-03 1.86563276e+00] [-1.40068099e-01 -6.13802869e-03 9.90122847e-01 -3.71293652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters 0.03609266928894278 Centerline is valid? [True, True] Translation: X:34.68, Y:1.87, Z:-3.72 [[ 9.88527996e-01 5.44873724e-02 1.40867056e-01 3.46800685e+01] [-5.47220082e-02 9.98499182e-01 -2.21030900e-03 1.86826898e+00] [-1.40776075e-01 -5.52357589e-03 9.90026054e-01 -3.71954335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters 0.0348636219073705 Centerline is valid? [True, True] Translation: X:34.74, Y:1.87, Z:-3.72 [[ 9.88966940e-01 5.03076271e-02 1.39332462e-01 3.47412886e+01] [-5.04933860e-02 9.98721964e-01 -2.20366951e-03 1.86793257e+00] [-1.39265252e-01 -4.85601150e-03 9.90243207e-01 -3.72489915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters 0.034567880393368354 Centerline is valid? [True, True] Translation: X:34.80, Y:1.87, Z:-3.73 [[ 9.88704859e-01 4.87093913e-02 1.41739537e-01 3.48041906e+01] [-4.88784938e-02 9.98802106e-01 -2.29038651e-03 1.86957089e+00] [-1.41681311e-01 -4.66349880e-03 9.89901337e-01 -3.73238182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters 0.03412029045945256 Centerline is valid? [True, True] Translation: X:34.87, Y:1.87, Z:-3.74 [[ 9.89082025e-01 4.90240895e-02 1.38972610e-01 3.48664453e+01] [-4.91806839e-02 9.98787229e-01 -2.30911758e-03 1.86652737e+00] [-1.38917270e-01 -4.55086132e-03 9.90293533e-01 -3.73674747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters 0.034842095555758276 Centerline is valid? [True, True] Translation: X:34.93, Y:1.86, Z:-3.74 [[ 9.88747021e-01 5.21930783e-02 1.40197043e-01 3.49279259e+01] [-5.23765867e-02 9.98624561e-01 -2.38304491e-03 1.86269526e+00] [-1.40128589e-01 -4.98681405e-03 9.90120755e-01 -3.74424801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters 0.0358776333538349 Centerline is valid? [True, True] Translation: X:34.99, Y:1.87, Z:-3.75 [[ 9.88459928e-01 5.74882930e-02 1.40150158e-01 3.49893009e+01] [-5.77207723e-02 9.98329860e-01 -2.40890970e-03 1.86535915e+00] [-1.40054572e-01 -5.70846467e-03 9.90127330e-01 -3.75396973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38592 meters 0.03646329745546818 Centerline is valid? [True, True] Translation: X:35.05, Y:1.87, Z:-3.76 [[ 9.88541984e-01 6.21967753e-02 1.37536564e-01 3.50508545e+01] [-6.24635498e-02 9.98044409e-01 -2.37974806e-03 1.86970969e+00] [-1.37415611e-01 -6.23854115e-03 9.90493832e-01 -3.76128511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44592 meters 0.037764436550881325 Centerline is valid? [True, True] Translation: X:35.11, Y:1.87, Z:-3.77 [[ 9.88291806e-01 6.46327965e-02 1.38209649e-01 3.51128115e+01] [-6.49226056e-02 9.97887380e-01 -2.41497490e-03 1.87243462e+00] [-1.38073751e-01 -6.58623059e-03 9.90400051e-01 -3.76863647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters 0.037532645970375055 Centerline is valid? [True, True] Translation: X:35.18, Y:1.88, Z:-3.78 [[ 9.88142274e-01 6.50419957e-02 1.39084091e-01 3.51751844e+01] [-6.53313698e-02 9.97860520e-01 -2.48879177e-03 1.88204158e+00] [-1.38948400e-01 -6.62727384e-03 9.90277447e-01 -3.77718980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters 0.03603677822410719 Centerline is valid? [True, True] Translation: X:35.24, Y:1.89, Z:-3.78 [[ 9.88246567e-01 6.33361733e-02 1.39130339e-01 3.52371828e+01] [-6.36010819e-02 9.97972155e-01 -2.54571718e-03 1.89026848e+00] [-1.39009440e-01 -6.33304380e-03 9.90270805e-01 -3.78262558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62592 meters 0.035563362640072135 Centerline is valid? [True, True] Translation: X:35.30, Y:1.89, Z:-3.79 [[ 9.88529750e-01 6.03688278e-02 1.38436044e-01 3.52979879e+01] [-6.05986444e-02 9.98158936e-01 -2.55801957e-03 1.89235771e+00] [-1.38335599e-01 -5.86035817e-03 9.90368072e-01 -3.78835802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685919999999996 meters 0.03469732340588342 Centerline is valid? [True, True] Translation: X:35.36, Y:1.90, Z:-3.80 [[ 9.88328415e-01 5.41052062e-02 1.42406360e-01 3.53582983e+01] [-5.42766448e-02 9.98522331e-01 -2.68321107e-03 1.90281856e+00] [-1.42341106e-01 -5.07744568e-03 9.89804642e-01 -3.79962194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74592 meters 0.03348243605268976 Centerline is valid? [True, True] Translation: X:35.42, Y:1.91, Z:-3.81 [[ 9.88683877e-01 4.73561163e-02 1.42343208e-01 3.54201786e+01] [-4.74516693e-02 9.98869818e-01 -2.72506796e-03 1.91219046e+00] [-1.42311383e-01 -4.06019207e-03 9.89813611e-01 -3.80588636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters 0.032798340876105656 Centerline is valid? [True, True] Translation: X:35.48, Y:1.92, Z:-3.81 [[ 9.88656155e-01 4.39539553e-02 1.43621224e-01 3.54818074e+01] [-4.40123366e-02 9.99027142e-01 -2.77206087e-03 1.91578560e+00] [-1.43603344e-01 -3.58049064e-03 9.89628849e-01 -3.81266274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters 0.03158457539945444 Centerline is valid? [True, True] Translation: X:35.54, Y:1.92, Z:-3.82 [[ 9.88795672e-01 3.65476403e-02 1.44732129e-01 3.55431576e+01] [-3.65191188e-02 9.99328877e-01 -2.85469237e-03 1.92083552e+00] [-1.44739328e-01 -2.46278236e-03 9.89466756e-01 -3.82068013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters 0.031035791641505397 Centerline is valid? [True, True] Translation: X:35.61, Y:1.92, Z:-3.83 [[ 9.88569128e-01 2.91573567e-02 1.47922036e-01 3.56054197e+01] [-2.90354515e-02 9.99573929e-01 -2.98388686e-03 1.92155598e+00] [-1.47946012e-01 -1.34520466e-03 9.88994524e-01 -3.82724621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters 0.030803293453077942 Centerline is valid? [True, True] Translation: X:35.67, Y:1.92, Z:-3.83 [[ 9.88632256e-01 2.69468449e-02 1.47919335e-01 3.56669986e+01] [-2.67897245e-02 9.99636423e-01 -3.05478548e-03 1.92056549e+00] [-1.47947871e-01 -9.42658755e-04 9.88994711e-01 -3.83294135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters 0.030627781881204484 Centerline is valid? [True, True] Translation: X:35.73, Y:1.92, Z:-3.84 [[ 9.88816741e-01 2.36527789e-02 1.47248083e-01 3.57288111e+01] [-2.34511319e-02 9.99720161e-01 -3.10556188e-03 1.91679017e+00] [-1.47280332e-01 -3.82302640e-04 9.89094716e-01 -3.84135383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters 0.030789864891582138 Centerline is valid? [True, True] Translation: X:35.79, Y:1.91, Z:-3.85 [[ 9.88546247e-01 2.30379425e-02 1.49149493e-01 3.57902383e+01] [-2.28140179e-02 9.99734566e-01 -3.21231889e-03 1.90781203e+00] [-1.49183908e-01 -2.27173410e-04 9.88809441e-01 -3.85005070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters 0.030776207158678324 Centerline is valid? [True, True] Translation: X:35.85, Y:1.90, Z:-3.86 [[ 9.88732118e-01 2.56036287e-02 1.47489838e-01 3.58523104e+01] [-2.54047118e-02 9.99672022e-01 -3.23260748e-03 1.90171540e+00] [-1.47524231e-01 -5.50753990e-04 9.89058288e-01 -3.85709840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters 0.03143813431153549 Centerline is valid? [True, True] Translation: X:35.91, Y:1.89, Z:-3.86 [[ 9.88695912e-01 3.61826740e-02 1.45503291e-01 3.59136847e+01] [-3.60983639e-02 9.99343052e-01 -3.22053886e-03 1.89159175e+00] [-1.45524231e-01 -2.06829715e-03 9.89352526e-01 -3.86300616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters 0.032006966574242283 Centerline is valid? [True, True] Translation: X:35.97, Y:1.89, Z:-3.87 [[ 9.88373986e-01 4.05275538e-02 1.46541396e-01 3.59748482e+01] [-4.04801653e-02 9.99174871e-01 -3.30671757e-03 1.88711415e+00] [-1.46554493e-01 -2.66374630e-03 9.89199012e-01 -3.86986835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters 0.032660079744000925 Centerline is valid? [True, True] Translation: X:36.04, Y:1.88, Z:-3.88 [[ 9.88360679e-01 4.54409498e-02 1.45183634e-01 3.60364795e+01] [-4.54385432e-02 9.98961571e-01 -3.33435103e-03 1.88137656e+00] [-1.45184388e-01 -3.30139140e-03 9.89399108e-01 -3.87898845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters 0.03274576896367043 Centerline is valid? [True, True] Translation: X:36.10, Y:1.88, Z:-3.89 [[ 9.88379830e-01 4.74567320e-02 1.44406271e-01 3.60990481e+01] [-4.74664997e-02 9.98867113e-01 -3.37961756e-03 1.87790042e+00] [-1.44403060e-01 -3.51411438e-03 9.89512712e-01 -3.88585415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters 0.032828601134186175 Centerline is valid? [True, True] Translation: X:36.16, Y:1.87, Z:-3.89 [[ 9.88399471e-01 4.88909789e-02 1.43792065e-01 3.61617031e+01] [-4.89056641e-02 9.98797497e-01 -3.43450672e-03 1.87390179e+00] [-1.43787071e-01 -3.63758181e-03 9.89601964e-01 -3.89421597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters 0.03315071064991381 Centerline is valid? [True, True] Translation: X:36.22, Y:1.87, Z:-3.90 [[ 9.87862340e-01 5.06219932e-02 1.46851660e-01 3.62230267e+01] [-5.06471220e-02 9.98710229e-01 -3.57039211e-03 1.87312812e+00] [-1.46842995e-01 -3.91055803e-03 9.89152082e-01 -3.90064961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters 0.03355568539109595 Centerline is valid? [True, True] Translation: X:36.28, Y:1.87, Z:-3.91 [[ 9.88387107e-01 5.49184191e-02 1.41685899e-01 3.62845108e+01] [-5.49805969e-02 9.98481363e-01 -3.47885566e-03 1.87115975e+00] [-1.41661783e-01 -4.35151924e-03 9.89905553e-01 -3.90784626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters 0.03473588930321769 Centerline is valid? [True, True] Translation: X:36.35, Y:1.87, Z:-3.91 [[ 9.87991011e-01 6.09667174e-02 1.41974719e-01 3.63460462e+01] [-6.10838852e-02 9.98126369e-01 -3.53695922e-03 1.87165589e+00] [-1.41924348e-01 -5.17788353e-03 9.89863965e-01 -3.91479678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters 0.035488426050062416 Centerline is valid? [True, True] Translation: X:36.41, Y:1.88, Z:-3.92 [[ 9.88023964e-01 6.48005983e-02 1.40034029e-01 3.64077756e+01] [-6.49494088e-02 9.97882378e-01 -3.51202381e-03 1.87994900e+00] [-1.39965071e-01 -5.62516369e-03 9.90140463e-01 -3.92015422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters 0.03492098512786959 Centerline is valid? [True, True] Translation: X:36.47, Y:1.88, Z:-3.93 [[ 9.88319314e-01 6.38522158e-02 1.38375679e-01 3.64693740e+01] [-6.39803212e-02 9.97944929e-01 -3.52668777e-03 1.88335722e+00] [-1.38316493e-01 -5.36782673e-03 9.90373533e-01 -3.92822200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters 0.033686670028681386 Centerline is valid? [True, True] Translation: X:36.53, Y:1.89, Z:-3.94 [[ 9.88372305e-01 5.82450559e-02 1.40455332e-01 3.65301981e+01] [-5.83128551e-02 9.98291735e-01 -3.63636523e-03 1.88925593e+00] [-1.40427197e-01 -4.59626872e-03 9.90080338e-01 -3.93607499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters 0.03170657749559073 Centerline is valid? [True, True] Translation: X:36.59, Y:1.89, Z:-3.94 [[ 9.89345198e-01 5.07210069e-02 1.36467791e-01 3.65916634e+01] [-5.07077393e-02 9.98707134e-01 -3.57573808e-03 1.89324342e+00] [-1.36472721e-01 -3.38233385e-03 9.90638055e-01 -3.94026678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters 0.03132418588090631 Centerline is valid? [True, True] Translation: X:36.65, Y:1.90, Z:-3.95 [[ 9.89346969e-01 4.70078414e-02 1.37778217e-01 3.66533380e+01] [-4.69547699e-02 9.98890395e-01 -3.63716424e-03 1.89707251e+00] [-1.37796313e-01 -2.87092705e-03 9.90456427e-01 -3.95016303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters 0.030857684406647323 Centerline is valid? [True, True] Translation: X:36.71, Y:1.90, Z:-3.96 [[ 9.89249211e-01 4.43482240e-02 1.39352912e-01 3.67147363e+01] [-4.42591737e-02 9.99013084e-01 -3.73945039e-03 1.89986099e+00] [-1.39381220e-01 -2.46839640e-03 9.90235721e-01 -3.95690157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters 0.03041188360148413 Centerline is valid? [True, True] Translation: X:36.78, Y:1.90, Z:-3.96 [[ 9.89680829e-01 4.21872164e-02 1.36938292e-01 3.67761286e+01] [-4.20725981e-02 9.99107584e-01 -3.73251433e-03 1.90003663e+00] [-1.36973550e-01 -2.06735185e-03 9.90572548e-01 -3.96359254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters 0.030009844533901035 Centerline is valid? [True, True] Translation: X:36.84, Y:1.90, Z:-3.97 [[ 9.89594225e-01 4.12639079e-02 1.37842516e-01 3.68382106e+01] [-4.11303342e-02 9.99146493e-01 -3.81847121e-03 1.90145533e+00] [-1.37882431e-01 -1.89077168e-03 9.90446798e-01 -3.97069537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters 0.030322168952637278 Centerline is valid? [True, True] Translation: X:36.90, Y:1.90, Z:-3.98 [[ 9.89035159e-01 4.35567903e-02 1.41110811e-01 3.69001134e+01] [-4.34301206e-02 9.99048545e-01 -3.97865909e-03 1.89809163e+00] [-1.41149848e-01 -2.19342582e-03 9.89985813e-01 -3.97735752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters 0.030695578760165754 Centerline is valid? [True, True] Translation: X:36.96, Y:1.90, Z:-3.99 [[ 9.89000676e-01 4.78807582e-02 1.39946759e-01 3.69612572e+01] [-4.77907075e-02 9.98849338e-01 -4.00596369e-03 1.89923836e+00] [-1.39977536e-01 -2.72625383e-03 9.90150926e-01 -3.98667440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters 0.030682826498606264 Centerline is valid? [True, True] Translation: X:37.02, Y:1.90, Z:-3.99 [[ 9.88872274e-01 5.07766570e-02 1.39833315e-01 3.70225794e+01] [-5.07070436e-02 9.98705306e-01 -4.06288928e-03 1.89568508e+00] [-1.39858573e-01 -3.07285541e-03 9.90166722e-01 -3.99240206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters 0.03089426344386128 Centerline is valid? [True, True] Translation: X:37.08, Y:1.90, Z:-4.00 [[ 9.88533431e-01 5.09594528e-02 1.42143556e-01 3.70838559e+01] [-5.08807774e-02 9.98695943e-01 -4.19047691e-03 1.89769691e+00] [-1.42171737e-01 -3.08994812e-03 9.89837183e-01 -3.99866311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters 0.030723047540385805 Centerline is valid? [True, True] Translation: X:37.15, Y:1.90, Z:-4.01 [[ 9.88334236e-01 5.08041223e-02 1.43577087e-01 3.71451110e+01] [-5.07138225e-02 9.98704008e-01 -4.29089079e-03 1.89909710e+00] [-1.43609007e-01 -3.04050863e-03 9.89629834e-01 -4.00698438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters 0.029970327278088998 Centerline is valid? [True, True] Translation: X:37.21, Y:1.90, Z:-4.01 [[ 9.88916363e-01 4.94040395e-02 1.40013102e-01 3.72074568e+01] [-4.92967328e-02 9.98775191e-01 -4.23662677e-03 1.89746162e+00] [-1.40050920e-01 -2.71251897e-03 9.90140587e-01 -4.01368437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters 0.0298624038517092 Centerline is valid? [True, True] Translation: X:37.27, Y:1.90, Z:-4.02 [[ 9.89059172e-01 4.57365092e-02 1.40250224e-01 3.72687157e+01] [-4.55875726e-02 9.98951194e-01 -4.27616920e-03 1.89686780e+00] [-1.40298706e-01 -2.16428290e-03 9.90106857e-01 -4.02231955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters 0.029588429165061783 Centerline is valid? [True, True] Translation: X:37.33, Y:1.90, Z:-4.03 [[ 9.89044842e-01 4.63205614e-02 1.40159575e-01 3.73313053e+01] [-4.61687131e-02 9.98924244e-01 -4.33651579e-03 1.89674845e+00] [-1.40209667e-01 -2.18197860e-03 9.90119431e-01 -4.02865484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters 0.029713157991773032 Centerline is valid? [True, True] Translation: X:37.39, Y:1.90, Z:-4.04 [[ 9.89037225e-01 4.79733668e-02 1.39656446e-01 3.73936906e+01] [-4.78292391e-02 9.98845880e-01 -4.39007148e-03 1.89666980e+00] [-1.39705873e-01 -2.33771746e-03 9.90190287e-01 -4.03645914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters 0.02967620492633854 Centerline is valid? [True, True] Translation: X:37.46, Y:1.89, Z:-4.05 [[ 9.89093886e-01 4.90893214e-02 1.38865125e-01 3.74557363e+01] [-4.89480229e-02 9.98791483e-01 -4.43456148e-03 1.89383670e+00] [-1.38914994e-01 -2.41097569e-03 9.90301374e-01 -4.04527589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters 0.0296187993223073 Centerline is valid? [True, True] Translation: X:37.52, Y:1.89, Z:-4.05 [[ 9.88937656e-01 4.93882847e-02 1.39868185e-01 3.75173644e+01] [-4.92382519e-02 9.98776766e-01 -4.53505432e-03 1.89251501e+00] [-1.39921072e-01 -2.40197892e-03 9.90159747e-01 -4.05218465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters 0.02929541956781355 Centerline is valid? [True, True] Translation: X:37.58, Y:1.89, Z:-4.06 [[ 9.89111305e-01 4.88783768e-02 1.38815455e-01 3.75790207e+01] [-4.87171990e-02 9.98802200e-01 -4.56071686e-03 1.89374348e+00] [-1.38872103e-01 -2.25164356e-03 9.90307765e-01 -4.05957713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters 0.029319261996231204 Centerline is valid? [True, True] Translation: X:37.64, Y:1.89, Z:-4.06 [[ 9.89034442e-01 5.08089274e-02 1.38669840e-01 3.76415079e+01] [-5.06583623e-02 9.98705367e-01 -4.61732271e-03 1.89047836e+00] [-1.38724915e-01 -2.45809581e-03 9.90327903e-01 -4.06394561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters 0.029834234300161105 Centerline is valid? [True, True] Translation: X:37.70, Y:1.89, Z:-4.07 [[ 9.88878801e-01 5.18535899e-02 1.39391257e-01 3.77028944e+01] [-5.17021808e-02 9.98651443e-01 -4.70956243e-03 1.88612471e+00] [-1.39447487e-01 -2.54964550e-03 9.90226185e-01 -4.07381878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters 0.029530504139975208 Centerline is valid? [True, True] Translation: X:37.76, Y:1.88, Z:-4.08 [[ 9.89126906e-01 5.15457443e-02 1.37735256e-01 3.77647933e+01] [-5.13866350e-02 9.98667712e-01 -4.71315314e-03 1.88395004e+00] [-1.37794696e-01 -2.41584471e-03 9.90457867e-01 -4.08017421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters 0.029838635026306227 Centerline is valid? [True, True] Translation: X:37.83, Y:1.88, Z:-4.09 [[ 9.88995943e-01 5.43755440e-02 1.37587520e-01 3.78268147e+01] [-5.42358037e-02 9.98516776e-01 -4.76716932e-03 1.88216352e+00] [-1.37642664e-01 -2.74745860e-03 9.90478141e-01 -4.08626632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters 0.030472469839149082 Centerline is valid? [True, True] Translation: X:37.89, Y:1.88, Z:-4.10 [[ 9.88717760e-01 5.92727238e-02 1.37564292e-01 3.78878152e+01] [-5.91720516e-02 9.98236139e-01 -4.82477370e-03 1.88388770e+00] [-1.37607625e-01 -3.36962192e-03 9.90481089e-01 -4.09521422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters 0.030848323423796387 Centerline is valid? [True, True] Translation: X:37.95, Y:1.88, Z:-4.10 [[ 9.88769294e-01 6.15483378e-02 1.36187681e-01 3.79504089e+01] [-6.14634267e-02 9.98097638e-01 -4.83231340e-03 1.88361708e+00] [-1.36226024e-01 -3.59251843e-03 9.90671270e-01 -4.10187184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters 0.03154238252787559 Centerline is valid? [True, True] Translation: X:38.01, Y:1.89, Z:-4.11 [[ 9.88032758e-01 6.33613367e-02 1.40629336e-01 3.80116226e+01] [-6.32795326e-02 9.97983025e-01 -5.05788701e-03 1.89256927e+00] [-1.40666164e-01 -3.90160059e-03 9.90049397e-01 -4.11238392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters 0.03162201251335785 Centerline is valid? [True, True] Translation: X:38.07, Y:1.90, Z:-4.12 [[ 9.88300840e-01 6.51324444e-02 1.37910167e-01 3.80731705e+01] [-6.50632099e-02 9.97868544e-01 -5.01480393e-03 1.89611080e+00] [-1.37942844e-01 -4.01674322e-03 9.90432046e-01 -4.11814799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters 0.03191700278652766 Centerline is valid? [True, True] Translation: X:38.13, Y:1.90, Z:-4.13 [[ 9.87769398e-01 6.56450683e-02 1.41429634e-01 3.81343160e+01] [-6.55690029e-02 9.97834473e-01 -5.20299420e-03 1.90186443e+00] [-1.41464915e-01 -4.13404164e-03 9.89934638e-01 -4.12693444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters 0.03079242088102271 Centerline is valid? [True, True] Translation: X:38.20, Y:1.91, Z:-4.13 [[ 9.88420734e-01 5.94736897e-02 1.39597038e-01 3.81961389e+01] [-5.93316753e-02 9.98224872e-01 -5.18247553e-03 1.90922921e+00] [-1.39657456e-01 -3.16005986e-03 9.90194834e-01 -4.13367179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters 0.030002300525603345 Centerline is valid? [True, True] Translation: X:38.26, Y:1.92, Z:-4.14 [[ 9.88518260e-01 5.42054391e-02 1.41044034e-01 3.82581498e+01] [-5.40039958e-02 9.98526874e-01 -5.25829921e-03 1.91796843e+00] [-1.41121287e-01 -2.41901663e-03 9.89989359e-01 -4.14123399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters 0.029415063427230742 Centerline is valid? [True, True] Translation: X:38.32, Y:1.92, Z:-4.15 [[ 9.88637341e-01 4.53871534e-02 1.43304618e-01 3.83206525e+01] [-4.50790860e-02 9.98968840e-01 -5.39748309e-03 1.92094943e+00] [-1.43401825e-01 -1.12388788e-03 9.89663909e-01 -4.14741887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters 0.028952185327674705 Centerline is valid? [True, True] Translation: X:38.38, Y:1.92, Z:-4.15 [[ 9.89314442e-01 3.65142473e-02 1.41151144e-01 3.83823408e+01] [-3.61212741e-02 9.99333114e-01 -5.34603074e-03 1.91935061e+00] [-1.41252218e-01 1.90346265e-04 9.89973623e-01 -4.15493886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters 0.0287958288048675 Centerline is valid? [True, True] Translation: X:38.44, Y:1.92, Z:-4.16 [[ 9.89450784e-01 3.07965021e-02 1.41558192e-01 3.84442272e+01] [-3.03338621e-02 9.99525098e-01 -5.42542365e-03 1.92021391e+00] [-1.41658050e-01 1.07418299e-03 9.89915069e-01 -4.16028940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters 0.02884919948245103 Centerline is valid? [True, True] Translation: X:38.51, Y:1.91, Z:-4.17 [[ 9.89876899e-01 2.87723056e-02 1.38981576e-01 3.85056860e+01] [-2.82979146e-02 9.99585010e-01 -5.38858103e-03 1.91142638e+00] [-1.39078941e-01 1.40114313e-03 9.90280306e-01 -4.16921966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters 0.029164608054866707 Centerline is valid? [True, True] Translation: X:38.57, Y:1.90, Z:-4.18 [[ 9.89272260e-01 2.83277903e-02 1.43310611e-01 3.85672001e+01] [-2.78087759e-02 9.99597442e-01 -5.62370110e-03 1.90425909e+00] [-1.43412228e-01 1.57807882e-03 9.89661782e-01 -4.17607252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865919999999996 meters 0.028895691403164118 Centerline is valid? [True, True] Translation: X:38.63, Y:1.90, Z:-4.18 [[ 9.89747143e-01 3.16482941e-02 1.39280214e-01 3.86280245e+01] [-3.11821676e-02 9.99498430e-01 -5.52812879e-03 1.89563261e+00] [-1.39385311e-01 1.12839071e-03 9.90237579e-01 -4.18498446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters 0.029085339139374763 Centerline is valid? [True, True] Translation: X:38.69, Y:1.89, Z:-4.19 [[ 9.89100343e-01 3.75768514e-02 1.42367451e-01 3.86887328e+01] [-3.71412748e-02 9.99293673e-01 -5.71663125e-03 1.88664055e+00] [-1.42481706e-01 3.66613320e-04 9.89797368e-01 -4.19464422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98592 meters 0.029118379737243603 Centerline is valid? [True, True] Translation: X:38.75, Y:1.88, Z:-4.20 [[ 9.89264011e-01 4.10224352e-02 1.40263597e-01 3.87505266e+01] [-4.06251531e-02 9.99158224e-01 -5.69571564e-03 1.87883061e+00] [-1.40379179e-01 -6.36636057e-05 9.90097814e-01 -4.20124579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters 0.029155480783421617 Centerline is valid? [True, True] Translation: X:38.81, Y:1.87, Z:-4.21 [[ 9.89054929e-01 4.44495797e-02 1.40693220e-01 3.88127220e+01] [-4.40750299e-02 9.99011511e-01 -5.77864538e-03 1.87351953e+00] [-1.40811004e-01 -4.85660167e-04 9.90036376e-01 -4.20638508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10592 meters 0.029281462079658167 Centerline is valid? [True, True] Translation: X:38.87, Y:1.87, Z:-4.22 [[ 9.88815027e-01 4.68200680e-02 1.41607640e-01 3.88740222e+01] [-4.64545040e-02 9.98903053e-01 -5.88808101e-03 1.86811371e+00] [-1.41727984e-01 -7.56089684e-04 9.89905352e-01 -4.21785236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16592 meters 0.029613330186410425 Centerline is valid? [True, True] Translation: X:38.94, Y:1.86, Z:-4.22 [[ 9.88646970e-01 4.80989493e-02 1.42350480e-01 3.89353492e+01] [-4.77334871e-02 9.98842188e-01 -5.98306654e-03 1.86299578e+00] [-1.42473444e-01 -8.79744183e-04 9.89798234e-01 -4.22397507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225919999999995 meters 0.029570858877700085 Centerline is valid? [True, True] Translation: X:39.00, Y:1.85, Z:-4.23 [[ 9.88633342e-01 5.03616496e-02 1.41660928e-01 3.89974624e+01] [-5.00135875e-02 9.98730402e-01 -6.01867026e-03 1.85466463e+00] [-1.41784185e-01 -1.13471310e-03 9.89896943e-01 -4.23056975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters 0.029887763626166783 Centerline is valid? [True, True] Translation: X:39.06, Y:1.85, Z:-4.24 [[ 9.88468651e-01 5.40619457e-02 1.41446213e-01 3.90593211e+01] [-5.37425828e-02 9.98536315e-01 -6.07975018e-03 1.85039812e+00] [-1.41567863e-01 -1.59204236e-03 9.89927273e-01 -4.23861210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters 0.0300366764614374 Centerline is valid? [True, True] Translation: X:39.12, Y:1.85, Z:-4.25 [[ 9.88590605e-01 5.71660898e-02 1.39358003e-01 3.91211257e+01] [-5.68782057e-02 9.98362788e-01 -6.05086844e-03 1.84925955e+00] [-1.39475749e-01 -1.94460146e-03 9.90223578e-01 -4.24587916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405919999999995 meters 0.0300630371073842 Centerline is valid? [True, True] Translation: X:39.18, Y:1.85, Z:-4.25 [[ 9.88477733e-01 5.84698982e-02 1.39617486e-01 3.91838854e+01] [-5.81850188e-02 9.98287027e-01 -6.12491607e-03 1.84612651e+00] [-1.39736449e-01 -2.06930292e-03 9.90186570e-01 -4.25177644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters 0.02987571258993337 Centerline is valid? [True, True] Translation: X:39.25, Y:1.85, Z:-4.26 [[ 9.88467049e-01 5.82847554e-02 1.39770453e-01 3.92462931e+01] [-5.79874999e-02 9.98298046e-01 -6.20177149e-03 1.84859130e+00] [-1.39894039e-01 -1.97469237e-03 9.90164511e-01 -4.26161597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters 0.029385895293395074 Centerline is valid? [True, True] Translation: X:39.31, Y:1.85, Z:-4.27 [[ 9.88985613e-01 5.60989604e-02 1.36968481e-01 3.93080363e+01] [-5.57834874e-02 9.98423987e-01 -6.14361229e-03 1.84795756e+00] [-1.37097268e-01 -1.56463540e-03 9.90556354e-01 -4.26610586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585919999999994 meters 0.0291859325641947 Centerline is valid? [True, True] Translation: X:39.37, Y:1.84, Z:-4.27 [[ 9.89096312e-01 5.34229859e-02 1.37238733e-01 3.93691742e+01] [-5.30722093e-02 9.98571328e-01 -6.21643372e-03 1.84446900e+00] [-1.37374764e-01 -1.13491108e-03 9.90518494e-01 -4.27355652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters 0.028881793130491232 Centerline is valid? [True, True] Translation: X:39.43, Y:1.84, Z:-4.28 [[ 9.89294894e-01 5.12336078e-02 1.36640878e-01 3.94309728e+01] [-5.08567475e-02 9.98686402e-01 -6.24986282e-03 1.84128012e+00] [-1.36781590e-01 -7.66153245e-04 9.90600934e-01 -4.28077002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70592 meters 0.029047299467026968 Centerline is valid? [True, True] Translation: X:39.49, Y:1.83, Z:-4.29 [[ 9.89213865e-01 5.22933429e-02 1.36825930e-01 3.94935878e+01] [-5.19168805e-02 9.98631405e-01 -6.32099807e-03 1.83493891e+00] [-1.36969216e-01 -8.50756502e-04 9.90574939e-01 -4.28671748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters 0.028913408577970773 Centerline is valid? [True, True] Translation: X:39.56, Y:1.83, Z:-4.29 [[ 9.89290080e-01 5.30862121e-02 1.35966876e-01 3.95553633e+01] [-5.27125159e-02 9.98589540e-01 -6.34983355e-03 1.82943254e+00] [-1.36112189e-01 -8.85328761e-04 9.90693034e-01 -4.29448302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters 0.02896459353902318 Centerline is valid? [True, True] Translation: X:39.62, Y:1.83, Z:-4.30 [[ 9.89438088e-01 5.42618032e-02 1.34416992e-01 3.96167302e+01] [-5.38993521e-02 9.98526267e-01 -6.33672799e-03 1.82616319e+00] [-1.34562739e-01 -9.75188744e-04 9.90904596e-01 -4.30034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters 0.029274654436977306 Centerline is valid? [True, True] Translation: X:39.68, Y:1.82, Z:-4.31 [[ 9.88831399e-01 5.73033369e-02 1.37581943e-01 3.96779526e+01] [-5.69442508e-02 9.98355888e-01 -6.54781128e-03 1.82267858e+00] [-1.37730955e-01 -1.35981930e-03 9.90468745e-01 -4.30621439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters 0.029551099873053235 Centerline is valid? [True, True] Translation: X:39.74, Y:1.82, Z:-4.31 [[ 9.88703901e-01 6.22583328e-02 1.36339633e-01 3.97393905e+01] [-6.19448413e-02 9.98058115e-01 -6.54489120e-03 1.82204739e+00] [-1.36482351e-01 -1.97457749e-03 9.90640535e-01 -4.31456526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters 0.029367216594915275 Centerline is valid? [True, True] Translation: X:39.80, Y:1.82, Z:-4.32 [[ 9.88814833e-01 6.52340328e-02 1.34125861e-01 3.98023149e+01] [-6.49498104e-02 9.97867374e-01 -6.49820328e-03 1.82016952e+00] [-1.34263725e-01 -2.28592947e-03 9.90942999e-01 -4.32037150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters 0.02965926195459448 Centerline is valid? [True, True] Translation: X:39.87, Y:1.82, Z:-4.33 [[ 9.88739624e-01 6.72118650e-02 1.33703109e-01 3.98654742e+01] [-6.69384079e-02 9.97735646e-01 -6.54448003e-03 1.82250913e+00] [-1.33840224e-01 -2.47908652e-03 9.90999823e-01 -4.32638317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters 0.029393575853913712 Centerline is valid? [True, True] Translation: X:39.93, Y:1.83, Z:-4.33 [[ 9.88719674e-01 6.87542460e-02 1.33064874e-01 3.99285579e+01] [-6.84884100e-02 9.97630217e-01 -6.57930948e-03 1.82533659e+00] [-1.33201895e-01 -2.60830896e-03 9.91085492e-01 -4.33352646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters 0.029768788154709888 Centerline is valid? [True, True] Translation: X:39.99, Y:1.83, Z:-4.34 [[ 9.88607059e-01 7.13213085e-02 1.32549436e-01 3.99908428e+01] [-7.10718333e-02 9.97449242e-01 -6.61842865e-03 1.83140588e+00] [-1.32683369e-01 -2.87750613e-03 9.91154299e-01 -4.33898298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24592 meters 0.029545507262359046 Centerline is valid? [True, True] Translation: X:40.05, Y:1.84, Z:-4.35 [[ 9.88425475e-01 6.98217536e-02 1.34684832e-01 4.00533732e+01] [-6.95420201e-02 9.97555941e-01 -6.78621985e-03 1.83784434e+00] [-1.34829480e-01 -2.65858272e-03 9.90865250e-01 -4.34620631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters 0.028605713248734364 Centerline is valid? [True, True] Translation: X:40.12, Y:1.85, Z:-4.35 [[ 9.88898766e-01 6.90309754e-02 1.31582507e-01 4.01153483e+01] [-6.87485832e-02 9.97611564e-01 -6.69321684e-03 1.84817143e+00] [-1.31730269e-01 -2.42719703e-03 9.91282626e-01 -4.35218549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters 0.02800903904423082 Centerline is valid? [True, True] Translation: X:40.18, Y:1.86, Z:-4.36 [[ 9.89174763e-01 6.58454783e-02 1.31139851e-01 4.01783022e+01] [-6.55301241e-02 9.97827940e-01 -6.72345582e-03 1.85613011e+00] [-1.31297717e-01 -1.94293788e-03 9.91341079e-01 -4.35692172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters 0.027597422023725494 Centerline is valid? [True, True] Translation: X:40.24, Y:1.86, Z:-4.37 [[ 9.89207917e-01 6.26821812e-02 1.32433533e-01 4.02396561e+01] [-6.23288346e-02 9.98032393e-01 -6.81602795e-03 1.86102438e+00] [-1.32600200e-01 -1.51195897e-03 9.91168452e-01 -4.36635776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters 0.027041708723666843 Centerline is valid? [True, True] Translation: X:40.30, Y:1.86, Z:-4.37 [[ 9.89429897e-01 5.90079082e-02 1.32463375e-01 4.03017806e+01] [-5.86136997e-02 9.98257054e-01 -6.87672152e-03 1.86339709e+00] [-1.32638279e-01 -9.60134590e-04 9.91164046e-01 -4.37115972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters 0.026990690606342897 Centerline is valid? [True, True] Translation: X:40.36, Y:1.86, Z:-4.38 [[ 9.89630124e-01 5.58031036e-02 1.32356456e-01 4.03633442e+01] [-5.53729905e-02 9.98441682e-01 -6.93101959e-03 1.86350504e+00] [-1.32536975e-01 -4.69827012e-04 9.91177950e-01 -4.38087545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60592 meters 0.026927966389314145 Centerline is valid? [True, True] Translation: X:40.42, Y:1.86, Z:-4.39 [[ 9.89202898e-01 5.66555723e-02 1.35158325e-01 4.04247874e+01] [-5.62063910e-02 9.98393640e-01 -7.14005748e-03 1.85728283e+00] [-1.35345736e-01 -5.33796122e-04 9.90798288e-01 -4.38876817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66592 meters 0.026966894932514748 Centerline is valid? [True, True] Translation: X:40.49, Y:1.85, Z:-4.39 [[ 9.89387213e-01 5.92806363e-02 1.32660276e-01 4.04869679e+01] [-5.88642059e-02 9.98241018e-01 -7.06217515e-03 1.85270922e+00] [-1.32845579e-01 -8.21716007e-04 9.91136407e-01 -4.39480791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters 0.02753445116592342 Centerline is valid? [True, True] Translation: X:40.55, Y:1.85, Z:-4.40 [[ 9.89000932e-01 6.27200647e-02 1.33952790e-01 4.05487209e+01] [-6.23231196e-02 9.98030352e-01 -7.15852853e-03 1.84584548e+00] [-1.34137934e-01 -1.26856439e-03 9.90961859e-01 -4.40208831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters 0.02824642602463621 Centerline is valid? [True, True] Translation: X:40.61, Y:1.85, Z:-4.41 [[ 9.88452730e-01 7.18179360e-02 1.33429321e-01 4.06106297e+01] [-7.14984793e-02 9.97414791e-01 -7.19035795e-03 1.84549595e+00] [-1.33600775e-01 -2.43266459e-03 9.91032247e-01 -4.40883860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters 0.028721146251366986 Centerline is valid? [True, True] Translation: X:40.67, Y:1.84, Z:-4.42 [[ 9.88300175e-01 7.55957116e-02 1.32469064e-01 4.06719542e+01] [-7.53067609e-02 9.97134441e-01 -7.19717250e-03 1.84361224e+00] [-1.32633541e-01 -2.86284929e-03 9.91161010e-01 -4.41563515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905919999999995 meters 0.029438108774483156 Centerline is valid? [True, True] Translation: X:40.73, Y:1.84, Z:-4.42 [[ 9.87872617e-01 7.89668922e-02 1.33685912e-01 4.07336289e+01] [-7.86953489e-02 9.96871820e-01 -7.32230728e-03 1.84072613e+00] [-1.33845938e-01 -3.28695264e-03 9.90996701e-01 -4.42203958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96592 meters 0.029053832513206403 Centerline is valid? [True, True] Translation: X:40.80, Y:1.85, Z:-4.43 [[ 9.87769502e-01 7.69778079e-02 1.35594351e-01 4.07958105e+01] [-7.66716407e-02 9.97028289e-01 -7.48662266e-03 1.84924704e+00] [-1.35767708e-01 -3.00118386e-03 9.90736152e-01 -4.43079248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02592 meters 0.028770345814111777 Centerline is valid? [True, True] Translation: X:40.86, Y:1.85, Z:-4.44 [[ 9.87973867e-01 7.40287922e-02 1.35747468e-01 4.08579687e+01] [-7.36866638e-02 9.97252861e-01 -7.55024424e-03 1.84842518e+00] [-1.35933486e-01 -2.54333405e-03 9.90714701e-01 -4.43916670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters 0.02886080882335874 Centerline is valid? [True, True] Translation: X:40.92, Y:1.86, Z:-4.45 [[ 9.87829424e-01 7.26695176e-02 1.37521526e-01 4.09209345e+01] [-7.22997774e-02 9.97353312e-01 -7.68851652e-03 1.85581366e+00] [-1.37716270e-01 -2.34783290e-03 9.90468938e-01 -4.44776315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters 0.028772051465633008 Centerline is valid? [True, True] Translation: X:40.98, Y:1.85, Z:-4.45 [[ 9.88210326e-01 7.06770048e-02 1.35812788e-01 4.09827344e+01] [-7.02884220e-02 9.97497296e-01 -7.66037441e-03 1.85210231e+00] [-1.36014301e-01 -1.97600545e-03 9.90704903e-01 -4.45437060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters 0.028413773624804933 Centerline is valid? [True, True] Translation: X:41.04, Y:1.85, Z:-4.46 [[ 9.88382081e-01 6.76588089e-02 1.36099773e-01 4.10440912e+01] [-6.72317293e-02 9.97707386e-01 -7.73738876e-03 1.85085980e+00] [-1.36311251e-01 -1.50272669e-03 9.90664920e-01 -4.46153571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters 0.02834015785149061 Centerline is valid? [True, True] Translation: X:41.11, Y:1.85, Z:-4.47 [[ 9.88288664e-01 6.39227354e-02 1.38561901e-01 4.11068800e+01] [-6.34343519e-02 9.97954408e-01 -7.94247687e-03 1.85054088e+00] [-1.38786165e-01 -9.40124531e-04 9.90321926e-01 -4.46882076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters 0.028415321302250128 Centerline is valid? [True, True] Translation: X:41.17, Y:1.85, Z:-4.47 [[ 9.88409694e-01 6.79871180e-02 1.35735143e-01 4.11690464e+01] [-6.75472342e-02 9.97685202e-01 -7.84911268e-03 1.84698038e+00] [-1.35954582e-01 -1.41039443e-03 9.90714067e-01 -4.47421290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters 0.029045546963816782 Centerline is valid? [True, True] Translation: X:41.23, Y:1.84, Z:-4.48 [[ 9.88294906e-01 7.41637229e-02 1.33315117e-01 4.12304842e+01] [-7.37873320e-02 9.97243741e-01 -7.76854250e-03 1.84164009e+00] [-1.33523810e-01 -2.15935583e-03 9.91043253e-01 -4.48278691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters 0.02924794431421229 Centerline is valid? [True, True] Translation: X:41.29, Y:1.84, Z:-4.49 [[ 9.88065471e-01 7.59664047e-02 1.33998995e-01 4.12924246e+01] [-7.55944330e-02 9.97107598e-01 -7.86894222e-03 1.84215218e+00] [-1.34209191e-01 -2.35454792e-03 9.90950225e-01 -4.48909450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters 0.02905780332267975 Centerline is valid? [True, True] Translation: X:41.35, Y:1.85, Z:-4.50 [[ 9.88376258e-01 7.68088537e-02 1.31197454e-01 4.13541068e+01] [-7.64521422e-02 9.97043045e-01 -7.76121111e-03 1.84543631e+00] [-1.31405639e-01 -2.35932961e-03 9.91325876e-01 -4.49829118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters 0.028923692098146332 Centerline is valid? [True, True] Translation: X:41.42, Y:1.85, Z:-4.50 [[ 9.88251018e-01 7.56562448e-02 1.32800820e-01 4.14171445e+01] [-7.52721979e-02 9.97131593e-01 -7.91716324e-03 1.84917257e+00] [-1.33018876e-01 -2.17206497e-03 9.91111124e-01 -4.50309725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters 0.02869208129184591 Centerline is valid? [True, True] Translation: X:41.48, Y:1.85, Z:-4.51 [[ 9.88376549e-01 7.26213905e-02 1.33558719e-01 4.14792330e+01] [-7.21961158e-02 9.97358124e-01 -8.03081974e-03 1.85158886e+00] [-1.33789083e-01 -1.70494686e-03 9.91008362e-01 -4.51053353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685919999999996 meters 0.028347152335768178 Centerline is valid? [True, True] Translation: X:41.54, Y:1.85, Z:-4.52 [[ 9.88775635e-01 6.83241357e-02 1.32870451e-01 4.15414641e+01] [-6.78565572e-02 9.97662616e-01 -8.04938589e-03 1.85322813e+00] [-1.33109849e-01 -1.05709472e-03 9.91100727e-01 -4.51687679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters 0.028261096245026252 Centerline is valid? [True, True] Translation: X:41.60, Y:1.85, Z:-4.52 [[ 9.88673177e-01 6.64015185e-02 1.34596387e-01 4.16043284e+01] [-6.58952340e-02 9.97792706e-01 -8.21790584e-03 1.85235305e+00] [-1.34844975e-01 -7.44437340e-04 9.90866428e-01 -4.52302450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters 0.027827997080919018 Centerline is valid? [True, True] Translation: X:41.67, Y:1.86, Z:-4.53 [[ 9.89085853e-01 6.33910422e-02 1.33006582e-01 4.16663314e+01] [-6.28603624e-02 9.97988731e-01 -8.18944901e-03 1.85675223e+00] [-1.33258207e-01 -2.60773746e-04 9.91081320e-01 -4.52727769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865919999999996 meters 0.027772077512325726 Centerline is valid? [True, True] Translation: X:41.73, Y:1.86, Z:-4.54 [[ 9.89265844e-01 5.89526695e-02 1.33707412e-01 4.17289386e+01] [-5.83672487e-02 9.98260697e-01 -8.29727607e-03 1.85537492e+00] [-1.33964001e-01 4.04078020e-04 9.90986116e-01 -4.53756582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters 0.027583967552118952 Centerline is valid? [True, True] Translation: X:41.79, Y:1.85, Z:-4.54 [[ 9.89909064e-01 5.34973097e-02 1.31217690e-01 4.17912750e+01] [-5.28766343e-02 9.98567283e-01 -8.21233511e-03 1.85079934e+00] [-1.31469031e-01 1.19111513e-03 9.91319563e-01 -4.54191369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters 0.027561621593847226 Centerline is valid? [True, True] Translation: X:41.85, Y:1.85, Z:-4.55 [[ 9.89844749e-01 5.04720561e-02 1.32890721e-01 4.18530244e+01] [-4.97987026e-02 9.98724052e-01 -8.38788506e-03 1.85043513e+00] [-1.33144513e-01 1.68491850e-03 9.91095202e-01 -4.54910214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045919999999995 meters 0.027581271689529105 Centerline is valid? [True, True] Translation: X:41.91, Y:1.84, Z:-4.56 [[ 9.89612259e-01 5.03903444e-02 1.34641709e-01 4.19143212e+01] [-4.96895328e-02 9.98728007e-01 -8.56255823e-03 1.84258366e+00] [-1.34901916e-01 1.78332900e-03 9.90857352e-01 -4.55732356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters 0.027363787385329533 Centerline is valid? [True, True] Translation: X:41.98, Y:1.84, Z:-4.56 [[ 9.89695972e-01 5.16095403e-02 1.33560246e-01 4.19754847e+01] [-5.09225842e-02 9.98665948e-01 -8.55654335e-03 1.83829148e+00] [-1.33823669e-01 1.66714361e-03 9.91003757e-01 -4.56421694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters 0.027208532587864365 Centerline is valid? [True, True] Translation: X:42.04, Y:1.83, Z:-4.57 [[ 9.89674820e-01 5.40761769e-02 1.32738531e-01 4.20366935e+01] [-5.34114631e-02 9.98535849e-01 -8.56587015e-03 1.82893365e+00] [-1.33007391e-01 1.38766685e-03 9.91114074e-01 -4.56981272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters 0.027098412223020188 Centerline is valid? [True, True] Translation: X:42.10, Y:1.82, Z:-4.58 [[ 9.89484232e-01 5.44168343e-02 1.34014043e-01 4.20983910e+01] [-5.37337438e-02 9.98517298e-01 -8.71146191e-03 1.82358003e+00] [-1.34289390e-01 1.41877797e-03 9.90941142e-01 -4.57834664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters 0.027053141432267468 Centerline is valid? [True, True] Translation: X:42.16, Y:1.82, Z:-4.58 [[ 9.89719280e-01 5.43532223e-02 1.32293140e-01 4.21600731e+01] [-5.36788507e-02 9.98520688e-01 -8.66124605e-03 1.81792455e+00] [-1.32568204e-01 1.47085848e-03 9.91172794e-01 -4.58470877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34592 meters 0.027265143377092703 Centerline is valid? [True, True] Translation: X:42.22, Y:1.81, Z:-4.59 [[ 9.89607693e-01 5.25367477e-02 1.33852550e-01 4.22213909e+01] [-5.18211302e-02 9.98617371e-01 -8.82702525e-03 1.80653536e+00] [-1.34131224e-01 1.79890168e-03 9.90961946e-01 -4.59321631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters 0.027441522047152684 Centerline is valid? [True, True] Translation: X:42.28, Y:1.80, Z:-4.60 [[ 9.89860593e-01 5.20856130e-02 1.32148008e-01 4.22830488e+01] [-5.13760187e-02 9.98640820e-01 -8.77593932e-03 1.79833452e+00] [-1.32425495e-01 1.89771797e-03 9.91191146e-01 -4.60023195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46592 meters 0.02737208460663647 Centerline is valid? [True, True] Translation: X:42.34, Y:1.79, Z:-4.61 [[ 9.89695305e-01 5.22806063e-02 1.33303941e-01 4.23444696e+01] [-5.15517309e-02 9.98630527e-01 -8.91574075e-03 1.78909318e+00] [-1.33587505e-01 1.95181790e-03 9.91035100e-01 -4.60781292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters 0.02724332695394822 Centerline is valid? [True, True] Translation: X:42.41, Y:1.78, Z:-4.62 [[ 9.89536756e-01 5.47173491e-02 1.33502884e-01 4.24052576e+01] [-5.39996996e-02 9.98500454e-01 -8.99314115e-03 1.77804340e+00] [-1.33794771e-01 1.68992810e-03 9.91007620e-01 -4.61543268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters 0.027378183422169633 Centerline is valid? [True, True] Translation: X:42.47, Y:1.77, Z:-4.62 [[ 9.89294011e-01 5.90669077e-02 1.33448343e-01 4.24657720e+01] [-5.83807909e-02 9.98253347e-01 -9.05197799e-03 1.76650801e+00] [-1.33749928e-01 1.16424779e-03 9.91014430e-01 -4.62457013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters 0.027246385425484444 Centerline is valid? [True, True] Translation: X:42.53, Y:1.76, Z:-4.63 [[ 9.88789726e-01 6.33012002e-02 1.35232529e-01 4.25278037e+01] [-6.26269232e-02 9.97994246e-01 -9.23871910e-03 1.75783423e+00] [-1.35546107e-01 6.65953347e-04 9.90770816e-01 -4.63106530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70592 meters 0.027585079925720304 Centerline is valid? [True, True] Translation: X:42.59, Y:1.75, Z:-4.64 [[ 9.88232095e-01 6.80702537e-02 1.36980901e-01 4.25891729e+01] [-6.74138602e-02 9.97680527e-01 -9.43070372e-03 1.74824506e+00] [-1.37305128e-01 8.53127900e-05 9.90528795e-01 -4.63803596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters 0.027873535752637325 Centerline is valid? [True, True] Translation: X:42.65, Y:1.74, Z:-4.65 [[ 9.87913806e-01 7.06489911e-02 1.37967506e-01 4.26512684e+01] [-6.99987552e-02 9.97501216e-01 -9.56542523e-03 1.73994756e+00] [-1.38298543e-01 -2.07738062e-04 9.90390564e-01 -4.64723266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825919999999996 meters 0.02777744729270365 Centerline is valid? [True, True] Translation: X:42.71, Y:1.73, Z:-4.65 [[ 9.88086718e-01 7.29131152e-02 1.35529755e-01 4.27127714e+01] [-7.22974269e-02 9.97338197e-01 -9.46587325e-03 1.72934171e+00] [-1.35859188e-01 -4.45348949e-04 9.90728057e-01 -4.65301935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters 0.027987195785620214 Centerline is valid? [True, True] Translation: X:42.77, Y:1.72, Z:-4.66 [[ 9.87835354e-01 7.63562710e-02 1.35465989e-01 4.27748145e+01] [-7.57646683e-02 9.97080232e-01 -9.52497755e-03 1.72366252e+00] [-1.35797751e-01 -8.54426121e-04 9.90736211e-01 -4.66040543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters 0.02860417186866761 Centerline is valid? [True, True] Translation: X:42.84, Y:1.71, Z:-4.67 [[ 9.87475625e-01 7.91357777e-02 1.36489629e-01 4.28355983e+01] [-7.85518354e-02 9.96863154e-01 -9.66753475e-03 1.71238758e+00] [-1.36826530e-01 -1.17505595e-03 9.90594327e-01 -4.66884019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters 0.028637712020595122 Centerline is valid? [True, True] Translation: X:42.90, Y:1.70, Z:-4.68 [[ 9.87640834e-01 7.97834515e-02 1.34908055e-01 4.28964317e+01] [-7.92107170e-02 9.96811511e-01 -9.61635828e-03 1.70484003e+00] [-1.35245128e-01 -1.18865563e-03 9.90811457e-01 -4.67740267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters 0.02869683289675268 Centerline is valid? [True, True] Translation: X:42.96, Y:1.69, Z:-4.68 [[ 9.87455157e-01 8.22666973e-02 1.34775755e-01 4.29589574e+01] [-8.17096665e-02 9.96609274e-01 -9.66881572e-03 1.69468125e+00] [-1.35114189e-01 -1.46496005e-03 9.90828951e-01 -4.68212706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters 0.029284595522628565 Centerline is valid? [True, True] Translation: X:43.02, Y:1.69, Z:-4.69 [[ 9.86754389e-01 8.66404011e-02 1.37146700e-01 4.30199738e+01] [-8.60959461e-02 9.96237580e-01 -9.90815587e-03 1.68806659e+00] [-1.37489143e-01 -2.03085860e-03 9.90501192e-01 -4.68838595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters 0.02933969740618853 Centerline is valid? [True, True] Translation: X:43.08, Y:1.68, Z:-4.70 [[ 9.86989735e-01 8.89327305e-02 1.33948620e-01 4.30809069e+01] [-8.84269438e-02 9.96035118e-01 -9.73236579e-03 1.67932073e+00] [-1.34283056e-01 -2.23892198e-03 9.90940487e-01 -4.69615647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters 0.029669986025555074 Centerline is valid? [True, True] Translation: X:43.14, Y:1.67, Z:-4.70 [[ 9.86520971e-01 9.05349223e-02 1.36307749e-01 4.31421214e+01] [-9.00178236e-02 9.95890295e-01 -9.96553588e-03 1.67048769e+00] [-1.36649793e-01 -2.43891675e-03 9.90616417e-01 -4.70322640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters 0.02992034371030387 Centerline is valid? [True, True] Translation: X:43.20, Y:1.67, Z:-4.71 [[ 9.86470623e-01 9.39308979e-02 1.34360324e-01 4.32044000e+01] [-9.34516382e-02 9.95574764e-01 -9.88339147e-03 1.66765465e+00] [-1.34694104e-01 -2.80651708e-03 9.90883253e-01 -4.70971514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365919999999996 meters 0.030379329759782494 Centerline is valid? [True, True] Translation: X:43.27, Y:1.66, Z:-4.72 [[ 9.86283583e-01 9.72201298e-02 1.33390181e-01 4.32657532e+01] [-9.67688701e-02 9.95257867e-01 -9.87742187e-03 1.66266189e+00] [-1.33717911e-01 -3.16607807e-03 9.91014377e-01 -4.71638980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters 0.030692220155898103 Centerline is valid? [True, True] Translation: X:43.33, Y:1.66, Z:-4.72 [[ 9.86227335e-01 9.84168059e-02 1.32927710e-01 4.33276977e+01] [-9.79715259e-02 9.95139952e-01 -9.90236361e-03 1.65809776e+00] [-1.33256233e-01 -3.25714887e-03 9.91076267e-01 -4.72459027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters 0.029628922010629742 Centerline is valid? [True, True] Translation: X:43.39, Y:1.66, Z:-4.73 [[ 9.86680604e-01 9.20001567e-02 1.34154230e-01 4.33895335e+01] [-9.14786362e-02 9.95756227e-01 -1.00595630e-02 1.65724931e+00] [-1.34510391e-01 -2.34667029e-03 9.90909404e-01 -4.73297999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545919999999995 meters 0.02897848748965666 Centerline is valid? [True, True] Translation: X:43.45, Y:1.66, Z:-4.74 [[ 9.87125571e-01 8.96835161e-02 1.32438564e-01 4.34510928e+01] [-8.91468595e-02 9.95968411e-01 -9.98806020e-03 1.65527368e+00] [-1.32800390e-01 -1.94701241e-03 9.91140891e-01 -4.73837781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters 0.028800681852770613 Centerline is valid? [True, True] Translation: X:43.51, Y:1.65, Z:-4.74 [[ 9.86952990e-01 8.96516420e-02 1.33739970e-01 4.35132312e+01] [-8.90958134e-02 9.95971370e-01 -1.01472230e-02 1.65003523e+00] [-1.34110896e-01 -1.90083929e-03 9.90964507e-01 -4.74477744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters 0.028608614255868567 Centerline is valid? [True, True] Translation: X:43.58, Y:1.65, Z:-4.75 [[ 9.87361652e-01 8.64845164e-02 1.32805857e-01 4.35752224e+01] [-8.58989772e-02 9.96252221e-01 -1.01428918e-02 1.64862405e+00] [-1.33185333e-01 -1.39318482e-03 9.91090171e-01 -4.75220281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters 0.028359079967456916 Centerline is valid? [True, True] Translation: X:43.64, Y:1.64, Z:-4.76 [[ 9.87490989e-01 8.43995626e-02 1.33185064e-01 4.36376956e+01] [-8.37834749e-02 9.96431435e-01 -1.02335107e-02 1.64328443e+00] [-1.33573489e-01 -1.05320794e-03 9.91038351e-01 -4.76033879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters 0.02796081283948815 Centerline is valid? [True, True] Translation: X:43.70, Y:1.64, Z:-4.77 [[ 9.88078765e-01 7.90947607e-02 1.32077147e-01 4.36990655e+01] [-7.84328406e-02 9.96867066e-01 -1.02147705e-02 1.63710073e+00] [-1.32471293e-01 -2.66188016e-04 9.91186807e-01 -4.76709716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters 0.02781003138493497 Centerline is valid? [True, True] Translation: X:43.76, Y:1.63, Z:-4.78 [[ 9.88378805e-01 7.59563944e-02 1.31673700e-01 4.37608319e+01] [-7.52626635e-02 9.97111117e-01 -1.02445954e-02 1.62874663e+00] [-1.32071453e-01 2.15427584e-04 9.91240175e-01 -4.77607321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905919999999995 meters 0.027952450882318534 Centerline is valid? [True, True] Translation: X:43.82, Y:1.62, Z:-4.78 [[ 9.87850948e-01 7.80363698e-02 1.34390583e-01 4.38220467e+01] [-7.73232248e-02 9.96950513e-01 -1.05258709e-02 1.61749810e+00] [-1.34802162e-01 6.47831488e-06 9.90872533e-01 -4.78205523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters 0.028104311379255367 Centerline is valid? [True, True] Translation: X:43.88, Y:1.61, Z:-4.79 [[ 9.87648002e-01 8.26380371e-02 1.33125429e-01 4.38826610e+01] [-8.19717600e-02 9.96579474e-01 -1.04873019e-02 1.60549575e+00] [-1.33536720e-01 -5.54762960e-04 9.91043711e-01 -4.78985657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters 0.02837161074677317 Centerline is valid? [True, True] Translation: X:43.94, Y:1.60, Z:-4.80 [[ 9.87343971e-01 8.53886853e-02 1.33643763e-01 4.39447429e+01] [-8.47337139e-02 9.96347340e-01 -1.05913499e-02 1.59664323e+00] [-1.34059989e-01 -8.66826889e-04 9.90972839e-01 -4.79784005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters 0.02826218045471372 Centerline is valid? [True, True] Translation: X:44.01, Y:1.59, Z:-4.80 [[ 9.87544746e-01 8.71910681e-02 1.30969813e-01 4.40057835e+01] [-8.65691639e-02 9.96191082e-01 -1.04454716e-02 1.58750959e+00] [-1.31381711e-01 -1.02257660e-03 9.91331327e-01 -4.80247721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters 0.028401694268098854 Centerline is valid? [True, True] Translation: X:44.07, Y:1.58, Z:-4.81 [[ 9.87091521e-01 8.87231879e-02 1.33336138e-01 4.40669401e+01] [-8.80842400e-02 9.96055613e-01 -1.06949471e-02 1.57835143e+00] [-1.33759099e-01 -1.18792076e-03 9.91013165e-01 -4.81106602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters 0.028936661015695805 Centerline is valid? [True, True] Translation: X:44.13, Y:1.57, Z:-4.82 [[ 9.86573225e-01 9.21739996e-02 1.34822939e-01 4.41280522e+01] [-9.15444322e-02 9.95741609e-01 -1.08750102e-02 1.56755882e+00] [-1.35251203e-01 -1.61329546e-03 9.90810027e-01 -4.81750636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters 0.02908955437970648 Centerline is valid? [True, True] Translation: X:44.19, Y:1.56, Z:-4.82 [[ 9.86349276e-01 9.64271087e-02 1.33480032e-01 4.41891258e+01] [-9.58407970e-02 9.95337802e-01 -1.08259316e-02 1.56170332e+00] [-1.33901635e-01 -2.11468290e-03 9.90992371e-01 -4.82451446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325919999999996 meters 0.029344369368534854 Centerline is valid? [True, True] Translation: X:44.25, Y:1.55, Z:-4.83 [[ 9.86060355e-01 9.88053760e-02 1.33874841e-01 4.42495607e+01] [-9.82294067e-02 9.95103917e-01 -1.09168606e-02 1.55275036e+00] [-1.34298024e-01 -2.38576280e-03 9.90938116e-01 -4.83426893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters 0.029316356883098468 Centerline is valid? [True, True] Translation: X:44.31, Y:1.55, Z:-4.84 [[ 9.85844481e-01 9.74551052e-02 1.36430065e-01 4.43112129e+01] [-9.68356447e-02 9.95237526e-01 -1.11858922e-02 1.54846664e+00] [-1.36870442e-01 -2.18374313e-03 9.90586550e-01 -4.84267114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters 0.028854157515131006 Centerline is valid? [True, True] Translation: X:44.37, Y:1.54, Z:-4.85 [[ 9.86322915e-01 9.35925746e-02 1.35674382e-01 4.43724250e+01] [-9.29354293e-02 9.95609330e-01 -1.11833711e-02 1.53950291e+00] [-1.36125361e-01 -1.57854179e-03 9.90690362e-01 -4.84814163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters 0.028781269175269596 Centerline is valid? [True, True] Translation: X:44.43, Y:1.53, Z:-4.86 [[ 9.86268507e-01 9.26425173e-02 1.36717942e-01 4.44340309e+01] [-9.19575097e-02 9.95698455e-01 -1.13314721e-02 1.53007986e+00] [-1.37179620e-01 -1.39636748e-03 9.90545204e-01 -4.85743110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters 0.029366049413204802 Centerline is valid? [True, True] Translation: X:44.50, Y:1.52, Z:-4.86 [[ 9.86039751e-01 9.92187994e-02 1.33720748e-01 4.44959758e+01] [-9.86147307e-02 9.95063225e-01 -1.11496080e-02 1.51617938e+00] [-1.34166849e-01 -2.19287881e-03 9.90956330e-01 -4.86478171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters 0.030300921042940757 Centerline is valid? [True, True] Translation: X:44.56, Y:1.50, Z:-4.87 [[ 9.85309049e-01 1.04462735e-01 1.35105941e-01 4.45566171e+01] [-1.03885858e-01 9.94524662e-01 -1.13325113e-02 1.50443363e+00] [-1.35550015e-01 -2.86957060e-03 9.90766349e-01 -4.87125693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters 0.03138163766468372 Centerline is valid? [True, True] Translation: X:44.62, Y:1.49, Z:-4.88 [[ 9.84657114e-01 1.09808041e-01 1.35619177e-01 4.46171143e+01] [-1.09269100e-01 9.93946437e-01 -1.14343279e-02 1.49386884e+00] [-1.36053779e-01 -3.56009317e-03 9.90695056e-01 -4.88062813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters 0.03171356064191592 Centerline is valid? [True, True] Translation: X:44.68, Y:1.49, Z:-4.89 [[ 9.84501944e-01 1.10840961e-01 1.35905128e-01 4.46784551e+01] [-1.10301673e-01 9.93831441e-01 -1.15155391e-02 1.48706299e+00] [-1.36343182e-01 -3.65349232e-03 9.90654929e-01 -4.88905095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters 0.031839103672705746 Centerline is valid? [True, True] Translation: X:44.74, Y:1.48, Z:-4.90 [[ 9.84472291e-01 1.13473127e-01 1.33933405e-01 4.47404887e+01] [-1.12965830e-01 9.93533406e-01 -1.14057646e-02 1.47947434e+00] [-1.34361559e-01 -3.90123899e-03 9.90924695e-01 -4.89526904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865919999999996 meters 0.03226423406541128 Centerline is valid? [True, True] Translation: X:44.80, Y:1.47, Z:-4.90 [[ 9.84579680e-01 1.15771002e-01 1.31148499e-01 4.48026935e+01] [-1.15296571e-01 9.93267620e-01 -1.12309877e-02 1.47002868e+00] [-1.31565780e-01 -4.06316991e-03 9.91299115e-01 -4.90250798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92592 meters 0.03293666028484599 Centerline is valid? [True, True] Translation: X:44.86, Y:1.46, Z:-4.91 [[ 9.84147459e-01 1.17419849e-01 1.32914849e-01 4.48634390e+01] [-1.16939436e-01 9.93073131e-01 -1.14422774e-02 1.46148840e+00] [-1.33337716e-01 -4.28209921e-03 9.91061409e-01 -4.90925541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98592 meters 0.03220063883139731 Centerline is valid? [True, True] Translation: X:44.92, Y:1.45, Z:-4.92 [[ 9.84447347e-01 1.16300612e-01 1.31672279e-01 4.49245683e+01] [-1.15814787e-01 9.93205769e-01 -1.13682201e-02 1.45423306e+00] [-1.32099798e-01 -4.05818288e-03 9.91228114e-01 -4.91637396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters 0.03184810141362032 Centerline is valid? [True, True] Translation: X:44.99, Y:1.45, Z:-4.93 [[ 9.84632687e-01 1.14659180e-01 1.31726022e-01 4.49853285e+01] [-1.14150892e-01 9.93397683e-01 -1.14287528e-02 1.44723693e+00] [-1.32166736e-01 -3.78351933e-03 9.91220278e-01 -4.92591451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10592 meters 0.032055226874100916 Centerline is valid? [True, True] Translation: X:45.05, Y:1.44, Z:-4.93 [[ 9.84790890e-01 1.13662402e-01 1.31406851e-01 4.50469039e+01] [-1.13140875e-01 9.93512948e-01 -1.14527102e-02 1.43551906e+00] [-1.31856151e-01 -3.58896154e-03 9.91262364e-01 -4.93167580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters 0.032271371592904115 Centerline is valid? [True, True] Translation: X:45.11, Y:1.43, Z:-4.94 [[ 9.84185973e-01 1.16239420e-01 1.33665131e-01 4.51083153e+01] [-1.15719902e-01 9.93213262e-01 -1.16756637e-02 1.42957420e+00] [-1.34115153e-01 -3.97669138e-03 9.90957775e-01 -4.93875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225919999999995 meters 0.03292954128474008 Centerline is valid? [True, True] Translation: X:45.17, Y:1.42, Z:-4.95 [[ 9.84065598e-01 1.20146138e-01 1.31071753e-01 4.51686983e+01] [-1.19673858e-01 9.92746616e-01 -1.15031997e-02 1.41751441e+00] [-1.31503104e-01 -4.36595931e-03 9.91306144e-01 -4.94547280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters 0.034087323005010786 Centerline is valid? [True, True] Translation: X:45.23, Y:1.41, Z:-4.95 [[ 9.83364458e-01 1.24311631e-01 1.32442291e-01 4.52302751e+01] [-1.23859967e-01 9.92231014e-01 -1.16757766e-02 1.41040841e+00] [-1.32864784e-01 -4.92275414e-03 9.91121948e-01 -4.95273882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters 0.035009308002788744 Centerline is valid? [True, True] Translation: X:45.29, Y:1.40, Z:-4.96 [[ 9.82948299e-01 1.28738350e-01 1.31297669e-01 4.52920235e+01] [-1.28327502e-01 9.91663752e-01 -1.16213405e-02 1.40397253e+00] [-1.31699251e-01 -5.42592503e-03 9.91274869e-01 -4.95803677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters 0.035696701874776054 Centerline is valid? [True, True] Translation: X:45.35, Y:1.40, Z:-4.97 [[ 9.82612236e-01 1.30289621e-01 1.32279283e-01 4.53528829e+01] [-1.29879830e-01 9.91460015e-01 -1.17587492e-02 1.39780716e+00] [-1.32681663e-01 -5.62612002e-03 9.91142736e-01 -4.96674764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters 0.03452530083916575 Centerline is valid? [True, True] Translation: X:45.41, Y:1.40, Z:-4.97 [[ 9.82952761e-01 1.26701434e-01 1.33231437e-01 4.54145327e+01] [-1.26245520e-01 9.91927664e-01 -1.18986594e-02 1.39519021e+00] [-1.33663525e-01 -5.12405186e-03 9.91013525e-01 -4.97443607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters 0.03460526076199387 Centerline is valid? [True, True] Translation: X:45.48, Y:1.39, Z:-4.98 [[ 9.82934950e-01 1.27260377e-01 1.32829516e-01 4.54769964e+01] [-1.26804846e-01 9.91856084e-01 -1.19180183e-02 1.39088680e+00] [-1.33264456e-01 -5.12878967e-03 9.91067243e-01 -4.98242391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters 0.03428651014168019 Centerline is valid? [True, True] Translation: X:45.54, Y:1.39, Z:-4.99 [[ 9.83152878e-01 1.30113597e-01 1.28377841e-01 4.55400771e+01] [-1.29704513e-01 9.91485096e-01 -1.15777530e-02 1.38856634e+00] [-1.28791139e-01 -5.26848420e-03 9.91657746e-01 -4.98627802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters 0.0350385511700191 Centerline is valid? [True, True] Translation: X:45.60, Y:1.39, Z:-5.00 [[ 9.82630267e-01 1.30644660e-01 1.31794274e-01 4.56010342e+01] [-1.30209930e-01 9.91414444e-01 -1.19488079e-02 1.38670615e+00] [-1.32223795e-01 -5.41966288e-03 9.91205072e-01 -4.99629157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters 0.033624124941002795 Centerline is valid? [True, True] Translation: X:45.66, Y:1.39, Z:-5.00 [[ 9.83130762e-01 1.27034404e-01 1.31590899e-01 4.56635832e+01] [-1.26562186e-01 9.91886326e-01 -1.19803869e-02 1.39265291e+00] [-1.32045135e-01 -4.87614499e-03 9.91231711e-01 -5.00091560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765919999999994 meters 0.03306184612345622 Centerline is valid? [True, True] Translation: X:45.73, Y:1.39, Z:-5.01 [[ 9.83580608e-01 1.23659094e-01 1.31444345e-01 4.57250285e+01] [-1.23155191e-01 9.92315017e-01 -1.19877163e-02 1.39261783e+00] [-1.31916588e-01 -4.39716820e-03 9.91251067e-01 -5.00995276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825919999999996 meters 0.031974826578139 Centerline is valid? [True, True] Translation: X:45.79, Y:1.39, Z:-5.02 [[ 9.83929551e-01 1.17414720e-01 1.34522947e-01 4.57876370e+01] [-1.16821666e-01 9.93076474e-01 -1.23213634e-02 1.39098955e+00] [-1.35038283e-01 -3.59184123e-03 9.90833871e-01 -5.01537453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters 0.031073114847186258 Centerline is valid? [True, True] Translation: X:45.85, Y:1.39, Z:-5.03 [[ 9.84585981e-01 1.13898297e-01 1.32731398e-01 4.58491836e+01] [-1.13285778e-01 9.93487757e-01 -1.21823038e-02 1.38824582e+00] [-1.33254563e-01 -3.04205419e-03 9.91077175e-01 -5.02510020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters 0.03153787683771425 Centerline is valid? [True, True] Translation: X:45.91, Y:1.38, Z:-5.03 [[ 9.84055884e-01 1.17043008e-01 1.33921438e-01 4.59100920e+01] [-1.16440642e-01 9.93120882e-01 -1.23487033e-02 1.38166074e+00] [-1.34445506e-01 -3.44208415e-03 9.90915010e-01 -5.03204031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters 0.0319925139142288 Centerline is valid? [True, True] Translation: X:45.97, Y:1.38, Z:-5.04 [[ 9.83653751e-01 1.19388983e-01 1.34801962e-01 4.59717577e+01] [-1.18793063e-01 9.92840540e-01 -1.24848300e-02 1.37709598e+00] [-1.35327404e-01 -3.73278817e-03 9.90793904e-01 -5.03963224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters 0.03155136682831579 Centerline is valid? [True, True] Translation: X:46.03, Y:1.37, Z:-5.05 [[ 9.83755251e-01 1.17740416e-01 1.35509412e-01 4.60332452e+01] [-1.17114676e-01 9.93038357e-01 -1.26085053e-02 1.37062743e+00] [-1.36050574e-01 -3.46645753e-03 9.90695829e-01 -5.04657005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters 0.030680605183595187 Centerline is valid? [True, True] Translation: X:46.09, Y:1.36, Z:-5.05 [[ 9.84434395e-01 1.12184488e-01 1.35290663e-01 4.60949252e+01] [-1.11501449e-01 9.93683884e-01 -1.26398736e-02 1.36302382e+00] [-1.35854149e-01 -2.64197857e-03 9.90725325e-01 -5.05355511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters 0.03051549133803957 Centerline is valid? [True, True] Translation: X:46.16, Y:1.36, Z:-5.06 [[ 9.84528696e-01 1.10552693e-01 1.35946126e-01 4.61564521e+01] [-1.09843778e-01 9.93867363e-01 -1.27282921e-02 1.35608318e+00] [-1.36519565e-01 -2.40146727e-03 9.90634464e-01 -5.06165421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters 0.0318426439250617 Centerline is valid? [True, True] Translation: X:46.22, Y:1.34, Z:-5.07 [[ 9.83666080e-01 1.18072362e-01 1.35867440e-01 4.62167941e+01] [-1.17427548e-01 9.92999227e-01 -1.27791338e-02 1.34163978e+00] [-1.36425125e-01 -3.38417993e-03 9.90644605e-01 -5.06886138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters 0.032653545010612385 Centerline is valid? [True, True] Translation: X:46.28, Y:1.33, Z:-5.08 [[ 9.83010360e-01 1.23175732e-01 1.36082225e-01 4.62770007e+01] [-1.22570135e-01 9.92376629e-01 -1.28525611e-02 1.32978065e+00] [-1.36627944e-01 -4.04541600e-03 9.90614173e-01 -5.07825818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters 0.03315887525629327 Centerline is valid? [True, True] Translation: X:46.34, Y:1.32, Z:-5.08 [[ 9.82721178e-01 1.25984927e-01 1.35598246e-01 4.63378301e+01] [-1.25402721e-01 9.92022552e-01 -1.28613719e-02 1.32032300e+00] [-1.36136857e-01 -4.36524651e-03 9.90680423e-01 -5.08375705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters 0.03368977320454595 Centerline is valid? [True, True] Translation: X:46.40, Y:1.31, Z:-5.09 [[ 9.82508719e-01 1.30917102e-01 1.32428580e-01 4.63991550e+01] [-1.30398943e-01 9.91381340e-01 -1.26156555e-02 1.31281908e+00] [-1.32938828e-01 -4.87355528e-03 9.91112262e-01 -5.09090827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48592 meters 0.03571291803292322 Centerline is valid? [True, True] Translation: X:46.46, Y:1.30, Z:-5.10 [[ 9.81288925e-01 1.36479134e-01 1.35814180e-01 4.64603488e+01] [-1.35979955e-01 9.90626425e-01 -1.29899041e-02 1.30428188e+00] [-1.36313966e-01 -5.72115695e-03 9.90649166e-01 -5.09861616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters 0.03691544721509702 Centerline is valid? [True, True] Translation: X:46.52, Y:1.30, Z:-5.10 [[ 9.80467027e-01 1.42176874e-01 1.35904916e-01 4.65219338e+01] [-1.41729108e-01 9.89819920e-01 -1.30148733e-02 1.29843023e+00] [-1.36371807e-01 -6.50102828e-03 9.90636395e-01 -5.10467429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters 0.037512193153671713 Centerline is valid? [True, True] Translation: X:46.58, Y:1.30, Z:-5.11 [[ 9.80198660e-01 1.44858799e-01 1.35005614e-01 4.65835217e+01] [-1.44439205e-01 9.89428928e-01 -1.29503603e-02 1.29631852e+00] [-1.35454434e-01 -6.80617764e-03 9.90760199e-01 -5.11173428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters 0.037868864065048954 Centerline is valid? [True, True] Translation: X:46.65, Y:1.30, Z:-5.12 [[ 9.80111639e-01 1.45850114e-01 1.34569387e-01 4.66465123e+01] [-1.45434847e-01 9.89282884e-01 -1.29645774e-02 1.29710184e+00] [-1.35018076e-01 -6.86434505e-03 9.90819358e-01 -5.11985817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725919999999995 meters 0.03784037543872256 Centerline is valid? [True, True] Translation: X:46.71, Y:1.29, Z:-5.13 [[ 9.80201941e-01 1.44687440e-01 1.35165454e-01 4.67082276e+01] [-1.44248993e-01 9.89454914e-01 -1.30843722e-02 1.29384352e+00] [-1.35633267e-01 -6.67215369e-03 9.90736645e-01 -5.12588943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters 0.036225525303765736 Centerline is valid? [True, True] Translation: X:46.77, Y:1.30, Z:-5.13 [[ 9.80570192e-01 1.41381603e-01 1.35990220e-01 4.67699542e+01] [-1.40898686e-01 9.89935765e-01 -1.32189967e-02 1.29638600e+00] [-1.36490506e-01 -6.19868917e-03 9.90621985e-01 -5.13233620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters 0.03486379302295859 Centerline is valid? [True, True] Translation: X:46.83, Y:1.30, Z:-5.14 [[ 9.81066654e-01 1.34634267e-01 1.39218659e-01 4.68303466e+01] [-1.34053428e-01 9.90880994e-01 -1.35842963e-02 1.29531199e+00] [-1.39778035e-01 -5.33563847e-03 9.90168487e-01 -5.14218463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters 0.03259492269028874 Centerline is valid? [True, True] Translation: X:46.89, Y:1.30, Z:-5.15 [[ 9.82380419e-01 1.25077886e-01 1.38867687e-01 4.68918457e+01] [-1.24397940e-01 9.92139203e-01 -1.35998061e-02 1.29770350e+00] [-1.39477111e-01 -3.91467095e-03 9.90217557e-01 -5.14926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters 0.030690083457125563 Centerline is valid? [True, True] Translation: X:46.95, Y:1.29, Z:-5.16 [[ 9.83735889e-01 1.15728588e-01 1.37370280e-01 4.69522694e+01] [-1.14965398e-01 9.93277706e-01 -1.35039288e-02 1.29233770e+00] [-1.38009627e-01 -2.50852948e-03 9.90427711e-01 -5.15617575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters 0.029849350821606096 Centerline is valid? [True, True] Translation: X:47.01, Y:1.29, Z:-5.17 [[ 9.84633629e-01 1.09225256e-01 1.36258796e-01 4.70139732e+01] [-1.08405927e-01 9.94015836e-01 -1.34414288e-02 1.28704689e+00] [-1.36911545e-01 -1.53637833e-03 9.90582086e-01 -5.16527183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters 0.02958122466198643 Centerline is valid? [True, True] Translation: X:47.08, Y:1.28, Z:-5.17 [[ 9.84745567e-01 1.07218883e-01 1.37041161e-01 4.70762723e+01] [-1.06365265e-01 9.94234686e-01 -1.35580414e-02 1.27685945e+00] [-1.37704754e-01 -1.22519822e-03 9.90472564e-01 -5.17062996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14592 meters 0.02947513876184475 Centerline is valid? [True, True] Translation: X:47.14, Y:1.26, Z:-5.18 [[ 9.84567950e-01 1.08927028e-01 1.36970271e-01 4.71379362e+01] [-1.08081071e-01 9.94048772e-01 -1.36206159e-02 1.26499878e+00] [-1.37638783e-01 -1.39347177e-03 9.90481511e-01 -5.17934029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters 0.029628412794939097 Centerline is valid? [True, True] Translation: X:47.20, Y:1.25, Z:-5.19 [[ 9.84430422e-01 1.11751549e-01 1.35677318e-01 4.71996762e+01] [-1.10938860e-01 9.93734719e-01 -1.35601604e-02 1.25289678e+00] [-1.36342630e-01 -1.70285253e-03 9.90660279e-01 -5.18718984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters 0.03004129374196626 Centerline is valid? [True, True] Translation: X:47.26, Y:1.24, Z:-5.19 [[ 9.83933356e-01 1.16458061e-01 1.35324321e-01 4.72605458e+01] [-1.15684750e-01 9.93192989e-01 -1.35913931e-02 1.24333131e+00] [-1.35985994e-01 -2.28193509e-03 9.90708132e-01 -5.19300506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters 0.031446551044356674 Centerline is valid? [True, True] Translation: X:47.32, Y:1.23, Z:-5.20 [[ 9.82962935e-01 1.25106440e-01 1.34656031e-01 4.73206647e+01] [-1.24413939e-01 9.92137481e-01 -1.35790233e-02 1.23252230e+00] [-1.35296119e-01 -3.40541069e-03 9.90799356e-01 -5.20132992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters 0.03381117700642312 Centerline is valid? [True, True] Translation: X:47.38, Y:1.23, Z:-5.21 [[ 9.81777898e-01 1.36720789e-01 1.31983277e-01 4.73824787e+01] [-1.36156304e-01 9.90597613e-01 -1.33353085e-02 1.22682095e+00] [-1.32565533e-01 -4.87804398e-03 9.91162239e-01 -5.20666516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters 0.034217795277865413 Centerline is valid? [True, True] Translation: X:47.44, Y:1.23, Z:-5.21 [[ 9.81429680e-01 1.41177318e-01 1.29864343e-01 4.74441930e+01] [-1.40666939e-01 9.89969758e-01 -1.31411515e-02 1.22546899e+00] [-1.30417005e-01 -5.37050349e-03 9.91444685e-01 -5.21295594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters 0.03466125398011763 Centerline is valid? [True, True] Translation: X:47.51, Y:1.23, Z:-5.22 [[ 9.81029639e-01 1.42083765e-01 1.31882720e-01 4.75057042e+01] [-1.41558356e-01 9.89839224e-01 -1.33993356e-02 1.22598942e+00] [-1.32446517e-01 -5.52395557e-03 9.91174761e-01 -5.22173095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters 0.03364257114022566 Centerline is valid? [True, True] Translation: X:47.57, Y:1.23, Z:-5.23 [[ 9.81828068e-01 1.39388298e-01 1.28781007e-01 4.75673925e+01] [-1.38857970e-01 9.90225234e-01 -1.31320435e-02 1.22566926e+00] [-1.29352656e-01 -4.98886037e-03 9.91586104e-01 -5.22935657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters 0.03289541648037478 Centerline is valid? [True, True] Translation: X:47.63, Y:1.23, Z:-5.24 [[ 9.82427656e-01 1.37630292e-01 1.26070625e-01 4.76299763e+01] [-1.37105574e-01 9.90472806e-01 -1.28717877e-02 1.22847003e+00] [-1.26641073e-01 -4.63938511e-03 9.91937757e-01 -5.23637849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters 0.03297954518016879 Centerline is valid? [True, True] Translation: X:47.69, Y:1.22, Z:-5.24 [[ 9.82262048e-01 1.36554674e-01 1.28507161e-01 4.76919364e+01] [-1.35993171e-01 9.90622159e-01 -1.31755718e-02 1.22483472e+00] [-1.29101227e-01 -4.53423217e-03 9.91621054e-01 -5.24117619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters 0.03217552877459279 Centerline is valid? [True, True] Translation: X:47.75, Y:1.23, Z:-5.25 [[ 9.82547541e-01 1.32353102e-01 1.30701894e-01 4.77544030e+01] [-1.31727762e-01 9.91194582e-01 -1.34572591e-02 1.23005826e+00] [-1.31332120e-01 -3.99467118e-03 9.91330377e-01 -5.24913938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters 0.03040280375023625 Centerline is valid? [True, True] Translation: X:47.82, Y:1.24, Z:-5.26 [[ 9.83954719e-01 1.24441884e-01 1.27856674e-01 4.78167745e+01] [-1.23770663e-01 9.92222879e-01 -1.32128914e-02 1.23616220e+00] [-1.28506555e-01 -2.82401845e-03 9.91704639e-01 -5.25756985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters 0.028683868859273487 Centerline is valid? [True, True] Translation: X:47.88, Y:1.24, Z:-5.26 [[ 9.85415241e-01 1.12715073e-01 1.27483786e-01 4.78785243e+01] [-1.11947996e-01 9.93626533e-01 -1.31893299e-02 1.23681141e+00] [-1.28157909e-01 -1.27458771e-03 9.91752956e-01 -5.26173079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters 0.02842660492599212 Centerline is valid? [True, True] Translation: X:47.94, Y:1.24, Z:-5.27 [[ 9.86360442e-01 1.02028142e-01 1.29163993e-01 4.79410624e+01] [-1.01143407e-01 9.94781500e-01 -1.34081630e-02 1.23739593e+00] [-1.29857961e-01 1.61195260e-04 9.91532594e-01 -5.26845576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters 0.028366717657914396 Centerline is valid? [True, True] Translation: X:48.00, Y:1.23, Z:-5.28 [[ 9.86826184e-01 9.68105254e-02 1.29621774e-01 4.80016199e+01] [-9.58668794e-02 9.95302413e-01 -1.35147260e-02 1.23127112e+00] [-1.30321233e-01 9.10250488e-04 9.91471405e-01 -5.27805946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters 0.028445665365880165 Centerline is valid? [True, True] Translation: X:48.06, Y:1.22, Z:-5.29 [[ 9.86910772e-01 9.89125266e-02 1.27371268e-01 4.80625855e+01] [-9.80114406e-02 9.95095900e-01 -1.33381984e-02 1.22082411e+00] [-1.28065941e-01 6.79770196e-04 9.91765422e-01 -5.28539405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters 0.02858309441166709 Centerline is valid? [True, True] Translation: X:48.12, Y:1.21, Z:-5.29 [[ 9.86655097e-01 1.01568529e-01 1.27261756e-01 4.81239044e+01] [-1.00683077e-01 9.94828466e-01 -1.33880950e-02 1.21185750e+00] [-1.27963426e-01 3.96326973e-04 9.91778808e-01 -5.29313072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16592 meters 0.028686122393226644 Centerline is valid? [True, True] Translation: X:48.19, Y:1.20, Z:-5.30 [[ 9.86164027e-01 1.03068438e-01 1.29836088e-01 4.81853829e+01] [-1.02150531e-01 9.94674229e-01 -1.37276164e-02 1.20206635e+00] [-1.30559495e-01 2.74856068e-04 9.91440438e-01 -5.29854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters 0.028683281579466563 Centerline is valid? [True, True] Translation: X:48.25, Y:1.19, Z:-5.31 [[ 9.86197537e-01 1.05224689e-01 1.27836544e-01 4.82457771e+01] [-1.04345485e-01 9.94448472e-01 -1.35741403e-02 1.19005453e+00] [-1.28555191e-01 4.76175810e-05 9.91702355e-01 -5.30718701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28592 meters 0.028777179147783754 Centerline is valid? [True, True] Translation: X:48.31, Y:1.18, Z:-5.31 [[ 9.86085711e-01 1.08844951e-01 1.25649299e-01 4.83070805e+01] [-1.08017697e-01 9.94058674e-01 -1.33988813e-02 1.18080122e+00] [-1.26361176e-01 -3.59902510e-04 9.91984236e-01 -5.31388775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters 0.028918854762512276 Centerline is valid? [True, True] Translation: X:48.37, Y:1.17, Z:-5.32 [[ 9.85566813e-01 1.13459686e-01 1.25638199e-01 4.83693038e+01] [-1.12662487e-01 9.93542199e-01 -1.34559276e-02 1.17246806e+00] [-1.26353558e-01 -8.92996231e-04 9.91984869e-01 -5.32046059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters 0.029641488763880737 Centerline is valid? [True, True] Translation: X:48.43, Y:1.17, Z:-5.33 [[ 9.84469725e-01 1.19584643e-01 1.28525770e-01 4.84298773e+01] [-1.18793427e-01 9.92822637e-01 -1.38323121e-02 1.16502797e+00] [-1.29257426e-01 -1.65052423e-03 9.91609698e-01 -5.32802105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters 0.03036968339584497 Centerline is valid? [True, True] Translation: X:48.49, Y:1.16, Z:-5.33 [[ 9.83737450e-01 1.26475737e-01 1.27532414e-01 4.84915047e+01] [-1.25747467e-01 9.91966595e-01 -1.37785602e-02 1.15808615e+00] [-1.28250548e-01 -2.48239239e-03 9.91738693e-01 -5.33312917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters 0.03051936464019412 Centerline is valid? [True, True] Translation: X:48.55, Y:1.16, Z:-5.34 [[ 9.83522207e-01 1.30241934e-01 1.25383841e-01 4.85530169e+01] [-1.29561607e-01 9.91478094e-01 -1.36006887e-02 1.15590917e+00] [-1.26086711e-01 -2.86835248e-03 9.92015077e-01 -5.33992492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585919999999994 meters 0.031147978744432054 Centerline is valid? [True, True] Translation: X:48.61, Y:1.15, Z:-5.35 [[ 9.83198225e-01 1.32916294e-01 1.25117984e-01 4.86146300e+01] [-1.32253471e-01 9.91122262e-01 -1.36264997e-02 1.14967386e+00] [-1.25818403e-01 -3.14973723e-03 9.92048289e-01 -5.34571558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64592 meters 0.03236116624071591 Centerline is valid? [True, True] Translation: X:48.68, Y:1.15, Z:-5.35 [[ 9.82503816e-01 1.40267811e-01 1.22520175e-01 4.86768268e+01] [-1.39682868e-01 9.90105703e-01 -1.33937852e-02 1.14870280e+00] [-1.23186641e-01 -3.95452432e-03 9.92375641e-01 -5.35294802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters 0.03380657424476028 Centerline is valid? [True, True] Translation: X:48.74, Y:1.15, Z:-5.36 [[ 9.80818003e-01 1.45453025e-01 1.29766952e-01 4.87383830e+01] [-1.44839119e-01 9.89353218e-01 -1.42070233e-02 1.14947774e+00] [-1.30451806e-01 -4.86082677e-03 9.91442736e-01 -5.36087758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters 0.03318046603247876 Centerline is valid? [True, True] Translation: X:48.80, Y:1.15, Z:-5.37 [[ 9.81390563e-01 1.45548494e-01 1.25252537e-01 4.88010063e+01] [-1.44971727e-01 9.89340157e-01 -1.37568916e-02 1.14805195e+00] [-1.25919660e-01 -4.65719302e-03 9.92029511e-01 -5.36652298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters 0.03287205153574766 Centerline is valid? [True, True] Translation: X:48.86, Y:1.15, Z:-5.37 [[ 9.81675654e-01 1.43982438e-01 1.24827751e-01 4.88628932e+01] [-1.43394226e-01 9.89570376e-01 -1.37319968e-02 1.14923139e+00] [-1.25503011e-01 -4.41921183e-03 9.92083396e-01 -5.37384968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters 0.03306646729828055 Centerline is valid? [True, True] Translation: X:48.92, Y:1.15, Z:-5.38 [[ 9.81451584e-01 1.45197055e-01 1.25182278e-01 4.89246700e+01] [-1.44608531e-01 9.89392367e-01 -1.38245299e-02 1.14748866e+00] [-1.25861672e-01 -4.53431866e-03 9.92037439e-01 -5.37835177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters 0.033810379115063634 Centerline is valid? [True, True] Translation: X:48.99, Y:1.15, Z:-5.39 [[ 9.80962483e-01 1.48354279e-01 1.25314062e-01 4.89865995e+01] [-1.47783328e-01 9.88922183e-01 -1.38925938e-02 1.14728033e+00] [-1.25986882e-01 -4.89121578e-03 9.92019849e-01 -5.38852015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters 0.03346800640234367 Centerline is valid? [True, True] Translation: X:49.05, Y:1.15, Z:-5.39 [[ 9.80843714e-01 1.48881516e-01 1.25618080e-01 4.90497385e+01] [-1.48305201e-01 9.88842816e-01 -1.39804192e-02 1.14689108e+00] [-1.26297962e-01 -4.91720828e-03 9.91980164e-01 -5.39491718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters 0.033050018745173784 Centerline is valid? [True, True] Translation: X:49.11, Y:1.15, Z:-5.40 [[ 9.80998580e-01 1.47469483e-01 1.26073541e-01 4.91122550e+01] [-1.46869599e-01 9.89055477e-01 -1.40920301e-02 1.15056044e+00] [-1.26771870e-01 -4.69210881e-03 9.91920802e-01 -5.40171355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters 0.03310427245178349 Centerline is valid? [True, True] Translation: X:49.17, Y:1.15, Z:-5.41 [[ 9.80919186e-01 1.47960611e-01 1.26115855e-01 4.91744427e+01] [-1.47357380e-01 9.88982074e-01 -1.41513584e-02 1.14800723e+00] [-1.26820163e-01 -4.70276291e-03 9.91914578e-01 -5.40926210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters 0.03293522328208122 Centerline is valid? [True, True] Translation: X:49.24, Y:1.15, Z:-5.42 [[ 9.80635303e-01 1.46725091e-01 1.29715653e-01 4.92371572e+01] [-1.46067561e-01 9.89166568e-01 -1.46208150e-02 1.14969929e+00] [-1.30455627e-01 -4.60956160e-03 9.91443433e-01 -5.41721780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters 0.032183272660183955 Centerline is valid? [True, True] Translation: X:49.30, Y:1.15, Z:-5.42 [[ 9.81021257e-01 1.44977060e-01 1.28759257e-01 4.92985203e+01] [-1.44306132e-01 9.89425749e-01 -1.45748983e-02 1.14504214e+00] [-1.29510750e-01 -4.28246531e-03 9.91568770e-01 -5.42331834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30592 meters 0.031511949166913925 Centerline is valid? [True, True] Translation: X:49.36, Y:1.14, Z:-5.43 [[ 9.81456507e-01 1.41600419e-01 1.29199248e-01 4.93606117e+01] [-1.40888459e-01 9.89916625e-01 -1.46805363e-02 1.14389182e+00] [-1.29975254e-01 -3.79437514e-03 9.91509978e-01 -5.43035348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters 0.031355011512814494 Centerline is valid? [True, True] Translation: X:49.42, Y:1.14, Z:-5.44 [[ 9.81354078e-01 1.40967626e-01 1.30661020e-01 4.94223698e+01] [-1.40226078e-01 9.90007312e-01 -1.49053355e-02 1.13739330e+00] [-1.31456535e-01 -3.69467063e-03 9.91315050e-01 -5.43815228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42592 meters 0.03141160532759891 Centerline is valid? [True, True] Translation: X:49.48, Y:1.13, Z:-5.45 [[ 9.81436748e-01 1.40406862e-01 1.30643877e-01 4.94837034e+01] [-1.39652022e-01 9.90087510e-01 -1.49678220e-02 1.13069499e+00] [-1.31450456e-01 -3.55471107e-03 9.91316368e-01 -5.44504004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48592 meters 0.031287707476903986 Centerline is valid? [True, True] Translation: X:49.55, Y:1.13, Z:-5.45 [[ 9.81185179e-01 1.41029232e-01 1.31857496e-01 4.95458612e+01] [-1.40258060e-01 9.89998835e-01 -1.51651992e-02 1.12697824e+00] [-1.32677504e-01 -3.61420798e-03 9.91152671e-01 -5.45145194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545919999999995 meters 0.03155447771909186 Centerline is valid? [True, True] Translation: X:49.61, Y:1.12, Z:-5.46 [[ 9.81165760e-01 1.41895637e-01 1.31070130e-01 4.96082206e+01] [-1.41133584e-01 9.89874893e-01 -1.51330296e-02 1.11786903e+00] [-1.31890342e-01 -3.65038676e-03 9.91257591e-01 -5.45751639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters 0.031025377502051636 Centerline is valid? [True, True] Translation: X:49.67, Y:1.11, Z:-5.47 [[ 9.81275514e-01 1.41317614e-01 1.30872830e-01 4.96701955e+01] [-1.40544788e-01 9.89958095e-01 -1.51701268e-02 1.11380227e+00] [-1.31702424e-01 -3.50742023e-03 9.91283093e-01 -5.46609132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters 0.03128094280834031 Centerline is valid? [True, True] Translation: X:49.73, Y:1.11, Z:-5.47 [[ 9.80959734e-01 1.41997656e-01 1.32494021e-01 4.97317633e+01] [-1.41208161e-01 9.89860383e-01 -1.53843480e-02 1.10942577e+00] [-1.33335124e-01 -3.61781122e-03 9.91064406e-01 -5.47040051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters 0.031440568419642 Centerline is valid? [True, True] Translation: X:49.79, Y:1.11, Z:-5.48 [[ 9.81008716e-01 1.45075794e-01 1.28743591e-01 4.97943981e+01] [-1.44349359e-01 9.89413002e-01 -1.50057769e-02 1.10572284e+00] [-1.29557558e-01 -3.86325692e-03 9.91564377e-01 -5.48012906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78592 meters 0.0315039366347812 Centerline is valid? [True, True] Translation: X:49.86, Y:1.11, Z:-5.49 [[ 9.80841760e-01 1.44541789e-01 1.30602884e-01 4.98576813e+01] [-1.43780610e-01 9.89491470e-01 -1.52894092e-02 1.10549491e+00] [-1.31440398e-01 -3.78167130e-03 9.91316862e-01 -5.48601774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters 0.030707947885483665 Centerline is valid? [True, True] Translation: X:49.92, Y:1.11, Z:-5.49 [[ 9.80995314e-01 1.42754720e-01 1.31412650e-01 4.99198028e+01] [-1.41959349e-01 9.89751912e-01 -1.54498180e-02 1.10741535e+00] [-1.32271456e-01 -3.49905510e-03 9.91207354e-01 -5.49211938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters 0.0302826158662716 Centerline is valid? [True, True] Translation: X:49.98, Y:1.11, Z:-5.50 [[ 9.81431640e-01 1.39317417e-01 1.31843062e-01 4.99815921e+01] [-1.38478173e-01 9.90243268e-01 -1.55584519e-02 1.10655978e+00] [-1.32724268e-01 -2.98782938e-03 9.91148496e-01 -5.50166032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters 0.02942593039007964 Centerline is valid? [True, True] Translation: X:50.04, Y:1.10, Z:-5.51 [[ 9.82461781e-01 1.34099889e-01 1.29561061e-01 5.00435965e+01] [-1.33236795e-01 9.90965411e-01 -1.53463781e-02 1.10285332e+00] [-1.30448478e-01 -2.18507048e-03 9.91452682e-01 -5.50541590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters 0.02884133043252585 Centerline is valid? [True, True] Translation: X:50.11, Y:1.10, Z:-5.51 [[ 9.83103121e-01 1.27846707e-01 1.31009439e-01 5.01052668e+01] [-1.26900937e-01 9.91793073e-01 -1.55772804e-02 1.09974441e+00] [-1.31925758e-01 -1.31114762e-03 9.91258733e-01 -5.51457157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters 0.028789924814414173 Centerline is valid? [True, True] Translation: X:50.17, Y:1.09, Z:-5.52 [[ 9.83293964e-01 1.26062936e-01 1.31305435e-01 5.01671206e+01] [-1.25088844e-01 9.92021729e-01 -1.56738855e-02 1.09339835e+00] [-1.32233741e-01 -1.01280817e-03 9.91218045e-01 -5.52323126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters 0.028786066301579916 Centerline is valid? [True, True] Translation: X:50.23, Y:1.08, Z:-5.53 [[ 9.83277285e-01 1.24019488e-01 1.33360216e-01 5.02285111e+01] [-1.22986237e-01 9.92279550e-01 -1.59899908e-02 1.08442067e+00] [-1.34313686e-01 -6.78876427e-04 9.90938632e-01 -5.52886532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters 0.02866766040145046 Centerline is valid? [True, True] Translation: X:50.29, Y:1.08, Z:-5.54 [[ 9.83875101e-01 1.20349622e-01 1.32309314e-01 5.02893467e+01] [-1.19291442e-01 9.92731563e-01 -1.59247149e-02 1.07721671e+00] [-1.33264165e-01 -1.15438410e-04 9.91080546e-01 -5.53717029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters 0.028611145104436797 Centerline is valid? [True, True] Translation: X:50.35, Y:1.07, Z:-5.55 [[ 9.83923451e-01 1.18889834e-01 1.33266088e-01 5.03507273e+01] [-1.17794280e-01 9.92907441e-01 -1.61034689e-02 1.06554891e+00] [-1.34235429e-01 1.46597864e-04 9.90949458e-01 -5.54550420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters 0.028921152586795427 Centerline is valid? [True, True] Translation: X:50.41, Y:1.06, Z:-5.55 [[ 9.83380866e-01 1.23431813e-01 1.33141505e-01 5.04130555e+01] [-1.22370036e-01 9.92352975e-01 -1.61600554e-02 1.05689007e+00] [-1.34118034e-01 -4.01041622e-04 9.90965283e-01 -5.55251093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters 0.029507059254021147 Centerline is valid? [True, True] Translation: X:50.47, Y:1.04, Z:-5.56 [[ 9.82524843e-01 1.28059809e-01 1.35076342e-01 5.04738134e+01] [-1.27000438e-01 9.91765967e-01 -1.64668015e-02 1.04486454e+00] [-1.36072855e-01 -9.75713104e-04 9.90698353e-01 -5.55925227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters 0.029428789001664894 Centerline is valid? [True, True] Translation: X:50.54, Y:1.03, Z:-5.57 [[ 9.82557145e-01 1.28637727e-01 1.34289958e-01 5.05351656e+01] [-1.27587388e-01 9.91691163e-01 -1.64345714e-02 1.03473315e+00] [-1.35288271e-01 -9.85799378e-04 9.90805789e-01 -5.56949449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505919999999996 meters 0.029530394226455155 Centerline is valid? [True, True] Translation: X:50.60, Y:1.03, Z:-5.57 [[ 9.82568165e-01 1.28046519e-01 1.34773476e-01 5.05978175e+01] [-1.26973297e-01 9.91767810e-01 -1.65648036e-02 1.02648581e+00] [-1.35785060e-01 -8.36583930e-04 9.90737966e-01 -5.57329573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters 0.02969872499280141 Centerline is valid? [True, True] Translation: X:50.66, Y:1.02, Z:-5.58 [[ 9.82192909e-01 1.31525000e-01 1.34157609e-01 5.06592232e+01] [-1.30484263e-01 9.91312078e-01 -1.65596501e-02 1.01623069e+00] [-1.35170066e-01 -1.24068575e-03 9.90821636e-01 -5.58113202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters 0.02989332345763768 Centerline is valid? [True, True] Translation: X:50.72, Y:1.00, Z:-5.59 [[ 9.81669734e-01 1.36817865e-01 1.32685365e-01 5.07197877e+01] [-1.35838856e-01 9.90594438e-01 -1.64458381e-02 1.00340421e+00] [-1.33687469e-01 -1.87944659e-03 9.91021760e-01 -5.58815619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters 0.030308639483972506 Centerline is valid? [True, True] Translation: X:50.78, Y:0.99, Z:-5.59 [[ 9.81099373e-01 1.41967472e-01 1.31488621e-01 5.07806073e+01] [-1.41044125e-01 9.89868172e-01 -1.63571546e-02 9.91913998e-01] [-1.32478585e-01 -2.49770337e-03 9.91182721e-01 -5.59405994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74592 meters 0.03088740376130117 Centerline is valid? [True, True] Translation: X:50.84, Y:0.98, Z:-5.60 [[ 9.80319527e-01 1.46261791e-01 1.32593789e-01 5.08408297e+01] [-1.45353812e-01 9.89241235e-01 -1.65544256e-02 9.79967128e-01] [-1.33588524e-01 -3.04438614e-03 9.91032208e-01 -5.60158312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters 0.03182409753527461 Centerline is valid? [True, True] Translation: X:50.90, Y:0.97, Z:-5.61 [[ 9.79587031e-01 1.53238240e-01 1.30104923e-01 5.09018773e+01] [-1.52418182e-01 9.88181713e-01 -1.62972469e-02 9.69453117e-01] [-1.31064667e-01 -3.86578411e-03 9.91366284e-01 -5.60874721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters 0.03364506882559629 Centerline is valid? [True, True] Translation: X:50.96, Y:0.96, Z:-5.61 [[ 9.77919370e-01 1.63209699e-01 1.30523179e-01 5.09632565e+01] [-1.62464911e-01 9.86577905e-01 -1.64070393e-02 9.63170265e-01] [-1.31449072e-01 -5.16067507e-03 9.91309492e-01 -5.61383690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters 0.03462830456724236 Centerline is valid? [True, True] Translation: X:51.03, Y:0.96, Z:-5.62 [[ 9.77274068e-01 1.67715864e-01 1.29640985e-01 5.10250529e+01] [-1.67014357e-01 9.85819010e-01 -1.63427231e-02 9.56406812e-01] [-1.30543481e-01 -5.68058629e-03 9.91426311e-01 -5.61843110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters 0.035091179973565485 Centerline is valid? [True, True] Translation: X:51.09, Y:0.95, Z:-5.63 [[ 9.77190920e-01 1.69955961e-01 1.27329795e-01 5.10860229e+01] [-1.69295600e-01 9.85434283e-01 -1.60709213e-02 9.49297519e-01] [-1.28206494e-01 -5.85201563e-03 9.91730230e-01 -5.62600928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters 0.034863246271226694 Centerline is valid? [True, True] Translation: X:51.15, Y:0.95, Z:-5.63 [[ 9.77043764e-01 1.70605431e-01 1.27590244e-01 5.11490319e+01] [-1.69940739e-01 9.85321794e-01 -1.61588346e-02 9.48607473e-01] [-1.28474233e-01 -5.89489182e-03 9.91695327e-01 -5.63188761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters 0.03591755841947514 Centerline is valid? [True, True] Translation: X:51.21, Y:0.95, Z:-5.64 [[ 9.76178894e-01 1.74980755e-01 1.28282901e-01 5.12104395e+01] [-1.74338373e-01 9.84550756e-01 -1.63076673e-02 9.46634498e-01] [-1.29154555e-01 -6.44543168e-03 9.91603528e-01 -5.63763362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters 0.035907321063175124 Centerline is valid? [True, True] Translation: X:51.27, Y:0.94, Z:-5.64 [[ 9.76349534e-01 1.75468758e-01 1.26302421e-01 5.12726489e+01] [-1.74843736e-01 9.84464465e-01 -1.61054401e-02 9.44787225e-01] [-1.27166247e-01 -6.35864834e-03 9.91861035e-01 -5.64469039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters 0.03525191401208023 Centerline is valid? [True, True] Translation: X:51.33, Y:0.94, Z:-5.65 [[ 9.76768853e-01 1.73440134e-01 1.25861541e-01 5.13343546e+01] [-1.72795969e-01 9.84826013e-01 -1.61021030e-02 9.40538891e-01] [-1.26744471e-01 -6.02033425e-03 9.91917131e-01 -5.65179383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters 0.034239318861936686 Centerline is valid? [True, True] Translation: X:51.39, Y:0.93, Z:-5.66 [[ 9.77467494e-01 1.68544563e-01 1.27082759e-01 5.13949196e+01] [-1.67839899e-01 9.85679319e-01 -1.63109801e-02 9.34951182e-01] [-1.28011975e-01 -5.38610467e-03 9.91757997e-01 -5.65843759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters 0.033362040715055025 Centerline is valid? [True, True] Translation: X:51.46, Y:0.93, Z:-5.66 [[ 9.78098989e-01 1.66548902e-01 1.24835218e-01 5.14571734e+01] [-1.65847919e-01 9.86020546e-01 -1.60608335e-02 9.29214013e-01] [-1.25765004e-01 -4.99457613e-03 9.92047488e-01 -5.66325107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters 0.033221111871452554 Centerline is valid? [True, True] Translation: X:51.52, Y:0.92, Z:-5.67 [[ 9.77646535e-01 1.67279805e-01 1.27376289e-01 5.15181825e+01] [-1.66551877e-01 9.85895953e-01 -1.64207734e-02 9.24516445e-01] [-1.28326632e-01 -5.16104781e-03 9.91718528e-01 -5.67210145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters 0.032824754618950354 Centerline is valid? [True, True] Translation: X:51.58, Y:0.92, Z:-5.68 [[ 9.77436844e-01 1.67471588e-01 1.28726392e-01 5.15801254e+01] [-1.66722444e-01 9.85863261e-01 -1.66510219e-02 9.18109803e-01] [-1.29695193e-01 -5.18625644e-03 9.91540347e-01 -5.67709427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters 0.03170056251328895 Centerline is valid? [True, True] Translation: X:51.64, Y:0.91, Z:-5.68 [[ 9.78152730e-01 1.62276460e-01 1.29936861e-01 5.16413737e+01] [-1.61460310e-01 9.86735136e-01 -1.68623542e-02 9.12954067e-01] [-1.30949629e-01 -4.48568799e-03 9.91378875e-01 -5.68480957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters 0.03047750219004968 Centerline is valid? [True, True] Translation: X:51.70, Y:0.91, Z:-5.69 [[ 9.78615197e-01 1.57008699e-01 1.32893056e-01 5.17026303e+01] [-1.56103993e-01 9.87589719e-01 -1.72652902e-02 9.08352340e-01] [-1.33954617e-01 -3.84906130e-03 9.90979992e-01 -5.69183997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters 0.030108933445046875 Centerline is valid? [True, True] Translation: X:51.76, Y:0.90, Z:-5.70 [[ 9.79284355e-01 1.55951098e-01 1.29156519e-01 5.17641075e+01] [-1.55080232e-01 9.87758422e-01 -1.68351172e-02 9.01287390e-01] [-1.30200895e-01 -3.54325616e-03 9.91481302e-01 -5.69942490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters 0.02987263921435432 Centerline is valid? [True, True] Translation: X:51.83, Y:0.90, Z:-5.71 [[ 9.79140838e-01 1.57061297e-01 1.28899063e-01 5.18264011e+01] [-1.56195831e-01 9.87582202e-01 -1.68598902e-02 8.97743859e-01] [-1.29946457e-01 -3.62528933e-03 9.91514385e-01 -5.70562188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters 0.029526021697799925 Centerline is valid? [True, True] Translation: X:51.89, Y:0.89, Z:-5.71 [[ 9.79160788e-01 1.56136908e-01 1.29866924e-01 5.18876455e+01] [-1.55241632e-01 9.87729348e-01 -1.70519803e-02 8.90563219e-01] [-1.30935816e-01 -3.46412279e-03 9.91384795e-01 -5.71395721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters 0.0284368753733215 Centerline is valid? [True, True] Translation: X:51.95, Y:0.89, Z:-5.72 [[ 9.79920861e-01 1.51263532e-01 1.29901695e-01 5.19493495e+01] [-1.50317474e-01 9.88489631e-01 -1.71145152e-02 8.86198235e-01] [-1.30995281e-01 -2.75562426e-03 9.91379162e-01 -5.72087718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88592 meters 0.0278116227774323 Centerline is valid? [True, True] Translation: X:52.01, Y:0.88, Z:-5.73 [[ 9.80550848e-01 1.48033052e-01 1.28865243e-01 5.20104922e+01] [-1.47066775e-01 9.88979860e-01 -1.70352809e-02 8.78765506e-01] [-1.29966914e-01 -2.24783655e-03 9.91515783e-01 -5.72787148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters 0.028098196022366222 Centerline is valid? [True, True] Translation: X:52.07, Y:0.87, Z:-5.73 [[ 9.79824500e-01 1.50455399e-01 1.31556532e-01 5.20709451e+01] [-1.49461884e-01 9.88613474e-01 -1.74511942e-02 8.67842150e-01] [-1.32684187e-01 -2.56357956e-03 9.91155051e-01 -5.73409075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005919999999996 meters 0.028603855726484623 Centerline is valid? [True, True] Translation: X:52.13, Y:0.86, Z:-5.74 [[ 9.79326329e-01 1.55371310e-01 1.29536469e-01 5.21315385e+01] [-1.54443732e-01 9.87851200e-01 -1.72377794e-02 8.56790189e-01] [-1.30641013e-01 -3.12468459e-03 9.91424814e-01 -5.74192350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06592 meters 0.02855890739879164 Centerline is valid? [True, True] Translation: X:52.19, Y:0.85, Z:-5.75 [[ 9.79167263e-01 1.56165218e-01 1.29784035e-01 5.21927111e+01] [-1.55233186e-01 9.87725836e-01 -1.73300693e-02 8.45874131e-01] [-1.30897399e-01 -3.17775280e-03 9.91390828e-01 -5.74865207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12592 meters 0.028172233621145067 Centerline is valid? [True, True] Translation: X:52.25, Y:0.84, Z:-5.76 [[ 9.79499237e-01 1.52669368e-01 1.31427957e-01 5.22540440e+01] [-1.51673156e-01 9.88273693e-01 -1.76171004e-02 8.38288018e-01] [-1.32576384e-01 -2.67815667e-03 9.91169173e-01 -5.75611066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters 0.027727979432107655 Centerline is valid? [True, True] Translation: X:52.31, Y:0.83, Z:-5.76 [[ 9.80175416e-01 1.49678799e-01 1.29816835e-01 5.23146230e+01] [-1.48673113e-01 9.88732256e-01 -1.74594104e-02 8.28622971e-01] [-1.30967396e-01 -2.18698815e-03 9.91384264e-01 -5.76494313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters 0.027541287122620522 Centerline is valid? [True, True] Translation: X:52.38, Y:0.82, Z:-5.77 [[ 9.80272436e-01 1.50272176e-01 1.28390906e-01 5.23751427e+01] [-1.49286082e-01 9.88642253e-01 -1.73251461e-02 8.18148096e-01] [-1.29536162e-01 -2.18361219e-03 9.91572294e-01 -5.77089613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters 0.028025702896978973 Centerline is valid? [True, True] Translation: X:52.44, Y:0.81, Z:-5.78 [[ 9.79732832e-01 1.50725180e-01 1.31929900e-01 5.24358021e+01] [-1.49679670e-01 9.88573153e-01 -1.78638736e-02 8.09157592e-01] [-1.33114893e-01 -2.24540049e-03 9.91098070e-01 -5.77725017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters 0.02784787106285489 Centerline is valid? [True, True] Translation: X:52.50, Y:0.80, Z:-5.79 [[ 9.79987736e-01 1.50231275e-01 1.30593264e-01 5.24969730e+01] [-1.49195149e-01 9.88648650e-01 -1.77385169e-02 8.00632118e-01] [-1.31775734e-01 -2.10035245e-03 9.91277330e-01 -5.78600455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42592 meters 0.027902561244523755 Centerline is valid? [True, True] Translation: X:52.56, Y:0.79, Z:-5.79 [[ 9.80261887e-01 1.49345551e-01 1.29547438e-01 5.25586075e+01] [-1.48310629e-01 9.88783227e-01 -1.76546805e-02 7.92524065e-01] [-1.30730982e-01 -1.90705159e-03 9.91416045e-01 -5.79248094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48592 meters 0.027765747950444286 Centerline is valid? [True, True] Translation: X:52.62, Y:0.78, Z:-5.80 [[ 9.80148474e-01 1.48124576e-01 1.31788005e-01 5.26198052e+01] [-1.47034187e-01 9.88967226e-01 -1.80214932e-02 7.82650302e-01] [-1.33003443e-01 -1.71360305e-03 9.91114094e-01 -5.80021301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters 0.027560331898433214 Centerline is valid? [True, True] Translation: X:52.68, Y:0.77, Z:-5.81 [[ 9.80493979e-01 1.46687549e-01 1.30821709e-01 5.26808681e+01] [-1.45591511e-01 9.89181827e-01 -1.79561752e-02 7.74451077e-01] [-1.32040405e-01 -1.44060865e-03 9.91243288e-01 -5.80705787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters 0.027891498376353883 Centerline is valid? [True, True] Translation: X:52.74, Y:0.77, Z:-5.81 [[ 9.79785169e-01 1.50651806e-01 1.31624681e-01 5.27418067e+01] [-1.49569562e-01 9.88585012e-01 -1.81278943e-02 7.65276447e-01] [-1.32853187e-01 -1.92560400e-03 9.91133857e-01 -5.81485840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters 0.028517254808454826 Centerline is valid? [True, True] Translation: X:52.80, Y:0.76, Z:-5.82 [[ 9.79007693e-01 1.54693003e-01 1.32717791e-01 5.28030491e+01] [-1.53621231e-01 9.87959592e-01 -1.83401915e-02 7.57629425e-01] [-1.33956914e-01 -2.43308194e-03 9.90984170e-01 -5.82299259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725919999999995 meters 0.02926408776093465 Centerline is valid? [True, True] Translation: X:52.86, Y:0.75, Z:-5.83 [[ 9.78149611e-01 1.58817535e-01 1.34165307e-01 5.28641748e+01] [-1.57752321e-01 9.87303486e-01 -1.86019373e-02 7.48116832e-01] [-1.35416189e-01 -2.96941093e-03 9.90784355e-01 -5.82983699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78592 meters 0.02895311997109077 Centerline is valid? [True, True] Translation: X:52.93, Y:0.74, Z:-5.84 [[ 9.78414782e-01 1.59851289e-01 1.30965951e-01 5.29261240e+01] [-1.58837915e-01 9.87136611e-01 -1.82161520e-02 7.43890805e-01] [-1.32193160e-01 -2.97940621e-03 9.91219497e-01 -5.83516808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84592 meters 0.029032769509172184 Centerline is valid? [True, True] Translation: X:52.99, Y:0.74, Z:-5.84 [[ 9.78257474e-01 1.60817680e-01 1.30957963e-01 5.29880824e+01] [-1.59805095e-01 9.86979417e-01 -1.82746544e-02 7.37901591e-01] [-1.32191701e-01 -3.05043238e-03 9.91219476e-01 -5.84124686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905919999999995 meters 0.02902942684084983 Centerline is valid? [True, True] Translation: X:53.05, Y:0.74, Z:-5.85 [[ 9.77958810e-01 1.61823558e-01 1.31945827e-01 5.30503343e+01] [-1.60795746e-01 9.86814698e-01 -1.84791653e-02 7.37738197e-01] [-1.33196446e-01 -3.14446514e-03 9.91084668e-01 -5.85000623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96592 meters 0.029233285751250126 Centerline is valid? [True, True] Translation: X:53.11, Y:0.73, Z:-5.86 [[ 9.78083619e-01 1.62151789e-01 1.30610991e-01 5.31118878e+01] [-1.61139897e-01 9.86760962e-01 -1.83503856e-02 7.31363043e-01] [-1.31857375e-01 -3.09843014e-03 9.91263856e-01 -5.85558892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters 0.029110012290138598 Centerline is valid? [True, True] Translation: X:53.17, Y:0.73, Z:-5.86 [[ 9.78279900e-01 1.61743968e-01 1.29643071e-01 5.31730495e+01] [-1.60735772e-01 9.86828310e-01 -1.82728718e-02 7.25475970e-01] [-1.30890980e-01 -2.96229595e-03 9.91392342e-01 -5.86343293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters 0.028798565648628625 Centerline is valid? [True, True] Translation: X:53.23, Y:0.72, Z:-5.87 [[ 9.78398624e-01 1.60236379e-01 1.30615606e-01 5.32340855e+01] [-1.59191743e-01 9.87074915e-01 -1.84689052e-02 7.18341863e-01] [-1.31886779e-01 -2.72297458e-03 9.91261047e-01 -5.87018445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters 0.028456957382601705 Centerline is valid? [True, True] Translation: X:53.30, Y:0.71, Z:-5.88 [[ 9.78407503e-01 1.59996896e-01 1.30842470e-01 5.32961508e+01] [-1.58938473e-01 9.87113999e-01 -1.85611112e-02 7.10752314e-01] [-1.32126154e-01 -2.63557193e-03 9.91229405e-01 -5.87803056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20592 meters 0.028669791165233455 Centerline is valid? [True, True] Translation: X:53.36, Y:0.70, Z:-5.88 [[ 9.78065638e-01 1.60399158e-01 1.32889874e-01 5.33568198e+01] [-1.59301780e-01 9.87048634e-01 -1.89192197e-02 7.02362338e-01] [-1.34203395e-01 -2.66535475e-03 9.90950223e-01 -5.88457055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters 0.028672931004953973 Centerline is valid? [True, True] Translation: X:53.42, Y:0.69, Z:-5.89 [[ 9.78151111e-01 1.60209731e-01 1.32488662e-01 5.34183323e+01] [-1.59109694e-01 9.87079637e-01 -1.89181379e-02 6.93667530e-01] [-1.33807730e-01 -2.57543290e-03 9.91003965e-01 -5.89064659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325919999999996 meters 0.028646776393922286 Centerline is valid? [True, True] Translation: X:53.48, Y:0.69, Z:-5.90 [[ 9.77911593e-01 1.61033408e-01 1.33255987e-01 5.34799360e+01] [-1.59919855e-01 9.86945417e-01 -1.90888519e-02 6.87258870e-01] [-1.34590329e-01 -2.64306863e-03 9.90897804e-01 -5.89861732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38592 meters 0.028831746378944024 Centerline is valid? [True, True] Translation: X:53.54, Y:0.68, Z:-5.91 [[ 9.77477765e-01 1.64218993e-01 1.32549392e-01 5.35413948e+01] [-1.63137912e-01 9.86419336e-01 -1.90503209e-02 6.84729635e-01] [-1.33877708e-01 -3.00256596e-03 9.90993312e-01 -5.90560545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445919999999994 meters 0.02899885496190346 Centerline is valid? [True, True] Translation: X:53.60, Y:0.68, Z:-5.91 [[ 9.77251090e-01 1.65558850e-01 1.32554046e-01 5.36045487e+01] [-1.64482235e-01 9.86194947e-01 -1.91081154e-02 6.84247105e-01] [-1.33887648e-01 -3.12935911e-03 9.90991577e-01 -5.91250312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505919999999996 meters 0.028361419541371138 Centerline is valid? [True, True] Translation: X:53.67, Y:0.69, Z:-5.92 [[ 9.78367371e-01 1.59404444e-01 1.31861708e-01 5.36672390e+01] [-1.58274371e-01 9.87210894e-01 -1.90754670e-02 6.85092538e-01] [-1.33216029e-01 -2.20751441e-03 9.91084566e-01 -5.92024554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56592 meters 0.02753554046945142 Centerline is valid? [True, True] Translation: X:53.73, Y:0.68, Z:-5.93 [[ 9.79643881e-01 1.49155334e-01 1.34352345e-01 5.37296224e+01] [-1.47877958e-01 9.88813477e-01 -1.94940264e-02 6.81605364e-01] [-1.35757048e-01 -7.70546839e-04 9.90741859e-01 -5.92748034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters 0.02755761234485209 Centerline is valid? [True, True] Translation: X:53.79, Y:0.67, Z:-5.93 [[ 9.80635425e-01 1.43728998e-01 1.33026834e-01 5.37914707e+01] [-1.42422517e-01 9.89617085e-01 -1.93352471e-02 6.73492349e-01] [-1.34424663e-01 1.48117814e-05 9.90923816e-01 -5.93353579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters 0.02762710080899037 Centerline is valid? [True, True] Translation: X:53.85, Y:0.66, Z:-5.94 [[ 9.80334133e-01 1.44457714e-01 1.34450572e-01 5.38525842e+01] [-1.43124369e-01 9.89510974e-01 -1.95818301e-02 6.64169242e-01] [-1.35869063e-01 -4.64168493e-05 9.90726802e-01 -5.94191883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74592 meters 0.028147063362118814 Centerline is valid? [True, True] Translation: X:53.91, Y:0.65, Z:-5.95 [[ 9.79977939e-01 1.42869136e-01 1.38678222e-01 5.39133684e+01] [-1.41424733e-01 9.89741557e-01 -2.02656443e-02 6.49627433e-01] [-1.40150934e-01 2.47353930e-04 9.90130120e-01 -5.94743478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters 0.027973793675418003 Centerline is valid? [True, True] Translation: X:53.97, Y:0.64, Z:-5.96 [[ 9.81011672e-01 1.37649307e-01 1.36633700e-01 5.39741784e+01] [-1.36188963e-01 9.90480487e-01 -2.00242693e-02 6.39663619e-01] [-1.38089340e-01 1.03604006e-03 9.90419235e-01 -5.95503192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865919999999996 meters 0.027985641102085342 Centerline is valid? [True, True] Translation: X:54.04, Y:0.63, Z:-5.96 [[ 9.81667696e-01 1.36996653e-01 1.32515853e-01 5.40355228e+01] [-1.35613738e-01 9.90570876e-01 -1.94487549e-02 6.30578227e-01] [-1.33930759e-01 1.12124424e-03 9.90990058e-01 -5.96063846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters 0.02828938875925402 Centerline is valid? [True, True] Translation: X:54.10, Y:0.62, Z:-5.97 [[ 9.81293242e-01 1.36947767e-01 1.35310320e-01 5.40960370e+01] [-1.35495905e-01 9.90577520e-01 -1.99257787e-02 6.18697751e-01] [-1.36764152e-01 1.21903767e-03 9.90602887e-01 -5.96728564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters 0.028487665838792448 Centerline is valid? [True, True] Translation: X:54.16, Y:0.61, Z:-5.97 [[ 9.81524317e-01 1.35009258e-01 1.35582134e-01 5.41567130e+01] [-1.33524102e-01 9.90843113e-01 -2.00309612e-02 6.05642131e-01] [-1.37044989e-01 1.55739284e-03 9.90563600e-01 -5.97461886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045919999999995 meters 0.028648329246409834 Centerline is valid? [True, True] Translation: X:54.22, Y:0.60, Z:-5.98 [[ 9.81901477e-01 1.32689410e-01 1.35140705e-01 5.42175381e+01] [-1.31183025e-01 9.91155767e-01 -2.00314769e-02 5.95220971e-01] [-1.36603454e-01 1.94077027e-03 9.90623909e-01 -5.98329362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters 0.02910878008507459 Centerline is valid? [True, True] Translation: X:54.28, Y:0.58, Z:-5.99 [[ 9.81379578e-01 1.32332039e-01 1.39220531e-01 5.42775707e+01] [-1.30719498e-01 9.91203176e-01 -2.07045015e-02 5.80191284e-01] [-1.40735701e-01 2.12013701e-03 9.90044932e-01 -5.98890685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters 0.028902090460660862 Centerline is valid? [True, True] Translation: X:54.34, Y:0.57, Z:-6.00 [[ 9.81675925e-01 1.32437966e-01 1.37013005e-01 5.43374937e+01] [-1.30868434e-01 9.91188995e-01 -2.04408602e-02 5.67591144e-01] [-1.38512929e-01 2.13562300e-03 9.90358323e-01 -5.99686077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters 0.029295740054630492 Centerline is valid? [True, True] Translation: X:54.40, Y:0.55, Z:-6.00 [[ 9.81141142e-01 1.34008503e-01 1.39297455e-01 5.43977583e+01] [-1.32392095e-01 9.90978136e-01 -2.08486596e-02 5.52496804e-01] [-1.40834630e-01 2.01359569e-03 9.90031087e-01 -6.00485875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28592 meters 0.029577729462017754 Centerline is valid? [True, True] Translation: X:54.46, Y:0.54, Z:-6.01 [[ 9.80526732e-01 1.36838842e-01 1.40863263e-01 5.44586848e+01] [-1.35204712e-01 9.90591872e-01 -2.11525001e-02 5.36032714e-01] [-1.42432487e-01 1.69521486e-03 9.89803068e-01 -6.01172516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34592 meters 0.02945265460799477 Centerline is valid? [True, True] Translation: X:54.52, Y:0.52, Z:-6.02 [[ 9.80494500e-01 1.38896653e-01 1.39062054e-01 5.45181449e+01] [-1.37314518e-01 9.90305819e-01 -2.09549144e-02 5.19441695e-01] [-1.40624529e-01 1.45093937e-03 9.90061936e-01 -6.02101761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters 0.02994109655056076 Centerline is valid? [True, True] Translation: X:54.58, Y:0.51, Z:-6.03 [[ 9.79307293e-01 1.41583943e-01 1.44607102e-01 5.45782005e+01] [-1.39891176e-01 9.89925552e-01 -2.18600208e-02 5.05146957e-01] [-1.46245293e-01 1.17842026e-03 9.89247656e-01 -6.03123051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46592 meters 0.029906147474436075 Centerline is valid? [True, True] Translation: X:54.64, Y:0.49, Z:-6.04 [[ 9.78767085e-01 1.45248563e-01 1.44630037e-01 5.46383091e+01] [-1.43585320e-01 9.89394951e-01 -2.19291248e-02 4.89280205e-01] [-1.46281402e-01 6.96755460e-04 9.89242774e-01 -6.03829829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52592 meters 0.030088324003181496 Centerline is valid? [True, True] Translation: X:54.70, Y:0.48, Z:-6.04 [[ 9.78230786e-01 1.50486591e-01 1.42892673e-01 5.46991844e+01] [-1.48910071e-01 9.88612050e-01 -2.17256869e-02 4.75112429e-01] [-1.44534843e-01 -2.54223213e-05 9.89499711e-01 -6.04410237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters 0.030174934655791408 Centerline is valid? [True, True] Translation: X:54.76, Y:0.46, Z:-6.05 [[ 9.77442148e-01 1.58003727e-01 1.40148743e-01 5.47597993e+01] [-1.56558366e-01 9.87437932e-01 -2.13496602e-02 4.62862779e-01] [-1.41761511e-01 -1.07340049e-03 9.89900258e-01 -6.05241596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters 0.030973099293022378 Centerline is valid? [True, True] Translation: X:54.82, Y:0.45, Z:-6.06 [[ 9.75816388e-01 1.67485488e-01 1.40467035e-01 5.48204665e+01] [-1.66121756e-01 9.85871643e-01 -2.14631223e-02 4.52096387e-01] [-1.42077228e-01 -2.39056395e-03 9.89852689e-01 -6.06083027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters 0.031841520943090826 Centerline is valid? [True, True] Translation: X:54.88, Y:0.45, Z:-6.06 [[ 9.74569572e-01 1.75545744e-01 1.39276133e-01 5.48822761e+01] [-1.74277942e-01 9.84465154e-01 -2.13438437e-02 4.45370413e-01] [-1.40859321e-01 -3.47169727e-03 9.90023535e-01 -6.06475861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters 0.032562683611538426 Centerline is valid? [True, True] Translation: X:54.94, Y:0.44, Z:-6.07 [[ 9.73959803e-01 1.79710639e-01 1.38225861e-01 5.49440932e+01] [-1.78494998e-01 9.83711457e-01 -2.12439330e-02 4.42402919e-01] [-1.39792123e-01 -3.98188801e-03 9.90172867e-01 -6.07164428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825919999999996 meters 0.03214540616912266 Centerline is valid? [True, True] Translation: X:55.01, Y:0.44, Z:-6.08 [[ 9.74330841e-01 1.76833327e-01 1.39317572e-01 5.50055416e+01] [-1.75560290e-01 9.84234459e-01 -2.14735916e-02 4.38272811e-01] [-1.40918402e-01 -3.53625079e-03 9.90014898e-01 -6.08051070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters 0.030365975767270688 Centerline is valid? [True, True] Translation: X:55.07, Y:0.44, Z:-6.09 [[ 9.76682056e-01 1.65951699e-01 1.36206442e-01 5.50674252e+01] [-1.64621587e-01 9.86132124e-01 -2.10515125e-02 4.39579170e-01] [-1.37811083e-01 -1.86188619e-03 9.90456783e-01 -6.08631869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters 0.029505745194129452 Centerline is valid? [True, True] Translation: X:55.13, Y:0.44, Z:-6.09 [[ 9.78247443e-01 1.57337939e-01 1.35191391e-01 5.51294263e+01] [-1.55938357e-01 9.87544645e-01 -2.09476377e-02 4.37579866e-01] [-1.36803393e-01 -5.89550464e-04 9.90598044e-01 -6.09221451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters 0.029447092267691606 Centerline is valid? [True, True] Translation: X:55.19, Y:0.43, Z:-6.10 [[ 9.78885921e-01 1.53014201e-01 1.35532311e-01 5.51917879e+01] [-1.51557328e-01 9.88223987e-01 -2.10648622e-02 4.30166246e-01] [-1.37159504e-01 7.91821536e-05 9.90548971e-01 -6.09987124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters 0.02923893900755652 Centerline is valid? [True, True] Translation: X:55.25, Y:0.42, Z:-6.11 [[ 9.79059951e-01 1.51211697e-01 1.36296133e-01 5.52531622e+01] [-1.49710496e-01 9.88501318e-01 -2.12582009e-02 4.20524518e-01] [-1.37943395e-01 4.08091478e-04 9.90440030e-01 -6.10770603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12592 meters 0.029236280679974972 Centerline is valid? [True, True] Translation: X:55.32, Y:0.42, Z:-6.11 [[ 9.79589880e-01 1.48021172e-01 1.35990440e-01 5.53157746e+01] [-1.46485710e-01 9.88983755e-01 -2.12854345e-02 4.15107793e-01] [-1.37643031e-01 9.30340042e-04 9.90481464e-01 -6.11419044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters 0.02948333284085257 Centerline is valid? [True, True] Translation: X:55.38, Y:0.41, Z:-6.12 [[ 9.80082031e-01 1.44297942e-01 1.36445289e-01 5.53762721e+01] [-1.42706116e-01 9.89533103e-01 -2.14290296e-02 4.06051297e-01] [-1.38109295e-01 1.53062958e-03 9.90415812e-01 -6.12333329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24592 meters 0.02977111929015314 Centerline is valid? [True, True] Translation: X:55.44, Y:0.40, Z:-6.13 [[ 9.80442835e-01 1.40671204e-01 1.37635239e-01 5.54368167e+01] [-1.39006460e-01 9.90054086e-01 -2.16820380e-02 3.95152060e-01] [-1.39316369e-01 2.12581156e-03 9.90245641e-01 -6.13052150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters 0.029851179396834446 Centerline is valid? [True, True] Translation: X:55.50, Y:0.38, Z:-6.14 [[ 9.81255125e-01 1.37518102e-01 1.35007969e-01 5.54973654e+01] [-1.35878063e-01 9.90495873e-01 -2.13325696e-02 3.80694586e-01] [-1.36658450e-01 2.58807210e-03 9.90614844e-01 -6.13815453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365919999999996 meters 0.030073368022854933 Centerline is valid? [True, True] Translation: X:55.56, Y:0.37, Z:-6.14 [[ 9.80892187e-01 1.37493449e-01 1.37644720e-01 5.55575305e+01] [-1.35777600e-01 9.90498948e-01 -2.18237913e-02 3.66238787e-01] [-1.39337579e-01 2.71771673e-03 9.90241210e-01 -6.14491989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters 0.03004525170387294 Centerline is valid? [True, True] Translation: X:55.62, Y:0.35, Z:-6.15 [[ 9.80782984e-01 1.39680756e-01 1.36213159e-01 5.56163174e+01] [-1.38012591e-01 9.90193568e-01 -2.16615295e-02 3.46252058e-01] [-1.37903093e-01 2.44612854e-03 9.90442706e-01 -6.15277636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters 0.030402413572675747 Centerline is valid? [True, True] Translation: X:55.68, Y:0.33, Z:-6.16 [[ 9.80798633e-01 1.40692718e-01 1.35054068e-01 5.56760818e+01] [-1.39053614e-01 9.90050526e-01 -2.15417771e-02 3.29221575e-01] [-1.36741122e-01 2.34838922e-03 9.90604033e-01 -6.16233375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545919999999995 meters 0.030067330003454157 Centerline is valid? [True, True] Translation: X:55.74, Y:0.31, Z:-6.17 [[ 9.80066500e-01 1.44468262e-01 1.36376596e-01 5.57359717e+01] [-1.42823816e-01 9.89507598e-01 -2.18190339e-02 3.10626389e-01] [-1.38097836e-01 1.90627832e-03 9.90416758e-01 -6.16762786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters 0.030049525545099817 Centerline is valid? [True, True] Translation: X:55.80, Y:0.29, Z:-6.18 [[ 9.79228109e-01 1.50831839e-01 1.35506701e-01 5.57962007e+01] [-1.49261062e-01 9.88558867e-01 -2.17371091e-02 2.93844185e-01] [-1.37234999e-01 1.05971408e-03 9.90537951e-01 -6.17616408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66592 meters 0.029973827883603928 Centerline is valid? [True, True] Translation: X:55.86, Y:0.28, Z:-6.18 [[ 9.78911591e-01 1.54397563e-01 1.33766549e-01 5.58554720e+01] [-1.52896259e-01 9.88008631e-01 -2.14867250e-02 2.76542751e-01] [-1.35480003e-01 5.81199210e-04 9.90779910e-01 -6.18308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters 0.029773606685389208 Centerline is valid? [True, True] Translation: X:55.92, Y:0.26, Z:-6.19 [[ 9.78503457e-01 1.56327086e-01 1.34509582e-01 5.59171717e+01] [-1.54818158e-01 9.87705268e-01 -2.16711977e-02 2.63996401e-01] [-1.36243618e-01 3.80816219e-04 9.90675291e-01 -6.19057404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters 0.02998164070642616 Centerline is valid? [True, True] Translation: X:55.98, Y:0.25, Z:-6.20 [[ 9.78006915e-01 1.59218762e-01 1.34728838e-01 5.59776831e+01] [-1.57722123e-01 9.87243325e-01 -2.17795481e-02 2.48412210e-01] [-1.36477859e-01 5.08303413e-05 9.90643120e-01 -6.19826106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters 0.029875630553576754 Centerline is valid? [True, True] Translation: X:56.04, Y:0.23, Z:-6.21 [[ 9.77867204e-01 1.62241839e-01 1.32111001e-01 5.60381872e+01] [-1.60821246e-01 9.86750981e-01 -2.14249542e-02 2.33678691e-01] [-1.33836684e-01 -2.95495759e-04 9.91003358e-01 -6.20516821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905919999999995 meters 0.030044610992500283 Centerline is valid? [True, True] Translation: X:56.10, Y:0.22, Z:-6.21 [[ 9.77300504e-01 1.64925288e-01 1.32978847e-01 5.60984306e+01] [-1.63502130e-01 9.86305877e-01 -2.16279999e-02 2.19418184e-01] [-1.34724822e-01 -6.05269479e-04 9.90882867e-01 -6.21097129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters 0.03008961650051639 Centerline is valid? [True, True] Translation: X:56.16, Y:0.21, Z:-6.22 [[ 9.77138187e-01 1.66756180e-01 1.31883811e-01 5.61593616e+01] [-1.65364641e-01 9.85997847e-01 -2.15123381e-02 2.09398705e-01] [-1.33624469e-01 -7.88392078e-04 9.91031725e-01 -6.22103921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02592 meters 0.02987238091475509 Centerline is valid? [True, True] Translation: X:56.22, Y:0.20, Z:-6.23 [[ 9.77059952e-01 1.67183360e-01 1.31922612e-01 5.62209559e+01] [-1.65785402e-01 9.85925515e-01 -2.15888937e-02 2.00313988e-01] [-1.33675172e-01 -7.77199733e-04 9.91024896e-01 -6.22597124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters 0.029944733988277166 Centerline is valid? [True, True] Translation: X:56.28, Y:0.19, Z:-6.23 [[ 9.77223184e-01 1.66029672e-01 1.32170333e-01 5.62829645e+01] [-1.64606463e-01 9.86120604e-01 -2.16994827e-02 1.91819928e-01] [-1.33938646e-01 -5.50853434e-04 9.90989473e-01 -6.23279522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14592 meters 0.029895930705574923 Centerline is valid? [True, True] Translation: X:56.34, Y:0.18, Z:-6.24 [[ 9.77567956e-01 1.64558213e-01 1.31459069e-01 5.63442222e+01] [-1.63127904e-01 9.86367333e-01 -2.16511078e-02 1.83439839e-01] [-1.33229799e-01 -2.79213127e-04 9.91085134e-01 -6.24137931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters 0.030213722839682277 Centerline is valid? [True, True] Translation: X:56.41, Y:0.17, Z:-6.25 [[ 9.77609324e-01 1.63762563e-01 1.32143229e-01 5.64062041e+01] [-1.62301458e-01 9.86499778e-01 -2.18271705e-02 1.74262206e-01] [-1.33933740e-01 -1.08593442e-04 9.90990283e-01 -6.24813425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters 0.029989754602733915 Centerline is valid? [True, True] Translation: X:56.47, Y:0.17, Z:-6.25 [[ 9.77893940e-01 1.63129416e-01 1.30813748e-01 5.64673827e+01] [-1.61682952e-01 9.86604678e-01 -2.16755947e-02 1.66055400e-01] [-1.32597383e-01 4.60797173e-05 9.91169981e-01 -6.25327516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters 0.030115509243490234 Centerline is valid? [True, True] Translation: X:56.53, Y:0.16, Z:-6.26 [[ 9.77452554e-01 1.63028922e-01 1.34194168e-01 5.65287778e+01] [-1.61496598e-01 9.86621282e-01 -2.23000888e-02 1.58396313e-01] [-1.36034382e-01 1.25377030e-04 9.90704109e-01 -6.26210337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters 0.02999985637276003 Centerline is valid? [True, True] Translation: X:56.59, Y:0.15, Z:-6.27 [[ 9.78057869e-01 1.63270714e-01 1.29404320e-01 5.65893252e+01] [-1.61840542e-01 9.86581295e-01 -2.15635567e-02 1.48373541e-01] [-1.31188579e-01 1.47541024e-04 9.91357420e-01 -6.26932014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters 0.02987123043295955 Centerline is valid? [True, True] Translation: X:56.65, Y:0.14, Z:-6.28 [[ 9.77556337e-01 1.65519153e-01 1.30334257e-01 5.66522492e+01] [-1.64079731e-01 9.86206571e-01 -2.17816585e-02 1.43995297e-01] [-1.32141782e-01 -9.24115374e-05 9.91230821e-01 -6.27648943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters 0.03008974199546154 Centerline is valid? [True, True] Translation: X:56.71, Y:0.14, Z:-6.28 [[ 9.76982560e-01 1.65687707e-01 1.34360196e-01 5.67136977e+01] [-1.64149071e-01 9.86178271e-01 -2.25277753e-02 1.36042514e-01] [-1.36235681e-01 -4.58577960e-05 9.90676454e-01 -6.28482679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56592 meters 0.02981020705517404 Centerline is valid? [True, True] Translation: X:56.78, Y:0.13, Z:-6.29 [[ 9.76921240e-01 1.66736667e-01 1.33505709e-01 5.67755786e+01] [-1.65218835e-01 9.86001454e-01 -2.24470315e-02 1.29614981e-01] [-1.35379566e-01 -1.28675776e-04 9.90793801e-01 -6.29145230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters 0.0296422194266081 Centerline is valid? [True, True] Translation: X:56.84, Y:0.13, Z:-6.30 [[ 9.76718205e-01 1.66528618e-01 1.35239664e-01 5.68375858e+01] [-1.64960023e-01 9.86036621e-01 -2.28029143e-02 1.26636930e-01] [-1.37148599e-01 -3.71165633e-05 9.90550483e-01 -6.29842736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters 0.02942516912800931 Centerline is valid? [True, True] Translation: X:56.90, Y:0.12, Z:-6.31 [[ 9.77058242e-01 1.65779792e-01 1.33694626e-01 5.68990938e+01] [-1.64231590e-01 9.86162788e-01 -2.26039974e-02 1.21003285e-01] [-1.35591951e-01 1.28540871e-04 9.90764758e-01 -6.30504497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters 0.029406148292670978 Centerline is valid? [True, True] Translation: X:56.96, Y:0.11, Z:-6.31 [[ 9.77124141e-01 1.63149362e-01 1.36421037e-01 5.69600117e+01] [-1.61502486e-01 9.86601218e-01 -2.31297245e-02 1.14320384e-01] [-1.38366761e-01 5.68275577e-04 9.90380895e-01 -6.31316890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters 0.029492552113390618 Centerline is valid? [True, True] Translation: X:57.02, Y:0.11, Z:-6.32 [[ 9.78036828e-01 1.58423777e-01 1.35446928e-01 5.70215534e+01] [-1.56746384e-01 9.87370365e-01 -2.30289929e-02 1.06159701e-01] [-1.37384623e-01 1.29238704e-03 9.90516933e-01 -6.32240045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865919999999996 meters 0.029278260847940833 Centerline is valid? [True, True] Translation: X:57.08, Y:0.10, Z:-6.33 [[ 9.78570342e-01 1.57156229e-01 1.33048886e-01 5.70826547e+01] [-1.55516934e-01 9.87572595e-01 -2.26903488e-02 9.62071905e-02] [-1.34961363e-01 1.51274749e-03 9.90849707e-01 -6.32668225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters 0.029364345052145427 Centerline is valid? [True, True] Translation: X:57.14, Y:0.08, Z:-6.33 [[ 9.78425957e-01 1.56638432e-01 1.34710984e-01 5.71417119e+01] [-1.54944062e-01 9.87654606e-01 -2.30372954e-02 7.91249963e-02] [-1.36656449e-01 1.66762077e-03 9.90617098e-01 -6.33410139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98592 meters 0.029227031520561712 Centerline is valid? [True, True] Translation: X:57.20, Y:0.07, Z:-6.34 [[ 9.78573981e-01 1.57183606e-01 1.32989766e-01 5.72018330e+01] [-1.55529521e-01 9.87568053e-01 -2.28014979e-02 6.71555430e-02] [-1.34920466e-01 1.62911793e-03 9.90855092e-01 -6.34128663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045919999999995 meters 0.029361121292855084 Centerline is valid? [True, True] Translation: X:57.26, Y:0.05, Z:-6.35 [[ 9.78142354e-01 1.60814188e-01 1.31819319e-01 5.72617360e+01] [-1.59213693e-01 9.86983994e-01 -2.26626353e-02 5.18715854e-02] [-1.33748032e-01 1.17984286e-03 9.91014668e-01 -6.35003164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters 0.029342474398260782 Centerline is valid? [True, True] Translation: X:57.32, Y:0.04, Z:-6.36 [[ 9.77639050e-01 1.64182533e-01 1.31400090e-01 5.73227694e+01] [-1.62614871e-01 9.86429672e-01 -2.26474250e-02 3.87411798e-02] [-1.33335259e-01 7.73398408e-04 9.91070689e-01 -6.35600503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters 0.029281959088944487 Centerline is valid? [True, True] Translation: X:57.38, Y:0.02, Z:-6.36 [[ 9.77507840e-01 1.65352718e-01 1.30907990e-01 5.73835434e+01] [-1.63803415e-01 9.86234287e-01 -2.25914172e-02 2.20724607e-02] [-1.32841500e-01 6.40111647e-04 9.91137087e-01 -6.36423253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225919999999995 meters 0.029284921013006626 Centerline is valid? [True, True] Translation: X:57.44, Y:0.01, Z:-6.37 [[ 9.77490862e-01 1.65847801e-01 1.30407524e-01 5.74445622e+01] [-1.64305349e-01 9.86151153e-01 -2.25755638e-02 1.05550632e-02] [-1.32345638e-01 6.40753602e-04 9.91203421e-01 -6.37237081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters 0.029075722837571063 Centerline is valid? [True, True] Translation: X:57.51, Y:-0.00, Z:-6.38 [[ 9.77232694e-01 1.67597571e-01 1.30105017e-01 5.75057108e+01] [-1.66068409e-01 9.85855380e-01 -2.25932001e-02 -3.08580811e-03] [-1.32051297e-01 4.72480618e-04 9.91242771e-01 -6.38054822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters 0.02909572670193294 Centerline is valid? [True, True] Translation: X:57.57, Y:-0.01, Z:-6.39 [[ 9.76625961e-01 1.71229656e-01 1.29931282e-01 5.75671054e+01] [-1.69727234e-01 9.85231142e-01 -2.26332430e-02 -1.49486912e-02] [-1.31887827e-01 5.13356325e-05 9.91264646e-01 -6.38745286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters 0.02893126468514148 Centerline is valid? [True, True] Translation: X:57.63, Y:-0.03, Z:-6.40 [[ 9.76174243e-01 1.74269250e-01 1.29282927e-01 5.76275883e+01] [-1.72799007e-01 9.84697997e-01 -2.25910796e-02 -2.83413100e-02] [-1.31241570e-01 -2.87131407e-04 9.91350376e-01 -6.39634734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters 0.02888057571922153 Centerline is valid? [True, True] Translation: X:57.69, Y:-0.04, Z:-6.40 [[ 9.75993725e-01 1.75572784e-01 1.28881524e-01 5.76894403e+01] [-1.74113863e-01 9.84466375e-01 -2.25902345e-02 -3.94528936e-02] [-1.30845757e-01 -3.92132988e-04 9.91402660e-01 -6.40422389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters 0.028950403583702326 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.05, Z:-6.41 [[ 9.76127876e-01 1.74273939e-01 1.29626249e-01 5.77509944e+01] [-1.72777342e-01 9.84697198e-01 -2.27907511e-02 -4.91737816e-02] [-1.31614438e-01 -1.49791230e-04 9.91300972e-01 -6.41091687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585919999999994 meters 0.02897927458498002 Centerline is valid? [True, True] Translation: X:57.81, Y:-0.06, Z:-6.42 [[ 9.75793462e-01 1.75089923e-01 1.31036779e-01 5.78112170e+01] [-1.73558400e-01 9.84552427e-01 -2.31084492e-02 -6.07570805e-02] [-1.33058636e-01 -1.93460069e-04 9.91108149e-01 -6.41940317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters 0.028936085865961685 Centerline is valid? [True, True] Translation: X:57.87, Y:-0.07, Z:-6.43 [[ 9.75613591e-01 1.75648564e-01 1.31627132e-01 5.78731009e+01] [-1.74099657e-01 9.84452913e-01 -2.32759687e-02 -7.05004673e-02] [-1.33669104e-01 -2.07887197e-04 9.91025997e-01 -6.42681507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters 0.028616350801349402 Centerline is valid? [True, True] Translation: X:57.93, Y:-0.08, Z:-6.43 [[ 9.76212330e-01 1.74091912e-01 1.29234257e-01 5.79334275e+01] [-1.72576492e-01 9.84729405e-01 -2.29205846e-02 -8.25400915e-02] [-1.31251062e-01 7.25624555e-05 9.91349158e-01 -6.43235134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters 0.028683586870593334 Centerline is valid? [True, True] Translation: X:58.00, Y:-0.09, Z:-6.44 [[ 9.75747587e-01 1.75809710e-01 1.30413156e-01 5.79954081e+01] [-1.74273273e-01 9.84424165e-01 -2.31924544e-02 -9.23207518e-02] [-1.32459321e-01 -9.75461943e-05 9.91188438e-01 -6.44127787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters 0.028782931955912663 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.10, Z:-6.45 [[ 9.75108411e-01 1.79475340e-01 1.30200573e-01 5.80565978e+01] [-1.77967130e-01 9.83762332e-01 -2.32244274e-02 -1.03991548e-01] [-1.32254631e-01 -5.25087724e-04 9.91215636e-01 -6.44948578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters 0.029007690010567678 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.11, Z:-6.45 [[ 9.74589447e-01 1.83127654e-01 1.28994850e-01 5.81189363e+01] [-1.81670103e-01 9.83088691e-01 -2.30781330e-02 -1.11833163e-01] [-1.31039623e-01 -9.42802831e-04 9.91376683e-01 -6.45459423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters 0.028944821878824894 Centerline is valid? [True, True] Translation: X:58.18, Y:-0.12, Z:-6.46 [[ 9.74487024e-01 1.82438923e-01 1.30732858e-01 5.81798128e+01] [-1.80926209e-01 9.83216869e-01 -2.34583943e-02 -1.20019874e-01] [-1.32818475e-01 -7.93099494e-04 9.91140063e-01 -6.46364557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters 0.028973106852350775 Centerline is valid? [True, True] Translation: X:58.24, Y:-0.13, Z:-6.47 [[ 9.74732797e-01 1.80944224e-01 1.30977717e-01 5.82422297e+01] [-1.79404003e-01 9.83493217e-01 -2.35647085e-02 -1.27006387e-01] [-1.33079594e-01 -5.28632494e-04 9.91105212e-01 -6.46993294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters 0.029096471621819105 Centerline is valid? [True, True] Translation: X:58.30, Y:-0.13, Z:-6.48 [[ 9.74751572e-01 1.79305490e-01 1.33074845e-01 5.83040108e+01] [-1.77690407e-01 9.83793415e-01 -2.40132292e-02 -1.33015209e-01] [-1.35223861e-01 -2.39190499e-04 9.90815043e-01 -6.47777526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters 0.02905065826830942 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.14, Z:-6.48 [[ 9.75040859e-01 1.77783157e-01 1.32998017e-01 5.83655050e+01] [-1.76147081e-01 9.84069686e-01 -2.40636251e-02 -1.44105912e-01] [-1.35157425e-01 3.58051197e-05 9.90824136e-01 -6.48380542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters 0.029099528540879455 Centerline is valid? [True, True] Translation: X:58.43, Y:-0.15, Z:-6.49 [[ 9.75240123e-01 1.77460844e-01 1.31963450e-01 5.84268828e+01] [-1.75837885e-01 9.84127851e-01 -2.39460179e-02 -1.51327904e-01] [-1.34118387e-01 1.48943583e-04 9.90965305e-01 -6.49196356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters 0.02891925450631901 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.16, Z:-6.50 [[ 9.75972341e-01 1.73498931e-01 1.31818474e-01 5.84887224e+01] [-1.71834950e-01 9.84833767e-01 -2.39833397e-02 -1.60758975e-01] [-1.33980368e-01 7.56055380e-04 9.90983698e-01 -6.49610223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters 0.029069283217816416 Centerline is valid? [True, True] Translation: X:58.55, Y:-0.17, Z:-6.50 [[ 9.76156107e-01 1.72078847e-01 1.32318274e-01 5.85490924e+01] [-1.70379648e-01 9.85082647e-01 -2.41444577e-02 -1.71561759e-01] [-1.34499186e-01 1.02441900e-03 9.90913175e-01 -6.50263452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters 0.02900318157949568 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.18, Z:-6.51 [[ 9.76023647e-01 1.73248670e-01 1.31767746e-01 5.86098690e+01] [-1.71565646e-01 9.84877681e-01 -2.41077317e-02 -1.83513730e-01] [-1.33951745e-01 9.22897716e-04 9.90987426e-01 -6.51169183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters 0.029142649812961455 Centerline is valid? [True, True] Translation: X:58.67, Y:-0.20, Z:-6.52 [[ 9.74472191e-01 1.80484916e-01 1.33525819e-01 5.86713648e+01] [-1.78813941e-01 9.83577752e-01 -2.45026375e-02 -1.98820489e-01] [-1.35755381e-01 8.60857273e-07 9.90742387e-01 -6.51628685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters 0.02954221736443557 Centerline is valid? [True, True] Translation: X:58.73, Y:-0.21, Z:-6.53 [[ 9.73346799e-01 1.86320711e-01 1.33718365e-01 5.87337056e+01] [-1.84689620e-01 9.82488699e-01 -2.46109992e-02 -2.06309876e-01] [-1.35962321e-01 -7.41356660e-04 9.90713731e-01 -6.52516604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters 0.029751683107713502 Centerline is valid? [True, True] Translation: X:58.79, Y:-0.22, Z:-6.53 [[ 9.72686195e-01 1.89445145e-01 1.34134648e-01 5.87945049e+01] [-1.87823615e-01 9.81890677e-01 -2.47585905e-02 -2.16050454e-01] [-1.36395955e-01 -1.11131524e-03 9.90653778e-01 -6.53225034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters 0.029579718098261158 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.22, Z:-6.54 [[ 9.72699583e-01 1.89574807e-01 1.33854075e-01 5.88571024e+01] [-1.87952358e-01 9.81865705e-01 -2.47719111e-02 -2.19926893e-01] [-1.36122856e-01 -1.06256153e-03 9.90691394e-01 -6.53984765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters 0.02947125195788299 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.22, Z:-6.55 [[ 9.73002849e-01 1.89649610e-01 1.31523691e-01 5.89185756e+01] [-1.88074760e-01 9.81851340e-01 -2.44096458e-02 -2.24369133e-01] [-1.33765992e-01 -9.85631716e-04 9.91012456e-01 -6.54874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters 0.029377164721293116 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.23, Z:-6.56 [[ 9.72987765e-01 1.89855520e-01 1.31338076e-01 5.89805924e+01] [-1.88278463e-01 9.81811580e-01 -2.44385111e-02 -2.30590515e-01] [-1.33589031e-01 -9.49758828e-04 9.91036361e-01 -6.55720152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters 0.029447653448086447 Centerline is valid? [True, True] Translation: X:59.04, Y:-0.24, Z:-6.56 [[ 9.73285835e-01 1.89477035e-01 1.29665477e-01 5.90415453e+01] [-1.87927561e-01 9.81884812e-01 -2.41960294e-02 -2.39093168e-01] [-1.31901154e-01 -8.18063993e-04 9.91262537e-01 -6.56418766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters 0.029646996023702684 Centerline is valid? [True, True] Translation: X:59.10, Y:-0.25, Z:-6.57 [[ 9.73217085e-01 1.89128836e-01 1.30685842e-01 5.91033919e+01] [-1.87543103e-01 9.81952022e-01 -2.44501696e-02 -2.48741615e-01] [-1.32951459e-01 -7.13905688e-04 9.91122293e-01 -6.57136438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters 0.02969359101828802 Centerline is valid? [True, True] Translation: X:59.16, Y:-0.26, Z:-6.58 [[ 9.73768873e-01 1.85722331e-01 1.31458728e-01 5.91647891e+01] [-1.84077145e-01 9.82602251e-01 -2.46661920e-02 -2.59074014e-01] [-1.33752705e-01 -1.79377416e-04 9.91014723e-01 -6.57888602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters 0.02981110695896501 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.27, Z:-6.59 [[ 9.74014113e-01 1.84854246e-01 1.30864114e-01 5.92256816e+01] [-1.83206647e-01 9.82765947e-01 -2.46255338e-02 -2.71379627e-01] [-1.33160929e-01 1.04418978e-05 9.91094429e-01 -6.58662437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters 0.030059345741083127 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.28, Z:-6.59 [[ 9.73625488e-01 1.85387020e-01 1.32985193e-01 5.92857473e+01] [-1.83680349e-01 9.82665585e-01 -2.50973421e-02 -2.84835438e-01] [-1.35332694e-01 8.64532441e-06 9.90800213e-01 -6.59207715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters 0.030629859756341138 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.30, Z:-6.60 [[ 9.72239372e-01 1.88179801e-01 1.39064613e-01 5.93458325e+01] [-1.86331467e-01 9.82134539e-01 -2.63121832e-02 -2.97481838e-01] [-1.41531581e-01 -3.30372998e-04 9.89933686e-01 -6.60165243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters 0.030838953810620406 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.31, Z:-6.61 [[ 9.71677778e-01 1.91155776e-01 1.38930794e-01 5.94075002e+01] [-1.89332228e-01 9.81559463e-01 -2.63501185e-02 -3.07749878e-01] [-1.41405813e-01 -7.00252041e-04 9.89951466e-01 -6.61165151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters 0.030726679033761462 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.31, Z:-6.62 [[ 9.71241419e-01 1.93128374e-01 1.39253499e-01 5.94696001e+01] [-1.91305786e-01 9.81173070e-01 -2.64859171e-02 -3.14668057e-01] [-1.41746965e-01 -9.15780345e-04 9.89902500e-01 -6.61775964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters 0.030627481496416153 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.32, Z:-6.63 [[ 9.71680424e-01 1.92598976e-01 1.36904303e-01 5.95322492e+01] [-1.90823608e-01 9.81277256e-01 -2.61016703e-02 -3.17325009e-01] [-1.39368233e-01 -7.62090890e-04 9.90240332e-01 -6.62621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters 0.030480152097982525 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.32, Z:-6.63 [[ 9.72777180e-01 1.88822802e-01 1.34352175e-01 5.95937989e+01] [-1.87073470e-01 9.82011158e-01 -2.56437654e-02 -3.23696461e-01] [-1.36777463e-01 -1.88057788e-04 9.90601782e-01 -6.63264333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters 0.030369067027500106 Centerline is valid? [True, True] Translation: X:59.66, Y:-0.33, Z:-6.64 [[ 9.73024507e-01 1.88005075e-01 1.33706395e-01 5.96562820e+01] [-1.86256110e-01 9.82168057e-01 -2.55845645e-02 -3.30438732e-01] [-1.36132178e-01 -9.22470288e-06 9.90690683e-01 -6.63884767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters 0.03032527320351669 Centerline is valid? [True, True] Translation: X:59.72, Y:-0.34, Z:-6.64 [[ 9.72648508e-01 1.90529997e-01 1.32865342e-01 5.97180661e+01] [-1.88817459e-01 9.81681330e-01 -2.54898794e-02 -3.39645450e-01] [-1.35288012e-01 -2.94603026e-04 9.90806271e-01 -6.64429044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters 0.03099434276975413 Centerline is valid? [True, True] Translation: X:59.78, Y:-0.35, Z:-6.65 [[ 9.70662014e-01 1.98933609e-01 1.35058041e-01 5.97790744e+01] [-1.97238937e-01 9.80011898e-01 -2.59515147e-02 -3.48553120e-01] [-1.37521115e-01 -1.44855485e-03 9.90497776e-01 -6.65140076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters 0.03109281314720803 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.36, Z:-6.66 [[ 9.69887590e-01 1.99750890e-01 1.39347207e-01 5.98402072e+01] [-1.97944991e-01 9.79845491e-01 -2.68438733e-02 -3.56488635e-01] [-1.41900820e-01 -1.54754207e-03 9.89879671e-01 -6.65732938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters 0.031246022175041622 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.36, Z:-6.67 [[ 9.70105965e-01 1.98848873e-01 1.39117011e-01 5.99021635e+01] [-1.97030483e-01 9.80029237e-01 -2.68641610e-02 -3.58612339e-01] [-1.41680646e-01 -1.34920903e-03 9.89911498e-01 -6.66557175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters 0.031032776931235295 Centerline is valid? [True, True] Translation: X:59.97, Y:-0.36, Z:-6.67 [[ 9.70853075e-01 1.93919706e-01 1.40852599e-01 5.99655004e+01] [-1.91993879e-01 9.81017239e-01 -2.72676999e-02 -3.60920973e-01] [-1.43466572e-01 -5.69906622e-04 9.89654999e-01 -6.67192191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters 0.031002183017745356 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.37, Z:-6.68 [[ 9.72665256e-01 1.86948980e-01 1.37740255e-01 6.00271764e+01] [-1.85028006e-01 9.82369487e-01 -2.67362673e-02 -3.66295110e-01] [-1.40310142e-01 5.19633458e-04 9.90107466e-01 -6.67790667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters 0.031202171385775693 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.37, Z:-6.69 [[ 9.74583639e-01 1.77468360e-01 1.36717635e-01 6.00887148e+01] [-1.75473817e-01 9.84124602e-01 -2.66027748e-02 -3.71395190e-01] [-1.39268339e-01 1.93626377e-03 9.90252786e-01 -6.68514145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters 0.031405372468717684 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.38, Z:-6.69 [[ 9.75925111e-01 1.71119666e-01 1.35234013e-01 6.01493395e+01] [-1.69098718e-01 9.85246056e-01 -2.63786512e-02 -3.83160994e-01] [-1.37752684e-01 2.87568982e-03 9.90462482e-01 -6.68954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters 0.031523214698332754 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.39, Z:-6.70 [[ 9.76864537e-01 1.68137847e-01 1.32156503e-01 6.02107916e+01] [-1.66172485e-01 9.85758024e-01 -2.58422753e-02 -3.93136866e-01] [-1.34619398e-01 3.28362775e-03 9.90891939e-01 -6.69644257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters 0.03171677302227474 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.40, Z:-6.70 [[ 9.76744762e-01 1.67417330e-01 1.33944423e-01 6.02707537e+01] [-1.65381298e-01 9.85879897e-01 -2.62650993e-02 -4.04493253e-01] [-1.36450347e-01 3.50239555e-03 9.90640720e-01 -6.70476111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters 0.031748444362976455 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.42, Z:-6.71 [[ 9.76809798e-01 1.68526645e-01 1.32065847e-01 6.03306771e+01] [-1.66549629e-01 9.85691375e-01 -2.59563820e-02 -4.17718689e-01] [-1.34550508e-01 3.35893052e-03 9.90901044e-01 -6.71093508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters 0.031243214358208492 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.43, Z:-6.72 [[ 9.75954314e-01 1.72667882e-01 1.33037514e-01 6.03911064e+01] [-1.70690853e-01 9.84975910e-01 -2.62123822e-02 -4.28431749e-01] [-1.35564783e-01 2.87380078e-03 9.90764316e-01 -6.72001660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters 0.030468101553119516 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.44, Z:-6.73 [[ 9.75051244e-01 1.77108313e-01 1.33819716e-01 6.04516579e+01] [-1.75140352e-01 9.84188595e-01 -2.64323010e-02 -4.42801999e-01] [-1.36385219e-01 2.33561574e-03 9.90653126e-01 -6.72510024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters 0.029840533419532387 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.46, Z:-6.73 [[ 9.75003576e-01 1.80749089e-01 1.29219941e-01 6.05119524e+01] [-1.78938404e-01 9.83527550e-01 -2.55852499e-02 -4.55529382e-01] [-1.31715883e-01 1.82330019e-03 9.91285833e-01 -6.73124260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters 0.029481167487251672 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.47, Z:-6.74 [[ 9.73619087e-01 1.84227780e-01 1.34632828e-01 6.05726619e+01] [-1.82285010e-01 9.82882464e-01 -2.67251992e-02 -4.67733091e-01] [-1.37251770e-01 1.47861763e-03 9.90535090e-01 -6.73962331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters 0.02938027381941852 Centerline is valid? [True, True] Translation: X:60.63, Y:-0.48, Z:-6.75 [[ 9.73245314e-01 1.86279309e-01 1.34512372e-01 6.06336138e+01] [-1.84350374e-01 9.82496029e-01 -2.67673804e-02 -4.77205452e-01] [-1.37144081e-01 1.25382143e-03 9.90550316e-01 -6.74775844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters 0.029161696870170183 Centerline is valid? [True, True] Translation: X:60.69, Y:-0.49, Z:-6.76 [[ 9.73233517e-01 1.84334925e-01 1.37248522e-01 6.06938834e+01] [-1.82297405e-01 9.82862141e-01 -2.73800668e-02 -4.87991792e-01] [-1.39943479e-01 1.62714930e-03 9.90158157e-01 -6.75615399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters 0.029064987501256453 Centerline is valid? [True, True] Translation: X:60.76, Y:-0.50, Z:-6.76 [[ 9.73265847e-01 1.84645500e-01 1.36600259e-01 6.07556087e+01] [-1.82620787e-01 9.82803817e-01 -2.73185950e-02 -4.96914288e-01] [-1.39295512e-01 1.64220852e-03 9.90249496e-01 -6.76318965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters 0.029130544575484696 Centerline is valid? [True, True] Translation: X:60.82, Y:-0.51, Z:-6.77 [[ 9.73157823e-01 1.85120749e-01 1.36726589e-01 6.08168567e+01] [-1.83086201e-01 9.82714395e-01 -2.74200967e-02 -5.08103111e-01] [-1.39439216e-01 1.65132991e-03 9.90229255e-01 -6.77001279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters 0.029277746666429603 Centerline is valid? [True, True] Translation: X:60.88, Y:-0.52, Z:-6.78 [[ 9.73914411e-01 1.82213581e-01 1.35236577e-01 6.08780351e+01] [-1.80185036e-01 9.83256691e-01 -2.71961890e-02 -5.18876080e-01] [-1.37927784e-01 2.11915278e-03 9.90440021e-01 -6.77830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters 0.02949892600416289 Centerline is valid? [True, True] Translation: X:60.94, Y:-0.53, Z:-6.78 [[ 9.74610258e-01 1.78589403e-01 1.35058027e-01 6.09379117e+01] [-1.76521430e-01 9.83919981e-01 -2.72333758e-02 -5.34146670e-01] [-1.37749884e-01 2.70129141e-03 9.90463363e-01 -6.78334689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters 0.029843868582005426 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.55, Z:-6.79 [[ 9.74147406e-01 1.79168570e-01 1.37606156e-01 6.09972473e+01] [-1.77017546e-01 9.83814583e-01 -2.78146606e-02 -5.50232195e-01] [-1.40362455e-01 2.73687547e-03 9.90096405e-01 -6.79166293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters 0.029719921931126162 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.56, Z:-6.80 [[ 9.74038839e-01 1.80175163e-01 1.37059298e-01 6.10576193e+01] [-1.78041797e-01 9.83630978e-01 -2.77708017e-02 -5.64591959e-01] [-1.39819381e-01 2.64755571e-03 9.90173485e-01 -6.79895006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters 0.02999985053185643 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.58, Z:-6.81 [[ 9.73594125e-01 1.80463965e-01 1.39811433e-01 6.11172686e+01] [-1.78236667e-01 9.83577815e-01 -2.83966823e-02 -5.77634752e-01] [-1.42640001e-01 2.72731936e-03 9.89770878e-01 -6.80691090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters 0.030075698157891 Centerline is valid? [True, True] Translation: X:61.18, Y:-0.59, Z:-6.82 [[ 9.73881676e-01 1.79375185e-01 1.39208561e-01 6.11775443e+01] [-1.77146657e-01 9.83776348e-01 -2.83400706e-02 -5.94671407e-01] [-1.42033596e-01 2.93954413e-03 9.89857473e-01 -6.81758179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters 0.030117759029174806 Centerline is valid? [True, True] Translation: X:61.24, Y:-0.61, Z:-6.83 [[ 9.73990964e-01 1.80568595e-01 1.36881645e-01 6.12377426e+01] [-1.78415793e-01 9.83558434e-01 -2.79394203e-02 -6.09289558e-01] [-1.39676078e-01 2.79089572e-03 9.90193317e-01 -6.82550342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters 0.02997608783306014 Centerline is valid? [True, True] Translation: X:61.30, Y:-0.62, Z:-6.83 [[ 9.73606222e-01 1.83889890e-01 1.35186657e-01 6.12976951e+01] [-1.81813159e-01 9.82944041e-01 -2.76584171e-02 -6.24014362e-01] [-1.37967023e-01 2.34969371e-03 9.90434036e-01 -6.83106977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters 0.02987546819762388 Centerline is valid? [True, True] Translation: X:61.36, Y:-0.64, Z:-6.84 [[ 9.73228506e-01 1.86252367e-01 1.34671195e-01 6.13573769e+01] [-1.84204974e-01 9.82499753e-01 -2.76181818e-02 -6.38227825e-01] [-1.37458367e-01 2.07169790e-03 9.90505379e-01 -6.83977847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters 0.029824373659090103 Centerline is valid? [True, True] Translation: X:61.42, Y:-0.65, Z:-6.85 [[ 9.73130040e-01 1.87584300e-01 1.33529233e-01 6.14169481e+01] [-1.85575252e-01 9.82246609e-01 -2.74485973e-02 -6.53825740e-01] [-1.36307562e-01 1.93133355e-03 9.90664685e-01 -6.84545397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters 0.030276388776741495 Centerline is valid? [True, True] Translation: X:61.48, Y:-0.67, Z:-6.85 [[ 9.73156335e-01 1.86622459e-01 1.34680383e-01 6.14771138e+01] [-1.84560067e-01 9.82429354e-01 -2.77515026e-02 -6.68743734e-01] [-1.37493015e-01 2.14993000e-03 9.90500403e-01 -6.85268120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters 0.03042058031717122 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.69, Z:-6.86 [[ 9.72893174e-01 1.85923170e-01 1.37518893e-01 6.15364914e+01] [-1.83755849e-01 9.82561440e-01 -2.84042893e-02 -6.86188760e-01] [-1.40401777e-01 2.36443826e-03 9.90091789e-01 -6.86057790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters 0.03037782166893747 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.70, Z:-6.87 [[ 9.72872062e-01 1.86770824e-01 1.36515974e-01 6.15971443e+01] [-1.84634243e-01 9.82400841e-01 -2.82627523e-02 -6.98581344e-01] [-1.39392065e-01 2.29051849e-03 9.90234622e-01 -6.86640475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters 0.030286582425479096 Centerline is valid? [True, True] Translation: X:61.66, Y:-0.71, Z:-6.88 [[ 9.72433071e-01 1.89880590e-01 1.35348748e-01 6.16568474e+01] [-1.87801515e-01 9.81805367e-01 -2.80858014e-02 -7.14052986e-01] [-1.38219075e-01 1.89286219e-03 9.90399871e-01 -6.87571026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters 0.03029900083563047 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.72, Z:-6.88 [[ 9.73193041e-01 1.88269759e-01 1.32097703e-01 6.17181805e+01] [-1.86266421e-01 9.82115038e-01 -2.74749422e-02 -7.23004009e-01] [-1.34907842e-01 2.13305617e-03 9.90855854e-01 -6.88208536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters 0.030514032440296494 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.74, Z:-6.89 [[ 9.73853756e-01 1.86134123e-01 1.30241891e-01 6.17791760e+01] [-1.84159453e-01 9.82521273e-01 -2.71522478e-02 -7.36768640e-01] [-1.33019388e-01 2.45704301e-03 9.91110390e-01 -6.88784673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters 0.030656052769000734 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.75, Z:-6.89 [[ 9.73472387e-01 1.86352577e-01 1.32756279e-01 6.18397291e+01] [-1.84292451e-01 9.82479631e-01 -2.77500932e-02 -7.47364020e-01] [-1.35601641e-01 2.54796947e-03 9.90760164e-01 -6.89493382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters 0.03037693390153374 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.76, Z:-6.90 [[ 9.72655234e-01 1.90197204e-01 1.33292230e-01 6.19006605e+01] [-1.88147249e-01 9.81743692e-01 -2.79273515e-02 -7.58065557e-01] [-1.36170510e-01 2.08511839e-03 9.90683221e-01 -6.90226225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters 0.030260469398526585 Centerline is valid? [True, True] Translation: X:61.96, Y:-0.77, Z:-6.91 [[ 9.72444326e-01 1.91389891e-01 1.33123789e-01 6.19623181e+01] [-1.89347155e-01 9.81512091e-01 -2.79583801e-02 -7.69374932e-01] [-1.36013559e-01 1.98135741e-03 9.90704994e-01 -6.90924510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters 0.0305399276588533 Centerline is valid? [True, True] Translation: X:62.02, Y:-0.78, Z:-6.92 [[ 9.72473718e-01 1.89686600e-01 1.35328717e-01 6.20230109e+01] [-1.87548500e-01 9.81841923e-01 -2.84955717e-02 -7.77278696e-01] [-1.38276636e-01 2.33049667e-03 9.90390903e-01 -6.91755158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters 0.030920972905933323 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.78, Z:-6.92 [[ 9.73241853e-01 1.84995283e-01 1.36297615e-01 6.20839903e+01] [-1.82771827e-01 9.82734582e-01 -2.87611093e-02 -7.84558163e-01] [-1.39265049e-01 3.08015119e-03 9.90250352e-01 -6.92445551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters 0.03111616154862077 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.80, Z:-6.93 [[ 9.73673295e-01 1.82272959e-01 1.36882732e-01 6.21444629e+01] [-1.79994609e-01 9.83241570e-01 -2.89474565e-02 -7.96222150e-01] [-1.39865131e-01 3.54721146e-03 9.90164210e-01 -6.93167207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters 0.03132348560212408 Centerline is valid? [True, True] Translation: X:62.20, Y:-0.81, Z:-6.94 [[ 9.74449254e-01 1.78284959e-01 1.36613049e-01 6.22049671e+01] [-1.75967351e-01 9.83970033e-01 -2.89562638e-02 -8.07853760e-01] [-1.39585613e-01 4.17697327e-03 9.90201197e-01 -6.93819927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters 0.031639772602370234 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.82, Z:-6.95 [[ 9.74926244e-01 1.75441659e-01 1.36890626e-01 6.22646257e+01] [-1.73077294e-01 9.84478802e-01 -2.90815959e-02 -8.23262339e-01] [-1.39868043e-01 4.65975195e-03 9.90159188e-01 -6.94522942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters 0.03244221127397464 Centerline is valid? [True, True] Translation: X:62.32, Y:-0.84, Z:-6.95 [[ 9.75697624e-01 1.70427429e-01 1.37726681e-01 6.23236144e+01] [-1.67974870e-01 9.85355005e-01 -2.93250268e-02 -8.40472963e-01] [-1.40707464e-01 5.47773765e-03 9.90036062e-01 -6.95212087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters 0.03253331182940098 Centerline is valid? [True, True] Translation: X:62.38, Y:-0.86, Z:-6.96 [[ 9.75910403e-01 1.70684441e-01 1.35888581e-01 6.23832919e+01] [-1.68291327e-01 9.85310800e-01 -2.89940933e-02 -8.56648785e-01] [-1.38841327e-01 5.42676762e-03 9.90299771e-01 -6.96042959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters 0.03202259959633804 Centerline is valid? [True, True] Translation: X:62.44, Y:-0.87, Z:-6.97 [[ 9.75231265e-01 1.74373773e-01 1.36080006e-01 6.24422397e+01] [-1.72000402e-01 9.84666976e-01 -2.90999828e-02 -8.73758378e-01] [-1.39067761e-01 4.97339731e-03 9.90270379e-01 -6.96939406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters 0.03190791858294104 Centerline is valid? [True, True] Translation: X:62.50, Y:-0.89, Z:-6.97 [[ 9.74305193e-01 1.78649731e-01 1.37162910e-01 6.25018039e+01] [-1.76270917e-01 9.83902608e-01 -2.93976453e-02 -8.91948809e-01] [-1.40206826e-01 4.46444654e-03 9.90112173e-01 -6.97444717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters 0.03170204969430844 Centerline is valid? [True, True] Translation: X:62.56, Y:-0.91, Z:-6.98 [[ 9.74172841e-01 1.80206648e-01 1.36061901e-01 6.25619379e+01] [-1.77872053e-01 9.83619504e-01 -2.92267733e-02 -9.06000473e-01] [-1.39099998e-01 4.27031914e-03 9.90269133e-01 -6.98377267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters 0.03167784846561449 Centerline is valid? [True, True] Translation: X:62.62, Y:-0.92, Z:-6.99 [[ 9.74204258e-01 1.80593452e-01 1.35322094e-01 6.26220280e+01] [-1.78278746e-01 9.83548614e-01 -2.91343870e-02 -9.21906676e-01] [-1.38357337e-01 4.25779071e-03 9.90373222e-01 -6.99274754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters 0.031702592879073184 Centerline is valid? [True, True] Translation: X:62.68, Y:-0.94, Z:-7.00 [[ 9.74154939e-01 1.80736893e-01 1.35485535e-01 6.26828085e+01] [-1.78407398e-01 9.83522005e-01 -2.92449197e-02 -9.36545282e-01] [-1.38538641e-01 4.31746126e-03 9.90347618e-01 -6.99908294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters 0.03174168146574185 Centerline is valid? [True, True] Translation: X:62.74, Y:-0.95, Z:-7.01 [[ 9.73438386e-01 1.84712865e-01 1.35273303e-01 6.27417453e+01] [-1.82418660e-01 9.82785113e-01 -2.92720594e-02 -9.54338533e-01] [-1.38351514e-01 3.81817161e-03 9.90375828e-01 -7.00576113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters 0.031428128363922454 Centerline is valid? [True, True] Translation: X:62.80, Y:-0.97, Z:-7.01 [[ 9.72944736e-01 1.87896664e-01 1.34437285e-01 6.28014265e+01] [-1.85652071e-01 9.82182887e-01 -2.91562166e-02 -9.68780362e-01] [-1.37520357e-01 3.40882707e-03 9.90493075e-01 -7.01486835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters 0.03148821976125883 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.98, Z:-7.02 [[ 9.72101696e-01 1.91815229e-01 1.35000781e-01 6.28621214e+01] [-1.89581059e-01 9.81426698e-01 -2.93369928e-02 -9.82301527e-01] [-1.38120653e-01 2.92494937e-03 9.90411091e-01 -7.02172944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters 0.03142551691196205 Centerline is valid? [True, True] Translation: X:62.92, Y:-1.00, Z:-7.03 [[ 9.71495013e-01 1.93970723e-01 1.36282053e-01 6.29230372e+01] [-1.91710101e-01 9.81003666e-01 -2.96486760e-02 -9.97279692e-01] [-1.39444169e-01 2.67689474e-03 9.90226317e-01 -7.02967654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters 0.03141023961225453 Centerline is valid? [True, True] Translation: X:62.98, Y:-1.01, Z:-7.04 [[ 9.71820558e-01 1.93864690e-01 1.34094313e-01 6.29833531e+01] [-1.91665438e-01 9.81024508e-01 -2.92450785e-02 -1.00934662e+00] [-1.37219396e-01 2.71972315e-03 9.90536946e-01 -7.03722018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters 0.031203377876756325 Centerline is valid? [True, True] Translation: X:63.04, Y:-1.02, Z:-7.04 [[ 9.71614996e-01 1.96275421e-01 1.32061574e-01 6.30438777e+01] [-1.94156263e-01 9.80545856e-01 -2.88646689e-02 -1.02133721e+00] [-1.35157854e-01 2.40476336e-03 9.90821160e-01 -7.04267952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters 0.031050946531471557 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.03, Z:-7.05 [[ 9.71067293e-01 2.00187286e-01 1.30205081e-01 6.31045445e+01] [-1.98154973e-01 9.79755827e-01 -2.85153731e-02 -1.03487952e+00] [-1.33277602e-01 1.88956182e-03 9.91076945e-01 -7.04975923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters 0.030996549154120024 Centerline is valid? [True, True] Translation: X:63.17, Y:-1.05, Z:-7.06 [[ 9.70575442e-01 2.02969064e-01 1.29564154e-01 6.31654440e+01] [-2.00977707e-01 9.79183959e-01 -2.84031049e-02 -1.04565788e+00] [-1.32632093e-01 1.52784952e-03 9.91164161e-01 -7.05697725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters 0.031174473978780145 Centerline is valid? [True, True] Translation: X:63.23, Y:-1.06, Z:-7.06 [[ 9.69644554e-01 2.05451506e-01 1.32586267e-01 6.32258156e+01] [-2.03379809e-01 9.78666458e-01 -2.91310230e-02 -1.05602918e+00] [-1.35742745e-01 1.28136813e-03 9.90743289e-01 -7.06384909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters 0.031022883639966456 Centerline is valid? [True, True] Translation: X:63.29, Y:-1.07, Z:-7.07 [[ 9.69744893e-01 2.07012189e-01 1.29386226e-01 6.32870090e+01] [-2.05046313e-01 9.78337756e-01 -2.84823595e-02 -1.06733303e+00] [-1.32479625e-01 1.09045412e-03 9.91185129e-01 -7.07073567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters 0.031155052615056366 Centerline is valid? [True, True] Translation: X:63.35, Y:-1.08, Z:-7.08 [[ 9.69188952e-01 2.08484197e-01 1.31175893e-01 6.33472077e+01] [-2.06471377e-01 9.78025283e-01 -2.89156712e-02 -1.08027239e+00] [-1.34321800e-01 9.40681887e-04 9.90937318e-01 -7.07944227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters 0.031654844129109926 Centerline is valid? [True, True] Translation: X:63.41, Y:-1.09, Z:-7.09 [[ 9.67649014e-01 2.13398591e-01 1.34597276e-01 6.34075798e+01] [-2.11316794e-01 9.76965164e-01 -2.97368709e-02 -1.08987950e+00] [-1.37842656e-01 3.32189022e-04 9.90454084e-01 -7.08876634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters 0.03130955792479727 Centerline is valid? [True, True] Translation: X:63.47, Y:-1.10, Z:-7.09 [[ 9.67386137e-01 2.16158185e-01 1.32059461e-01 6.34676512e+01] [-2.14171491e-01 9.76358356e-01 -2.92392434e-02 -1.10469807e+00] [-1.35257660e-01 2.26713936e-06 9.90810459e-01 -7.09456178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters 0.031164939114506473 Centerline is valid? [True, True] Translation: X:63.53, Y:-1.11, Z:-7.10 [[ 9.67427865e-01 2.17399995e-01 1.29694131e-01 6.35291965e+01] [-2.15487717e-01 9.76082593e-01 -2.87717656e-02 -1.11473834e+00] [-1.32847165e-01 -1.12884402e-04 9.91136528e-01 -7.10148161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters 0.030998455062927633 Centerline is valid? [True, True] Translation: X:63.59, Y:-1.13, Z:-7.11 [[ 9.67518693e-01 2.16435310e-01 1.30626705e-01 6.35904399e+01] [-2.14482571e-01 9.76296960e-01 -2.90081486e-02 -1.12605186e+00] [-1.33808843e-01 4.87744528e-05 9.91007160e-01 -7.10659427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters 0.0310354792766275 Centerline is valid? [True, True] Translation: X:63.65, Y:-1.14, Z:-7.11 [[ 9.67864286e-01 2.14792757e-01 1.30777658e-01 6.36521601e+01] [-2.12811251e-01 9.76659589e-01 -2.91104494e-02 -1.13822242e+00] [-1.33977968e-01 3.44007305e-04 9.90984251e-01 -7.11318153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters 0.030980409537314398 Centerline is valid? [True, True] Translation: X:63.71, Y:-1.15, Z:-7.12 [[ 9.68215983e-01 2.13639762e-01 1.30060996e-01 6.37135095e+01] [-2.11659904e-01 9.76912342e-01 -2.90234460e-02 -1.14868738e+00] [-1.33258754e-01 5.72266420e-04 9.91081115e-01 -7.12101430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters 0.03089909766409164 Centerline is valid? [True, True] Translation: X:63.77, Y:-1.16, Z:-7.13 [[ 9.68684929e-01 2.12074521e-01 1.29127478e-01 6.37748966e+01] [-2.10099500e-01 9.77253124e-01 -2.88882626e-02 -1.15955078e+00] [-1.32316696e-01 8.54005958e-04 9.91207124e-01 -7.12838072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters 0.031243533596625846 Centerline is valid? [True, True] Translation: X:63.83, Y:-1.18, Z:-7.13 [[ 9.68302358e-01 2.10409806e-01 1.34604075e-01 6.38345721e+01] [-2.08236311e-01 9.77612534e-01 -3.01889249e-02 -1.17506648e+00] [-1.37942676e-01 1.20255122e-03 9.90439484e-01 -7.13476903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters 0.031181638390582102 Centerline is valid? [True, True] Translation: X:63.89, Y:-1.19, Z:-7.14 [[ 9.69396665e-01 2.07291373e-01 1.31530957e-01 6.38946743e+01] [-2.05179314e-01 9.78277821e-01 -2.95626992e-02 -1.18851181e+00] [-1.34801910e-01 1.67055051e-03 9.90871159e-01 -7.14337739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters 0.0311501085120831 Centerline is valid? [True, True] Translation: X:63.96, Y:-1.20, Z:-7.15 [[ 9.69344289e-01 2.06635137e-01 1.32941977e-01 6.39557370e+01] [-2.04462194e-01 9.78416330e-01 -2.99448904e-02 -1.20029414e+00] [-1.36260268e-01 1.84530026e-03 9.90671355e-01 -7.14954556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters 0.031168549332658068 Centerline is valid? [True, True] Translation: X:64.02, Y:-1.21, Z:-7.16 [[ 9.68981462e-01 2.06953418e-01 1.35074827e-01 6.40157826e+01] [-2.04703522e-01 9.78348960e-01 -3.04923107e-02 -1.21386183e+00] [-1.38460804e-01 1.89619113e-03 9.90366099e-01 -7.15665844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters 0.03104604087722096 Centerline is valid? [True, True] Translation: X:64.08, Y:-1.23, Z:-7.16 [[ 9.69516222e-01 2.05674804e-01 1.33177214e-01 6.40765364e+01] [-2.03466979e-01 9.78618111e-01 -3.01294128e-02 -1.22655156e+00] [-1.36526495e-01 2.11378899e-03 9.90634165e-01 -7.16425934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters 0.031570779558248475 Centerline is valid? [True, True] Translation: X:64.14, Y:-1.24, Z:-7.17 [[ 9.69712814e-01 2.01938447e-01 1.37396950e-01 6.41369617e+01] [-1.99539856e-01 9.79394218e-01 -3.11578346e-02 -1.24095591e+00] [-1.40857743e-01 2.79798385e-03 9.90025892e-01 -7.16924697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters 0.031526966701593 Centerline is valid? [True, True] Translation: X:64.20, Y:-1.25, Z:-7.18 [[ 9.70130423e-01 1.99275976e-01 1.38333106e-01 6.41968162e+01] [-1.96810414e-01 9.79938002e-01 -3.14193123e-02 -1.25398138e+00] [-1.41818982e-01 3.25543477e-03 9.89887255e-01 -7.17731468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters 0.03179325761194219 Centerline is valid? [True, True] Translation: X:64.26, Y:-1.27, Z:-7.18 [[ 9.70014375e-01 1.99530701e-01 1.38779000e-01 6.42578396e+01] [-1.97046720e-01 9.79886142e-01 -3.15553355e-02 -1.26917148e+00] [-1.42283877e-01 3.26318230e-03 9.89820514e-01 -7.18410008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters 0.03176123772532559 Centerline is valid? [True, True] Translation: X:64.32, Y:-1.29, Z:-7.19 [[ 9.69669226e-01 1.98973434e-01 1.41954799e-01 6.43175019e+01] [-1.96356084e-01 9.79998627e-01 -3.23570616e-02 -1.28595289e+00] [-1.45553704e-01 3.50195850e-03 9.89344154e-01 -7.19067768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters 0.03188577966656664 Centerline is valid? [True, True] Translation: X:64.38, Y:-1.30, Z:-7.20 [[ 9.70561791e-01 1.95679197e-01 1.40425999e-01 6.43767955e+01] [-1.93074213e-01 9.80659728e-01 -3.20756417e-02 -1.30456846e+00] [-1.43986658e-01 4.01875303e-03 9.89571469e-01 -7.19870178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters 0.03218823952497397 Centerline is valid? [True, True] Translation: X:64.44, Y:-1.32, Z:-7.21 [[ 9.70685340e-01 1.94652459e-01 1.40997842e-01 6.44355219e+01] [-1.92005306e-01 9.80863041e-01 -3.22747260e-02 -1.32295683e+00] [-1.44581927e-01 4.25626959e-03 9.89483679e-01 -7.20606650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters 0.031829847949561445 Centerline is valid? [True, True] Translation: X:64.49, Y:-1.34, Z:-7.22 [[ 9.69888775e-01 1.98551313e-01 1.41043041e-01 6.44939453e+01] [-1.95933403e-01 9.80083342e-01 -3.23534285e-02 -1.34226223e+00] [-1.44657750e-01 3.74418417e-03 9.89474667e-01 -7.21514535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters 0.031725340842844806 Centerline is valid? [True, True] Translation: X:64.55, Y:-1.36, Z:-7.22 [[ 9.69023766e-01 2.03083366e-01 1.40535006e-01 6.45524750e+01] [-2.00521815e-01 9.79156467e-01 -3.23050201e-02 -1.36213533e+00] [-1.44166372e-01 3.12399762e-03 9.89548532e-01 -7.22234211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters 0.032149638720853205 Centerline is valid? [True, True] Translation: X:64.61, Y:-1.38, Z:-7.23 [[ 9.67564376e-01 2.08161713e-01 1.43135876e-01 6.46113737e+01] [-2.05548179e-01 9.78091266e-01 -3.29760608e-02 -1.38297325e+00] [-1.46864304e-01 2.48514293e-03 9.89153527e-01 -7.23119451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters 0.03186254482495689 Centerline is valid? [True, True] Translation: X:64.67, Y:-1.40, Z:-7.24 [[ 9.67112381e-01 2.12394842e-01 1.39935961e-01 6.46707402e+01] [-2.09930765e-01 9.77182132e-01 -3.23133718e-02 -1.39977320e+00] [-1.43606114e-01 1.87379867e-03 9.89633151e-01 -7.23886879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters 0.03184422317037572 Centerline is valid? [True, True] Translation: X:64.73, Y:-1.42, Z:-7.24 [[ 9.66329199e-01 2.14704795e-01 1.41808782e-01 6.47304558e+01] [-2.12188628e-01 9.76677649e-01 -3.28139563e-02 -1.41708002e+00] [-1.45546781e-01 1.61887326e-03 9.89350046e-01 -7.24467348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters 0.03222623959577967 Centerline is valid? [True, True] Translation: X:64.79, Y:-1.43, Z:-7.25 [[ 9.65420281e-01 2.17875790e-01 1.43156633e-01 6.47908457e+01] [-2.15335373e-01 9.75975741e-01 -3.31968486e-02 -1.43228113e+00] [-1.46950190e-01 1.22222401e-03 9.89143138e-01 -7.25265072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters 0.03213071081166859 Centerline is valid? [True, True] Translation: X:64.85, Y:-1.45, Z:-7.26 [[ 9.64162626e-01 2.24665564e-01 1.41123405e-01 6.48506228e+01] [-2.22258434e-01 9.74435897e-01 -3.28004765e-02 -1.44604640e+00] [-1.44884849e-01 2.59126536e-04 9.89448490e-01 -7.26150980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters 0.03223228289636556 Centerline is valid? [True, True] Translation: X:64.91, Y:-1.46, Z:-7.27 [[ 9.63811745e-01 2.26450824e-01 1.40666076e-01 6.49115880e+01] [-2.24068080e-01 9.74022598e-01 -3.27639299e-02 -1.46042077e+00] [-1.44431356e-01 5.94829510e-05 9.89514820e-01 -7.26689126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters 0.032460242385685706 Centerline is valid? [True, True] Translation: X:64.97, Y:-1.47, Z:-7.27 [[ 9.63216171e-01 2.28620956e-01 1.41234084e-01 6.49729589e+01] [-2.26230600e-01 9.73515497e-01 -3.29741333e-02 -1.47243369e+00] [-1.45032147e-01 -1.90253038e-04 9.89426925e-01 -7.27264202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters 0.032767265460167984 Centerline is valid? [True, True] Translation: X:65.03, Y:-1.48, Z:-7.28 [[ 9.62754411e-01 2.29839554e-01 1.42399875e-01 6.50341035e+01] [-2.27411368e-01 9.73228487e-01 -3.33223853e-02 -1.48019368e+00] [-1.46246417e-01 -3.02076967e-04 9.89248146e-01 -7.28287457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters 0.032789941645086675 Centerline is valid? [True, True] Translation: X:65.10, Y:-1.49, Z:-7.29 [[ 9.62308270e-01 2.32028714e-01 1.41864266e-01 6.50957551e+01] [-2.29632226e-01 9.72708774e-01 -3.32668362e-02 -1.48929050e+00] [-1.45711477e-01 -5.63655559e-04 9.89326967e-01 -7.28971570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters 0.03334924422056852 Centerline is valid? [True, True] Translation: X:65.16, Y:-1.50, Z:-7.29 [[ 9.62098858e-01 2.32335167e-01 1.42780103e-01 6.51565317e+01] [-2.29899622e-01 9.72635635e-01 -3.35571870e-02 -1.50255325e+00] [-1.46669530e-01 -5.39760318e-04 9.89185401e-01 -7.29350831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters 0.03317027625584541 Centerline is valid? [True, True] Translation: X:65.22, Y:-1.51, Z:-7.30 [[ 9.61660295e-01 2.32818813e-01 1.44930598e-01 6.52173293e+01] [-2.30303948e-01 9.72519970e-01 -3.41320750e-02 -1.51182897e+00] [-1.48894490e-01 -5.54627578e-04 9.88852933e-01 -7.30176137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters 0.033603975828642794 Centerline is valid? [True, True] Translation: X:65.28, Y:-1.52, Z:-7.31 [[ 9.61111110e-01 2.33967049e-01 1.46713511e-01 6.52779662e+01] [-2.31392247e-01 9.72244294e-01 -3.46216844e-02 -1.52487208e+00] [-1.50741707e-01 -6.73083454e-04 9.88572954e-01 -7.30907402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters 0.033941454582265315 Centerline is valid? [True, True] Translation: X:65.34, Y:-1.54, Z:-7.32 [[ 9.60477403e-01 2.36448675e-01 1.46884930e-01 6.53400263e+01] [-2.33885716e-01 9.71643472e-01 -3.47337655e-02 -1.53621037e+00] [-1.50932536e-01 -9.93290003e-04 9.88543567e-01 -7.31591632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters 0.03401217486864439 Centerline is valid? [True, True] Translation: X:65.40, Y:-1.55, Z:-7.32 [[ 9.60020674e-01 2.38765769e-01 1.46120542e-01 6.54007445e+01] [-2.36244365e-01 9.71076354e-01 -3.46311245e-02 -1.54805919e+00] [-1.50162931e-01 -1.27355923e-03 9.88660443e-01 -7.32470530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters 0.03410519592095765 Centerline is valid? [True, True] Translation: X:65.46, Y:-1.56, Z:-7.33 [[ 9.59962152e-01 2.38279370e-01 1.47294294e-01 6.54611521e+01] [-2.35699589e-01 9.71195995e-01 -3.49863192e-02 -1.55858210e+00] [-1.51388147e-01 -1.13166231e-03 9.88473747e-01 -7.33223842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters 0.03430722599236487 Centerline is valid? [True, True] Translation: X:65.52, Y:-1.57, Z:-7.34 [[ 9.60415286e-01 2.36655715e-01 1.46957647e-01 6.55230755e+01] [-2.34058380e-01 9.71593239e-01 -3.49750191e-02 -1.56681043e+00] [-1.51060095e-01 -8.06125891e-04 9.88524253e-01 -7.33783745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters 0.03404858057595969 Centerline is valid? [True, True] Translation: X:65.59, Y:-1.58, Z:-7.35 [[ 9.60667863e-01 2.35506992e-01 1.47152006e-01 6.55855734e+01] [-2.32878418e-01 9.71872495e-01 -3.50926619e-02 -1.57532257e+00] [-1.51277555e-01 -5.56133931e-04 9.88491169e-01 -7.34621041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters 0.03415706149902519 Centerline is valid? [True, True] Translation: X:65.65, Y:-1.58, Z:-7.35 [[ 9.60400076e-01 2.34954706e-01 1.49759741e-01 6.56460654e+01] [-2.32212733e-01 9.72006237e-01 -3.57927551e-02 -1.58496457e+00] [-1.53977078e-01 -4.00753931e-04 9.88074339e-01 -7.35442219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters 0.034015030688450916 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.60, Z:-7.36 [[ 9.60718404e-01 2.33320009e-01 1.50272824e-01 6.57073927e+01] [-2.30528148e-01 9.72400004e-01 -3.59861724e-02 -1.59620145e+00] [-1.54521588e-01 -6.95375927e-05 9.87989410e-01 -7.36074501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters 0.03358050938575851 Centerline is valid? [True, True] Translation: X:65.77, Y:-1.60, Z:-7.37 [[ 9.61798656e-01 2.30241202e-01 1.48095691e-01 6.57688531e+01] [-2.27481841e-01 9.73133466e-01 -3.55424912e-02 -1.60395796e+00] [-1.52300219e-01 4.95639713e-04 9.88334153e-01 -7.36828601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters 0.03391055192494959 Centerline is valid? [True, True] Translation: X:65.83, Y:-1.61, Z:-7.37 [[ 9.62269184e-01 2.27622804e-01 1.49083456e-01 6.58300241e+01] [-2.24783839e-01 9.73748881e-01 -3.58516605e-02 -1.61335023e+00] [-1.53330504e-01 9.87396412e-04 9.88174469e-01 -7.37282799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters 0.03393722977288599 Centerline is valid? [True, True] Translation: X:65.89, Y:-1.63, Z:-7.38 [[ 9.63156615e-01 2.24506135e-01 1.48075420e-01 6.58916043e+01] [-2.21657668e-01 9.74471449e-01 -3.56829589e-02 -1.62603258e+00] [-1.52306312e-01 1.54622577e-03 9.88332129e-01 -7.37978645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters 0.03417675482101197 Centerline is valid? [True, True] Translation: X:65.95, Y:-1.63, Z:-7.39 [[ 9.63498721e-01 2.22558562e-01 1.48788109e-01 6.59532193e+01] [-2.19646934e-01 9.74917388e-01 -3.59348078e-02 -1.63379000e+00] [-1.53053713e-01 1.94228954e-03 9.88215962e-01 -7.38867515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters 0.03448675227606256 Centerline is valid? [True, True] Translation: X:66.02, Y:-1.64, Z:-7.39 [[ 9.63564786e-01 2.22586900e-01 1.48317145e-01 6.60151770e+01] [-2.19682698e-01 9.74910793e-01 -3.58950984e-02 -1.64499646e+00] [-1.52585764e-01 2.00454218e-03 9.88288200e-01 -7.39399616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters 0.03415301846242833 Centerline is valid? [True, True] Translation: X:66.08, Y:-1.66, Z:-7.40 [[ 9.63533813e-01 2.23009262e-01 1.47883266e-01 6.60757038e+01] [-2.20114547e-01 9.74814249e-01 -3.58715210e-02 -1.65818775e+00] [-1.52158396e-01 2.01216542e-03 9.88354073e-01 -7.40192820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters 0.03394561396665522 Centerline is valid? [True, True] Translation: X:66.14, Y:-1.67, Z:-7.41 [[ 9.64201758e-01 2.21713553e-01 1.45458140e-01 6.61363007e+01] [-2.18887156e-01 9.75109230e-01 -3.53610399e-02 -1.67097748e+00] [-1.49677596e-01 2.25625840e-03 9.88732283e-01 -7.41035788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters 0.03427101861890571 Centerline is valid? [True, True] Translation: X:66.20, Y:-1.68, Z:-7.42 [[ 9.63054935e-01 2.24412365e-01 1.48876735e-01 6.61957562e+01] [-2.21471326e-01 9.74492316e-01 -3.62653797e-02 -1.68493427e+00] [-1.53217634e-01 1.95362494e-03 9.88190538e-01 -7.41788913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters 0.03411125114917439 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.70, Z:-7.43 [[ 9.62178429e-01 2.27568674e-01 1.49750358e-01 6.62552518e+01] [-2.24619386e-01 9.73760829e-01 -3.65510535e-02 -1.70293018e+00] [-1.54138907e-01 1.53180189e-03 9.88048000e-01 -7.42628920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters 0.0344419718632107 Centerline is valid? [True, True] Translation: X:66.31, Y:-1.72, Z:-7.44 [[ 9.61177924e-01 2.28480355e-01 1.54705289e-01 6.63147866e+01] [-2.25329082e-01 9.73547340e-01 -3.78468142e-02 -1.71869522e+00] [-1.59260176e-01 1.51792150e-03 9.87235480e-01 -7.43604991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters 0.03413404416100618 Centerline is valid? [True, True] Translation: X:66.37, Y:-1.73, Z:-7.44 [[ 9.60805821e-01 2.31726680e-01 1.52167407e-01 6.63749553e+01] [-2.28707428e-01 9.72780383e-01 -3.72993162e-02 -1.73217319e+00] [-1.56668715e-01 1.03558399e-03 9.87650668e-01 -7.44330074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters 0.033441955343704345 Centerline is valid? [True, True] Translation: X:66.44, Y:-1.75, Z:-7.45 [[ 9.61096736e-01 2.33343211e-01 1.47797194e-01 6.64351130e+01] [-2.30506029e-01 9.72394105e-01 -3.62860144e-02 -1.74750103e+00] [-1.52184216e-01 8.06225674e-04 9.88351817e-01 -7.44907303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters 0.03320290114642985 Centerline is valid? [True, True] Translation: X:66.50, Y:-1.76, Z:-7.46 [[ 9.60917237e-01 2.33314231e-01 1.49005148e-01 6.64951410e+01] [-2.30424335e-01 9.72401019e-01 -3.66180718e-02 -1.76008231e+00] [-1.53436275e-01 8.52524339e-04 9.88158177e-01 -7.45685052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters 0.03269366012948207 Centerline is valid? [True, True] Translation: X:66.55, Y:-1.77, Z:-7.46 [[ 9.62276620e-01 2.32524357e-01 1.41266164e-01 6.65548876e+01] [-2.29911032e-01 9.72590073e-01 -3.47774013e-02 -1.77477118e+00] [-1.45480662e-01 9.86830584e-04 9.89360603e-01 -7.46367034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters 0.032289060436205635 Centerline is valid? [True, True] Translation: X:66.62, Y:-1.79, Z:-7.47 [[ 9.62717160e-01 2.31486007e-01 1.39963920e-01 6.66156929e+01] [-2.28902942e-01 9.72837517e-01 -3.45051917e-02 -1.78752911e+00] [-1.44149621e-01 1.18058707e-03 9.89555199e-01 -7.47102134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters 0.03203907257999143 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.80, Z:-7.48 [[ 9.62451604e-01 2.32253153e-01 1.40518266e-01 6.66764116e+01] [-2.29647085e-01 9.72654703e-01 -3.47137502e-02 -1.80386097e+00] [-1.44738131e-01 1.14069437e-03 9.89469339e-01 -7.47843084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters 0.0320239742887661 Centerline is valid? [True, True] Translation: X:66.74, Y:-1.82, Z:-7.49 [[ 9.62332268e-01 2.34095987e-01 1.38259445e-01 6.67363694e+01] [-2.31581514e-01 9.72213051e-01 -3.42313712e-02 -1.81633509e+00] [-1.42431063e-01 9.23621587e-04 9.89804293e-01 -7.48610880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters 0.03174579678501349 Centerline is valid? [True, True] Translation: X:66.80, Y:-1.83, Z:-7.49 [[ 9.62310306e-01 2.35093237e-01 1.36711536e-01 6.67960131e+01] [-2.32635443e-01 9.71972466e-01 -3.39157121e-02 -1.83062633e+00] [-1.40853203e-01 8.33490595e-04 9.90030141e-01 -7.49263016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters 0.0314019993828004 Centerline is valid? [True, True] Translation: X:66.86, Y:-1.84, Z:-7.50 [[ 9.62095669e-01 2.38468247e-01 1.32305781e-01 6.68559166e+01] [-2.36190036e-01 9.71150216e-01 -3.28865427e-02 -1.84377643e+00] [-1.36331184e-01 3.90693197e-04 9.90663240e-01 -7.49962741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters 0.03146522971250909 Centerline is valid? [True, True] Translation: X:66.92, Y:-1.86, Z:-7.51 [[ 9.61971545e-01 2.38443951e-01 1.33248749e-01 6.69168700e+01] [-2.36123581e-01 9.71156151e-01 -3.31871296e-02 -1.85611982e+00] [-1.37318612e-01 4.61902575e-04 9.90526822e-01 -7.50677490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters 0.03138910071794179 Centerline is valid? [True, True] Translation: X:66.98, Y:-1.87, Z:-7.51 [[ 9.62574454e-01 2.37031586e-01 1.31401854e-01 6.69783027e+01] [-2.34753586e-01 9.71501680e-01 -3.27908551e-02 -1.86641582e+00] [-1.35429590e-01 7.16583095e-04 9.90786714e-01 -7.51315195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters 0.03119351733747461 Centerline is valid? [True, True] Translation: X:67.04, Y:-1.88, Z:-7.52 [[ 9.63749041e-01 2.33989661e-01 1.28205399e-01 6.70392624e+01] [-2.31786584e-01 9.72238373e-01 -3.20550446e-02 -1.87688956e+00] [-1.32146757e-01 1.17672710e-03 9.91229464e-01 -7.52104262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters 0.03136666044014137 Centerline is valid? [True, True] Translation: X:67.10, Y:-1.89, Z:-7.53 [[ 9.64129256e-01 2.30117226e-01 1.32290740e-01 6.70993650e+01] [-2.27725917e-01 9.73161207e-01 -3.31386673e-02 -1.88919046e+00] [-1.36365994e-01 1.82392869e-03 9.90656847e-01 -7.52674700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters 0.031180311043781814 Centerline is valid? [True, True] Translation: X:67.16, Y:-1.90, Z:-7.53 [[ 9.64680938e-01 2.28250187e-01 1.31501102e-01 6.71602537e+01] [-2.25864799e-01 9.73600217e-01 -3.29804492e-02 -1.90226292e+00] [-1.35557295e-01 2.11414066e-03 9.90767253e-01 -7.53297631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters 0.03096971926652639 Centerline is valid? [True, True] Translation: X:67.22, Y:-1.92, Z:-7.54 [[ 9.65194678e-01 2.26299626e-01 1.31101916e-01 6.72196903e+01] [-2.23900867e-01 9.74054651e-01 -3.29535879e-02 -1.91865411e+00] [-1.35157816e-01 2.45279500e-03 9.90821048e-01 -7.54196535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters 0.030524433351021486 Centerline is valid? [True, True] Translation: X:67.28, Y:-1.93, Z:-7.55 [[ 9.64539165e-01 2.28270008e-01 1.32502838e-01 6.72804596e+01] [-2.25828516e-01 9.73595225e-01 -3.33739326e-02 -1.93391522e+00] [-1.36622398e-01 2.26754572e-03 9.90620603e-01 -7.54840165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters 0.030277700041346653 Centerline is valid? [True, True] Translation: X:67.34, Y:-1.95, Z:-7.56 [[ 9.63990653e-01 2.29988522e-01 1.33518918e-01 6.73408806e+01] [-2.27514916e-01 9.73191042e-01 -3.37069615e-02 -1.94979418e+00] [-1.37691629e-01 2.11565043e-03 9.90472887e-01 -7.55645279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters 0.030026889448519348 Centerline is valid? [True, True] Translation: X:67.40, Y:-1.96, Z:-7.56 [[ 9.63500742e-01 2.32091137e-01 1.33416730e-01 6.74012290e+01] [-2.29630888e-01 9.72692212e-01 -3.37567153e-02 -1.96354967e+00] [-1.37608048e-01 1.88801819e-03 9.90484962e-01 -7.56264552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters 0.02989731521869429 Centerline is valid? [True, True] Translation: X:67.46, Y:-1.98, Z:-7.57 [[ 9.63802936e-01 2.30285286e-01 1.34359917e-01 6.74617884e+01] [-2.27763039e-01 9.73120612e-01 -3.40627853e-02 -1.97628180e+00] [-1.38592563e-01 2.22758957e-03 9.90346979e-01 -7.57188872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters 0.02984100664778343 Centerline is valid? [True, True] Translation: X:67.52, Y:-1.99, Z:-7.58 [[ 9.63833209e-01 2.29285153e-01 1.35844997e-01 6.75222897e+01] [-2.26687022e-01 9.73356175e-01 -3.45072706e-02 -1.99076048e+00] [-1.40137571e-01 2.46495565e-03 9.90128974e-01 -7.57823990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters 0.029732376972952623 Centerline is valid? [True, True] Translation: X:67.58, Y:-2.00, Z:-7.58 [[ 9.64673096e-01 2.28199968e-01 1.31645709e-01 6.75825892e+01] [-2.25742020e-01 9.73610805e-01 -3.35043298e-02 -2.00471476e+00] [-1.35817372e-01 2.60275730e-03 9.90730472e-01 -7.58416064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters 0.029717365240233967 Centerline is valid? [True, True] Translation: X:67.64, Y:-2.02, Z:-7.59 [[ 9.64328661e-01 2.29788858e-01 1.31405152e-01 6.76422378e+01] [-2.27345658e-01 9.73237449e-01 -3.35084841e-02 -2.01989627e+00] [-1.35588292e-01 2.43880069e-03 9.90762266e-01 -7.59181485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters 0.0296107769296231 Centerline is valid? [True, True] Translation: X:67.70, Y:-2.03, Z:-7.60 [[ 9.63745206e-01 2.31452214e-01 1.32759373e-01 6.77036934e+01] [-2.28964303e-01 9.72843565e-01 -3.39226364e-02 -2.03304610e+00] [-1.37005571e-01 2.29562089e-03 9.90567617e-01 -7.59874548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters 0.029638668762126147 Centerline is valid? [True, True] Translation: X:67.76, Y:-2.05, Z:-7.60 [[ 9.63813108e-01 2.32555221e-01 1.30316392e-01 6.77639708e+01] [-2.30158696e-01 9.72580773e-01 -3.33708533e-02 -2.04777830e+00] [-1.34503783e-01 2.16981506e-03 9.90910704e-01 -7.60407546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters 0.029668770403610194 Centerline is valid? [True, True] Translation: X:67.83, Y:-2.06, Z:-7.61 [[ 9.63388623e-01 2.34094202e-01 1.30699144e-01 6.78253970e+01] [-2.31688430e-01 9.72211806e-01 -3.35361752e-02 -2.05910273e+00] [-1.34917875e-01 2.02689025e-03 9.90854711e-01 -7.61190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters 0.0298940036164204 Centerline is valid? [True, True] Translation: X:67.89, Y:-2.07, Z:-7.62 [[ 9.62981313e-01 2.34581051e-01 1.32810850e-01 6.78857273e+01] [-2.32090521e-01 9.72094369e-01 -3.41544685e-02 -2.07374306e+00] [-1.37116671e-01 2.06597544e-03 9.90552750e-01 -7.61840780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters 0.03027420550220887 Centerline is valid? [True, True] Translation: X:67.95, Y:-2.09, Z:-7.63 [[ 9.62338599e-01 2.34970873e-01 1.36722745e-01 6.79453663e+01] [-2.32324553e-01 9.72000057e-01 -3.52305480e-02 -2.08883096e+00] [-1.41172668e-01 2.13966580e-03 9.89982676e-01 -7.62848080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters 0.030559500737015684 Centerline is valid? [True, True] Translation: X:68.01, Y:-2.10, Z:-7.64 [[ 9.62431863e-01 2.34282590e-01 1.37246409e-01 6.80053213e+01] [-2.31599019e-01 9.72165778e-01 -3.54343796e-02 -2.10335486e+00] [-1.41727921e-01 2.31704223e-03 9.89902939e-01 -7.63684129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters 0.03118425776289774 Centerline is valid? [True, True] Translation: X:68.06, Y:-2.12, Z:-7.64 [[ 9.61728069e-01 2.34395229e-01 1.41908411e-01 6.80641234e+01] [-2.31515773e-01 9.72138299e-01 -3.67093193e-02 -2.11967930e+00] [-1.46559091e-01 2.45034721e-03 9.89198882e-01 -7.64455304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters 0.031342172857864246 Centerline is valid? [True, True] Translation: X:68.12, Y:-2.14, Z:-7.65 [[ 9.62586869e-01 2.32264745e-01 1.39569365e-01 6.81238168e+01] [-2.29448331e-01 9.72648598e-01 -3.61686014e-02 -2.13504864e+00] [-1.44152638e-01 2.79146300e-03 9.89551527e-01 -7.65304624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters 0.03168574836713494 Centerline is valid? [True, True] Translation: X:68.18, Y:-2.15, Z:-7.66 [[ 9.62345155e-01 2.31499777e-01 1.42476860e-01 6.81828858e+01] [-2.28545023e-01 9.72830211e-01 -3.69939525e-02 -2.15316559e+00] [-1.47169886e-01 3.03857372e-03 9.89106562e-01 -7.66081623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters 0.03215007175562804 Centerline is valid? [True, True] Translation: X:68.24, Y:-2.17, Z:-7.67 [[ 9.62247890e-01 2.31683610e-01 1.42834530e-01 6.82420237e+01] [-2.28704961e-01 9.72786284e-01 -3.71602838e-02 -2.17315852e+00] [-1.47556900e-01 3.09043919e-03 9.89048740e-01 -7.67116130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters 0.03186795115747213 Centerline is valid? [True, True] Translation: X:68.30, Y:-2.19, Z:-7.68 [[ 9.61728356e-01 2.34561535e-01 1.41631406e-01 6.83009478e+01] [-2.31654076e-01 9.72097543e-01 -3.69155275e-02 -2.19466656e+00] [-1.46338505e-01 2.69321703e-03 9.89230908e-01 -7.67682087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters 0.03141609044865605 Centerline is valid? [True, True] Translation: X:68.36, Y:-2.21, Z:-7.68 [[ 9.60425492e-01 2.41830747e-01 1.38205513e-01 6.83593523e+01] [-2.39133153e-01 9.70317164e-01 -3.60546298e-02 -2.21359413e+00] [-1.42822300e-01 1.57826541e-03 9.89747089e-01 -7.68452033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters 0.03158260389326917 Centerline is valid? [True, True] Translation: X:68.42, Y:-2.23, Z:-7.69 [[ 9.58022477e-01 2.50936482e-01 1.38649972e-01 6.84184390e+01] [-2.48306510e-01 9.68003512e-01 -3.62364156e-02 -2.23125714e+00] [-1.43306699e-01 2.87609930e-04 9.89678285e-01 -7.69330743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters 0.031516920046279866 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.24, Z:-7.70 [[ 9.57433186e-01 2.53955644e-01 1.37215982e-01 6.84783273e+01] [-2.51401204e-01 9.67215861e-01 -3.59292783e-02 -2.24431123e+00] [-1.41841917e-01 -9.63796882e-05 9.89889318e-01 -7.70065619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters 0.03162574257938658 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.26, Z:-7.71 [[ 9.57514997e-01 2.52327545e-01 1.39627504e-01 6.85387760e+01] [-2.49654689e-01 9.67641857e-01 -3.66302186e-02 -2.25679510e+00] [-1.44352230e-01 2.15322700e-04 9.89526345e-01 -7.70718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters 0.031744645503174185 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.27, Z:-7.71 [[ 9.58063496e-01 2.51279138e-01 1.37742997e-01 6.86000618e+01] [-2.48657838e-01 9.67914566e-01 -3.62032231e-02 -2.26809789e+00] [-1.42420568e-01 4.34110596e-04 9.89806139e-01 -7.71280427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters 0.031661481260273856 Centerline is valid? [True, True] Translation: X:68.66, Y:-2.28, Z:-7.72 [[ 9.58585467e-01 2.50452381e-01 1.35600542e-01 6.86605935e+01] [-2.47894784e-01 9.68128726e-01 -3.57063953e-02 -2.27772987e+00] [-1.40221531e-01 6.12964604e-04 9.90119966e-01 -7.72284736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters 0.03168409061976139 Centerline is valid? [True, True] Translation: X:68.72, Y:-2.29, Z:-7.73 [[ 9.59056500e-01 2.48126409e-01 1.36542723e-01 6.87212640e+01] [-2.45499749e-01 9.68727119e-01 -3.60228010e-02 -2.28918017e+00] [-1.41210847e-01 1.02669715e-03 9.89979011e-01 -7.72924665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters 0.031966833863169654 Centerline is valid? [True, True] Translation: X:68.78, Y:-2.30, Z:-7.73 [[ 9.59752237e-01 2.46302359e-01 1.34947368e-01 6.87820873e+01] [-2.43709766e-01 9.69192107e-01 -3.56680478e-02 -2.30063617e+00] [-1.39575048e-01 1.34449723e-03 9.90210583e-01 -7.73457297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters 0.032114907227907524 Centerline is valid? [True, True] Translation: X:68.84, Y:-2.31, Z:-7.74 [[ 9.60739592e-01 2.43328895e-01 1.33305980e-01 6.88432525e+01] [-2.40761480e-01 9.69942130e-01 -3.53011940e-02 -2.31320397e+00] [-1.37888887e-01 1.82030963e-03 9.90446031e-01 -7.74166038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters 0.03249050577061575 Centerline is valid? [True, True] Translation: X:68.90, Y:-2.33, Z:-7.75 [[ 9.61060791e-01 2.40492776e-01 1.36107972e-01 6.89020112e+01] [-2.37776405e-01 9.70648082e-01 -3.61203844e-02 -2.33116172e+00] [-1.40799633e-01 2.35062098e-03 9.90035322e-01 -7.74866279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters 0.03210783463010302 Centerline is valid? [True, True] Translation: X:68.96, Y:-2.35, Z:-7.75 [[ 9.61126099e-01 2.42097839e-01 1.32760157e-01 6.89617523e+01] [-2.39520349e-01 9.70249512e-01 -3.52971223e-02 -2.34675727e+00] [-1.37355834e-01 2.12622649e-03 9.90519487e-01 -7.75495385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters 0.03225531468570355 Centerline is valid? [True, True] Translation: X:69.02, Y:-2.37, Z:-7.76 [[ 9.59366659e-01 2.47825385e-01 1.34900675e-01 6.90215707e+01] [-2.45209975e-01 9.68803708e-01 -3.59366447e-02 -2.36724132e+00] [-1.39598287e-01 1.39742751e-03 9.90207234e-01 -7.76107501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters 0.0320106642812722 Centerline is valid? [True, True] Translation: X:69.08, Y:-2.38, Z:-7.77 [[ 9.58592877e-01 2.51162866e-01 1.34227089e-01 6.90813212e+01] [-2.48595468e-01 9.67944343e-01 -3.58335355e-02 -2.38115876e+00] [-1.38924405e-01 9.81525878e-04 9.90302502e-01 -7.76893385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters 0.0316021712892219 Centerline is valid? [True, True] Translation: X:69.14, Y:-2.40, Z:-7.78 [[ 9.57386966e-01 2.55858298e-01 1.33965403e-01 6.91409447e+01] [-2.53337176e-01 9.66714227e-01 -3.58312384e-02 -2.39654896e+00] [-1.38673981e-01 3.65943789e-04 9.90338020e-01 -7.77782438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters 0.03106920561032637 Centerline is valid? [True, True] Translation: X:69.20, Y:-2.41, Z:-7.78 [[ 9.57433591e-01 2.56805580e-01 1.31802174e-01 6.92021918e+01] [-2.54366456e-01 9.66463044e-01 -3.53113511e-02 -2.40843535e+00] [-1.36450082e-01 2.82221800e-04 9.90646908e-01 -7.78465670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters 0.030780107600360682 Centerline is valid? [True, True] Translation: X:69.26, Y:-2.42, Z:-7.79 [[ 9.56366382e-01 2.60116926e-01 1.33050849e-01 6.92621213e+01] [-2.57658644e-01 9.65577112e-01 -3.56772245e-02 -2.42216042e+00] [-1.37751104e-01 -1.61203228e-04 9.90466863e-01 -7.79247777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters 0.03022627194398282 Centerline is valid? [True, True] Translation: X:69.32, Y:-2.44, Z:-7.80 [[ 9.55056753e-01 2.64830949e-01 1.33158427e-01 6.93229840e+01] [-2.62404669e-01 9.64294544e-01 -3.57745921e-02 -2.43615943e+00] [-1.37878164e-01 -7.74627067e-04 9.90448894e-01 -7.79989968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters 0.03017296108573092 Centerline is valid? [True, True] Translation: X:69.38, Y:-2.45, Z:-7.81 [[ 9.54355715e-01 2.66887469e-01 1.34075534e-01 6.93828959e+01] [-2.64437193e-01 9.63727174e-01 -3.60957705e-02 -2.45320299e+00] [-1.38845744e-01 -1.00635301e-03 9.90313509e-01 -7.80518871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters 0.029922903174747238 Centerline is valid? [True, True] Translation: X:69.44, Y:-2.47, Z:-7.81 [[ 9.54224495e-01 2.67581398e-01 1.33625630e-01 6.94431862e+01] [-2.65144944e-01 9.63534700e-01 -3.60422033e-02 -2.46876967e+00] [-1.38397154e-01 -1.03780688e-03 9.90376267e-01 -7.81482363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters 0.02983195622136437 Centerline is valid? [True, True] Translation: X:69.50, Y:-2.49, Z:-7.82 [[ 9.55044252e-01 2.64755946e-01 1.33397022e-01 6.95021313e+01] [-2.62290156e-01 9.64315291e-01 -3.60540351e-02 -2.48729254e+00] [-1.38182308e-01 -5.55526651e-04 9.90406654e-01 -7.82230102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters 0.03000942924729911 Centerline is valid? [True, True] Translation: X:69.56, Y:-2.50, Z:-7.83 [[ 9.55437027e-01 2.63061254e-01 1.33936041e-01 6.95628045e+01] [-2.60549273e-01 9.64779102e-01 -3.62678891e-02 -2.50430075e+00] [-1.38759370e-01 -2.45253935e-04 9.90326096e-01 -7.82876213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters 0.029697437026438723 Centerline is valid? [True, True] Translation: X:69.62, Y:-2.52, Z:-7.83 [[ 9.56597162e-01 2.59836769e-01 1.31934540e-01 6.96210323e+01] [-2.57359037e-01 9.65652510e-01 -3.57988388e-02 -2.52417648e+00] [-1.36704774e-01 2.90521484e-04 9.90611791e-01 -7.83483176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters 0.029760855708241916 Centerline is valid? [True, True] Translation: X:69.68, Y:-2.55, Z:-7.84 [[ 9.57425353e-01 2.57755947e-01 1.29994479e-01 6.96791011e+01] [-2.55323133e-01 9.66209843e-01 -3.53360569e-02 -2.54593257e+00] [-1.34710024e-01 6.41039197e-04 9.90884856e-01 -7.84235182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters 0.029905424577475057 Centerline is valid? [True, True] Translation: X:69.74, Y:-2.57, Z:-7.85 [[ 9.56889072e-01 2.58589846e-01 1.32267134e-01 6.97373200e+01] [-2.56069381e-01 9.65987025e-01 -3.60213694e-02 -2.56925922e+00] [-1.37083095e-01 5.98891678e-04 9.90559370e-01 -7.84686664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters 0.0297046133680741 Centerline is valid? [True, True] Translation: X:69.79, Y:-2.59, Z:-7.86 [[ 9.56417558e-01 2.60796242e-01 1.31342205e-01 6.97949567e+01] [-2.58322698e-01 9.65393806e-01 -3.58354883e-02 -2.58954831e+00] [-1.36142711e-01 3.45017556e-04 9.90689176e-01 -7.85619559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters 0.02996122244891388 Centerline is valid? [True, True] Translation: X:69.85, Y:-2.61, Z:-7.86 [[ 9.55008706e-01 2.66375930e-01 1.30392618e-01 6.98525892e+01] [-2.63980994e-01 9.63869139e-01 -3.56415135e-02 -2.61391800e+00] [-1.35175462e-01 -3.83217340e-04 9.90821602e-01 -7.86275473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters 0.03011200204720263 Centerline is valid? [True, True] Translation: X:69.91, Y:-2.64, Z:-7.87 [[ 9.53087372e-01 2.72923024e-01 1.30910215e-01 6.99106511e+01] [-2.70561341e-01 9.62035059e-01 -3.58483812e-02 -2.63584996e+00] [-1.35724065e-01 -1.25260403e-03 9.90745885e-01 -7.86704366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters 0.03031483682233111 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.65, Z:-7.88 [[ 9.51088164e-01 2.80417086e-01 1.29605408e-01 6.99697839e+01] [-2.78163015e-01 9.59875646e-01 -3.55539229e-02 -2.65387018e+00] [-1.34375003e-01 -2.23651585e-03 9.90928028e-01 -7.87666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters 0.031455785774664645 Centerline is valid? [True, True] Translation: X:70.03, Y:-2.68, Z:-7.89 [[ 9.49079735e-01 2.86059522e-01 1.31975779e-01 7.00276590e+01] [-2.83767104e-01 9.58207065e-01 -3.62691370e-02 -2.67500181e+00] [-1.36835256e-01 -3.02808169e-03 9.90589190e-01 -7.88503075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters 0.03212402895621359 Centerline is valid? [True, True] Translation: X:70.09, Y:-2.69, Z:-7.89 [[ 9.47812095e-01 2.89800822e-01 1.32919964e-01 7.00863908e+01] [-2.87503057e-01 9.57080459e-01 -3.65921636e-02 -2.69302136e+00] [-1.37819540e-01 -3.53240092e-03 9.90451057e-01 -7.89324744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters 0.03250583231449584 Centerline is valid? [True, True] Translation: X:70.15, Y:-2.71, Z:-7.90 [[ 9.46869518e-01 2.93007718e-01 1.32606909e-01 7.01463232e+01] [-2.90743470e-01 9.56102000e-01 -3.65677464e-02 -2.70791610e+00] [-1.37500363e-01 -3.92970845e-03 9.90493921e-01 -7.89913438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters 0.033408687592565885 Centerline is valid? [True, True] Translation: X:70.21, Y:-2.72, Z:-7.91 [[ 9.45926111e-01 2.95732536e-01 1.33289383e-01 7.02065429e+01] [-2.93463036e-01 9.55261156e-01 -3.68180554e-02 -2.72197376e+00] [-1.38214468e-01 -4.28834719e-03 9.90393039e-01 -7.90710886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters 0.03329160886884052 Centerline is valid? [True, True] Translation: X:70.27, Y:-2.74, Z:-7.92 [[ 9.45790193e-01 2.95563031e-01 1.34623200e-01 7.02675345e+01] [-2.93236898e-01 9.55313811e-01 -3.72511090e-02 -2.73558766e+00] [-1.39617452e-01 -4.24475587e-03 9.90196419e-01 -7.91532352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters 0.032319408896071204 Centerline is valid? [True, True] Translation: X:70.33, Y:-2.74, Z:-7.92 [[ 9.47936992e-01 2.89897218e-01 1.31814501e-01 7.03294637e+01] [-2.87604478e-01 9.57052172e-01 -3.65349687e-02 -2.74346217e+00] [-1.36744740e-01 -3.27759230e-03 9.90600895e-01 -7.92348074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters 0.03236547242970938 Centerline is valid? [True, True] Translation: X:70.39, Y:-2.76, Z:-7.93 [[ 9.47805781e-01 2.88601468e-01 1.35548495e-01 7.03897108e+01] [-2.86158773e-01 9.57444136e-01 -3.76016335e-02 -2.75537490e+00] [-1.40631998e-01 -3.14934530e-03 9.90056929e-01 -7.93114411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters 0.03184797860917849 Centerline is valid? [True, True] Translation: X:70.45, Y:-2.77, Z:-7.94 [[ 9.48796563e-01 2.85717689e-01 1.34723732e-01 7.04488735e+01] [-2.83266856e-01 9.58310187e-01 -3.74362576e-02 -2.77408847e+00] [-1.39803325e-01 -2.64337527e-03 9.90175764e-01 -7.93740298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters 0.03137045086800114 Centerline is valid? [True, True] Translation: X:70.51, Y:-2.79, Z:-7.94 [[ 9.49794980e-01 2.83113910e-01 1.33176610e-01 7.05093307e+01] [-2.80685100e-01 9.59083829e-01 -3.70686245e-02 -2.78736227e+00] [-1.38222177e-01 -2.17309676e-03 9.90398863e-01 -7.94472189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters 0.031206155684187945 Centerline is valid? [True, True] Translation: X:70.57, Y:-2.81, Z:-7.95 [[ 9.49826503e-01 2.83018438e-01 1.33154713e-01 7.05683672e+01] [-2.80580460e-01 9.59112178e-01 -3.71272874e-02 -2.80902851e+00] [-1.38218014e-01 -2.09612921e-03 9.90399610e-01 -7.95142243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters 0.03120026648693445 Centerline is valid? [True, True] Translation: X:70.63, Y:-2.83, Z:-7.96 [[ 9.49626999e-01 2.84579170e-01 1.31237411e-01 7.06271252e+01] [-2.82216374e-01 9.58649968e-01 -3.66627473e-02 -2.82729816e+00] [-1.36244194e-01 -2.22141142e-03 9.90672794e-01 -7.95708093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters 0.031888253163977275 Centerline is valid? [True, True] Translation: X:70.69, Y:-2.85, Z:-7.97 [[ 9.48018067e-01 2.89408149e-01 1.32305207e-01 7.06852019e+01] [-2.87044449e-01 9.57201465e-01 -3.70248506e-02 -2.84754890e+00] [-1.37358031e-01 -2.87724795e-03 9.90517285e-01 -7.96572374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters 0.03215026405220938 Centerline is valid? [True, True] Translation: X:70.74, Y:-2.87, Z:-7.97 [[ 9.47036873e-01 2.92718799e-01 1.32048722e-01 7.07438098e+01] [-2.90387483e-01 9.56192912e-01 -3.70165430e-02 -2.86585750e+00] [-1.37099490e-01 -3.28926499e-03 9.90551821e-01 -7.97395682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters 0.03244763931003435 Centerline is valid? [True, True] Translation: X:70.80, Y:-2.88, Z:-7.98 [[ 9.46711606e-01 2.93945314e-01 1.31655944e-01 7.08035586e+01] [-2.91630894e-01 9.55816210e-01 -3.69701805e-02 -2.88381580e+00] [-1.36706097e-01 -3.39484170e-03 9.90605834e-01 -7.98066419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters 0.033031295934447626 Centerline is valid? [True, True] Translation: X:70.86, Y:-2.90, Z:-7.99 [[ 9.45660505e-01 2.97109376e-01 1.32106880e-01 7.08638553e+01] [-2.94799897e-01 9.54835902e-01 -3.71674760e-02 -2.89794413e+00] [-1.37183197e-01 -3.79728057e-03 9.90538415e-01 -7.98630148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters 0.03358740185483882 Centerline is valid? [True, True] Translation: X:70.92, Y:-2.91, Z:-7.99 [[ 9.44629180e-01 3.00611829e-01 1.31560788e-01 7.09233718e+01] [-2.98346721e-01 9.53737202e-01 -3.70753806e-02 -2.91378510e+00] [-1.36619716e-01 -4.22824329e-03 9.90614544e-01 -7.99334019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters 0.034077340447035524 Centerline is valid? [True, True] Translation: X:70.98, Y:-2.93, Z:-8.00 [[ 9.43781821e-01 3.03650225e-01 1.30661454e-01 7.09825732e+01] [-3.01436767e-01 9.52772579e-01 -3.68820895e-02 -2.92974688e+00] [-1.35689905e-01 -4.57752050e-03 9.90740781e-01 -8.00098100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters 0.033566927616449596 Centerline is valid? [True, True] Translation: X:71.04, Y:-2.94, Z:-8.01 [[ 9.44216492e-01 3.02671056e-01 1.29790016e-01 7.10448220e+01] [-3.00470282e-01 9.53085141e-01 -3.66922763e-02 -2.93790849e+00] [-1.34806625e-01 -4.35259015e-03 9.90862366e-01 -8.00826530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters 0.03355325363738928 Centerline is valid? [True, True] Translation: X:71.10, Y:-2.96, Z:-8.02 [[ 9.44212755e-01 3.02295158e-01 1.30690130e-01 7.11048276e+01] [-3.00054056e-01 9.53204731e-01 -3.69906049e-02 -2.95594698e+00] [-1.35756531e-01 -4.28710281e-03 9.90732953e-01 -8.01593339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters 0.03321365659728039 Centerline is valid? [True, True] Translation: X:71.17, Y:-2.97, Z:-8.02 [[ 9.44525299e-01 3.00635209e-01 1.32251392e-01 7.11653830e+01] [-2.98313984e-01 9.53730694e-01 -3.75037428e-02 -2.96721601e+00] [-1.37407158e-01 -4.02920577e-03 9.90506456e-01 -8.02448010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters 0.03272482095475531 Centerline is valid? [True, True] Translation: X:71.23, Y:-2.98, Z:-8.03 [[ 9.45402573e-01 2.98711449e-01 1.30328221e-01 7.12254338e+01] [-2.96431877e-01 9.54336528e-01 -3.70126138e-02 -2.98367410e+00] [-1.35433073e-01 -3.64161881e-03 9.90779805e-01 -8.03119833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters 0.032147246398252546 Centerline is valid? [True, True] Translation: X:71.29, Y:-3.00, Z:-8.03 [[ 9.46678658e-01 2.95155039e-01 1.29162773e-01 7.12863907e+01] [-2.92879518e-01 9.55444416e-01 -3.67090648e-02 -2.99719654e+00] [-1.34242716e-01 -3.07744256e-03 9.90943703e-01 -8.03477321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters 0.031364990473913924 Centerline is valid? [True, True] Translation: X:71.35, Y:-3.01, Z:-8.04 [[ 9.48019359e-01 2.90344495e-01 1.30228147e-01 7.13460049e+01] [-2.87978180e-01 9.56919275e-01 -3.70684340e-02 -3.01446090e+00] [-1.35380439e-01 -2.36127165e-03 9.90790877e-01 -8.04303958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters 0.030965756208020445 Centerline is valid? [True, True] Translation: X:71.41, Y:-3.03, Z:-8.05 [[ 9.48932419e-01 2.87022462e-01 1.30940329e-01 7.14065436e+01] [-2.84595463e-01 9.57922016e-01 -3.72938871e-02 -3.02904734e+00] [-1.36134808e-01 -1.87564523e-03 9.90688546e-01 -8.05033300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters 0.030425975132399922 Centerline is valid? [True, True] Translation: X:71.47, Y:-3.05, Z:-8.06 [[ 9.49436203e-01 2.86345256e-01 1.28752830e-01 7.14652062e+01] [-2.83989017e-01 9.58124956e-01 -3.66988551e-02 -3.04992125e+00] [-1.33869843e-01 -1.72116812e-03 9.90997428e-01 -8.05614668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters 0.030051586157424193 Centerline is valid? [True, True] Translation: X:71.53, Y:-3.06, Z:-8.06 [[ 9.49506961e-01 2.85833157e-01 1.29367449e-01 7.15256020e+01] [-2.83440747e-01 9.58278073e-01 -3.69388454e-02 -3.06494576e+00] [-1.34528337e-01 -1.59431567e-03 9.90908464e-01 -8.06417961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters 0.030611864752514806 Centerline is valid? [True, True] Translation: X:71.59, Y:-3.08, Z:-8.07 [[ 9.48425538e-01 2.88515382e-01 1.31331158e-01 7.15863698e+01] [-2.86064973e-01 9.57473306e-01 -3.75725826e-02 -3.07743647e+00] [-1.36586346e-01 -1.93444730e-03 9.90626281e-01 -8.07044717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters 0.03108665804783164 Centerline is valid? [True, True] Translation: X:71.65, Y:-3.09, Z:-8.08 [[ 9.46885371e-01 2.94163036e-01 1.29908435e-01 7.16461337e+01] [-2.91809785e-01 9.55751562e-01 -3.72290273e-02 -3.09366927e+00] [-1.35111593e-01 -2.65693109e-03 9.90826826e-01 -8.07662289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters 0.03187931767849503 Centerline is valid? [True, True] Translation: X:71.71, Y:-3.11, Z:-8.08 [[ 9.45287343e-01 2.98847645e-01 1.30850768e-01 7.17061795e+01] [-2.96495771e-01 9.54295169e-01 -3.75631289e-02 -3.10729913e+00] [-1.36095908e-01 -3.28874882e-03 9.90690208e-01 -8.08394223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters 0.03294296320569658 Centerline is valid? [True, True] Translation: X:71.77, Y:-3.12, Z:-8.09 [[ 9.42879026e-01 3.05068032e-01 1.33838106e-01 7.17675436e+01] [-3.02660895e-01 9.52321187e-01 -3.84803688e-02 -3.11682065e+00] [-1.39195994e-01 -4.22522842e-03 9.90255837e-01 -8.08820966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters 0.03368725258454295 Centerline is valid? [True, True] Translation: X:71.83, Y:-3.13, Z:-8.10 [[ 9.42069070e-01 3.08367479e-01 1.31967292e-01 7.18277312e+01] [-3.06054590e-01 9.51256136e-01 -3.79782981e-02 -3.12967588e+00] [-1.37245968e-01 -4.61101557e-03 9.90526266e-01 -8.09707314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters 0.03310470877713132 Centerline is valid? [True, True] Translation: X:71.89, Y:-3.14, Z:-8.11 [[ 9.42578527e-01 3.07532335e-01 1.30267353e-01 7.18891873e+01] [-3.05262505e-01 9.51527590e-01 -3.75506127e-02 -3.14010298e+00] [-1.35501008e-01 -4.37133727e-03 9.90767565e-01 -8.10554732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters 0.03263464358944039 Centerline is valid? [True, True] Translation: X:71.95, Y:-3.15, Z:-8.11 [[ 9.43032784e-01 3.04858251e-01 1.33231434e-01 7.19506365e+01] [-3.02448092e-01 9.52389259e-01 -3.84688276e-02 -3.14926236e+00] [-1.38615726e-01 -4.01822738e-03 9.90338091e-01 -8.11055353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters 0.032451266999455136 Centerline is valid? [True, True] Translation: X:72.01, Y:-3.16, Z:-8.12 [[ 9.44088937e-01 3.01845985e-01 1.32608752e-01 7.20109278e+01] [-2.99420122e-01 9.53350283e-01 -3.83513913e-02 -3.16349601e+00] [-1.37998805e-01 -3.49860453e-03 9.90426216e-01 -8.11774255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters 0.03170953985164103 Centerline is valid? [True, True] Translation: X:72.07, Y:-3.17, Z:-8.13 [[ 9.45613587e-01 2.98076460e-01 1.30251171e-01 7.20730044e+01] [-2.95693142e-01 9.54537770e-01 -3.77254713e-02 -3.17209262e+00] [-1.35574737e-01 -2.84065957e-03 9.90763050e-01 -8.12692666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters 0.031738359717016544 Centerline is valid? [True, True] Translation: X:72.13, Y:-3.18, Z:-8.13 [[ 9.45740445e-01 2.96517318e-01 1.32862678e-01 7.21349123e+01] [-2.94017273e-01 9.55023828e-01 -3.85140380e-02 -3.18258816e+00] [-1.38307103e-01 -2.63963891e-03 9.90385873e-01 -8.13305888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters 0.03143633086393869 Centerline is valid? [True, True] Translation: X:72.19, Y:-3.20, Z:-8.14 [[ 9.46518611e-01 2.93321256e-01 1.34406698e-01 7.21947377e+01] [-2.90719979e-01 9.56011568e-01 -3.90355819e-02 -3.19789178e+00] [-1.39944324e-01 -2.12680774e-03 9.90157090e-01 -8.14193401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters 0.03144978356548047 Centerline is valid? [True, True] Translation: X:72.26, Y:-3.21, Z:-8.15 [[ 9.46784998e-01 2.92972522e-01 1.33286415e-01 7.22554810e+01] [-2.90402104e-01 9.56118780e-01 -3.87749561e-02 -3.21078763e+00] [-1.38797641e-01 -1.99510868e-03 9.90318754e-01 -8.14882211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters 0.03126087547243986 Centerline is valid? [True, True] Translation: X:72.32, Y:-3.22, Z:-8.16 [[ 9.47173341e-01 2.92978169e-01 1.30485454e-01 7.23158227e+01] [-2.90506494e-01 9.56117258e-01 -3.80232203e-02 -3.22407614e+00] [-1.35899368e-01 -1.89229106e-03 9.90720839e-01 -8.15507932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters 0.030693288497428948 Centerline is valid? [True, True] Translation: X:72.38, Y:-3.24, Z:-8.16 [[ 9.48043001e-01 2.92332113e-01 1.25524518e-01 7.23753844e+01] [-2.90031980e-01 9.56315398e-01 -3.66375646e-02 -3.24022350e+00] [-1.30751366e-01 -1.67213791e-03 9.91413780e-01 -8.16054784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters 0.030667771400485818 Centerline is valid? [True, True] Translation: X:72.44, Y:-3.26, Z:-8.17 [[ 9.49158037e-01 2.87742291e-01 1.27684745e-01 7.24367808e+01] [-2.85311730e-01 9.57707359e-01 -3.73340454e-02 -3.25511979e+00] [-1.33027203e-01 -9.94046124e-04 9.91111888e-01 -8.16557188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters 0.030772132884519642 Centerline is valid? [True, True] Translation: X:72.50, Y:-3.27, Z:-8.17 [[ 9.49803010e-01 2.86304836e-01 1.26110201e-01 7.24961415e+01] [-2.83912093e-01 9.58138315e-01 -3.69444541e-02 -3.27168325e+00] [-1.31408391e-01 -7.14257335e-04 9.91328061e-01 -8.17234433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters 0.030763921832138913 Centerline is valid? [True, True] Translation: X:72.56, Y:-3.29, Z:-8.18 [[ 9.49717266e-01 2.86183687e-01 1.27027604e-01 7.25552479e+01] [-2.83745991e-01 9.58174561e-01 -3.72790022e-02 -3.29112872e+00] [-1.32383261e-01 -6.39061239e-04 9.91198398e-01 -8.17946524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters 0.03046237566351869 Centerline is valid? [True, True] Translation: X:72.61, Y:-3.31, Z:-8.19 [[ 9.49608302e-01 2.85320688e-01 1.29754300e-01 7.26139027e+01] [-2.82758434e-01 9.58431999e-01 -3.81545784e-02 -3.31013810e+00] [-1.35246964e-01 -4.57218256e-04 9.90811814e-01 -8.18723079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters 0.03047896076215827 Centerline is valid? [True, True] Translation: X:72.67, Y:-3.33, Z:-8.19 [[ 9.50043579e-01 2.83652668e-01 1.30224277e-01 7.26737439e+01] [-2.81046772e-01 9.58927077e-01 -3.83610787e-02 -3.32797356e+00] [-1.35756808e-01 -1.54416167e-04 9.90742179e-01 -8.19479763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters 0.030943716992713692 Centerline is valid? [True, True] Translation: X:72.73, Y:-3.35, Z:-8.20 [[ 9.50117969e-01 2.81217239e-01 1.34880355e-01 7.27312914e+01] [-2.78385121e-01 9.59644094e-01 -3.98112586e-02 -3.34923691e+00] [-1.40632748e-01 2.76708284e-04 9.90061793e-01 -8.20157424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters 0.030628677464220856 Centerline is valid? [True, True] Translation: X:72.79, Y:-3.37, Z:-8.21 [[ 9.50715709e-01 2.79402764e-01 1.34438596e-01 7.27906685e+01] [-2.76561799e-01 9.60173800e-01 -3.97472661e-02 -3.36797254e+00] [-1.40189913e-01 6.07770495e-04 9.90124446e-01 -8.21001753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters 0.030743112963065658 Centerline is valid? [True, True] Translation: X:72.85, Y:-3.39, Z:-8.22 [[ 9.50519563e-01 2.80512056e-01 1.33512346e-01 7.28490295e+01] [-2.77710467e-01 9.59850364e-01 -3.95496528e-02 -3.38811539e+00] [-1.39246028e-01 5.14942695e-04 9.90257683e-01 -8.21841973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters 0.030644033132028778 Centerline is valid? [True, True] Translation: X:72.91, Y:-3.41, Z:-8.22 [[ 9.49704820e-01 2.81924269e-01 1.36306501e-01 7.29081686e+01] [-2.79007849e-01 9.59436585e-01 -4.04482441e-02 -3.40647908e+00] [-1.42180785e-01 3.83308829e-04 9.89840632e-01 -8.22472122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters 0.03037214449203352 Centerline is valid? [True, True] Translation: X:72.97, Y:-3.43, Z:-8.23 [[ 9.49974528e-01 2.82588333e-01 1.33012140e-01 7.29655448e+01] [-2.79808985e-01 9.59241220e-01 -3.95375072e-02 -3.42805992e+00] [-1.38763566e-01 3.41632725e-04 9.90325480e-01 -8.23336893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters 0.03048294651819054 Centerline is valid? [True, True] Translation: X:73.02, Y:-3.45, Z:-8.24 [[ 9.49333046e-01 2.84480400e-01 1.33557740e-01 7.30242339e+01] [-2.81686785e-01 9.58681847e-01 -3.97702266e-02 -3.44920925e+00] [-1.39353231e-01 1.33740012e-04 9.90242727e-01 -8.24145869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters 0.03033530696615489 Centerline is valid? [True, True] Translation: X:73.08, Y:-3.47, Z:-8.25 [[ 9.48587148e-01 2.88236018e-01 1.30776222e-01 7.30831106e+01] [-2.85584389e-01 9.57559335e-01 -3.90086875e-02 -3.47027869e+00] [-1.36469701e-01 -3.44507896e-04 9.90644185e-01 -8.24616490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters 0.03033260862351512 Centerline is valid? [True, True] Translation: X:73.14, Y:-3.49, Z:-8.25 [[ 9.47007406e-01 2.94048907e-01 1.29275724e-01 7.31426900e+01] [-2.91507614e-01 9.55789697e-01 -3.85922935e-02 -3.48896337e+00] [-1.34908427e-01 -1.13767011e-03 9.90857418e-01 -8.25278715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters 0.03076012835088171 Centerline is valid? [True, True] Translation: X:73.20, Y:-3.51, Z:-8.26 [[ 9.45250435e-01 2.98273807e-01 1.32417338e-01 7.32016927e+01] [-2.95637492e-01 9.54478817e-01 -3.96063129e-02 -3.50710543e+00] [-1.38203070e-01 -1.70964531e-03 9.90402438e-01 -8.26059490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters 0.030834677250600528 Centerline is valid? [True, True] Translation: X:73.26, Y:-3.52, Z:-8.27 [[ 9.44845866e-01 2.99418177e-01 1.32721680e-01 7.32625429e+01] [-2.96771280e-01 9.54120255e-01 -3.97661484e-02 -3.52197541e+00] [-1.38539151e-01 -1.81510213e-03 9.90355294e-01 -8.26720244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters 0.030807003291577068 Centerline is valid? [True, True] Translation: X:73.32, Y:-3.54, Z:-8.28 [[ 9.44930204e-01 3.00741351e-01 1.29079628e-01 7.33228986e+01] [-2.98241071e-01 9.53703877e-01 -3.87450458e-02 -3.53544843e+00] [-1.34755979e-01 -1.88548248e-03 9.90877021e-01 -8.27611624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters 0.030641156006232132 Centerline is valid? [True, True] Translation: X:73.38, Y:-3.55, Z:-8.28 [[ 9.44433046e-01 3.01688392e-01 1.30500331e-01 7.33828739e+01] [-2.99132557e-01 9.53404527e-01 -3.92367356e-02 -3.54948164e+00] [-1.36256874e-01 -1.98042800e-03 9.90671561e-01 -8.28397887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters 0.03078197730195083 Centerline is valid? [True, True] Translation: X:73.44, Y:-3.56, Z:-8.29 [[ 9.44998630e-01 2.99800177e-01 1.30757189e-01 7.34444619e+01] [-2.97207279e-01 9.54000595e-01 -3.93789074e-02 -3.55933496e+00] [-1.36548240e-01 -1.64897486e-03 9.90632050e-01 -8.28830607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters 0.03085271195255477 Centerline is valid? [True, True] Translation: X:73.51, Y:-3.57, Z:-8.30 [[ 9.44700899e-01 3.00623476e-01 1.31018079e-01 7.35063355e+01] [-2.98018848e-01 9.53741375e-01 -3.95241139e-02 -3.57110301e+00] [-1.36839240e-01 -1.70739113e-03 9.90591797e-01 -8.29713108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters 0.030814296947670256 Centerline is valid? [True, True] Translation: X:73.57, Y:-3.58, Z:-8.30 [[ 9.44224421e-01 3.02281896e-01 1.30636511e-01 7.35680379e+01] [-2.99697987e-01 9.53216743e-01 -3.94836421e-02 -3.58172677e+00] [-1.36460100e-01 -1.87008045e-03 9.90643803e-01 -8.30419649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters 0.03091251339691487 Centerline is valid? [True, True] Translation: X:73.63, Y:-3.59, Z:-8.31 [[ 9.44190299e-01 3.02086612e-01 1.31333005e-01 7.36321597e+01] [-2.99462644e-01 9.53278822e-01 -3.97694903e-02 -3.58633106e+00] [-1.37210803e-01 -1.77936200e-03 9.90540271e-01 -8.31074511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters 0.030607854454249336 Centerline is valid? [True, True] Translation: X:73.69, Y:-3.60, Z:-8.32 [[ 9.44967739e-01 2.99565352e-01 1.31516431e-01 7.36927014e+01] [-2.96899470e-01 9.54074836e-01 -3.98987693e-02 -3.59943479e+00] [-1.37428806e-01 -1.34410888e-03 9.90510735e-01 -8.31865143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters 0.030636120305567793 Centerline is valid? [True, True] Translation: X:73.75, Y:-3.61, Z:-8.33 [[ 9.45864561e-01 2.95469524e-01 1.34305592e-01 7.37544801e+01] [-2.92637957e-01 9.55351910e-01 -4.08136527e-02 -3.60774215e+00] [-1.40368295e-01 -6.98726379e-04 9.90099113e-01 -8.32931980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters 0.03071768763407022 Centerline is valid? [True, True] Translation: X:73.82, Y:-3.62, Z:-8.33 [[ 9.46993864e-01 2.91950624e-01 1.34042737e-01 7.38162616e+01] [-2.89085205e-01 9.56433386e-01 -4.08034663e-02 -3.62168795e+00] [-1.40115546e-01 -1.09139881e-04 9.90135153e-01 -8.33490889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters 0.03081657412692561 Centerline is valid? [True, True] Translation: X:73.88, Y:-3.64, Z:-8.34 [[ 9.47640874e-01 2.89693243e-01 1.34367401e-01 7.38767998e+01] [-2.86780022e-01 9.57119498e-01 -4.09815283e-02 -3.63770311e+00] [-1.40477731e-01 3.01885281e-04 9.90083792e-01 -8.34417546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters 0.030937267561791073 Centerline is valid? [True, True] Translation: X:73.94, Y:-3.65, Z:-8.35 [[ 9.47954438e-01 2.88320293e-01 1.35106592e-01 7.39363232e+01] [-2.85349698e-01 9.57533847e-01 -4.12853762e-02 -3.65316626e+00] [-1.41272546e-01 5.84030417e-04 9.89970569e-01 -8.35100842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters 0.030918129873677536 Centerline is valid? [True, True] Translation: X:74.00, Y:-3.67, Z:-8.36 [[ 9.49024958e-01 2.86326117e-01 1.31791438e-01 7.39958841e+01] [-2.83471796e-01 9.58131777e-01 -4.03390552e-02 -3.67018560e+00] [-1.37823690e-01 9.23614632e-04 9.90456348e-01 -8.35579740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters 0.03127316342519711 Centerline is valid? [True, True] Translation: X:74.05, Y:-3.69, Z:-8.36 [[ 9.49565624e-01 2.83618341e-01 1.33737665e-01 7.40549243e+01] [-2.80642019e-01 9.58936215e-01 -4.10047878e-02 -3.68893069e+00] [-1.39875600e-01 1.40432854e-03 9.90168089e-01 -8.36341775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters 0.031158229887979068 Centerline is valid? [True, True] Translation: X:74.11, Y:-3.71, Z:-8.37 [[ 9.50960332e-01 2.79791874e-01 1.31874764e-01 7.41145715e+01] [-2.76852041e-01 9.60058582e-01 -4.05026785e-02 -3.70780061e+00] [-1.37939819e-01 2.00664317e-03 9.90438579e-01 -8.37130397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters 0.03147062484272376 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.73, Z:-8.38 [[ 9.50862013e-01 2.80016703e-01 1.32106311e-01 7.41735057e+01] [-2.77057782e-01 9.59992933e-01 -4.06516214e-02 -3.72760329e+00] [-1.38204257e-01 2.05300116e-03 9.90401620e-01 -8.37827008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters 0.031427943817580274 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.75, Z:-8.38 [[ 9.50549680e-01 2.81890061e-01 1.30358347e-01 7.42321004e+01] [-2.79016697e-01 9.59444971e-01 -4.01874532e-02 -3.74738279e+00] [-1.36400104e-01 1.82801551e-03 9.90652144e-01 -8.38360389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters 0.031386945405893485 Centerline is valid? [True, True] Translation: X:74.29, Y:-3.77, Z:-8.39 [[ 9.49725550e-01 2.85160245e-01 1.29247877e-01 7.42901898e+01] [-2.82357024e-01 9.58478819e-01 -3.99107146e-02 -3.76847134e+00] [-1.35262301e-01 1.41017952e-03 9.90808822e-01 -8.39191002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters 0.03143144216310453 Centerline is valid? [True, True] Translation: X:74.35, Y:-3.79, Z:-8.40 [[ 9.48835331e-01 2.86507027e-01 1.32760075e-01 7.43492989e+01] [-2.83551852e-01 9.58077231e-01 -4.10653900e-02 -3.78714633e+00] [-1.38959928e-01 1.31992788e-03 9.90297125e-01 -8.39799293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters 0.031539331614867494 Centerline is valid? [True, True] Translation: X:74.41, Y:-3.81, Z:-8.41 [[ 9.48759011e-01 2.86860106e-01 1.32542893e-01 7.44088100e+01] [-2.83908242e-01 9.57971555e-01 -4.10683605e-02 -3.80615454e+00] [-1.38753196e-01 1.33395731e-03 9.90326093e-01 -8.40539755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters 0.03126070006175653 Centerline is valid? [True, True] Translation: X:74.47, Y:-3.83, Z:-8.41 [[ 9.48478575e-01 2.88966834e-01 1.29948303e-01 7.44660865e+01] [-2.86139424e-01 9.57338503e-01 -4.03388334e-02 -3.83056395e+00] [-1.36061099e-01 1.07718667e-03 9.90699862e-01 -8.41288979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters 0.03131908257711806 Centerline is valid? [True, True] Translation: X:74.53, Y:-3.85, Z:-8.42 [[ 9.47703491e-01 2.91310739e-01 1.30369269e-01 7.45252382e+01] [-2.88477363e-01 9.56628139e-01 -4.05390435e-02 -3.85206743e+00] [-1.36524370e-01 8.10410039e-04 9.90636381e-01 -8.42009238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters 0.0313184225605018 Centerline is valid? [True, True] Translation: X:74.58, Y:-3.87, Z:-8.43 [[ 9.47279055e-01 2.92612073e-01 1.30539520e-01 7.45836469e+01] [-2.89772814e-01 9.56230980e-01 -4.06697622e-02 -3.87385799e+00] [-1.36726396e-01 6.98809883e-04 9.90608603e-01 -8.42611484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters 0.03132506410963701 Centerline is valid? [True, True] Translation: X:74.64, Y:-3.89, Z:-8.43 [[ 9.47102587e-01 2.93182652e-01 1.30539732e-01 7.46428447e+01] [-2.90338040e-01 9.56056198e-01 -4.07476180e-02 -3.89395470e+00] [-1.36749815e-01 6.91524409e-04 9.90605375e-01 -8.43388016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters 0.031382801102326344 Centerline is valid? [True, True] Translation: X:74.70, Y:-3.92, Z:-8.44 [[ 9.47404823e-01 2.92234313e-01 1.30473014e-01 7.47016613e+01] [-2.89372943e-01 9.56346324e-01 -4.08045273e-02 -3.91617320e+00] [-1.36701871e-01 9.03045927e-04 9.90611823e-01 -8.44025091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters 0.03117724343172407 Centerline is valid? [True, True] Translation: X:74.76, Y:-3.94, Z:-8.45 [[ 9.48646408e-01 2.89397447e-01 1.27746276e-01 7.47592866e+01] [-2.86619475e-01 9.57208066e-01 -4.00249252e-02 -3.93763607e+00] [-1.33862877e-01 1.35493097e-03 9.90998938e-01 -8.44674986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters 0.031333357159560433 Centerline is valid? [True, True] Translation: X:74.82, Y:-3.96, Z:-8.45 [[ 9.48703745e-01 2.88477220e-01 1.29391256e-01 7.48166656e+01] [-2.85609074e-01 9.57485472e-01 -4.06082228e-02 -3.96132773e+00] [-1.35604795e-01 1.56985621e-03 9.90761765e-01 -8.45345801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters 0.03124640912434705 Centerline is valid? [True, True] Translation: X:74.88, Y:-3.98, Z:-8.46 [[ 9.47615228e-01 2.91284485e-01 1.31067646e-01 7.48751132e+01] [-2.88358123e-01 9.56635658e-01 -4.12044961e-02 -3.98340664e+00] [-1.37386215e-01 1.25158753e-03 9.90516765e-01 -8.45966036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters 0.03096044431127298 Centerline is valid? [True, True] Translation: X:74.93, Y:-4.00, Z:-8.47 [[ 9.47005211e-01 2.94642419e-01 1.27933478e-01 7.49337286e+01] [-2.91875540e-01 9.55607230e-01 -4.02925724e-02 -4.00245344e+00] [-1.34126058e-01 8.16623114e-04 9.90963942e-01 -8.46638597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters 0.031007015681764404 Centerline is valid? [True, True] Translation: X:74.99, Y:-4.03, Z:-8.47 [[ 9.45183458e-01 2.99605957e-01 1.29863393e-01 7.49921722e+01] [-2.96791494e-01 9.54063016e-01 -4.09703726e-02 -4.02542898e+00] [-1.36172828e-01 1.82168049e-04 9.90685080e-01 -8.47169352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters 0.03086096237190367 Centerline is valid? [True, True] Translation: X:75.05, Y:-4.04, Z:-8.48 [[ 9.44409146e-01 3.01751136e-01 1.30528223e-01 7.50513346e+01] [-2.98917145e-01 9.53386726e-01 -4.12588320e-02 -4.04387963e+00] [-1.36893775e-01 -5.19054901e-05 9.90585732e-01 -8.48005361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters 0.030825104113881757 Centerline is valid? [True, True] Translation: X:75.11, Y:-4.06, Z:-8.49 [[ 9.42780627e-01 3.06468313e-01 1.31308270e-01 7.51093467e+01] [-3.03634967e-01 9.51880627e-01 -4.15821902e-02 -4.06486996e+00] [-1.37733422e-01 -6.66898838e-04 9.90469111e-01 -8.48742481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters 0.0308078152240418 Centerline is valid? [True, True] Translation: X:75.17, Y:-4.08, Z:-8.49 [[ 9.41258502e-01 3.11624309e-01 1.30087365e-01 7.51695378e+01] [-3.08883226e-01 9.50204445e-01 -4.12633594e-02 -4.08360291e+00] [-1.36468259e-01 -1.34231727e-03 9.90643535e-01 -8.49217010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters 0.030781176348682753 Centerline is valid? [True, True] Translation: X:75.23, Y:-4.10, Z:-8.50 [[ 9.40686113e-01 3.13980229e-01 1.28553694e-01 7.52292755e+01] [-3.11315454e-01 9.49428185e-01 -4.08510633e-02 -4.10267648e+00] [-1.34878927e-01 -1.59272362e-03 9.90860807e-01 -8.49829626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters 0.030806951802029466 Centerline is valid? [True, True] Translation: X:75.29, Y:-4.12, Z:-8.51 [[ 9.40602781e-01 3.13172506e-01 1.31108310e-01 7.52881870e+01] [-3.10382021e-01 9.49695174e-01 -4.17382048e-02 -4.12041973e+00] [-1.37584188e-01 -1.43459076e-03 9.90489037e-01 -8.50512331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters 0.030477191483455422 Centerline is valid? [True, True] Translation: X:75.35, Y:-4.14, Z:-8.51 [[ 9.40463343e-01 3.13658085e-01 1.30947720e-01 7.53479158e+01] [-3.10869730e-01 9.49534905e-01 -4.17549409e-02 -4.13645749e+00] [-1.37436206e-01 -1.43869112e-03 9.90509576e-01 -8.51450349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters 0.03068128222402722 Centerline is valid? [True, True] Translation: X:75.41, Y:-4.15, Z:-8.52 [[ 9.40029301e-01 3.14646138e-01 1.31691770e-01 7.54068294e+01] [-3.11824891e-01 9.49207827e-01 -4.20682519e-02 -4.15417320e+00] [-1.38239472e-01 -1.51938228e-03 9.90397668e-01 -8.52280228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters 0.03043198164540531 Centerline is valid? [True, True] Translation: X:75.47, Y:-4.17, Z:-8.53 [[ 9.40751234e-01 3.13097814e-01 1.30218562e-01 7.54664489e+01] [-3.10315613e-01 9.49720110e-01 -4.16645251e-02 -4.17168430e+00] [-1.36716259e-01 -1.21289940e-03 9.90609506e-01 -8.52778683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters 0.030129569738051275 Centerline is valid? [True, True] Translation: X:75.53, Y:-4.19, Z:-8.54 [[ 9.41918370e-01 3.09813030e-01 1.29636687e-01 7.55257173e+01] [-3.07015728e-01 9.50797265e-01 -4.15440010e-02 -4.18717412e+00] [-1.36129080e-01 -6.69444101e-04 9.90690883e-01 -8.53594672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters 0.02979363142350986 Centerline is valid? [True, True] Translation: X:75.58, Y:-4.21, Z:-8.54 [[ 9.43337224e-01 3.06503492e-01 1.27163244e-01 7.55849589e+01] [-3.03773796e-01 9.51869525e-01 -4.08152805e-02 -4.20536676e+00] [-1.33552843e-01 -1.26288074e-04 9.91041685e-01 -8.54224962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters 0.02973436101141038 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.23, Z:-8.55 [[ 9.44569089e-01 3.03113422e-01 1.26140751e-01 7.56443573e+01] [-3.00388713e-01 9.52954397e-01 -4.05529113e-02 -4.22722456e+00] [-1.32498515e-01 4.13768728e-04 9.91183117e-01 -8.54701042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters 0.029409203375333058 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.25, Z:-8.55 [[ 9.45246489e-01 3.01575814e-01 1.24744151e-01 7.57033482e+01] [-2.98888284e-01 9.53441948e-01 -4.01776786e-02 -4.24779206e+00] [-1.31052923e-01 6.93244396e-04 9.91375131e-01 -8.55196657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters 0.029486560147991708 Centerline is valid? [True, True] Translation: X:75.76, Y:-4.27, Z:-8.56 [[ 9.42684428e-01 3.09567444e-01 1.24555475e-01 7.57624081e+01] [-3.06947475e-01 9.50877426e-01 -4.01916474e-02 -4.26682595e+00] [-1.30879015e-01 -3.43948223e-04 9.91398288e-01 -8.56148391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters 0.029951159392537712 Centerline is valid? [True, True] Translation: X:75.82, Y:-4.29, Z:-8.57 [[ 9.39947725e-01 3.17666684e-01 1.24844514e-01 7.58207099e+01] [-3.15095412e-01 9.48201410e-01 -4.03604573e-02 -4.28681073e+00] [-1.31198917e-01 -1.40121352e-03 9.91355073e-01 -8.56744453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters 0.02992506530366212 Centerline is valid? [True, True] Translation: X:75.88, Y:-4.31, Z:-8.57 [[ 9.39503135e-01 3.19408153e-01 1.23742842e-01 7.58804419e+01] [-3.16888830e-01 9.47615942e-01 -4.00686451e-02 -4.30543305e+00] [-1.30058942e-01 -1.56810675e-03 9.91505024e-01 -8.57324840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters 0.030032381095241197 Centerline is valid? [True, True] Translation: X:75.94, Y:-4.32, Z:-8.58 [[ 9.40074595e-01 3.16952100e-01 1.25702515e-01 7.59411209e+01] [-3.14320229e-01 9.48440816e-01 -4.07775920e-02 -4.32138426e+00] [-1.32145940e-01 -1.17686516e-03 9.91229573e-01 -8.58227868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters 0.029609551247312526 Centerline is valid? [True, True] Translation: X:76.00, Y:-4.33, Z:-8.59 [[ 9.40522908e-01 3.15657711e-01 1.25606004e-01 7.60022001e+01] [-3.13008583e-01 9.48872677e-01 -4.08199806e-02 -4.33452906e+00] [-1.32069247e-01 -9.23630259e-04 9.91240062e-01 -8.58869513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters 0.02963880532122821 Centerline is valid? [True, True] Translation: X:76.06, Y:-4.35, Z:-8.59 [[ 9.40909564e-01 3.14728238e-01 1.25041312e-01 7.60604660e+01] [-3.12085268e-01 9.49181551e-01 -4.07083362e-02 -4.35467060e+00] [-1.31498969e-01 -7.20688420e-04 9.91316045e-01 -8.59438517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters 0.029365560901627806 Centerline is valid? [True, True] Translation: X:76.12, Y:-4.37, Z:-8.60 [[ 9.41308005e-01 3.14158349e-01 1.23465672e-01 7.61201413e+01] [-3.11568675e-01 9.49370425e-01 -4.02586244e-02 -4.37174789e+00] [-1.29862241e-01 -5.72270398e-04 9.91531881e-01 -8.60169768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters 0.029452652439925297 Centerline is valid? [True, True] Translation: X:76.18, Y:-4.39, Z:-8.61 [[ 9.41093612e-01 3.13958702e-01 1.25589600e-01 7.61789082e+01] [-3.11268179e-01 9.49436513e-01 -4.10174103e-02 -4.39162352e+00] [-1.32117124e-01 -4.90823123e-04 9.91233991e-01 -8.60775632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters 0.029396097325798048 Centerline is valid? [True, True] Translation: X:76.24, Y:-4.41, Z:-8.61 [[ 9.40932533e-01 3.14599268e-01 1.25192925e-01 7.62392148e+01] [-3.11922554e-01 9.49224439e-01 -4.09546694e-02 -4.41031924e+00] [-1.31720493e-01 -5.14916082e-04 9.91286763e-01 -8.61397782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters 0.029251096697006648 Centerline is valid? [True, True] Translation: X:76.30, Y:-4.43, Z:-8.62 [[ 9.41203088e-01 3.14812258e-01 1.22596858e-01 7.62983680e+01] [-3.12238485e-01 9.49153847e-01 -4.01759013e-02 -4.42858821e+00] [-1.29011146e-01 -4.65774919e-04 9.91643034e-01 -8.62117348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters 0.029503401336217556 Centerline is valid? [True, True] Translation: X:76.36, Y:-4.45, Z:-8.63 [[ 9.40716540e-01 3.15849088e-01 1.23659794e-01 7.63580656e+01] [-3.13230546e-01 9.48809281e-01 -4.05903186e-02 -4.44748316e+00] [-1.30149975e-01 -5.50040512e-04 9.91494166e-01 -8.62790342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters 0.029603370629798356 Centerline is valid? [True, True] Translation: X:76.42, Y:-4.46, Z:-8.64 [[ 9.41017838e-01 3.13890350e-01 1.26326075e-01 7.64180747e+01] [-3.11129492e-01 9.49459216e-01 -4.15407783e-02 -4.46395523e+00] [-1.32980706e-01 -2.13154225e-04 9.91118604e-01 -8.63501841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters 0.02945288158857121 Centerline is valid? [True, True] Translation: X:76.48, Y:-4.48, Z:-8.64 [[ 9.42346823e-01 3.10793315e-01 1.24056360e-01 7.64772670e+01] [-3.08096007e-01 9.50477478e-01 -4.08584666e-02 -4.48096387e+00] [-1.30611315e-01 2.81576968e-04 9.91433611e-01 -8.64137013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters 0.02964915117397112 Centerline is valid? [True, True] Translation: X:76.54, Y:-4.50, Z:-8.65 [[ 9.42715026e-01 3.09746260e-01 1.23877493e-01 7.65369906e+01] [-3.07039091e-01 9.50819129e-01 -4.08654100e-02 -4.49854859e+00] [-1.30442998e-01 4.89203175e-04 9.91455690e-01 -8.64823338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters 0.029467786413665185 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.52, Z:-8.65 [[ 9.43527894e-01 3.08321600e-01 1.21214294e-01 7.65964911e+01] [-3.05709205e-01 9.51281895e-01 -4.00579334e-02 -4.51548967e+00] [-1.27659689e-01 7.39452173e-04 9.91817754e-01 -8.65446305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters 0.029440154809276683 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.54, Z:-8.66 [[ 9.43271807e-01 3.09079054e-01 1.21278343e-01 7.66558510e+01] [-3.06461778e-01 9.51036093e-01 -4.01438572e-02 -4.53528593e+00] [-1.27747707e-01 6.99392191e-04 9.91806450e-01 -8.66129731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42591999999999 meters 0.029427529443733627 Centerline is valid? [True, True] Translation: X:76.71, Y:-4.56, Z:-8.67 [[ 9.42766157e-01 3.10458841e-01 1.21685176e-01 7.67144421e+01] [-3.07825793e-01 9.50586643e-01 -4.03523897e-02 -4.55579633e+00] [-1.28200059e-01 5.85031640e-04 9.91748155e-01 -8.66852926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters 0.029230740578102224 Centerline is valid? [True, True] Translation: X:76.77, Y:-4.58, Z:-8.67 [[ 9.42308987e-01 3.11920865e-01 1.21487229e-01 7.67739679e+01] [-3.09299027e-01 9.50107976e-01 -4.03602022e-02 -4.57509911e+00] [-1.28015175e-01 4.55899465e-04 9.91772104e-01 -8.67385096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54592 meters 0.029163843146751828 Centerline is valid? [True, True] Translation: X:76.83, Y:-4.60, Z:-8.68 [[ 9.41490057e-01 3.14436984e-01 1.21350133e-01 7.68328304e+01] [-3.11832430e-01 9.49278331e-01 -4.03879494e-02 -4.59520555e+00] [-1.27894517e-01 1.83945818e-04 9.91787759e-01 -8.68083118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters 0.028879576117715196 Centerline is valid? [True, True] Translation: X:76.89, Y:-4.61, Z:-8.69 [[ 9.40397705e-01 3.17520386e-01 1.21790646e-01 7.68931640e+01] [-3.14912900e-01 9.48251432e-01 -4.06089640e-02 -4.61273073e+00] [-1.28382328e-01 -1.64868966e-04 9.91724735e-01 -8.68701593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters 0.02893474145402008 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.63, Z:-8.69 [[ 9.39091675e-01 3.22151465e-01 1.19688178e-01 7.69533922e+01] [-3.19661906e-01 9.46687869e-01 -3.99792993e-02 -4.63111078e+00] [-1.26186736e-01 -7.15524018e-04 9.92006248e-01 -8.69255904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72592 meters 0.028889008119631788 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.65, Z:-8.70 [[ 9.37544675e-01 3.26399852e-01 1.20304274e-01 7.70140694e+01] [-3.23910072e-01 9.45230996e-01 -4.02570403e-02 -4.64524491e+00] [-1.26855220e-01 -1.22499218e-03 9.91920487e-01 -8.70025929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters 0.02892657055296459 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.66, Z:-8.71 [[ 9.37143471e-01 3.27318842e-01 1.20931763e-01 7.70747498e+01] [-3.24802283e-01 9.44913064e-01 -4.05312161e-02 -4.66092540e+00] [-1.27536633e-01 -1.29534804e-03 9.91833015e-01 -8.70645204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters 0.028942811856586988 Centerline is valid? [True, True] Translation: X:77.14, Y:-4.67, Z:-8.71 [[ 9.36322141e-01 3.29424138e-01 1.21575436e-01 7.71351356e+01] [-3.26889012e-01 9.44180819e-01 -4.08185512e-02 -4.67449821e+00] [-1.28235811e-01 -1.52236090e-03 9.91742537e-01 -8.71280624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters 0.02901205344589023 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.69, Z:-8.72 [[ 9.35537278e-01 3.31536820e-01 1.21874271e-01 7.71960995e+01] [-3.28998790e-01 9.43440646e-01 -4.09822258e-02 -4.68653184e+00] [-1.28568258e-01 -1.75608786e-03 9.91699107e-01 -8.71999180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters 0.028660443859168844 Centerline is valid? [True, True] Translation: X:77.26, Y:-4.70, Z:-8.73 [[ 9.36303181e-01 3.28863238e-01 1.23228749e-01 7.72574816e+01] [-3.26236625e-01 9.44376603e-01 -4.15029629e-02 -4.70072360e+00] [-1.30023146e-01 -1.34237488e-03 9.91510050e-01 -8.72683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters 0.028356558688408886 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.72, Z:-8.73 [[ 9.37438312e-01 3.25676315e-01 1.23062375e-01 7.73166249e+01] [-3.23020030e-01 9.45480961e-01 -4.15188162e-02 -4.71890435e+00] [-1.29874827e-01 -8.30282976e-04 9.91530050e-01 -8.73411329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08592 meters 0.028134733893620225 Centerline is valid? [True, True] Translation: X:77.38, Y:-4.73, Z:-8.74 [[ 9.37096149e-01 3.26434305e-01 1.23658615e-01 7.73775698e+01] [-3.23749948e-01 9.45219486e-01 -4.17863010e-02 -4.73436570e+00] [-1.30525014e-01 -8.76688372e-04 9.91444629e-01 -8.74055199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters 0.028133196836751032 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.75, Z:-8.75 [[ 9.36022978e-01 3.30581754e-01 1.20733955e-01 7.74382089e+01] [-3.28048497e-01 9.43776391e-01 -4.08693891e-02 -4.75070800e+00] [-1.27456530e-01 -1.35190511e-03 9.91843236e-01 -8.74875257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters 0.028542593418862693 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.77, Z:-8.75 [[ 9.34482093e-01 3.35105189e-01 1.20198714e-01 7.74972419e+01] [-3.32622557e-01 9.42178822e-01 -4.07590785e-02 -4.76835351e+00] [-1.26907261e-01 -1.89217453e-03 9.91912782e-01 -8.75428542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters 0.028603901026638196 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.78, Z:-8.76 [[ 9.34597242e-01 3.33569411e-01 1.23529117e-01 7.75579415e+01] [-3.30924600e-01 9.42724067e-01 -4.19552365e-02 -4.78400165e+00] [-1.30448855e-01 -1.66757530e-03 9.91453638e-01 -8.76245723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters 0.02816790871050045 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.80, Z:-8.77 [[ 9.35739990e-01 3.30257509e-01 1.23776606e-01 7.76178952e+01] [-3.27563571e-01 9.43890185e-01 -4.21120592e-02 -4.80028706e+00] [-1.30739347e-01 -1.13876922e-03 9.91416122e-01 -8.76908314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters 0.028138728269706693 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.82, Z:-8.77 [[ 9.35253207e-01 3.31458124e-01 1.24245529e-01 7.76786829e+01] [-3.28745454e-01 9.43469105e-01 -4.23376231e-02 -4.81652069e+00] [-1.31254967e-01 -1.24875492e-03 9.91347857e-01 -8.77441305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters 0.0283260794846167 Centerline is valid? [True, True] Translation: X:77.74, Y:-4.83, Z:-8.78 [[ 9.34957743e-01 3.31924560e-01 1.25220223e-01 7.77389442e+01] [-3.29163083e-01 9.43305102e-01 -4.27451567e-02 -4.83350868e+00] [-1.32309043e-01 -1.25295953e-03 9.91207722e-01 -8.78201639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50592 meters 0.028356924678521335 Centerline is valid? [True, True] Translation: X:77.80, Y:-4.85, Z:-8.79 [[ 9.34906528e-01 3.31529135e-01 1.26642080e-01 7.77989415e+01] [-3.28690389e-01 9.43444295e-01 -4.33069397e-02 -4.85198131e+00] [-1.33837260e-01 -1.13809379e-03 9.91002670e-01 -8.78981052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters 0.028469568728798453 Centerline is valid? [True, True] Translation: X:77.86, Y:-4.87, Z:-8.80 [[ 9.35262124e-01 3.29394110e-01 1.29554157e-01 7.78588139e+01] [-3.26391579e-01 9.44192202e-01 -4.43804255e-02 -4.86684484e+00] [-1.36942675e-01 -7.78054728e-04 9.90578668e-01 -8.79804083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62592 meters 0.02839090694143408 Centerline is valid? [True, True] Translation: X:77.92, Y:-4.88, Z:-8.81 [[ 9.35827463e-01 3.27119938e-01 1.31223112e-01 7.79176131e+01] [-3.24007147e-01 9.44982750e-01 -4.50218863e-02 -4.88464906e+00] [-1.38731134e-01 -3.84508574e-04 9.90330008e-01 -8.80572029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68592 meters 0.028594022993599203 Centerline is valid? [True, True] Translation: X:77.98, Y:-4.90, Z:-8.81 [[ 9.36943442e-01 3.24191937e-01 1.30524228e-01 7.79770113e+01] [-3.21075504e-01 9.45991319e-01 -4.48435515e-02 -4.90289461e+00] [-1.38012704e-01 1.07739332e-04 9.90430453e-01 -8.81425746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters 0.028397228812916547 Centerline is valid? [True, True] Translation: X:78.04, Y:-4.92, Z:-8.82 [[ 9.37841902e-01 3.21706048e-01 1.30222065e-01 7.80361296e+01] [-3.18575477e-01 9.46839460e-01 -4.47738995e-02 -4.92355999e+00] [-1.37703424e-01 5.05282547e-04 9.90473378e-01 -8.82007433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters 0.028714227638892836 Centerline is valid? [True, True] Translation: X:78.09, Y:-4.94, Z:-8.83 [[ 9.37679631e-01 3.21474806e-01 1.31950210e-01 7.80943381e+01] [-3.18246665e-01 9.46917927e-01 -4.54477585e-02 -4.94423305e+00] [-1.39556329e-01 6.22722986e-04 9.90213938e-01 -8.82841300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86592 meters 0.028693998329468815 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.97, Z:-8.83 [[ 9.38071031e-01 3.20560224e-01 1.31392097e-01 7.81535188e+01] [-3.17340494e-01 9.47227778e-01 -4.53271115e-02 -4.96506993e+00] [-1.38988313e-01 8.24017353e-04 9.90293679e-01 -8.83488857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92591999999999 meters 0.028654429833540117 Centerline is valid? [True, True] Translation: X:78.21, Y:-4.99, Z:-8.84 [[ 9.37916122e-01 3.21338681e-01 1.30594028e-01 7.82117331e+01] [-3.18154907e-01 9.46964016e-01 -4.51288001e-02 -4.98509145e+00] [-1.38169474e-01 7.77898446e-04 9.90408295e-01 -8.84206848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98592 meters 0.028665772895742722 Centerline is valid? [True, True] Translation: X:78.27, Y:-5.00, Z:-8.85 [[ 9.36986772e-01 3.24322105e-01 1.29888267e-01 7.82699531e+01] [-3.21191828e-01 9.45946621e-01 -4.49532973e-02 -5.00492226e+00] [-1.37446715e-01 4.01594970e-04 9.90509081e-01 -8.84954152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters 0.028642337341781433 Centerline is valid? [True, True] Translation: X:78.33, Y:-5.03, Z:-8.86 [[ 9.36590308e-01 3.26041298e-01 1.28435462e-01 7.83279510e+01] [-3.22987793e-01 9.45355503e-01 -4.45180686e-02 -5.02604204e+00] [-1.35931900e-01 2.12104976e-04 9.90718161e-01 -8.85699535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters 0.028952797064198035 Centerline is valid? [True, True] Translation: X:78.38, Y:-5.05, Z:-8.87 [[ 9.36290056e-01 3.26405855e-01 1.29692521e-01 7.83846880e+01] [-3.23285896e-01 9.45229690e-01 -4.50229114e-02 -5.04888335e+00] [-1.37284963e-01 2.26741353e-04 9.90531568e-01 -8.86521217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters 0.028839889000367085 Centerline is valid? [True, True] Translation: X:78.44, Y:-5.07, Z:-8.87 [[ 9.35800868e-01 3.28029883e-01 1.29124482e-01 7.84444531e+01] [-3.24943516e-01 9.44667345e-01 -4.48922949e-02 -5.06868873e+00] [-1.36705696e-01 5.20852427e-05 9.90611705e-01 -8.87203604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22592 meters 0.029083092646002257 Centerline is valid? [True, True] Translation: X:78.50, Y:-5.09, Z:-8.88 [[ 9.34903429e-01 3.30489066e-01 1.29354378e-01 7.85040192e+01] [-3.27404018e-01 9.43809792e-01 -4.50520328e-02 -5.08766391e+00] [-1.36975133e-01 -2.31843185e-04 9.90574459e-01 -8.87872182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28591999999999 meters 0.028932585524582718 Centerline is valid? [True, True] Translation: X:78.56, Y:-5.11, Z:-8.88 [[ 9.36288270e-01 3.27529107e-01 1.26842260e-01 7.85626195e+01] [-3.24526024e-01 9.44841051e-01 -4.42520957e-02 -5.10722680e+00] [-1.34339624e-01 2.69103694e-04 9.90935312e-01 -8.88497441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters 0.029002984073479565 Centerline is valid? [True, True] Translation: X:78.62, Y:-5.13, Z:-8.89 [[ 9.37372442e-01 3.23906086e-01 1.28131778e-01 7.86217395e+01] [-3.20798141e-01 9.46088845e-01 -4.47710779e-02 -5.12549815e+00] [-1.35725671e-01 8.62738387e-04 9.90746082e-01 -8.89107066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40592 meters 0.029622439954698477 Centerline is valid? [True, True] Translation: X:78.68, Y:-5.14, Z:-8.90 [[ 9.38149599e-01 3.20717520e-01 1.30443865e-01 7.86802699e+01] [-3.17455389e-01 9.47173833e-01 -4.56487277e-02 -5.14321698e+00] [-1.38193362e-01 1.41522763e-03 9.90404257e-01 -8.89921621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters 0.029504045017624592 Centerline is valid? [True, True] Translation: X:78.74, Y:-5.17, Z:-8.91 [[ 9.38690346e-01 3.19967457e-01 1.28379365e-01 7.87378231e+01] [-3.16793555e-01 9.47427258e-01 -4.49826039e-02 -5.16663845e+00] [-1.36023080e-01 1.55498038e-03 9.90704448e-01 -8.90807279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52592 meters 0.029251146262539305 Centerline is valid? [True, True] Translation: X:78.79, Y:-5.19, Z:-8.91 [[ 9.38996783e-01 3.19751536e-01 1.26664900e-01 7.87948767e+01] [-3.16657123e-01 9.47500099e-01 -4.44052898e-02 -5.19295192e+00] [-1.34213665e-01 1.58708134e-03 9.90951146e-01 -8.91251161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters 0.02942898442931036 Centerline is valid? [True, True] Translation: X:78.85, Y:-5.22, Z:-8.92 [[ 9.39081170e-01 3.19364977e-01 1.27014048e-01 7.88528449e+01] [-3.16245563e-01 9.47630307e-01 -4.45594612e-02 -5.21712949e+00] [-1.34593092e-01 1.67732188e-03 9.90899534e-01 -8.91919380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters 0.02918298468771795 Centerline is valid? [True, True] Translation: X:78.91, Y:-5.24, Z:-8.93 [[ 9.38896029e-01 3.20302956e-01 1.26016916e-01 7.89092626e+01] [-3.17230978e-01 9.47313809e-01 -4.42837938e-02 -5.24273845e+00] [-1.33561795e-01 1.60140859e-03 9.91039193e-01 -8.92811340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70591999999999 meters 0.029064990287972443 Centerline is valid? [True, True] Translation: X:78.97, Y:-5.27, Z:-8.93 [[ 9.38368163e-01 3.22393333e-01 1.24610314e-01 7.89656337e+01] [-3.19399636e-01 9.46604836e-01 -4.38538178e-02 -5.26851865e+00] [-1.32094904e-01 1.35053746e-03 9.91236154e-01 -8.93157474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters 0.029126731240460165 Centerline is valid? [True, True] Translation: X:79.02, Y:-5.29, Z:-8.94 [[ 9.37766843e-01 3.23810329e-01 1.25460029e-01 7.90237031e+01] [-3.20778965e-01 9.46121225e-01 -4.42208411e-02 -5.29050019e+00] [-1.33019561e-01 1.22390050e-03 9.91112657e-01 -8.93974949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters 0.029113976013341987 Centerline is valid? [True, True] Translation: X:79.08, Y:-5.31, Z:-8.95 [[ 9.36531441e-01 3.26965616e-01 1.26500380e-01 7.90823829e+01] [-3.23901640e-01 9.45035847e-01 -4.46651501e-02 -5.31222371e+00] [-1.34151362e-01 8.56636687e-04 9.90960483e-01 -8.94593459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters 0.028823269036736994 Centerline is valid? [True, True] Translation: X:79.14, Y:-5.33, Z:-8.95 [[ 9.35908064e-01 3.29697151e-01 1.23999536e-01 7.91408258e+01] [-3.26767798e-01 9.44086602e-01 -4.38553706e-02 -5.33277206e+00] [-1.31525291e-01 5.25539565e-04 9.91312676e-01 -8.95227795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters 0.028889890238122252 Centerline is valid? [True, True] Translation: X:79.20, Y:-5.36, Z:-8.96 [[ 9.34869918e-01 3.32221085e-01 1.25089513e-01 7.91985286e+01] [-3.29252999e-01 9.43201513e-01 -4.43099158e-02 -5.35542827e+00] [-1.32705306e-01 2.37910213e-04 9.91155510e-01 -8.96136471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters 0.029147032167355594 Centerline is valid? [True, True] Translation: X:79.26, Y:-5.38, Z:-8.97 [[ 9.33486584e-01 3.35408139e-01 1.26902235e-01 7.92564130e+01] [-3.32371710e-01 9.42072906e-01 -4.50298501e-02 -5.37563224e+00] [-1.34654535e-01 -1.43951738e-04 9.90892595e-01 -8.96872143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters 0.02914527462520428 Centerline is valid? [True, True] Translation: X:79.32, Y:-5.39, Z:-8.98 [[ 9.31524738e-01 3.41410433e-01 1.25301950e-01 7.93164724e+01] [-3.38495247e-01 9.39913850e-01 -4.45300216e-02 -5.39255141e+00] [-1.32976052e-01 -9.33297637e-04 9.91118812e-01 -8.97629601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters 0.029292731084325542 Centerline is valid? [True, True] Translation: X:79.37, Y:-5.41, Z:-8.98 [[ 9.31124189e-01 3.43060812e-01 1.23761962e-01 7.93749068e+01] [-3.40221885e-01 9.39312569e-01 -4.40563977e-02 -5.41239729e+00] [-1.31365190e-01 -1.08455045e-03 9.91333451e-01 -8.98498679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters 0.029198037228105475 Centerline is valid? [True, True] Translation: X:79.43, Y:-5.43, Z:-8.99 [[ 9.31687905e-01 3.40925998e-01 1.25407782e-01 7.94348059e+01] [-3.37982240e-01 9.40089853e-01 -4.47109942e-02 -5.43032946e+00] [-1.33137724e-01 -7.28910499e-04 9.91097278e-01 -8.99059436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters 0.02933047502236363 Centerline is valid? [True, True] Translation: X:79.49, Y:-5.45, Z:-9.00 [[ 9.31961692e-01 3.39729893e-01 1.26613605e-01 7.94949198e+01] [-3.36707416e-01 9.40522919e-01 -4.52189753e-02 -5.44695172e+00] [-1.34445235e-01 -4.89387151e-04 9.90920905e-01 -8.99856548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters 0.02925998724252479 Centerline is valid? [True, True] Translation: X:79.55, Y:-5.47, Z:-9.01 [[ 9.31582922e-01 3.40529546e-01 1.27251275e-01 7.95546497e+01] [-3.37473165e-01 9.40233664e-01 -4.55249309e-02 -5.46588821e+00] [-1.35148517e-01 -5.33642365e-04 9.90825208e-01 -9.00705372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters 0.029214980948496474 Centerline is valid? [True, True] Translation: X:79.61, Y:-5.49, Z:-9.01 [[ 9.32596760e-01 3.38772885e-01 1.24483794e-01 7.96127597e+01] [-3.35823144e-01 9.40868158e-01 -4.46085739e-02 -5.48749996e+00] [-1.32235013e-01 -2.02727545e-04 9.91218372e-01 -9.01283282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters 0.029264679719520494 Centerline is valid? [True, True] Translation: X:79.67, Y:-5.51, Z:-9.02 [[ 9.33843806e-01 3.35597004e-01 1.23735187e-01 7.96720635e+01] [-3.32645991e-01 9.42005602e-01 -4.44082234e-02 -5.50732462e+00] [-1.31462506e-01 3.10330334e-04 9.91321095e-01 -9.01950864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters 0.02912664322770788 Centerline is valid? [True, True] Translation: X:79.73, Y:-5.53, Z:-9.03 [[ 9.33985531e-01 3.34519732e-01 1.25569010e-01 7.97298129e+01] [-3.31460110e-01 9.42388590e-01 -4.51435557e-02 -5.52817843e+00] [-1.33436212e-01 5.42309953e-04 9.91057255e-01 -9.02723895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters 0.029393950471014643 Centerline is valid? [True, True] Translation: X:79.79, Y:-5.55, Z:-9.03 [[ 9.34300811e-01 3.32975646e-01 1.27315408e-01 7.97873187e+01] [-3.29806116e-01 9.42935053e-01 -4.58411609e-02 -5.54963229e+00] [-1.35314151e-01 8.40033604e-04 9.90802389e-01 -9.03364214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters 0.029204756782009504 Centerline is valid? [True, True] Translation: X:79.85, Y:-5.57, Z:-9.04 [[ 9.34597005e-01 3.32767290e-01 1.25675653e-01 7.98454637e+01] [-3.29668424e-01 9.43008526e-01 -4.53172150e-02 -5.57012098e+00] [-1.33593299e-01 9.22038887e-04 9.91035812e-01 -9.03981311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters 0.029196436015386455 Centerline is valid? [True, True] Translation: X:79.90, Y:-5.59, Z:-9.05 [[ 9.34462196e-01 3.33670306e-01 1.24276030e-01 7.99038148e+01] [-3.30639558e-01 9.42689456e-01 -4.48784183e-02 -5.59016475e+00] [-1.32128298e-01 8.46613817e-04 9.91232261e-01 -9.04655203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters 0.029171678825604657 Centerline is valid? [True, True] Translation: X:79.96, Y:-5.61, Z:-9.05 [[ 9.34774530e-01 3.32481239e-01 1.25111166e-01 7.99629026e+01] [-3.29389733e-01 9.43109244e-01 -4.52477319e-02 -5.60702041e+00] [-1.33037519e-01 1.08609383e-03 9.91110407e-01 -9.05361457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters 0.02895250687884242 Centerline is valid? [True, True] Translation: X:80.02, Y:-5.63, Z:-9.06 [[ 9.35028842e-01 3.32284955e-01 1.23724586e-01 8.00216592e+01] [-3.29251464e-01 9.43178325e-01 -4.48120514e-02 -5.62690540e+00] [-1.31584718e-01 1.16405950e-03 9.91304245e-01 -9.06031233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters 0.029184266471687266 Centerline is valid? [True, True] Translation: X:80.08, Y:-5.65, Z:-9.07 [[ 9.35179253e-01 3.31804715e-01 1.23876532e-01 8.00809956e+01] [-3.28750582e-01 9.43347204e-01 -4.49344721e-02 -5.64615262e+00] [-1.31768050e-01 1.29730406e-03 9.91279727e-01 -9.06802021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters 0.029163019909383695 Centerline is valid? [True, True] Translation: X:80.14, Y:-5.67, Z:-9.08 [[ 9.34620452e-01 3.33039420e-01 1.24777222e-01 8.01405421e+01] [-3.29941110e-01 9.42912134e-01 -4.53384086e-02 -5.66623332e+00] [-1.32753434e-01 1.20506899e-03 9.91148361e-01 -9.07681171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters 0.029027076638343675 Centerline is valid? [True, True] Translation: X:80.20, Y:-5.68, Z:-9.08 [[ 9.34350182e-01 3.33855236e-01 1.24621097e-01 8.02010014e+01] [-3.30761800e-01 9.42623645e-01 -4.53574195e-02 -5.68305599e+00] [-1.32613605e-01 1.15981472e-03 9.91167134e-01 -9.08361400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters 0.02914504532526771 Centerline is valid? [True, True] Translation: X:80.26, Y:-5.70, Z:-9.09 [[ 9.33233528e-01 3.35701413e-01 1.27983374e-01 8.02602759e+01] [-3.32444527e-01 9.41967923e-01 -4.66590668e-02 -5.69919067e+00] [-1.36219748e-01 9.96433311e-04 9.90678145e-01 -9.09102259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters 0.029191593490527808 Centerline is valid? [True, True] Translation: X:80.32, Y:-5.71, Z:-9.10 [[ 9.33525937e-01 3.36137578e-01 1.24662964e-01 8.03203849e+01] [-3.33043923e-01 9.41812399e-01 -4.55098916e-02 -5.71458830e+00] [-1.32706710e-01 9.66421716e-04 9.91154880e-01 -9.09924343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters 0.029434693319981012 Centerline is valid? [True, True] Translation: X:80.38, Y:-5.73, Z:-9.10 [[ 9.34268629e-01 3.32677515e-01 1.28326922e-01 8.03799926e+01] [-3.29356226e-01 9.43039347e-01 -4.69176476e-02 -5.73186600e+00] [-1.36625784e-01 1.56841553e-03 9.90621489e-01 -9.10415473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters 0.029651808258330952 Centerline is valid? [True, True] Translation: X:80.44, Y:-5.75, Z:-9.11 [[ 9.35058821e-01 3.30007332e-01 1.29461045e-01 8.04393681e+01] [-3.26591662e-01 9.43976160e-01 -4.74014346e-02 -5.74832494e+00] [-1.37850961e-01 2.04223159e-03 9.90450878e-01 -9.11096839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters 0.029856538842003642 Centerline is valid? [True, True] Translation: X:80.50, Y:-5.77, Z:-9.12 [[ 9.36119326e-01 3.27313256e-01 1.28633741e-01 8.04968846e+01] [-3.23906703e-01 9.44912613e-01 -4.71656917e-02 -5.77035161e+00] [-1.36985600e-01 2.48738474e-03 9.90569916e-01 -9.11786568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters 0.029926059809667643 Centerline is valid? [True, True] Translation: X:80.56, Y:-5.79, Z:-9.13 [[ 9.36550069e-01 3.25894228e-01 1.29100429e-01 8.05562900e+01] [-3.22440021e-01 9.45402181e-01 -4.74041003e-02 -5.78692717e+00] [-1.37500550e-01 2.76916829e-03 9.90497820e-01 -9.12513673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters 0.029971618739082575 Centerline is valid? [True, True] Translation: X:80.61, Y:-5.81, Z:-9.13 [[ 9.37859941e-01 3.23685271e-01 1.25086273e-01 8.06130320e+01] [-3.20415513e-01 9.46159874e-01 -4.59933863e-02 -5.81205539e+00] [-1.33238994e-01 3.05577210e-03 9.91079226e-01 -9.13211323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters 0.03019820881594642 Centerline is valid? [True, True] Translation: X:80.67, Y:-5.84, Z:-9.14 [[ 9.37411056e-01 3.24083544e-01 1.27398465e-01 8.06703162e+01] [-3.20685615e-01 9.46023321e-01 -4.69106864e-02 -5.83587467e+00] [-1.35724901e-01 3.11974087e-03 9.90741651e-01 -9.13960075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters 0.030073805750894453 Centerline is valid? [True, True] Translation: X:80.73, Y:-5.86, Z:-9.15 [[ 9.37304548e-01 3.25163134e-01 1.25415792e-01 8.07274629e+01] [-3.21871713e-01 9.45653252e-01 -4.62442127e-02 -5.85872599e+00] [-1.33636765e-01 2.97711514e-03 9.91025909e-01 -9.14702278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters 0.029349682231145754 Centerline is valid? [True, True] Translation: X:80.78, Y:-5.89, Z:-9.15 [[ 9.35961883e-01 3.29673854e-01 1.23654772e-01 8.07835786e+01] [-3.26505942e-01 9.44091944e-01 -4.56538234e-02 -5.88596577e+00] [-1.31792346e-01 2.35622064e-03 9.91274546e-01 -9.15458711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters 0.02915611970324716 Centerline is valid? [True, True] Translation: X:80.84, Y:-5.92, Z:-9.16 [[ 9.33583671e-01 3.35978468e-01 1.24659530e-01 8.08386602e+01] [-3.32809095e-01 9.41868445e-01 -4.60645147e-02 -5.91539352e+00] [-1.32889563e-01 1.51725346e-03 9.91129690e-01 -9.16200578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters 0.029040856201591452 Centerline is valid? [True, True] Translation: X:80.89, Y:-5.94, Z:-9.17 [[ 9.31264471e-01 3.41655230e-01 1.26562980e-01 8.08944367e+01] [-3.38430484e-01 9.39825030e-01 -4.68371669e-02 -5.94444468e+00] [-1.34949219e-01 7.85019032e-04 9.90852205e-01 -9.16943834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters 0.029058012845811085 Centerline is valid? [True, True] Translation: X:80.95, Y:-5.97, Z:-9.18 [[ 9.29111683e-01 3.47159017e-01 1.27405244e-01 8.09514058e+01] [-3.43931518e-01 9.37806277e-01 -4.72281467e-02 -5.97204396e+00] [-1.35877115e-01 6.15437166e-05 9.90725697e-01 -9.17699914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters 0.028995662643388757 Centerline is valid? [True, True] Translation: X:81.01, Y:-6.00, Z:-9.19 [[ 9.27245032e-01 3.52716716e-01 1.25728154e-01 8.10063602e+01] [-3.49614409e-01 9.35729913e-01 -4.66829222e-02 -5.99926362e+00] [-1.34113442e-01 -6.69866521e-04 9.90965759e-01 -9.18696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters 0.029024207594880554 Centerline is valid? [True, True] Translation: X:81.06, Y:-6.03, Z:-9.19 [[ 9.25893949e-01 3.57150398e-01 1.23142150e-01 8.10628504e+01] [-3.54205215e-01 9.34046090e-01 -4.57882843e-02 -6.02645096e+00] [-1.31373748e-01 -1.22249637e-03 9.91332156e-01 -9.19066547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters 0.029344998005575246 Centerline is valid? [True, True] Translation: X:81.12, Y:-6.05, Z:-9.20 [[ 9.24087703e-01 3.60821564e-01 1.25975064e-01 8.11203898e+01] [-3.57763327e-01 9.32633283e-01 -4.69101483e-02 -6.04974151e+00] [-1.34414730e-01 -1.72016678e-03 9.90923671e-01 -9.19814554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters 0.0298629728451177 Centerline is valid? [True, True] Translation: X:81.18, Y:-6.07, Z:-9.20 [[ 9.21918730e-01 3.66195164e-01 1.26360429e-01 8.11790000e+01] [-3.63159079e-01 9.30534853e-01 -4.71208129e-02 -6.07011059e+00] [-1.34838197e-01 -2.44737717e-03 9.90864608e-01 -9.20483489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters 0.02973191936915563 Centerline is valid? [True, True] Translation: X:81.24, Y:-6.09, Z:-9.21 [[ 9.21884478e-01 3.66711251e-01 1.25107423e-01 8.12375804e+01] [-3.63731287e-01 9.30331620e-01 -4.67186079e-02 -6.08990870e+00] [-1.33523631e-01 -2.43632462e-03 9.91042635e-01 -9.21269901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters 0.0295851628491655 Centerline is valid? [True, True] Translation: X:81.30, Y:-6.11, Z:-9.22 [[ 9.22628777e-01 3.64854218e-01 1.25050146e-01 8.12962834e+01] [-3.61851212e-01 9.31062279e-01 -4.67625093e-02 -6.10855314e+00] [-1.33490973e-01 -2.10511012e-03 9.91047793e-01 -9.21974825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters 0.029131777890936194 Centerline is valid? [True, True] Translation: X:81.36, Y:-6.13, Z:-9.23 [[ 9.25773776e-01 3.55755553e-01 1.27987901e-01 8.13556607e+01] [-3.52512865e-01 9.34578745e-01 -4.79296301e-02 -6.12662593e+00] [-1.36666004e-01 -7.45386821e-04 9.90616903e-01 -9.22738406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters 0.02898981241960773 Centerline is valid? [True, True] Translation: X:81.41, Y:-6.15, Z:-9.24 [[ 9.29077171e-01 3.47572677e-01 1.26526065e-01 8.14126046e+01] [-3.44319104e-01 9.37652903e-01 -4.74488025e-02 -6.14981541e+00] [-1.35129439e-01 5.18257816e-04 9.90827819e-01 -9.23720299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters 0.028863458621546264 Centerline is valid? [True, True] Translation: X:81.47, Y:-6.17, Z:-9.24 [[ 9.30031134e-01 3.45858629e-01 1.24192991e-01 8.14712710e+01] [-3.42700393e-01 9.38286280e-01 -4.66400885e-02 -6.17001105e+00] [-1.32659457e-01 8.15747629e-04 9.91161341e-01 -9.24392470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters 0.02889980864045631 Centerline is valid? [True, True] Translation: X:81.53, Y:-6.19, Z:-9.25 [[ 9.28450030e-01 3.49642346e-01 1.25422375e-01 8.15289212e+01] [-3.46445789e-01 9.36883189e-01 -4.71720713e-02 -6.19472587e+00] [-1.33999469e-01 3.44857202e-04 9.90981344e-01 -9.25032168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters 0.029125014703880025 Centerline is valid? [True, True] Translation: X:81.59, Y:-6.22, Z:-9.26 [[ 9.26404064e-01 3.55274931e-01 1.24720622e-01 8.15857360e+01] [-3.52154408e-01 9.34761771e-01 -4.69862092e-02 -6.22027259e+00] [-1.33277091e-01 -3.92701476e-04 9.91078737e-01 -9.25778367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters 0.02907364193400945 Centerline is valid? [True, True] Translation: X:81.64, Y:-6.24, Z:-9.27 [[ 9.25372870e-01 3.57201646e-01 1.26854386e-01 8.16434823e+01] [-3.53980137e-01 9.34027096e-01 -4.78690568e-02 -6.24296213e+00] [-1.35584340e-01 -6.07206624e-04 9.90765622e-01 -9.26582211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters 0.029000597537135846 Centerline is valid? [True, True] Translation: X:81.70, Y:-6.26, Z:-9.27 [[ 9.25216449e-01 3.58012253e-01 1.25705005e-01 8.17020733e+01] [-3.54847395e-01 9.33716658e-01 -4.75029422e-02 -6.26218697e+00] [-1.34379493e-01 -6.55590150e-04 9.90929726e-01 -9.27093525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters 0.028965370199662065 Centerline is valid? [True, True] Translation: X:81.76, Y:-6.28, Z:-9.28 [[ 9.24905855e-01 3.59899653e-01 1.22561815e-01 8.17601002e+01] [-3.56899659e-01 9.32990635e-01 -4.63800403e-02 -6.28162902e+00] [-1.31041186e-01 -8.45099130e-04 9.91376565e-01 -9.27969931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters 0.029284735464651157 Centerline is valid? [True, True] Translation: X:81.82, Y:-6.30, Z:-9.28 [[ 9.23896701e-01 3.62027478e-01 1.23899114e-01 8.18182784e+01] [-3.58971356e-01 9.32166779e-01 -4.69538195e-02 -6.30178880e+00] [-1.32493211e-01 -1.09575397e-03 9.91183307e-01 -9.28475742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters 0.029238425618340107 Centerline is valid? [True, True] Translation: X:81.88, Y:-6.32, Z:-9.29 [[ 9.24001182e-01 3.62010325e-01 1.23167934e-01 8.18769399e+01] [-3.58981215e-01 9.32173523e-01 -4.67440841e-02 -6.32258946e+00] [-1.31735728e-01 -1.02338569e-03 9.91284344e-01 -9.29107516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters 0.029057751065665383 Centerline is valid? [True, True] Translation: X:81.93, Y:-6.34, Z:-9.30 [[ 9.25283647e-01 3.58840786e-01 1.22814751e-01 8.19348635e+01] [-3.55791430e-01 9.33398650e-01 -4.66842397e-02 -6.34423156e+00] [-1.31387332e-01 -5.00272396e-04 9.91330983e-01 -9.29963222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters 0.02887915448801162 Centerline is valid? [True, True] Translation: X:81.99, Y:-6.36, Z:-9.31 [[ 9.26847037e-01 3.54110890e-01 1.24739917e-01 8.19930192e+01] [-3.50912742e-01 9.35203411e-01 -4.74850201e-02 -6.36418340e+00] [-1.33472159e-01 2.38523852e-04 9.91052534e-01 -9.30724116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters 0.028918758504774295 Centerline is valid? [True, True] Translation: X:82.05, Y:-6.39, Z:-9.31 [[ 9.27554147e-01 3.52476020e-01 1.24112691e-01 8.20517125e+01] [-3.49286306e-01 9.35820692e-01 -4.73149923e-02 -6.38763874e+00] [-1.32824624e-01 5.36353982e-04 9.91139411e-01 -9.31308891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters 0.02888148416569128 Centerline is valid? [True, True] Translation: X:82.11, Y:-6.41, Z:-9.32 [[ 9.26442009e-01 3.55184128e-01 1.24697390e-01 8.21087459e+01] [-3.51978001e-01 9.34796334e-01 -4.76161872e-02 -6.41294515e+00] [-1.33479177e-01 2.22898271e-04 9.91051593e-01 -9.32158408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters 0.028716462023183103 Centerline is valid? [True, True] Translation: X:82.17, Y:-6.44, Z:-9.33 [[ 9.25469190e-01 3.58017257e-01 1.23816083e-01 8.21654220e+01] [-3.54871587e-01 9.33714962e-01 -4.73553164e-02 -6.43720572e+00] [-1.32562950e-01 -1.12923506e-04 9.91174582e-01 -9.32710870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters 0.028807013238559744 Centerline is valid? [True, True] Translation: X:82.22, Y:-6.46, Z:-9.33 [[ 9.23716055e-01 3.62254879e-01 1.24579506e-01 8.22218375e+01] [-3.59099212e-01 9.32078841e-01 -4.77157165e-02 -6.46307677e+00] [-1.33403173e-01 -6.60628971e-04 9.91061631e-01 -9.33299808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters 0.028859919827363908 Centerline is valid? [True, True] Translation: X:82.28, Y:-6.49, Z:-9.34 [[ 9.23053044e-01 3.64151719e-01 1.23962107e-01 8.22798171e+01] [-3.61035247e-01 9.31339238e-01 -4.75476007e-02 -6.48696016e+00] [-1.32765315e-01 -8.65732346e-04 9.91147124e-01 -9.34063831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters 0.028879598459202356 Centerline is valid? [True, True] Translation: X:82.34, Y:-6.51, Z:-9.35 [[ 9.23101689e-01 3.63459299e-01 1.25620896e-01 8.23373227e+01] [-3.60241573e-01 9.31609812e-01 -4.82614379e-02 -6.50944480e+00] [-1.34570728e-01 -7.03654429e-04 9.90903741e-01 -9.34782244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters 0.028759507880084446 Centerline is valid? [True, True] Translation: X:82.39, Y:-6.54, Z:-9.35 [[ 9.23739339e-01 3.61857994e-01 1.25556464e-01 8.23939935e+01] [-3.58619452e-01 9.32233140e-01 -4.83059052e-02 -6.53511663e+00] [-1.34527774e-01 -4.04925282e-04 9.90909741e-01 -9.35494581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters 0.028609241631798368 Centerline is valid? [True, True] Translation: X:82.45, Y:-6.56, Z:-9.36 [[ 9.23942066e-01 3.61217155e-01 1.25909595e-01 8.24520038e+01] [-3.57943734e-01 9.32481694e-01 -4.85198316e-02 -6.55934435e+00] [-1.34934588e-01 -2.39037257e-04 9.90854480e-01 -9.36347440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters 0.02886924563324746 Centerline is valid? [True, True] Translation: X:82.51, Y:-6.59, Z:-9.37 [[ 9.23465979e-01 3.62030918e-01 1.27059832e-01 8.25081940e+01] [-3.58694062e-01 9.32166043e-01 -4.90411915e-02 -6.58520882e+00] [-1.36195289e-01 -2.87735452e-04 9.90681967e-01 -9.37130312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters 0.028687910564313274 Centerline is valid? [True, True] Translation: X:82.56, Y:-6.61, Z:-9.38 [[ 9.22717851e-01 3.64638751e-01 1.25021394e-01 8.25642834e+01] [-3.61423305e-01 9.31148873e-01 -4.83215413e-02 -6.60979286e+00] [-1.34033437e-01 -5.98496873e-04 9.90976629e-01 -9.37954310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters 0.02867079757528744 Centerline is valid? [True, True] Translation: X:82.62, Y:-6.64, Z:-9.38 [[ 9.21779752e-01 3.67612596e-01 1.23219591e-01 8.26204475e+01] [-3.64507214e-01 9.29978532e-01 -4.76908984e-02 -6.63720367e+00] [-1.32123349e-01 -9.53925315e-04 9.91232824e-01 -9.38485787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters 0.029091341524960408 Centerline is valid? [True, True] Translation: X:82.68, Y:-6.66, Z:-9.39 [[ 9.20493261e-01 3.69914694e-01 1.25917734e-01 8.26789747e+01] [-3.66683143e-01 9.29064886e-01 -4.88048102e-02 -6.65752718e+00] [-1.35039362e-01 -1.24741155e-03 9.90839450e-01 -9.39030897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters 0.02896755038325449 Centerline is valid? [True, True] Translation: X:82.74, Y:-6.68, Z:-9.40 [[ 9.20944204e-01 3.69841612e-01 1.22796395e-01 8.27370200e+01] [-3.66759479e-01 9.29094115e-01 -4.76614054e-02 -6.67912157e+00] [-1.31716579e-01 -1.14324675e-03 9.91286758e-01 -9.39746508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters 0.029039380118730928 Centerline is valid? [True, True] Translation: X:82.80, Y:-6.70, Z:-9.40 [[ 9.22011849e-01 3.67574405e-01 1.21586213e-01 8.27958418e+01] [-3.64524557e-01 9.29993815e-01 -4.72583403e-02 -6.69948959e+00] [-1.30445383e-01 -7.48410862e-04 9.91455214e-01 -9.40407958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters 0.029160128061481008 Centerline is valid? [True, True] Translation: X:82.86, Y:-6.72, Z:-9.41 [[ 9.22923442e-01 3.65203210e-01 1.21815167e-01 8.28559270e+01] [-3.62112102e-01 9.30927760e-01 -4.74165735e-02 -6.71801654e+00] [-1.30717806e-01 -3.48879097e-04 9.91419555e-01 -9.41056772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters 0.029307435876692194 Centerline is valid? [True, True] Translation: X:82.92, Y:-6.74, Z:-9.42 [[ 9.23152292e-01 3.64722545e-01 1.21520824e-01 8.29154277e+01] [-3.61632107e-01 9.31116224e-01 -4.73792968e-02 -6.73753163e+00] [-1.30430309e-01 -2.07525286e-04 9.91457458e-01 -9.41919659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters 0.02940001320240676 Centerline is valid? [True, True] Translation: X:82.97, Y:-6.76, Z:-9.43 [[ 9.23428107e-01 3.64269905e-01 1.20780659e-01 8.29749511e+01] [-3.61203214e-01 9.31293419e-01 -4.71678538e-02 -6.75757555e+00] [-1.29664063e-01 -7.02404057e-05 9.91557979e-01 -9.42535217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters 0.02964996216632682 Centerline is valid? [True, True] Translation: X:83.03, Y:-6.78, Z:-9.43 [[ 9.23429159e-01 3.64581008e-01 1.19830202e-01 8.30344031e+01] [-3.61555433e-01 9.31171674e-01 -4.68719753e-02 -6.77667334e+00] [-1.28671122e-01 -4.23118579e-05 9.91687320e-01 -9.43183296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters 0.02951189372056897 Centerline is valid? [True, True] Translation: X:83.09, Y:-6.79, Z:-9.44 [[ 9.22588843e-01 3.66374604e-01 1.20828290e-01 8.30947542e+01] [-3.63303441e-01 9.30467409e-01 -4.73393073e-02 -6.79305604e+00] [-1.29770706e-01 -2.22616744e-04 9.91544005e-01 -9.44042545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02592 meters 0.029522660609871288 Centerline is valid? [True, True] Translation: X:83.15, Y:-6.81, Z:-9.45 [[ 9.21929274e-01 3.68271873e-01 1.20092634e-01 8.31529961e+01] [-3.65244329e-01 9.29718051e-01 -4.71266957e-02 -6.81483982e+00] [-1.29007726e-01 -4.15673139e-04 9.91643501e-01 -9.44681946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters 0.02982785763426004 Centerline is valid? [True, True] Translation: X:83.21, Y:-6.84, Z:-9.45 [[ 9.20468043e-01 3.71736983e-01 1.20624199e-01 8.32114522e+01] [-3.68702038e-01 9.28337719e-01 -4.74118823e-02 -6.83605037e+00] [-1.29604744e-01 -8.33265353e-04 9.91565387e-01 -9.45369633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters 0.029922766760300142 Centerline is valid? [True, True] Translation: X:83.27, Y:-6.86, Z:-9.46 [[ 9.19355295e-01 3.74625265e-01 1.20173843e-01 8.32701795e+01] [-3.71627777e-01 9.27175578e-01 -4.73100623e-02 -6.85702865e+00] [-1.29145797e-01 -1.16518182e-03 9.91624932e-01 -9.46108326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters 0.03014631804179111 Centerline is valid? [True, True] Translation: X:83.33, Y:-6.87, Z:-9.47 [[ 9.17473397e-01 3.78501836e-01 1.22388425e-01 8.33294711e+01] [-3.75416539e-01 9.25599032e-01 -4.82582063e-02 -6.87465714e+00] [-1.31548427e-01 -1.67101837e-03 9.91308337e-01 -9.46851240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters 0.030264895152139256 Centerline is valid? [True, True] Translation: X:83.39, Y:-6.89, Z:-9.47 [[ 9.16446602e-01 3.80623789e-01 1.23495578e-01 8.33881010e+01] [-3.77492386e-01 9.24727961e-01 -4.87616344e-02 -6.89349569e+00] [-1.32759652e-01 -1.93120612e-03 9.91146379e-01 -9.47416947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters 0.029901843619263378 Centerline is valid? [True, True] Translation: X:83.45, Y:-6.91, Z:-9.48 [[ 9.17782484e-01 3.77694748e-01 1.22564228e-01 8.34485984e+01] [-3.74576389e-01 9.25929052e-01 -4.84553385e-02 -6.90797724e+00] [-1.31787106e-01 -1.43820483e-03 9.91277000e-01 -9.48226101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters 0.029497405516106807 Centerline is valid? [True, True] Translation: X:83.51, Y:-6.92, Z:-9.49 [[ 9.19475472e-01 3.74146159e-01 1.20745638e-01 8.35096595e+01] [-3.71081074e-01 9.27369355e-01 -4.78007890e-02 -6.92216456e+00] [-1.29860286e-01 -8.54768047e-04 9.91531934e-01 -9.48813790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters 0.029540223707091834 Centerline is valid? [True, True] Translation: X:83.57, Y:-6.94, Z:-9.50 [[ 9.21616298e-01 3.68408396e-01 1.22060036e-01 8.35712680e+01] [-3.65216670e-01 9.29664054e-01 -4.83893607e-02 -6.93590219e+00] [-1.31301875e-01 1.80634326e-05 9.91342432e-01 -9.49615318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters 0.029635366434707 Centerline is valid? [True, True] Translation: X:83.63, Y:-6.96, Z:-9.50 [[ 9.24205992e-01 3.62329517e-01 1.20667337e-01 8.36302481e+01] [-3.59148866e-01 9.32049586e-01 -4.79130644e-02 -6.95548010e+00] [-1.29828259e-01 9.44004018e-04 9.91536047e-01 -9.50382758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56591999999999 meters 0.03001646139609119 Centerline is valid? [True, True] Translation: X:83.69, Y:-6.97, Z:-9.51 [[ 9.27906489e-01 3.52976559e-01 1.19987905e-01 8.36891181e+01] [-3.49743917e-01 9.35629307e-01 -4.77178354e-02 -6.97411673e+00] [-1.29107478e-01 2.31264903e-03 9.91627909e-01 -9.51132681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters 0.030284271697251394 Centerline is valid? [True, True] Translation: X:83.75, Y:-7.00, Z:-9.52 [[ 9.28350951e-01 3.51407824e-01 1.21148886e-01 8.37469755e+01] [-3.48090042e-01 9.36218824e-01 -4.82455751e-02 -6.99633012e+00] [-1.30375741e-01 2.61810450e-03 9.91461200e-01 -9.51941203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters 0.03054842623697876 Centerline is valid? [True, True] Translation: X:83.81, Y:-7.02, Z:-9.53 [[ 9.28551393e-01 3.49961927e-01 1.23769788e-01 8.38053699e+01] [-3.46476490e-01 9.36759289e-01 -4.93566258e-02 -7.01731987e+00] [-1.33215439e-01 2.94684192e-03 9.91082723e-01 -9.52591950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters 0.030675592401515402 Centerline is valid? [True, True] Translation: X:83.86, Y:-7.04, Z:-9.53 [[ 9.28808168e-01 3.48588691e-01 1.25703268e-01 8.38612116e+01] [-3.44971148e-01 9.37270137e-01 -5.01955987e-02 -7.04346566e+00] [-1.35315538e-01 3.25808126e-03 9.90797199e-01 -9.53397312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters 0.030729301509224174 Centerline is valid? [True, True] Translation: X:83.92, Y:-7.07, Z:-9.54 [[ 9.29395221e-01 3.47424308e-01 1.24582796e-01 8.39190680e+01] [-3.43851877e-01 9.37701649e-01 -4.98147056e-02 -7.06763359e+00] [-1.34128333e-01 3.45952116e-03 9.90957932e-01 -9.54024200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters 0.03098705930353978 Centerline is valid? [True, True] Translation: X:83.97, Y:-7.10, Z:-9.55 [[ 9.30415831e-01 3.45252004e-01 1.22993638e-01 8.39735224e+01] [-3.41742173e-01 9.38502360e-01 -4.92504481e-02 -7.09634886e+00] [-1.32433635e-01 3.79128360e-03 9.91184624e-01 -9.54754676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters 0.03069926254604166 Centerline is valid? [True, True] Translation: X:84.03, Y:-7.13, Z:-9.55 [[ 9.29240414e-01 3.47002648e-01 1.26891351e-01 8.40283199e+01] [-3.43272956e-01 9.37856782e-01 -5.08756769e-02 -7.12613210e+00] [-1.36659909e-01 3.71736586e-03 9.90611049e-01 -9.55400725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters 0.029598103976311137 Centerline is valid? [True, True] Translation: X:84.08, Y:-7.15, Z:-9.56 [[ 9.26176426e-01 3.55050105e-01 1.27030117e-01 8.40827832e+01] [-3.51379180e-01 9.34843685e-01 -5.09897605e-02 -7.15480637e+00] [-1.36857222e-01 2.58977583e-03 9.90587398e-01 -9.56174564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters 0.029214394912718603 Centerline is valid? [True, True] Translation: X:84.14, Y:-7.19, Z:-9.57 [[ 9.22724230e-01 3.63634106e-01 1.27868031e-01 8.41364693e+01] [-3.59992654e-01 9.31540881e-01 -5.13505280e-02 -7.18638621e+00] [-1.37787101e-01 1.35082461e-03 9.90460948e-01 -9.56926096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters 0.02911549383093113 Centerline is valid? [True, True] Translation: X:84.19, Y:-7.22, Z:-9.58 [[ 9.20419663e-01 3.69819898e-01 1.26731557e-01 8.41913413e+01] [-3.66291849e-01 9.29103334e-01 -5.09634736e-02 -7.21590649e+00] [-1.36594019e-01 4.87046817e-04 9.90626992e-01 -9.57684690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters 0.029214277847313005 Centerline is valid? [True, True] Translation: X:84.25, Y:-7.24, Z:-9.59 [[ 9.17689917e-01 3.76800491e-01 1.25962720e-01 8.42466626e+01] [-3.73370992e-01 9.26294315e-01 -5.07241964e-02 -7.24283204e+00] [-1.35791454e-01 -4.81742289e-04 9.90737326e-01 -9.58553202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters 0.029871453252156586 Centerline is valid? [True, True] Translation: X:84.30, Y:-7.27, Z:-9.59 [[ 9.14067243e-01 3.84558281e-01 1.28825474e-01 8.43022555e+01] [-3.81036551e-01 9.23099325e-01 -5.19498154e-02 -7.27009679e+00] [-1.38896439e-01 -1.60158968e-03 9.90305616e-01 -9.59249681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters 0.030229104199074347 Centerline is valid? [True, True] Translation: X:84.36, Y:-7.30, Z:-9.60 [[ 9.12031545e-01 3.89748866e-01 1.27649057e-01 8.43582686e+01] [-3.86332428e-01 9.20918295e-01 -5.15436680e-02 -7.29517953e+00] [-1.37643438e-01 -2.30551887e-03 9.90479161e-01 -9.59841602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters 0.030870470892639897 Centerline is valid? [True, True] Translation: X:84.42, Y:-7.32, Z:-9.61 [[ 9.09420130e-01 3.95342304e-01 1.29071643e-01 8.44164344e+01] [-3.91895614e-01 9.18528547e-01 -5.21836701e-02 -7.31559207e+00] [-1.39186401e-01 -3.12573089e-03 9.90261266e-01 -9.60607113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters 0.031164360392830968 Centerline is valid? [True, True] Translation: X:84.47, Y:-7.34, Z:-9.61 [[ 9.08367948e-01 3.98212563e-01 1.27649617e-01 8.44743986e+01] [-3.94860562e-01 9.17286629e-01 -5.16756822e-02 -7.33745005e+00] [-1.37669193e-01 -3.46326601e-03 9.90472210e-01 -9.61239553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters 0.03068225795947918 Centerline is valid? [True, True] Translation: X:84.54, Y:-7.35, Z:-9.62 [[ 9.08722271e-01 3.97806509e-01 1.26387561e-01 8.45356517e+01] [-3.94507727e-01 9.17463378e-01 -5.12308802e-02 -7.35147102e+00] [-1.36335937e-01 -3.30622777e-03 9.90657146e-01 -9.62009113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters 0.030456936962684807 Centerline is valid? [True, True] Translation: X:84.60, Y:-7.37, Z:-9.63 [[ 9.09058932e-01 3.96571527e-01 1.27839282e-01 8.45957500e+01] [-3.93174403e-01 9.17998614e-01 -5.18886641e-02 -7.36883237e+00] [-1.37933851e-01 -3.09327987e-03 9.90436613e-01 -9.62848049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters 0.029595705021270846 Centerline is valid? [True, True] Translation: X:84.66, Y:-7.38, Z:-9.64 [[ 9.10737769e-01 3.92893976e-01 1.27244017e-01 8.46575320e+01] [-3.89482387e-01 9.19580503e-01 -5.17220423e-02 -7.38154612e+00] [-1.37332396e-01 -2.45408603e-03 9.90521979e-01 -9.63548484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters 0.029171004973001017 Centerline is valid? [True, True] Translation: X:84.72, Y:-7.40, Z:-9.64 [[ 9.12073801e-01 3.89681527e-01 1.27552688e-01 8.47170072e+01] [-3.86212520e-01 9.20947693e-01 -5.19156668e-02 -7.39958828e+00] [-1.37699930e-01 -1.91152532e-03 9.90472148e-01 -9.64357091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters 0.028817251074093896 Centerline is valid? [True, True] Translation: X:84.78, Y:-7.42, Z:-9.65 [[ 9.14577096e-01 3.83090330e-01 1.29578293e-01 8.47765268e+01] [-3.79433727e-01 9.23710479e-01 -5.28109712e-02 -7.41710695e+00] [-1.39924200e-01 -8.66670001e-04 9.90161839e-01 -9.65098752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters 0.028455948531424295 Centerline is valid? [True, True] Translation: X:84.84, Y:-7.44, Z:-9.66 [[ 9.17171117e-01 3.76764271e-01 1.29791470e-01 8.48370675e+01] [-3.73022007e-01 9.26309158e-01 -5.29710002e-02 -7.43519029e+00] [-1.40184608e-01 1.68396750e-04 9.90125370e-01 -9.65717434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters 0.028311430041825517 Centerline is valid? [True, True] Translation: X:84.90, Y:-7.46, Z:-9.66 [[ 9.19486002e-01 3.71817575e-01 1.27660419e-01 8.48951782e+01] [-3.68139353e-01 9.28305299e-01 -5.21793927e-02 -7.45669414e+00] [-1.37909059e-01 9.81397162e-04 9.90444410e-01 -9.66430111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters 0.02874217472139408 Centerline is valid? [True, True] Translation: X:84.95, Y:-7.48, Z:-9.67 [[ 9.20863136e-01 3.67374195e-01 1.30565254e-01 8.49514749e+01] [-3.63470952e-01 9.30071571e-01 -5.34391274e-02 -7.48069113e+00] [-1.41067187e-01 1.75344528e-03 9.89998472e-01 -9.67114533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters 0.028483615043987658 Centerline is valid? [True, True] Translation: X:85.01, Y:-7.51, Z:-9.68 [[ 9.21047279e-01 3.68413123e-01 1.26268287e-01 8.50080153e+01] [-3.64764888e-01 9.29660805e-01 -5.17432623e-02 -7.50522536e+00] [-1.36449574e-01 1.59975365e-03 9.90645726e-01 -9.67921682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters 0.028215831205051223 Centerline is valid? [True, True] Translation: X:85.06, Y:-7.53, Z:-9.68 [[ 9.20283597e-01 3.70429317e-01 1.25937372e-01 8.50641081e+01] [-3.66809643e-01 9.28859660e-01 -5.16760915e-02 -7.53079065e+00] [-1.36120484e-01 1.36161686e-03 9.90691354e-01 -9.68490173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters 0.02820562853548702 Centerline is valid? [True, True] Translation: X:85.12, Y:-7.55, Z:-9.69 [[ 9.19292695e-01 3.72333968e-01 1.27547472e-01 8.51206625e+01] [-3.68629081e-01 9.28098093e-01 -5.24073417e-02 -7.55419906e+00] [-1.37889599e-01 1.15997910e-03 9.90446926e-01 -9.69463197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters 0.02793607613969656 Centerline is valid? [True, True] Translation: X:85.18, Y:-7.58, Z:-9.70 [[ 9.18123150e-01 3.75184070e-01 1.27619726e-01 8.51783473e+01] [-3.71492251e-01 9.26949984e-01 -5.25093752e-02 -7.57780413e+00] [-1.37997784e-01 8.00333880e-04 9.90432214e-01 -9.70192561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters 0.027797591001931347 Centerline is valid? [True, True] Translation: X:85.24, Y:-7.60, Z:-9.71 [[ 9.17603106e-01 3.76795894e-01 1.26607240e-01 8.52356134e+01] [-3.73167204e-01 9.26296098e-01 -5.21706413e-02 -7.59997796e+00] [-1.36933476e-01 6.26272498e-04 9.90580048e-01 -9.70860942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters 0.027960439747418225 Centerline is valid? [True, True] Translation: X:85.29, Y:-7.62, Z:-9.72 [[ 9.17333732e-01 3.77072383e-01 1.27731132e-01 8.52924768e+01] [-3.73371373e-01 9.26183560e-01 -5.27051401e-02 -7.62310426e+00] [-1.38176127e-01 6.57054728e-04 9.90407455e-01 -9.71674829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters 0.027829643335982476 Centerline is valid? [True, True] Translation: X:85.35, Y:-7.64, Z:-9.72 [[ 9.18051828e-01 3.75163563e-01 1.28191816e-01 8.53504706e+01] [-3.71407111e-01 9.26958074e-01 -5.29668534e-02 -7.64486486e+00] [-1.38699672e-01 1.01496447e-03 9.90333969e-01 -9.72207652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters 0.02776434067821887 Centerline is valid? [True, True] Translation: X:85.41, Y:-7.67, Z:-9.73 [[ 9.17816995e-01 3.75232749e-01 1.29662435e-01 8.54071268e+01] [-3.71379626e-01 9.26929992e-01 -5.36466637e-02 -7.66868913e+00] [-1.40317985e-01 1.08383297e-03 9.90105898e-01 -9.72959969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters 0.027522763463356803 Centerline is valid? [True, True] Translation: X:85.47, Y:-7.69, Z:-9.74 [[ 9.17200768e-01 3.77273530e-01 1.28091508e-01 8.54657988e+01] [-3.73523648e-01 9.26101506e-01 -5.30668052e-02 -7.68845723e+00] [-1.38646439e-01 8.27707366e-04 9.90341598e-01 -9.73559279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters 0.027322185341246117 Centerline is valid? [True, True] Translation: X:85.52, Y:-7.71, Z:-9.74 [[ 9.17169582e-01 3.77716954e-01 1.27003389e-01 8.55232869e+01] [-3.74025364e-01 9.25920748e-01 -5.26858228e-02 -7.71006195e+00] [-1.37495401e-01 8.19345438e-04 9.90502066e-01 -9.74303815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters 0.027282486331241376 Centerline is valid? [True, True] Translation: X:85.58, Y:-7.73, Z:-9.75 [[ 9.17120031e-01 3.77722795e-01 1.27343387e-01 8.55811976e+01] [-3.74001248e-01 9.25918301e-01 -5.28995870e-02 -7.73369873e+00] [-1.37890953e-01 8.88685086e-04 9.90447018e-01 -9.75085866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters 0.027367098884060425 Centerline is valid? [True, True] Translation: X:85.64, Y:-7.76, Z:-9.76 [[ 9.17907182e-01 3.75836175e-01 1.27253976e-01 8.56393974e+01] [-3.72090600e-01 9.26685284e-01 -5.29430873e-02 -7.75586038e+00] [-1.37822315e-01 1.24683169e-03 9.90456185e-01 -9.75943069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters 0.027545934997351067 Centerline is valid? [True, True] Translation: X:85.70, Y:-7.78, Z:-9.77 [[ 9.18613926e-01 3.73862837e-01 1.27964969e-01 8.56974523e+01] [-3.70044863e-01 9.27482579e-01 -5.33185303e-02 -7.77741675e+00] [-1.38619096e-01 1.62636515e-03 9.90344436e-01 -9.76626886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters 0.027787041893474907 Centerline is valid? [True, True] Translation: X:85.75, Y:-7.80, Z:-9.77 [[ 9.18683068e-01 3.73464244e-01 1.28630782e-01 8.57537669e+01] [-3.69592376e-01 9.27642902e-01 -5.36667621e-02 -7.80185582e+00] [-1.39366049e-01 1.76178935e-03 9.90239365e-01 -9.77269345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters 0.02785935255911735 Centerline is valid? [True, True] Translation: X:85.81, Y:-7.83, Z:-9.78 [[ 9.18472181e-01 3.73077404e-01 1.31233014e-01 8.58107540e+01] [-3.69032023e-01 9.27798221e-01 -5.48254200e-02 -7.82546250e+00] [-1.42211882e-01 1.92643844e-03 9.89834365e-01 -9.77888611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters 0.027738211476449143 Centerline is valid? [True, True] Translation: X:85.87, Y:-7.85, Z:-9.79 [[ 9.18047529e-01 3.75010110e-01 1.28670712e-01 8.58660824e+01] [-3.71131130e-01 9.27019236e-01 -5.38239747e-02 -7.85266255e+00] [-1.39464760e-01 1.65926044e-03 9.90225645e-01 -9.78712805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters 0.027585000988173066 Centerline is valid? [True, True] Translation: X:85.92, Y:-7.88, Z:-9.79 [[ 9.15252136e-01 3.80984932e-01 1.31011487e-01 8.59225440e+01] [-3.77012805e-01 9.24580871e-01 -5.48776677e-02 -7.88072996e+00] [-1.42038279e-01 8.33894283e-04 9.89860814e-01 -9.79287858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters 0.027474934033297232 Centerline is valid? [True, True] Translation: X:85.98, Y:-7.91, Z:-9.80 [[ 9.12955450e-01 3.86623636e-01 1.30516322e-01 8.59798450e+01] [-3.82728500e-01 9.22237585e-01 -5.47424119e-02 -7.90530850e+00] [-1.41531768e-01 2.50671889e-05 9.89933714e-01 -9.79929955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters 0.027818686332038125 Centerline is valid? [True, True] Translation: X:86.04, Y:-7.93, Z:-9.81 [[ 9.09754027e-01 3.94098408e-01 1.30514580e-01 8.60369879e+01] [-3.90274636e-01 9.19067586e-01 -5.47766447e-02 -7.92906858e+00] [-1.41539108e-01 -1.10325715e-03 9.89932050e-01 -9.80811968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters 0.02768661110797082 Centerline is valid? [True, True] Translation: X:86.09, Y:-7.95, Z:-9.82 [[ 9.10236355e-01 3.93222814e-01 1.29790586e-01 8.60938927e+01] [-3.89422425e-01 9.19442776e-01 -5.45449890e-02 -7.95209468e+00] [-1.40783351e-01 -8.94532903e-04 9.90040023e-01 -9.81521262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters 0.027816624618337456 Centerline is valid? [True, True] Translation: X:86.15, Y:-7.97, Z:-9.83 [[ 9.12423464e-01 3.87763524e-01 1.30854394e-01 8.61519930e+01] [-3.83833662e-01 9.21758889e-01 -5.50660647e-02 -7.97326113e+00] [-1.41968812e-01 1.72484208e-05 9.89871131e-01 -9.82500000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters 0.027896871606979644 Centerline is valid? [True, True] Translation: X:86.21, Y:-7.99, Z:-9.83 [[ 9.14252495e-01 3.82551805e-01 1.33403494e-01 8.62108259e+01] [-3.78399505e-01 9.23933587e-01 -5.62186976e-02 -7.99203215e+00] [-1.44762533e-01 9.18268442e-04 9.89466000e-01 -9.83190237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters 0.027932251222013635 Centerline is valid? [True, True] Translation: X:86.27, Y:-8.02, Z:-9.84 [[ 9.16066661e-01 3.78475125e-01 1.32583757e-01 8.62675922e+01] [-3.74320438e-01 9.25610038e-01 -5.59487873e-02 -8.01984085e+00] [-1.43896080e-01 1.62400887e-03 9.89591472e-01 -9.83758972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters 0.028102354958710933 Centerline is valid? [True, True] Translation: X:86.32, Y:-8.05, Z:-9.85 [[ 9.17556362e-01 3.75799837e-01 1.29864562e-01 8.63228257e+01] [-3.71776857e-01 9.26698537e-01 -5.48797807e-02 -8.04786071e+00] [-1.40969113e-01 2.07465313e-03 9.90011821e-01 -9.84645706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters 0.028599262298428785 Centerline is valid? [True, True] Translation: X:86.38, Y:-8.08, Z:-9.85 [[ 9.18814804e-01 3.72670138e-01 1.29985865e-01 8.63765483e+01] [-3.68598348e-01 9.27960174e-01 -5.50015765e-02 -8.07855275e+00] [-1.41119151e-01 2.62368773e-03 9.89989142e-01 -9.85201883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters 0.0284262228436905 Centerline is valid? [True, True] Translation: X:86.43, Y:-8.10, Z:-9.86 [[ 9.19321594e-01 3.72010184e-01 1.28281836e-01 8.64329195e+01] [-3.68029468e-01 9.28224575e-01 -5.43456410e-02 -8.10296440e+00] [-1.39291485e-01 2.74962550e-03 9.90247606e-01 -9.85979966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters 0.028565031474845126 Centerline is valid? [True, True] Translation: X:86.49, Y:-8.13, Z:-9.87 [[ 9.18366208e-01 3.73658807e-01 1.30317319e-01 8.64864668e+01] [-3.69556331e-01 9.27562558e-01 -5.52794711e-02 -8.13354702e+00] [-1.41533127e-01 2.60720808e-03 9.89930087e-01 -9.86823494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters 0.02857767833796957 Centerline is valid? [True, True] Translation: X:86.54, Y:-8.16, Z:-9.88 [[ 9.17313890e-01 3.75533739e-01 1.32323985e-01 8.65405335e+01] [-3.71311997e-01 9.26805557e-01 -5.62037442e-02 -8.16376973e+00] [-1.43745007e-01 2.42299190e-03 9.89611794e-01 -9.87526624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters 0.028353074448555334 Centerline is valid? [True, True] Translation: X:86.60, Y:-8.19, Z:-9.88 [[ 9.16921717e-01 3.77378734e-01 1.29768470e-01 8.65952480e+01] [-3.73328938e-01 9.26056516e-01 -5.51800047e-02 -8.19413921e+00] [-1.40996698e-01 2.14941944e-03 9.90007733e-01 -9.88277788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters 0.02783407804947044 Centerline is valid? [True, True] Translation: X:86.65, Y:-8.22, Z:-9.89 [[ 9.15074779e-01 3.82392701e-01 1.28117016e-01 8.66511804e+01] [-3.78490012e-01 9.23998857e-01 -5.45107554e-02 -8.22039924e+00] [-1.39224492e-01 1.39040642e-03 9.90259869e-01 -9.88941336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters 0.02788728709858663 Centerline is valid? [True, True] Translation: X:86.71, Y:-8.25, Z:-9.90 [[ 9.12718641e-01 3.87590345e-01 1.29299679e-01 8.67067362e+01] [-3.83656080e-01 9.21831476e-01 -5.50884896e-02 -8.24957360e+00] [-1.40544281e-01 6.73683456e-04 9.90074165e-01 -9.89512913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters 0.02778664005071249 Centerline is valid? [True, True] Translation: X:86.76, Y:-8.28, Z:-9.90 [[ 9.12100096e-01 3.89079537e-01 1.29191827e-01 8.67643860e+01] [-3.85156058e-01 9.21204022e-01 -5.51176985e-02 -8.27506565e+00] [-1.40457199e-01 5.13843215e-04 9.90086618e-01 -9.90276243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters 0.02773693632120855 Centerline is valid? [True, True] Translation: X:86.82, Y:-8.30, Z:-9.91 [[ 9.12184160e-01 3.88940134e-01 1.29017945e-01 8.68218538e+01] [-3.85019480e-01 9.21262850e-01 -5.50886568e-02 -8.30079979e+00] [-1.40285629e-01 5.76578026e-04 9.90110908e-01 -9.90917839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters 0.027886486554106058 Centerline is valid? [True, True] Translation: X:86.88, Y:-8.32, Z:-9.92 [[ 9.12768328e-01 3.87060081e-01 1.30531506e-01 8.68786154e+01] [-3.83015517e-01 9.22054004e-01 -5.58169034e-02 -8.32376745e+00] [-1.41961592e-01 9.52309478e-04 9.89871709e-01 -9.91638585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters 0.02783284132411502 Centerline is valid? [True, True] Translation: X:86.94, Y:-8.35, Z:-9.92 [[ 9.13617399e-01 3.85375654e-01 1.29571808e-01 8.69361306e+01] [-3.81363752e-01 9.22758901e-01 -5.54770051e-02 -8.34816536e+00] [-1.40943026e-01 1.27076620e-03 9.90016893e-01 -9.92458431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters 0.028001784877550905 Centerline is valid? [True, True] Translation: X:86.99, Y:-8.37, Z:-9.93 [[ 9.14810390e-01 3.82638399e-01 1.29266417e-01 8.69924829e+01] [-3.78606723e-01 9.23896500e-01 -5.54274913e-02 -8.37360027e+00] [-1.40637476e-01 1.76451050e-03 9.90059587e-01 -9.93045073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters 0.027984552685918464 Centerline is valid? [True, True] Translation: X:87.05, Y:-8.40, Z:-9.94 [[ 9.15495600e-01 3.81174127e-01 1.28740405e-01 8.70496797e+01] [-3.77150499e-01 9.24500990e-01 -5.52758523e-02 -8.39805685e+00] [-1.40090357e-01 2.05029149e-03 9.90136601e-01 -9.93829850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters 0.028228416034649085 Centerline is valid? [True, True] Translation: X:87.10, Y:-8.43, Z:-9.95 [[ 9.15673544e-01 3.81440551e-01 1.26669121e-01 8.71044268e+01] [-3.77537616e-01 9.24391099e-01 -5.44650747e-02 -8.42706986e+00] [-1.37866996e-01 2.04987024e-03 9.90448630e-01 -9.94588012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters 0.027926872134287004 Centerline is valid? [True, True] Translation: X:87.16, Y:-8.45, Z:-9.95 [[ 9.15531064e-01 3.82604856e-01 1.24162774e-01 8.71604080e+01] [-3.78857066e-01 9.23910123e-01 -5.34547264e-02 -8.45303824e+00] [-1.35167282e-01 1.89951843e-03 9.90820972e-01 -9.95048852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters 0.027536122563863032 Centerline is valid? [True, True] Translation: X:87.22, Y:-8.48, Z:-9.96 [[ 9.12563429e-01 3.88703421e-01 1.27034002e-01 8.72173519e+01] [-3.84827682e-01 9.21362286e-01 -5.47648976e-02 -8.47963904e+00] [-1.38331642e-01 1.09024226e-03 9.90385364e-01 -9.95737201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters 0.02763436716409478 Centerline is valid? [True, True] Translation: X:87.27, Y:-8.51, Z:-9.97 [[ 9.09392945e-01 3.95618757e-01 1.28414447e-01 8.72733330e+01] [-3.91714430e-01 9.18414822e-01 -5.54438493e-02 -8.50653416e+00] [-1.39872358e-01 1.18453625e-04 9.90169536e-01 -9.96647282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters 0.02744203727870703 Centerline is valid? [True, True] Translation: X:87.33, Y:-8.53, Z:-9.97 [[ 9.08843845e-01 3.98524740e-01 1.23210786e-01 8.73298985e+01] [-3.94948116e-01 9.17157550e-01 -5.32730165e-02 -8.53024146e+00] [-1.34234318e-01 -2.45014606e-04 9.90949589e-01 -9.97497020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters 0.027594551790861614 Centerline is valid? [True, True] Translation: X:87.39, Y:-8.55, Z:-9.98 [[ 9.08555913e-01 3.98430274e-01 1.25616363e-01 8.73868025e+01] [-3.94701099e-01 9.17198609e-01 -5.43852397e-02 -8.55379397e+00] [-1.36883879e-01 -1.68885372e-04 9.90587086e-01 -9.98145386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters 0.027421497757325893 Centerline is valid? [True, True] Translation: X:87.44, Y:-8.58, Z:-9.99 [[ 9.08363682e-01 3.98863223e-01 1.25632599e-01 8.74446504e+01] [-3.95127165e-01 9.17010415e-01 -5.44648658e-02 -8.57674537e+00] [-1.36930433e-01 -1.66946587e-04 9.90580652e-01 -9.98863647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters 0.027431500667940176 Centerline is valid? [True, True] Translation: X:87.50, Y:-8.60, Z:-10.00 [[ 9.07355304e-01 4.01212131e-01 1.25439941e-01 8.75022448e+01] [-3.97498768e-01 9.15985058e-01 -5.44619374e-02 -8.60058843e+00] [-1.36751902e-01 -4.45894327e-04 9.90605228e-01 -9.99675920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters 0.027786974621345783 Centerline is valid? [True, True] Translation: X:87.56, Y:-8.63, Z:-10.01 [[ 9.05938604e-01 4.03658993e-01 1.27807137e-01 8.75584396e+01] [-3.99816181e-01 9.14909202e-01 -5.55713437e-02 -8.62505716e+00] [-1.39363799e-01 -7.55135957e-04 9.90240961e-01 -1.00060827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters 0.027883653403782304 Centerline is valid? [True, True] Translation: X:87.62, Y:-8.65, Z:-10.01 [[ 9.04168944e-01 4.07933291e-01 1.26763363e-01 8.76161075e+01] [-4.04184926e-01 9.13010760e-01 -5.51896545e-02 -8.64922590e+00] [-1.38250012e-01 -1.33506888e-03 9.90396462e-01 -1.00104832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters 0.028104844067095354 Centerline is valid? [True, True] Translation: X:87.67, Y:-8.67, Z:-10.02 [[ 9.02945961e-01 4.10494667e-01 1.27211316e-01 8.76734761e+01] [-4.06733834e-01 9.11861487e-01 -5.54636592e-02 -8.67212023e+00] [-1.38766636e-01 -1.66045917e-03 9.90323717e-01 -1.00180308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters 0.027798164397965695 Centerline is valid? [True, True] Translation: X:87.73, Y:-8.70, Z:-10.02 [[ 9.04151585e-01 4.08461311e-01 1.25176952e-01 8.77297762e+01] [-4.04791555e-01 9.12774759e-01 -5.46446356e-02 -8.69739073e+00] [-1.36578582e-01 -1.26353920e-03 9.90628434e-01 -1.00247944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters 0.027869342508355932 Centerline is valid? [True, True] Translation: X:87.79, Y:-8.72, Z:-10.03 [[ 9.04323096e-01 4.07479636e-01 1.27122320e-01 8.77867751e+01] [-4.03674778e-01 9.13213670e-01 -5.55649768e-02 -8.71999300e+00] [-1.38731437e-01 -1.06738250e-03 9.90329465e-01 -1.00318412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters 0.028302194192977106 Centerline is valid? [True, True] Translation: X:87.85, Y:-8.74, Z:-10.04 [[ 9.03700896e-01 4.08858126e-01 1.27120901e-01 8.78450933e+01] [-4.05056664e-01 9.12597154e-01 -5.56375190e-02 -8.74200330e+00] [-1.38758024e-01 -1.21149221e-03 9.90325574e-01 -1.00395069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters 0.02821384532811737 Centerline is valid? [True, True] Translation: X:87.90, Y:-8.77, Z:-10.05 [[ 9.03674687e-01 4.08804772e-01 1.27478303e-01 8.79023987e+01] [-4.04969744e-01 9.12621158e-01 -5.58760062e-02 -8.76714016e+00] [-1.39181774e-01 -1.13112306e-03 9.90266204e-01 -1.00467551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters 0.028233349850579906 Centerline is valid? [True, True] Translation: X:87.96, Y:-8.79, Z:-10.05 [[ 9.04537529e-01 4.07146948e-01 1.26661841e-01 8.79601319e+01] [-4.03333984e-01 9.13362319e-01 -5.55965002e-02 -8.78909690e+00] [-1.38324098e-01 -7.97904104e-04 9.90386696e-01 -1.00548618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters 0.027831946262370365 Centerline is valid? [True, True] Translation: X:88.02, Y:-8.81, Z:-10.06 [[ 9.05566319e-01 4.05317324e-01 1.25169917e-01 8.80174789e+01] [-4.01567159e-01 9.14175949e-01 -5.50104632e-02 -8.81303467e+00] [-1.36724021e-01 -4.48505324e-04 9.90609076e-01 -1.00608787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters 0.02789043288929756 Centerline is valid? [True, True] Translation: X:88.08, Y:-8.84, Z:-10.07 [[ 9.05468715e-01 4.05307253e-01 1.25906463e-01 8.80751092e+01] [-4.01502439e-01 9.14180444e-01 -5.54067422e-02 -8.83734826e+00] [-1.37557981e-01 -3.82680252e-04 9.90493642e-01 -1.00676287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters 0.028149915988085646 Centerline is valid? [True, True] Translation: X:88.13, Y:-8.86, Z:-10.08 [[ 9.04447052e-01 4.07475076e-01 1.26252102e-01 8.81318431e+01] [-4.03658801e-01 9.13216105e-01 -5.56409655e-02 -8.86475509e+00] [-1.37967759e-01 -6.38464764e-04 9.90436515e-01 -1.00752343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters 0.028487378768300896 Centerline is valid? [True, True] Translation: X:88.19, Y:-8.89, Z:-10.08 [[ 9.02236473e-01 4.11537160e-01 1.28866261e-01 8.81879850e+01] [-4.07589686e-01 9.11392180e-01 -5.68765555e-02 -8.88945068e+00] [-1.40854519e-01 -1.20845615e-03 9.90029567e-01 -1.00849878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters 0.02857814960845402 Centerline is valid? [True, True] Translation: X:88.24, Y:-8.91, Z:-10.09 [[ 9.01693003e-01 4.13402397e-01 1.26681434e-01 8.82446376e+01] [-4.09596841e-01 9.10547346e-01 -5.59817633e-02 -8.91313723e+00] [-1.38492439e-01 -1.40995101e-03 9.90362487e-01 -1.00918952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters 0.028516302020361504 Centerline is valid? [True, True] Translation: X:88.30, Y:-8.94, Z:-10.10 [[ 9.01605509e-01 4.13470332e-01 1.27081822e-01 8.83020246e+01] [-4.09631103e-01 9.10516578e-01 -5.62309575e-02 -8.93699427e+00] [-1.38959939e-01 -1.35852606e-03 9.90297072e-01 -1.01002445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters 0.02848667634863408 Centerline is valid? [True, True] Translation: X:88.36, Y:-8.96, Z:-10.11 [[ 9.02045897e-01 4.12215381e-01 1.28029994e-01 8.83604144e+01] [-4.08294223e-01 9.11085766e-01 -5.67323073e-02 -8.95978086e+00] [-1.40032235e-01 -1.09876198e-03 9.90146336e-01 -1.01069599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters 0.028196356817089045 Centerline is valid? [True, True] Translation: X:88.42, Y:-8.98, Z:-10.12 [[ 9.05463310e-01 4.04542181e-01 1.28381537e-01 8.84210758e+01] [-4.00510656e-01 9.14519325e-01 -5.69703270e-02 -8.97792869e+00] [-1.40454297e-01 1.66367061e-04 9.90087149e-01 -1.01154557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters 0.02812386584637793 Centerline is valid? [True, True] Translation: X:88.48, Y:-9.00, Z:-10.12 [[ 9.06823591e-01 4.01555543e-01 1.28156625e-01 8.84789386e+01] [-3.97496762e-01 9.15834401e-01 -5.69532721e-02 -9.00187812e+00] [-1.40240148e-01 7.04727184e-04 9.90117268e-01 -1.01198907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters 0.0283930857806156 Centerline is valid? [True, True] Translation: X:88.54, Y:-9.02, Z:-10.13 [[ 9.08922045e-01 3.96484690e-01 1.29075971e-01 8.85363343e+01] [-3.92304412e-01 9.18039982e-01 -5.74442258e-02 -9.02419128e+00] [-1.41272659e-01 1.57525010e-03 9.89969472e-01 -1.01284388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters 0.028480192145707333 Centerline is valid? [True, True] Translation: X:88.59, Y:-9.05, Z:-10.13 [[ 9.09093095e-01 3.95790471e-01 1.29998648e-01 8.85924610e+01] [-3.91532327e-01 9.18339150e-01 -5.79279085e-02 -9.04895828e+00] [-1.42310162e-01 1.76318845e-03 9.89820544e-01 -1.01349356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters 0.02878723062294258 Centerline is valid? [True, True] Translation: X:88.65, Y:-9.08, Z:-10.14 [[ 9.10145415e-01 3.93721684e-01 1.28912990e-01 8.86484344e+01] [-3.89504138e-01 9.19227220e-01 -5.75138615e-02 -9.07567348e+00] [-1.41144784e-01 2.13383439e-03 9.89986665e-01 -1.01434981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters 0.028787825550891794 Centerline is valid? [True, True] Translation: X:88.70, Y:-9.10, Z:-10.15 [[ 9.10821527e-01 3.91852686e-01 1.29829192e-01 8.87029961e+01] [-3.87544004e-01 9.20024530e-01 -5.80043850e-02 -9.10437367e+00] [-1.42175216e-01 2.51711762e-03 9.89838306e-01 -1.01503531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters 0.02901844812441176 Centerline is valid? [True, True] Translation: X:88.76, Y:-9.13, Z:-10.16 [[ 9.12306213e-01 3.89138026e-01 1.27549874e-01 8.87585736e+01] [-3.84943547e-01 9.21174721e-01 -5.70578633e-02 -9.13222457e+00] [-1.39699104e-01 2.95474220e-03 9.90189593e-01 -1.01587672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters 0.029072497386299873 Centerline is valid? [True, True] Translation: X:88.81, Y:-9.16, Z:-10.17 [[ 9.12243940e-01 3.89329294e-01 1.27411516e-01 8.88145259e+01] [-3.85134358e-01 9.21093760e-01 -5.70772448e-02 -9.16010044e+00] [-1.39579796e-01 2.99781812e-03 9.90206288e-01 -1.01658722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters 0.02879287336700285 Centerline is valid? [True, True] Translation: X:88.87, Y:-9.19, Z:-10.17 [[ 9.10432431e-01 3.92567417e-01 1.30397899e-01 8.88686464e+01] [-3.88193580e-01 9.19719449e-01 -5.84968363e-02 -9.19004545e+00] [-1.42893436e-01 2.63778974e-03 9.89734564e-01 -1.01717850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters 0.0286045898367712 Centerline is valid? [True, True] Translation: X:88.92, Y:-9.22, Z:-10.18 [[ 9.08630440e-01 3.97193860e-01 1.28948679e-01 8.89231729e+01] [-3.92953394e-01 9.17732650e-01 -5.79172971e-02 -9.21793688e+00] [-1.41344807e-01 1.95459819e-03 9.89958497e-01 -1.01805453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters 0.028187018528866067 Centerline is valid? [True, True] Translation: X:88.98, Y:-9.25, Z:-10.19 [[ 9.08546054e-01 3.98401189e-01 1.25779812e-01 8.89774834e+01] [-3.94369422e-01 9.17209518e-01 -5.65637689e-02 -9.24761424e+00] [-1.37901514e-01 1.78707720e-03 9.90444334e-01 -1.01868524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters 0.02835693393804487 Centerline is valid? [True, True] Translation: X:89.03, Y:-9.27, Z:-10.19 [[ 9.07772205e-01 3.99583370e-01 1.27603900e-01 8.90343441e+01] [-3.95434438e-01 9.16695284e-01 -5.74574789e-02 -9.27120891e+00] [-1.39932946e-01 1.69932585e-03 9.90159524e-01 -1.01946561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters 0.028400633401510472 Centerline is valid? [True, True] Translation: X:89.09, Y:-9.30, Z:-10.20 [[ 9.08095418e-01 3.99053213e-01 1.26961591e-01 8.90904157e+01] [-3.94930572e-01 9.16925922e-01 -5.72424478e-02 -9.29880805e+00] [-1.39257157e-01 1.84059062e-03 9.90254541e-01 -1.02023901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters 0.028455464500822602 Centerline is valid? [True, True] Translation: X:89.15, Y:-9.32, Z:-10.21 [[ 9.07961355e-01 3.98825459e-01 1.28625160e-01 8.91466888e+01] [-3.94579407e-01 9.17024723e-01 -5.80753659e-02 -9.32399716e+00] [-1.41114386e-01 1.97734861e-03 9.89991323e-01 -1.02099961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters 0.028972948860847537 Centerline is valid? [True, True] Translation: X:89.20, Y:-9.35, Z:-10.22 [[ 9.09506429e-01 3.95765687e-01 1.27151787e-01 8.92042174e+01] [-3.91576748e-01 9.18348143e-01 -5.74833779e-02 -9.34956650e+00] [-1.39519556e-01 2.49181838e-03 9.90216181e-01 -1.02164754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters 0.02921895602147673 Centerline is valid? [True, True] Translation: X:89.26, Y:-9.38, Z:-10.22 [[ 9.11208431e-01 3.91945280e-01 1.26799423e-01 8.92593902e+01] [-3.87731565e-01 9.19983163e-01 -5.74039493e-02 -9.37804282e+00] [-1.39152541e-01 3.14282382e-03 9.90265971e-01 -1.02235396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters 0.029569596966594957 Centerline is valid? [True, True] Translation: X:89.31, Y:-9.41, Z:-10.23 [[ 9.12327618e-01 3.88979820e-01 1.27878920e-01 8.93147497e+01] [-3.84654444e-01 9.21238871e-01 -5.79646516e-02 -9.40586890e+00] [-1.40354112e-01 3.69355751e-03 9.90094481e-01 -1.02288410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters 0.029587263812895406 Centerline is valid? [True, True] Translation: X:89.37, Y:-9.44, Z:-10.24 [[ 9.12885848e-01 3.88648218e-01 1.24867894e-01 8.93681622e+01] [-3.84512677e-01 9.21378716e-01 -5.66680099e-02 -9.43750766e+00] [-1.37074541e-01 3.71813608e-03 9.90553757e-01 -1.02372257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters 0.029215169801103304 Centerline is valid? [True, True] Translation: X:89.42, Y:-9.47, Z:-10.24 [[ 9.10935258e-01 3.92848593e-01 1.25964037e-01 8.94217383e+01] [-3.88669777e-01 9.19597669e-01 -5.72357558e-02 -9.46919776e+00] [-1.38321221e-01 3.17965379e-03 9.90382315e-01 -1.02438831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters 0.028745843606943253 Centerline is valid? [True, True] Translation: X:89.47, Y:-9.50, Z:-10.25 [[ 9.08159950e-01 3.99886559e-01 1.23839596e-01 8.94742569e+01] [-3.95904053e-01 9.16562156e-01 -5.63364410e-02 -9.50367321e+00] [-1.36034873e-01 2.13390123e-03 9.90701751e-01 -1.02498572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters 0.02833654417638717 Centerline is valid? [True, True] Translation: X:89.53, Y:-9.53, Z:-10.26 [[ 9.05551338e-01 4.06275664e-01 1.22134597e-01 8.95293478e+01] [-4.02453323e-01 9.13749763e-01 -5.56119831e-02 -9.53234605e+00] [-1.34194255e-01 1.20603111e-03 9.90954311e-01 -1.02583025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters 0.028195647090357087 Centerline is valid? [True, True] Translation: X:89.58, Y:-9.56, Z:-10.26 [[ 9.02675940e-01 4.14045891e-01 1.17226907e-01 8.95832005e+01] [-4.10587797e-01 9.10256005e-01 -5.34009884e-02 -9.56470722e+00] [-1.28816956e-01 7.18496724e-05 9.91668385e-01 -1.02631472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters 0.02842884315148982 Centerline is valid? [True, True] Translation: X:89.64, Y:-9.59, Z:-10.27 [[ 9.01484040e-01 4.15783759e-01 1.20209783e-01 8.96396870e+01] [-4.12157832e-01 9.09463492e-01 -5.47912309e-02 -9.58862318e+00] [-1.32107713e-01 -1.51983321e-04 9.91235355e-01 -1.02700876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters 0.028196847120947745 Centerline is valid? [True, True] Translation: X:89.70, Y:-9.61, Z:-10.28 [[ 8.99822155e-01 4.19901632e-01 1.18333044e-01 8.96970849e+01] [-4.16415145e-01 9.07569365e-01 -5.40025389e-02 -9.61165921e+00] [-1.30071200e-01 -6.82990804e-04 9.91504421e-01 -1.02776192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters 0.02839448493194642 Centerline is valid? [True, True] Translation: X:89.75, Y:-9.63, Z:-10.29 [[ 8.98706858e-01 4.21903014e-01 1.19682205e-01 8.97545718e+01] [-4.18344729e-01 9.06640501e-01 -5.46871911e-02 -9.63491270e+00] [-1.31581425e-01 -9.20665903e-04 9.91304938e-01 -1.02852221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters 0.028358550586884603 Centerline is valid? [True, True] Translation: X:89.81, Y:-9.66, Z:-10.29 [[ 8.97637737e-01 4.24262524e-01 1.19364164e-01 8.98131386e+01] [-4.20734880e-01 9.05538442e-01 -5.46103528e-02 -9.65679338e+00] [-1.31257965e-01 -1.20035375e-03 9.91347520e-01 -1.02917081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters 0.028444991716135095 Centerline is valid? [True, True] Translation: X:89.87, Y:-9.68, Z:-10.30 [[ 8.97679305e-01 4.23831223e-01 1.20577614e-01 8.98717544e+01] [-4.20216805e-01 9.05740545e-01 -5.52440286e-02 -9.67984831e+00] [-1.32626178e-01 -1.07731834e-03 9.91165544e-01 -1.02999813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters 0.0285734288818365 Centerline is valid? [True, True] Translation: X:89.93, Y:-9.70, Z:-10.31 [[ 8.98020068e-01 4.22923989e-01 1.21223993e-01 8.99285103e+01] [-4.19251792e-01 9.06164737e-01 -5.56183775e-02 -9.70484840e+00] [-1.33371254e-01 -8.76957307e-04 9.91065759e-01 -1.03083042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters 0.028878129313043146 Centerline is valid? [True, True] Translation: X:89.99, Y:-9.73, Z:-10.31 [[ 8.97283690e-01 4.24308676e-01 1.21836479e-01 8.99881425e+01] [-4.20601162e-01 9.05517042e-01 -5.59781092e-02 -9.72570552e+00] [-1.34077005e-01 -1.01632014e-03 9.90970395e-01 -1.03144256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters 0.02911300608207453 Centerline is valid? [True, True] Translation: X:90.04, Y:-9.75, Z:-10.32 [[ 8.96472676e-01 4.25209701e-01 1.24633267e-01 9.00437743e+01] [-4.21326878e-01 9.05094188e-01 -5.73425961e-02 -9.75155162e+00] [-1.37187474e-01 -1.10527488e-03 9.90544484e-01 -1.03208612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters 0.0290821331309964 Centerline is valid? [True, True] Translation: X:90.10, Y:-9.77, Z:-10.33 [[ 8.96263028e-01 4.26285609e-01 1.22446578e-01 9.01024429e+01] [-4.22539706e-01 9.04587843e-01 -5.64006195e-02 -9.77147271e+00] [-1.34806458e-01 -1.18875109e-03 9.90871236e-01 -1.03275906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters 0.029114926942665154 Centerline is valid? [True, True] Translation: X:90.16, Y:-9.79, Z:-10.33 [[ 8.96074431e-01 4.27080662e-01 1.21048430e-01 9.01601974e+01] [-4.23418361e-01 9.04212691e-01 -5.58238409e-02 -9.79463239e+00] [-1.33294809e-01 -1.23181127e-03 9.91075666e-01 -1.03342330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters 0.02921273479758605 Centerline is valid? [True, True] Translation: X:90.22, Y:-9.82, Z:-10.34 [[ 8.96774985e-01 4.25192236e-01 1.22499748e-01 9.02191149e+01] [-4.21413963e-01 9.05102622e-01 -5.65642634e-02 -9.81673624e+00] [-1.34925529e-01 -8.97687824e-04 9.90855335e-01 -1.03428299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters 0.029141890945587157 Centerline is valid? [True, True] Translation: X:90.28, Y:-9.84, Z:-10.35 [[ 8.97778595e-01 4.23409723e-01 1.21316941e-01 9.02752711e+01] [-4.19677878e-01 9.05938133e-01 -5.60943734e-02 -9.84103329e+00] [-1.33656546e-01 -5.53708732e-04 9.91027558e-01 -1.03507240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters 0.028965551363447826 Centerline is valid? [True, True] Translation: X:90.33, Y:-9.86, Z:-10.36 [[ 8.99594966e-01 4.19073654e-01 1.22907156e-01 9.03334135e+01] [-4.15192887e-01 9.07952228e-01 -5.69000789e-02 -9.86196852e+00] [-1.35439150e-01 1.56847822e-04 9.90785654e-01 -1.03580575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters 0.028910332031189527 Centerline is valid? [True, True] Translation: X:90.39, Y:-9.89, Z:-10.37 [[ 9.00348155e-01 4.17494433e-01 1.22766441e-01 9.03891459e+01] [-4.13598186e-01 9.08679364e-01 -5.69065368e-02 -9.89090330e+00] [-1.35313494e-01 4.59718225e-04 9.90802729e-01 -1.03663726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters 0.028769081247683386 Centerline is valid? [True, True] Translation: X:90.45, Y:-9.91, Z:-10.37 [[ 8.99433239e-01 4.19562297e-01 1.22422740e-01 9.04477561e+01] [-4.15696079e-01 9.07726517e-01 -5.68272798e-02 -9.91435257e+00] [-1.34968951e-01 2.21691463e-04 9.90849803e-01 -1.03733057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters 0.028744938017924784 Centerline is valid? [True, True] Translation: X:90.50, Y:-9.95, Z:-10.38 [[ 8.98439556e-01 4.21454477e-01 1.23217240e-01 9.05024127e+01] [-4.17544165e-01 9.06849560e-01 -5.72777962e-02 -9.94516916e+00] [-1.35879483e-01 1.19981552e-05 9.90725374e-01 -1.03782834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters 0.02904956331119652 Centerline is valid? [True, True] Translation: X:90.56, Y:-9.97, Z:-10.39 [[ 8.96853359e-01 4.23542862e-01 1.27536255e-01 9.05594338e+01] [-4.19361193e-01 9.05876033e-01 -5.93700499e-02 -9.96936122e+00] [-1.40677797e-01 -2.37527097e-04 9.90055403e-01 -1.03872141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters 0.028989069433679827 Centerline is valid? [True, True] Translation: X:90.62, Y:-10.00, Z:-10.39 [[ 8.95615589e-01 4.26246501e-01 1.27226715e-01 9.06164252e+01] [-4.22101700e-01 9.04606859e-01 -5.93008052e-02 -9.99535025e+00] [-1.40366920e-01 -5.91887259e-04 9.90099378e-01 -1.03941625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters 0.029044985129290237 Centerline is valid? [True, True] Translation: X:90.67, Y:-10.02, Z:-10.40 [[ 8.94712809e-01 4.27900361e-01 1.28024494e-01 9.06725477e+01] [-4.23708477e-01 9.03825574e-01 -5.97533135e-02 -1.00200209e+01] [-1.41280276e-01 -7.83008529e-04 9.89969328e-01 -1.04006009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters 0.029038933149735564 Centerline is valid? [True, True] Translation: X:90.73, Y:-10.04, Z:-10.41 [[ 8.94984051e-01 4.27424154e-01 1.27718995e-01 9.07305660e+01] [-4.23237573e-01 9.04050983e-01 -5.96806187e-02 -1.00443622e+01] [-1.40973421e-01 -6.42275853e-04 9.90013173e-01 -1.04082992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters 0.028819872761662802 Centerline is valid? [True, True] Translation: X:90.79, Y:-10.07, Z:-10.42 [[ 8.95466464e-01 4.26761341e-01 1.26548683e-01 9.07874511e+01] [-4.22633639e-01 9.04364167e-01 -5.92136883e-02 -1.00678750e+01] [-1.39716207e-01 -4.59858258e-04 9.90191481e-01 -1.04158566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters 0.028883314649707097 Centerline is valid? [True, True] Translation: X:90.85, Y:-10.09, Z:-10.42 [[ 8.96767628e-01 4.23112470e-01 1.29551763e-01 9.08450530e+01] [-4.18736658e-01 9.06077152e-01 -6.06943662e-02 -1.00912243e+01] [-1.43064436e-01 1.80670393e-04 9.89713360e-01 -1.04234625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters 0.028875943141942993 Centerline is valid? [True, True] Translation: X:90.90, Y:-10.12, Z:-10.43 [[ 8.98488465e-01 4.18952217e-01 1.31139311e-01 9.09021387e+01] [-4.14412655e-01 9.08007812e-01 -6.15139400e-02 -1.01154183e+01] [-1.44846920e-01 9.23775611e-04 9.89453645e-01 -1.04303956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters 0.028868137351510652 Centerline is valid? [True, True] Translation: X:90.96, Y:-10.14, Z:-10.44 [[ 8.98640090e-01 4.18368612e-01 1.31960953e-01 9.09580939e+01] [-4.13754219e-01 9.08276669e-01 -6.19753114e-02 -1.01399760e+01] [-1.45785580e-01 1.09409831e-03 9.89315606e-01 -1.04395824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters 0.028699616850093906 Centerline is valid? [True, True] Translation: X:91.01, Y:-10.16, Z:-10.45 [[ 8.98458393e-01 4.19098237e-01 1.30878510e-01 9.10145349e+01] [-4.14556423e-01 9.07940303e-01 -6.15416752e-02 -1.01642172e+01] [-1.44621882e-01 1.03610755e-03 9.89486452e-01 -1.04479369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36592 meters 0.02846990545622916 Centerline is valid? [True, True] Translation: X:91.07, Y:-10.19, Z:-10.46 [[ 8.98337958e-01 4.19788620e-01 1.29485242e-01 9.10696439e+01] [-4.15339993e-01 9.07621369e-01 -6.09601587e-02 -1.01912742e+01] [-1.43113953e-01 9.82425038e-04 9.89705730e-01 -1.04551213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters 0.028604883881199916 Centerline is valid? [True, True] Translation: X:91.13, Y:-10.22, Z:-10.46 [[ 8.97188586e-01 4.22007408e-01 1.30239735e-01 9.11258736e+01] [-4.17518466e-01 9.06592109e-01 -6.13928168e-02 -1.02177877e+01] [-1.43982540e-01 7.03440145e-04 9.89579978e-01 -1.04622709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters 0.028445874697441313 Centerline is valid? [True, True] Translation: X:91.18, Y:-10.24, Z:-10.47 [[ 8.95458291e-01 4.25750280e-01 1.29965950e-01 9.11828337e+01] [-4.21307258e-01 9.04840686e-01 -6.13475958e-02 -1.02427538e+01] [-1.43717236e-01 1.78615074e-04 9.89618777e-01 -1.04686722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters 0.028359409267264213 Centerline is valid? [True, True] Translation: X:91.24, Y:-10.26, Z:-10.48 [[ 8.93859059e-01 4.29415710e-01 1.28911331e-01 9.12407994e+01] [-4.25072015e-01 9.03106878e-01 -6.09241283e-02 -1.02638785e+01] [-1.42582487e-01 -3.39015092e-04 9.89782865e-01 -1.04750656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters 0.028232633221315678 Centerline is valid? [True, True] Translation: X:91.30, Y:-10.29, Z:-10.48 [[ 8.93708200e-01 4.30463982e-01 1.26437388e-01 9.12982910e+01] [-4.26286544e-01 9.02607653e-01 -5.98264861e-02 -1.02860708e+01] [-1.39876502e-01 -4.31135987e-04 9.90168864e-01 -1.04838544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters 0.02799160725272826 Centerline is valid? [True, True] Translation: X:91.36, Y:-10.30, Z:-10.49 [[ 8.94961789e-01 4.28087249e-01 1.25637188e-01 9.13585818e+01] [-4.23929411e-01 9.03737411e-01 -5.95193017e-02 -1.03044618e+01] [-1.39022481e-01 6.20166222e-06 9.90289225e-01 -1.04889949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters 0.027822738199915816 Centerline is valid? [True, True] Translation: X:91.42, Y:-10.33, Z:-10.50 [[ 8.96544968e-01 4.24841276e-01 1.25367504e-01 9.14183124e+01] [-4.20659359e-01 9.05267672e-01 -5.94654996e-02 -1.03253718e+01] [-1.38754547e-01 5.76480565e-04 9.90326635e-01 -1.04969876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters 0.028111302349411418 Centerline is valid? [True, True] Translation: X:91.48, Y:-10.35, Z:-10.50 [[ 8.98185146e-01 4.21582521e-01 1.24625930e-01 9.14753140e+01] [-4.17407418e-01 9.06789312e-01 -5.91962028e-02 -1.03508811e+01] [-1.37965546e-01 1.14936223e-03 9.90436362e-01 -1.05042729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters 0.0282025822388615 Centerline is valid? [True, True] Translation: X:91.53, Y:-10.38, Z:-10.51 [[ 8.98412448e-01 4.21394176e-01 1.23620478e-01 9.15306826e+01] [-4.17273647e-01 9.06876732e-01 -5.87987847e-02 -1.03781463e+01] [-1.36886000e-01 1.24199242e-03 9.90586029e-01 -1.05118131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters 0.028195900070814437 Centerline is valid? [True, True] Translation: X:91.59, Y:-10.41, Z:-10.52 [[ 8.98342465e-01 4.21449236e-01 1.23940944e-01 9.15870265e+01] [-4.17297515e-01 9.06851057e-01 -5.90249374e-02 -1.04053294e+01] [-1.37271991e-01 1.30435970e-03 9.90532533e-01 -1.05194793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters 0.02806566527433674 Centerline is valid? [True, True] Translation: X:91.64, Y:-10.44, Z:-10.53 [[ 8.98788878e-01 4.21220496e-01 1.21457183e-01 9.16410373e+01] [-4.17222611e-01 9.06957220e-01 -5.79128173e-02 -1.04369382e+01] [-1.34550534e-01 1.37671318e-03 9.90905777e-01 -1.05258431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters 0.02816955428215644 Centerline is valid? [True, True] Translation: X:91.69, Y:-10.47, Z:-10.53 [[ 8.99193184e-01 4.20548271e-01 1.20792259e-01 9.16946936e+01] [-4.16583770e-01 9.07268926e-01 -5.76286213e-02 -1.04711190e+01] [-1.33826680e-01 1.49916885e-03 9.91003619e-01 -1.05322295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters 0.028284758738794477 Centerline is valid? [True, True] Translation: X:91.75, Y:-10.50, Z:-10.54 [[ 8.99753414e-01 4.19753461e-01 1.19376827e-01 9.17493919e+01] [-4.15864321e-01 9.07636625e-01 -5.70317748e-02 -1.05014586e+01] [-1.32290065e-01 1.66997090e-03 9.91209640e-01 -1.05396810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters 0.027924519362116602 Centerline is valid? [True, True] Translation: X:91.80, Y:-10.54, Z:-10.55 [[ 8.98265251e-01 4.23662835e-01 1.16744769e-01 9.17991567e+01] [-4.19967172e-01 9.05819247e-01 -5.58486061e-02 -1.05405700e+01] [-1.29410637e-01 1.13789189e-03 9.91590436e-01 -1.05454687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters 0.02789240552234227 Centerline is valid? [True, True] Translation: X:91.85, Y:-10.57, Z:-10.55 [[ 8.95572000e-01 4.29680712e-01 1.15435167e-01 9.18528087e+01] [-4.26108870e-01 9.02980830e-01 -5.52888104e-02 -1.05708396e+01] [-1.27992279e-01 3.27161811e-04 9.91775110e-01 -1.05528580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters 0.028200153863673562 Centerline is valid? [True, True] Translation: X:91.91, Y:-10.60, Z:-10.56 [[ 8.91001696e-01 4.38636445e-01 1.17106989e-01 9.19054025e+01] [-4.35027427e-01 8.98664146e-01 -5.61595077e-02 -1.06025135e+01] [-1.29873459e-01 -9.06535405e-04 9.91530162e-01 -1.05621215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters 0.028433058623763146 Centerline is valid? [True, True] Translation: X:91.96, Y:-10.63, Z:-10.57 [[ 8.89895615e-01 4.40834732e-01 1.17262672e-01 9.19610672e+01] [-4.37225946e-01 8.97587533e-01 -5.63035728e-02 -1.06314666e+01] [-1.30074083e-01 -1.16598008e-03 9.91503592e-01 -1.05679844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters 0.02832410113049632 Centerline is valid? [True, True] Translation: X:92.02, Y:-10.66, Z:-10.57 [[ 8.89115359e-01 4.42531409e-01 1.16789685e-01 9.20176944e+01] [-4.38956332e-01 8.96752005e-01 -5.61531802e-02 -1.06590791e+01] [-1.29580930e-01 -1.33891669e-03 9.91567945e-01 -1.05739789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters 0.028488310433958015 Centerline is valid? [True, True] Translation: X:92.08, Y:-10.68, Z:-10.58 [[ 8.88050445e-01 4.44514933e-01 1.17357925e-01 9.20750676e+01] [-4.40912005e-01 8.95770070e-01 -5.65029644e-02 -1.06823176e+01] [-1.30242128e-01 -1.56703527e-03 9.91480979e-01 -1.05812839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50591999999999 meters 0.028797955738400945 Centerline is valid? [True, True] Translation: X:92.13, Y:-10.71, Z:-10.59 [[ 8.86992077e-01 4.46226372e-01 1.18857392e-01 9.21317473e+01] [-4.42536587e-01 8.94918352e-01 -5.72932249e-02 -1.07067057e+01] [-1.31933409e-01 -1.78010781e-03 9.91256983e-01 -1.05880888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters 0.028997027474565434 Centerline is valid? [True, True] Translation: X:92.19, Y:-10.73, Z:-10.60 [[ 8.86983414e-01 4.46446778e-01 1.18091903e-01 9.21898826e+01] [-4.42798242e-01 8.94808488e-01 -5.69867230e-02 -1.07309520e+01] [-1.31111176e-01 -1.74460883e-03 9.91366136e-01 -1.05953740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters 0.028950354325157086 Centerline is valid? [True, True] Translation: X:92.25, Y:-10.75, Z:-10.60 [[ 8.87492581e-01 4.45311966e-01 1.18550296e-01 9.22485233e+01] [-4.41619805e-01 8.95374142e-01 -5.72459031e-02 -1.07533343e+01] [-1.31639155e-01 -1.54884410e-03 9.91296491e-01 -1.06027595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters 0.02907727854745633 Centerline is valid? [True, True] Translation: X:92.31, Y:-10.77, Z:-10.61 [[ 8.87590517e-01 4.45138647e-01 1.18467967e-01 9.23088176e+01] [-4.41439934e-01 8.95460481e-01 -5.72827235e-02 -1.07719878e+01] [-1.31582137e-01 -1.45288943e-03 9.91304207e-01 -1.06101945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters 0.02888025017365052 Centerline is valid? [True, True] Translation: X:92.37, Y:-10.80, Z:-10.62 [[ 8.88761649e-01 4.43150464e-01 1.17134099e-01 9.23666390e+01] [-4.39507906e-01 8.96446599e-01 -5.67123874e-02 -1.07953293e+01] [-1.30136586e-01 -1.07756771e-03 9.91495491e-01 -1.06168215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters 0.02873576915395743 Centerline is valid? [True, True] Translation: X:92.43, Y:-10.82, Z:-10.62 [[ 8.91484025e-01 4.37417091e-01 1.17993735e-01 9.24258061e+01] [-4.33661230e-01 8.99258726e-01 -5.71986056e-02 -1.08168333e+01] [-1.31126544e-01 -1.77665335e-04 9.91365623e-01 -1.06228982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters 0.029073940107742703 Centerline is valid? [True, True] Translation: X:92.48, Y:-10.84, Z:-10.63 [[ 8.93516111e-01 4.32385319e-01 1.21127601e-01 9.24844507e+01] [-4.28369169e-01 9.01688701e-01 -5.87991663e-02 -1.08364308e+01] [-1.34643286e-01 6.50672504e-04 9.90893921e-01 -1.06306967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters 0.029257623945708786 Centerline is valid? [True, True] Translation: X:92.54, Y:-10.86, Z:-10.64 [[ 8.96372422e-01 4.26332229e-01 1.21479675e-01 9.25416549e+01] [-4.22227321e-01 9.04565182e-01 -5.90416811e-02 -1.08587717e+01] [-1.35057656e-01 1.63129711e-03 9.90836398e-01 -1.06388804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters 0.02940707193606626 Centerline is valid? [True, True] Translation: X:92.60, Y:-10.88, Z:-10.65 [[ 8.97322391e-01 4.24448599e-01 1.21061607e-01 9.25989797e+01] [-4.20345337e-01 9.05449885e-01 -5.89092863e-02 -1.08818198e+01] [-1.34619182e-01 1.97293980e-03 9.90895445e-01 -1.06475737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters 0.029316136404178093 Centerline is valid? [True, True] Translation: X:92.66, Y:-10.91, Z:-10.65 [[ 8.96404664e-01 4.26143762e-01 1.21902309e-01 9.26558860e+01] [-4.21988713e-01 9.04653672e-01 -5.93907390e-02 -1.09082894e+01] [-1.35588364e-01 1.79673691e-03 9.90763628e-01 -1.06546222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters 0.029447602338801032 Centerline is valid? [True, True] Translation: X:92.71, Y:-10.93, Z:-10.66 [[ 8.94926747e-01 4.29206267e-01 1.22016795e-01 9.27122134e+01] [-4.25060844e-01 9.03205404e-01 -5.95254283e-02 -1.09342349e+01] [-1.35754916e-01 1.40633603e-03 9.90741452e-01 -1.06602037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters 0.029393797786168296 Centerline is valid? [True, True] Translation: X:92.77, Y:-10.96, Z:-10.67 [[ 8.94594628e-01 4.30004823e-01 1.21640053e-01 9.27683287e+01] [-4.25882528e-01 9.02825585e-01 -5.94141030e-02 -1.09611657e+01] [-1.35368103e-01 1.34716414e-03 9.90794460e-01 -1.06666516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters 0.029266418394988322 Centerline is valid? [True, True] Translation: X:92.83, Y:-10.99, Z:-10.68 [[ 8.93801786e-01 4.32017912e-01 1.20328264e-01 9.28251000e+01] [-4.27992031e-01 9.01864352e-01 -5.88516119e-02 -1.09851604e+01] [-1.33944723e-01 1.10213747e-03 9.90988192e-01 -1.06757935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters 0.029268432971149238 Centerline is valid? [True, True] Translation: X:92.88, Y:-11.01, Z:-10.68 [[ 8.93650507e-01 4.32577977e-01 1.19436451e-01 9.28813881e+01] [-4.28607511e-01 9.01595886e-01 -5.84846994e-02 -1.10105499e+01] [-1.32982606e-01 1.07352139e-03 9.91117790e-01 -1.06806625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters 0.029382029987436723 Centerline is valid? [True, True] Translation: X:92.94, Y:-11.03, Z:-10.69 [[ 8.93995580e-01 4.31613330e-01 1.20340500e-01 9.29380235e+01] [-4.27563975e-01 9.02057796e-01 -5.89981385e-02 -1.10345593e+01] [-1.34018469e-01 1.29081258e-03 9.90977994e-01 -1.06889360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters 0.029551918744097058 Centerline is valid? [True, True] Translation: X:92.99, Y:-11.06, Z:-10.70 [[ 8.94695915e-01 4.30228868e-01 1.20093054e-01 9.29934009e+01] [-4.26174119e-01 9.02718498e-01 -5.89485703e-02 -1.10624499e+01] [-1.33771598e-01 1.56049338e-03 9.91010961e-01 -1.06972754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters 0.029642453550263913 Centerline is valid? [True, True] Translation: X:93.05, Y:-11.09, Z:-10.70 [[ 8.95440836e-01 4.28906000e-01 1.19270083e-01 9.30503374e+01] [-4.24884581e-01 9.03347296e-01 -5.86238498e-02 -1.10897873e+01] [-1.32886428e-01 1.81816982e-03 9.91129604e-01 -1.07034423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters 0.029714972947047558 Centerline is valid? [True, True] Translation: X:93.11, Y:-11.12, Z:-10.71 [[ 8.94558983e-01 4.30168629e-01 1.21322612e-01 9.31059580e+01] [-4.26007496e-01 9.02746891e-01 -5.97131895e-02 -1.11153074e+01] [-1.35210351e-01 1.73262821e-03 9.90815401e-01 -1.07124108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters 0.029594039984226283 Centerline is valid? [True, True] Translation: X:93.16, Y:-11.14, Z:-10.72 [[ 8.94459524e-01 4.30805752e-01 1.19785492e-01 9.31615979e+01] [-4.26746320e-01 9.02443122e-01 -5.90253267e-02 -1.11425334e+01] [-1.33528043e-01 1.67774789e-03 9.91043615e-01 -1.07180522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters 0.02981152866899363 Centerline is valid? [True, True] Translation: X:93.21, Y:-11.18, Z:-10.73 [[ 8.94785004e-01 4.29975420e-01 1.20336754e-01 9.32143008e+01] [-4.25861377e-01 9.02838649e-01 -5.93671778e-02 -1.11758507e+01] [-1.34171100e-01 1.87408457e-03 9.90956409e-01 -1.07257617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters 0.029833587526788947 Centerline is valid? [True, True] Translation: X:93.27, Y:-11.21, Z:-10.73 [[ 8.95024660e-01 4.29512436e-01 1.20207838e-01 9.32695994e+01] [-4.25393475e-01 9.03058715e-01 -5.93746511e-02 -1.12061103e+01] [-1.34056887e-01 2.00614687e-03 9.90971607e-01 -1.07321826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters 0.029544844965761447 Centerline is valid? [True, True] Translation: X:93.32, Y:-11.24, Z:-10.74 [[ 8.93829284e-01 4.32425974e-01 1.18646483e-01 9.33227352e+01] [-4.28429911e-01 9.01667996e-01 -5.86739835e-02 -1.12392871e+01] [-1.32351891e-01 1.61282241e-03 9.91201481e-01 -1.07383997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters 0.029450461496941395 Centerline is valid? [True, True] Translation: X:93.38, Y:-11.27, Z:-10.75 [[ 8.92437348e-01 4.35074369e-01 1.19439828e-01 9.33762023e+01] [-4.31043561e-01 9.00393641e-01 -5.90994038e-02 -1.12713818e+01] [-1.33255498e-01 1.25874628e-03 9.91080919e-01 -1.07467661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters 0.029434673860646195 Centerline is valid? [True, True] Translation: X:93.43, Y:-11.30, Z:-10.75 [[ 8.90200169e-01 4.39775428e-01 1.18916917e-01 9.34293076e+01] [-4.35810969e-01 8.98107556e-01 -5.89204372e-02 -1.13028132e+01] [-1.32711942e-01 6.25686493e-04 9.91154453e-01 -1.07530322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters 0.02963495205996724 Centerline is valid? [True, True] Translation: X:93.49, Y:-11.33, Z:-10.76 [[ 8.88257213e-01 4.43693571e-01 1.18891293e-01 9.34859279e+01] [-4.39755981e-01 8.96178556e-01 -5.89802814e-02 -1.13296302e+01] [-1.32716999e-01 1.06503354e-04 9.91153967e-01 -1.07605689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters 0.029741410682418815 Centerline is valid? [True, True] Translation: X:93.54, Y:-11.36, Z:-10.77 [[ 8.85560902e-01 4.48989906e-01 1.19121594e-01 9.35414171e+01] [-4.45073451e-01 8.93536619e-01 -5.91771440e-02 -1.13578267e+01] [-1.33009447e-01 -6.12893995e-04 9.91114580e-01 -1.07684207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters 0.029814522426273974 Centerline is valid? [True, True] Translation: X:93.60, Y:-11.38, Z:-10.77 [[ 8.83131590e-01 4.53692639e-01 1.19338109e-01 9.35978680e+01] [-4.49793728e-01 8.91157352e-01 -5.93647769e-02 -1.13823565e+01] [-1.33282395e-01 -1.25062302e-03 9.91077312e-01 -1.07745217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters 0.030259144590102604 Centerline is valid? [True, True] Translation: X:93.66, Y:-11.41, Z:-10.78 [[ 8.81406851e-01 4.56504402e-01 1.21349469e-01 9.36552748e+01] [-4.52488991e-01 8.89719643e-01 -6.04373156e-02 -1.14058115e+01] [-1.35556906e-01 -1.63943454e-03 9.90768206e-01 -1.07821203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters 0.030269401816406503 Centerline is valid? [True, True] Translation: X:93.71, Y:-11.43, Z:-10.79 [[ 8.81705819e-01 4.56010554e-01 1.21033977e-01 9.37123408e+01] [-4.52001873e-01 8.89973109e-01 -6.03504016e-02 -1.14296858e+01] [-1.35237405e-01 -1.49628396e-03 9.90812094e-01 -1.07912815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters 0.030118573658187483 Centerline is valid? [True, True] Translation: X:93.77, Y:-11.45, Z:-10.80 [[ 8.82575829e-01 4.54140049e-01 1.21723958e-01 9.37708716e+01] [-4.50057583e-01 8.90929566e-01 -6.07674362e-02 -1.14540305e+01] [-1.36044400e-01 -1.15092006e-03 9.90702073e-01 -1.07966795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters 0.03003216777006868 Centerline is valid? [True, True] Translation: X:93.83, Y:-11.47, Z:-10.80 [[ 8.82430014e-01 4.54798755e-01 1.20313603e-01 9.38293408e+01] [-4.50806302e-01 8.90593470e-01 -6.01410743e-02 -1.14747084e+01] [-1.34502595e-01 -1.16784167e-03 9.90912553e-01 -1.08039231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters 0.029927448562425088 Centerline is valid? [True, True] Translation: X:93.89, Y:-11.50, Z:-10.81 [[ 8.82660577e-01 4.54648276e-01 1.19185783e-01 9.38888908e+01] [-4.50720023e-01 8.90670419e-01 -5.96461685e-02 -1.14950108e+01] [-1.33273279e-01 -1.07209761e-03 9.91078747e-01 -1.08092428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters 0.02971893890054187 Centerline is valid? [True, True] Translation: X:93.95, Y:-11.52, Z:-10.82 [[ 8.84693392e-01 4.50456762e-01 1.20026281e-01 9.39483561e+01] [-4.46424362e-01 8.92798165e-01 -6.01392275e-02 -1.15165691e+01] [-1.34249365e-01 -3.77878693e-04 9.90947509e-01 -1.08152884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters 0.029891544457500918 Centerline is valid? [True, True] Translation: X:94.01, Y:-11.54, Z:-10.83 [[ 8.88198338e-01 4.43208748e-01 1.21118614e-01 9.40063202e+01] [-4.39023918e-01 8.96418076e-01 -6.07670324e-02 -1.15366356e+01] [-1.35505395e-01 7.99208691e-04 9.90776286e-01 -1.08259117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters 0.03029470845930294 Centerline is valid? [True, True] Translation: X:94.06, Y:-11.56, Z:-10.83 [[ 8.90088542e-01 4.38942499e-01 1.22767543e-01 9.40637550e+01] [-4.34592278e-01 8.98513847e-01 -6.16637478e-02 -1.15592160e+01] [-1.37375177e-01 1.53236937e-03 9.90517901e-01 -1.08337424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters 0.030170195953252526 Centerline is valid? [True, True] Translation: X:94.12, Y:-11.58, Z:-10.84 [[ 8.90707599e-01 4.38055698e-01 1.21437964e-01 9.41219297e+01] [-4.33781555e-01 8.98946194e-01 -6.10680162e-02 -1.15841085e+01] [-1.35917388e-01 1.71619715e-03 9.90718688e-01 -1.08393803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters 0.029838593261737392 Centerline is valid? [True, True] Translation: X:94.18, Y:-11.61, Z:-10.85 [[ 8.89764163e-01 4.40216974e-01 1.20535266e-01 9.41769285e+01] [-4.36015549e-01 8.97890263e-01 -6.06919807e-02 -1.16107687e+01] [-1.34945082e-01 1.44629927e-03 9.90852024e-01 -1.08481226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters 0.029723743733999275 Centerline is valid? [True, True] Translation: X:94.23, Y:-11.64, Z:-10.85 [[ 8.89024409e-01 4.41881544e-01 1.19901212e-01 9.42330356e+01] [-4.37730075e-01 8.97072538e-01 -6.04420656e-02 -1.16367664e+01] [-1.34268318e-01 1.25010518e-03 9.90944225e-01 -1.08533116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters 0.029705162054007625 Centerline is valid? [True, True] Translation: X:94.29, Y:-11.66, Z:-10.86 [[ 8.88361051e-01 4.43183003e-01 1.20014455e-01 9.42900998e+01] [-4.39025668e-01 8.96430461e-01 -6.05713651e-02 -1.16634805e+01] [-1.34428813e-01 1.11981501e-03 9.90922621e-01 -1.08602283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters 0.029822648900761466 Centerline is valid? [True, True] Translation: X:94.35, Y:-11.69, Z:-10.87 [[ 8.89196101e-01 4.42000466e-01 1.18177331e-01 9.43463609e+01] [-4.37949320e-01 8.97013807e-01 -5.97212084e-02 -1.16893998e+01] [-1.32403499e-01 1.34818394e-03 9.91194984e-01 -1.08678722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters 0.029855476984015923 Centerline is valid? [True, True] Translation: X:94.40, Y:-11.72, Z:-10.87 [[ 8.89897212e-01 4.40310502e-01 1.19204088e-01 9.44021221e+01] [-4.36163721e-01 8.97843999e-01 -6.03105404e-02 -1.17163478e+01] [-1.33582040e-01 1.67768303e-03 9.91036338e-01 -1.08726326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters 0.029911764863927708 Centerline is valid? [True, True] Translation: X:94.46, Y:-11.74, Z:-10.88 [[ 8.90765323e-01 4.38617947e-01 1.18959808e-01 9.44575026e+01] [-4.34463878e-01 8.98671428e-01 -6.02561477e-02 -1.17446831e+01] [-1.33335208e-01 1.99034754e-03 9.91068999e-01 -1.08798774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters 0.030281050359871983 Centerline is valid? [True, True] Translation: X:94.51, Y:-11.77, Z:-10.89 [[ 8.92804868e-01 4.34727145e-01 1.17948192e-01 9.45128653e+01] [-4.30600820e-01 9.00558431e-01 -5.98117500e-02 -1.17713454e+01] [-1.32221030e-01 2.61163331e-03 9.91216817e-01 -1.08879902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters 0.030452313946838887 Centerline is valid? [True, True] Translation: X:94.57, Y:-11.80, Z:-10.89 [[ 8.93817809e-01 4.32937802e-01 1.16852833e-01 9.45674611e+01] [-4.28864084e-01 9.01419099e-01 -5.93228893e-02 -1.18010773e+01] [-1.31016497e-01 2.90987152e-03 9.91375918e-01 -1.08947270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters 0.030426906763114103 Centerline is valid? [True, True] Translation: X:94.62, Y:-11.83, Z:-10.90 [[ 8.94545570e-01 4.31368773e-01 1.17086316e-01 9.46205058e+01] [-4.27256489e-01 9.02169995e-01 -5.95079287e-02 -1.18327990e+01] [-1.31301623e-01 3.20666561e-03 9.91337279e-01 -1.09024163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters 0.030205511033744307 Centerline is valid? [True, True] Translation: X:94.67, Y:-11.87, Z:-10.91 [[ 8.93852443e-01 4.32925539e-01 1.16633136e-01 9.46718499e+01] [-4.28849621e-01 9.01424605e-01 -5.93437877e-02 -1.18688264e+01] [-1.30827420e-01 3.02651331e-03 9.91400538e-01 -1.09086749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters 0.02998742340397466 Centerline is valid? [True, True] Translation: X:94.73, Y:-11.90, Z:-10.92 [[ 8.92575172e-01 4.34909085e-01 1.19011132e-01 9.47266820e+01] [-4.30672365e-01 9.00469834e-01 -6.06250063e-02 -1.18991532e+01] [-1.33532300e-01 2.85756980e-03 9.91040342e-01 -1.09152567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters 0.029614089927545127 Centerline is valid? [True, True] Translation: X:94.78, Y:-11.93, Z:-10.92 [[ 8.91233194e-01 4.37250267e-01 1.20480696e-01 9.47811395e+01] [-4.32918056e-01 8.99336080e-01 -6.14538229e-02 -1.19313981e+01] [-1.35223337e-01 2.61141814e-03 9.90811702e-01 -1.09211121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters 0.028798815158580272 Centerline is valid? [True, True] Translation: X:94.83, Y:-11.97, Z:-10.93 [[ 8.88246219e-01 4.43389764e-01 1.20100669e-01 9.48329017e+01] [-4.39130069e-01 8.96327216e-01 -6.13376236e-02 -1.19650193e+01] [-1.34845973e-01 1.74309731e-03 9.90865039e-01 -1.09292765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters 0.028211719051947987 Centerline is valid? [True, True] Translation: X:94.89, Y:-12.00, Z:-10.93 [[ 8.85321069e-01 4.49575430e-01 1.18695143e-01 9.48876022e+01] [-4.45462082e-01 8.93241967e-01 -6.06821331e-02 -1.19953159e+01] [-1.33304679e-01 8.48985236e-04 9.91074741e-01 -1.09348873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters 0.028289193702313243 Centerline is valid? [True, True] Translation: X:94.94, Y:-12.02, Z:-10.94 [[ 8.81100939e-01 4.57102214e-01 1.21320656e-01 9.49435010e+01] [-4.52870057e-01 8.89414131e-01 -6.20581578e-02 -1.20224230e+01] [-1.36271227e-01 -2.62991345e-04 9.90671532e-01 -1.09404397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters 0.028704771335623352 Centerline is valid? [True, True] Translation: X:95.00, Y:-12.05, Z:-10.95 [[ 8.77059678e-01 4.64150589e-01 1.23816606e-01 9.50005417e+01] [-4.59800658e-01 8.85755326e-01 -6.34102282e-02 -1.20465676e+01] [-1.39103113e-01 -1.31640246e-03 9.90277027e-01 -1.09487407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters 0.02832048713317724 Centerline is valid? [True, True] Translation: X:95.06, Y:-12.07, Z:-10.95 [[ 8.78099828e-01 4.62928540e-01 1.20987020e-01 9.50575224e+01] [-4.58754773e-01 8.86395002e-01 -6.20319187e-02 -1.20702275e+01] [-1.35958635e-01 -1.03315578e-03 9.90713976e-01 -1.09544113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters 0.028471929163520305 Centerline is valid? [True, True] Translation: X:95.12, Y:-12.09, Z:-10.96 [[ 8.79863735e-01 4.58979062e-01 1.23199140e-01 9.51160944e+01] [-4.54601581e-01 8.88447009e-01 -6.32401280e-02 -1.20900879e+01] [-1.38481802e-01 -3.63828363e-04 9.90364912e-01 -1.09627675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters 0.028307688657066312 Centerline is valid? [True, True] Translation: X:95.17, Y:-12.11, Z:-10.97 [[ 8.81206118e-01 4.55702382e-01 1.25742261e-01 9.51734532e+01] [-4.51097148e-01 8.90132175e-01 -6.46225549e-02 -1.21140011e+01] [-1.41375884e-01 2.23815575e-04 9.89955963e-01 -1.09699975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters 0.028674869520675828 Centerline is valid? [True, True] Translation: X:95.23, Y:-12.14, Z:-10.98 [[ 8.81666323e-01 4.54878095e-01 1.25500654e-01 9.52295305e+01] [-4.50271239e-01 8.90553613e-01 -6.45761036e-02 -1.21415565e+01] [-1.41139316e-01 4.25240947e-04 9.89989653e-01 -1.09756922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters 0.028535491770232995 Centerline is valid? [True, True] Translation: X:95.29, Y:-12.17, Z:-10.98 [[ 8.81438108e-01 4.55189655e-01 1.25973171e-01 9.52862271e+01] [-4.50538593e-01 8.90394391e-01 -6.49061261e-02 -1.21675204e+01] [-1.41710402e-01 4.54957618e-04 9.89908054e-01 -1.09839131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters 0.02865842339436629 Centerline is valid? [True, True] Translation: X:95.34, Y:-12.20, Z:-10.99 [[ 8.80805736e-01 4.55682841e-01 1.28586171e-01 9.53406077e+01] [-4.50828265e-01 8.90142087e-01 -6.63395885e-02 -1.21960159e+01] [-1.44689775e-01 4.62009657e-04 9.89476961e-01 -1.09921214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters 0.028584909286381435 Centerline is valid? [True, True] Translation: X:95.39, Y:-12.23, Z:-11.00 [[ 8.81711360e-01 4.54847058e-01 1.25296570e-01 9.53945349e+01] [-4.50220091e-01 8.90569330e-01 -6.47158279e-02 -1.22263319e+01] [-1.41021087e-01 6.49647414e-04 9.90006379e-01 -1.09988606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters 0.028737597043618383 Centerline is valid? [True, True] Translation: X:95.45, Y:-12.25, Z:-11.01 [[ 8.82303833e-01 4.53911581e-01 1.24515954e-01 9.54506444e+01] [-4.49322361e-01 8.91046313e-01 -6.43885337e-02 -1.22547737e+01] [-1.40176183e-01 8.62447689e-04 9.90126201e-01 -1.10064234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters 0.02875891425215857 Centerline is valid? [True, True] Translation: X:95.51, Y:-12.28, Z:-11.01 [[ 8.81786338e-01 4.54519881e-01 1.25954481e-01 9.55061500e+01] [-4.49817542e-01 8.90736186e-01 -6.52167522e-02 -1.22823105e+01] [-1.41834524e-01 8.50706020e-04 9.89890016e-01 -1.10137280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters 0.028636623318033242 Centerline is valid? [True, True] Translation: X:95.56, Y:-12.31, Z:-11.02 [[ 8.80252239e-01 4.57268886e-01 1.26732636e-01 9.55605991e+01] [-4.52525000e-01 8.89328362e-01 -6.56977112e-02 -1.23130813e+01] [-1.42748447e-01 4.80871234e-04 9.89758885e-01 -1.10222437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters 0.02875838230877967 Centerline is valid? [True, True] Translation: X:95.62, Y:-12.34, Z:-11.03 [[ 8.79588662e-01 4.58998201e-01 1.25077727e-01 9.56160148e+01] [-4.54383645e-01 8.88437154e-01 -6.49224613e-02 -1.23404851e+01] [-1.40922993e-01 2.71787431e-04 9.90020523e-01 -1.10304448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters 0.02892583286215843 Centerline is valid? [True, True] Translation: X:95.67, Y:-12.37, Z:-11.04 [[ 8.80278882e-01 4.57515388e-01 1.25653335e-01 9.56714521e+01] [-4.52832141e-01 8.89201515e-01 -6.52971554e-02 -1.23676863e+01] [-1.41605589e-01 5.79838148e-04 9.89922987e-01 -1.10373942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters 0.029118976015344036 Centerline is valid? [True, True] Translation: X:95.73, Y:-12.40, Z:-11.05 [[ 8.82510877e-01 4.53032803e-01 1.26237202e-01 9.57266530e+01] [-4.48248932e-01 8.91492786e-01 -6.56772918e-02 -1.23953597e+01] [-1.42293523e-01 1.37523330e-03 9.89823551e-01 -1.10460642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters 0.02941310671402055 Centerline is valid? [True, True] Translation: X:95.78, Y:-12.42, Z:-11.05 [[ 8.83038545e-01 4.51572405e-01 1.27770462e-01 9.57810635e+01] [-4.46644557e-01 8.92232858e-01 -6.65519822e-02 -1.24248287e+01] [-1.44054043e-01 1.69998401e-03 9.89568362e-01 -1.10534576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters 0.028923492231330287 Centerline is valid? [True, True] Translation: X:95.84, Y:-12.45, Z:-11.06 [[ 8.83720497e-01 4.51742434e-01 1.22339107e-01 9.58360048e+01] [-4.47218631e-01 8.92146854e-01 -6.37925213e-02 -1.24531459e+01] [-1.37962238e-01 1.66243070e-03 9.90436094e-01 -1.10589523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters 0.029022782934898583 Centerline is valid? [True, True] Translation: X:95.89, Y:-12.48, Z:-11.07 [[ 8.81899396e-01 4.54325461e-01 1.25864338e-01 9.58891222e+01] [-4.49551089e-01 8.90834730e-01 -6.57061847e-02 -1.24837688e+01] [-1.41976316e-01 1.36379425e-03 9.89869115e-01 -1.10669751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters 0.028992325912370727 Centerline is valid? [True, True] Translation: X:95.94, Y:-12.51, Z:-11.07 [[ 8.80143062e-01 4.58054511e-01 1.24636492e-01 9.59444936e+01] [-4.53400019e-01 8.88923726e-01 -6.51385606e-02 -1.25117036e+01] [-1.40629346e-01 8.21064458e-04 9.90061974e-01 -1.10722042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters 0.028692982186733187 Centerline is valid? [True, True] Translation: X:96.00, Y:-12.54, Z:-11.08 [[ 8.78155403e-01 4.62279664e-01 1.23047143e-01 9.60005889e+01] [-4.57774694e-01 8.86734159e-01 -6.43805949e-02 -1.25389257e+01] [-1.38871945e-01 2.08298832e-04 9.90310325e-01 -1.10769815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters 0.028965034306512122 Centerline is valid? [True, True] Translation: X:96.06, Y:-12.57, Z:-11.08 [[ 8.76833061e-01 4.64784392e-01 1.23041670e-01 9.60571761e+01] [-4.60293633e-01 8.85423884e-01 -6.44539866e-02 -1.25667435e+01] [-1.38901240e-01 -1.19910745e-04 9.90306231e-01 -1.10823368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters 0.028883908792938204 Centerline is valid? [True, True] Translation: X:96.11, Y:-12.60, Z:-11.09 [[ 8.74931397e-01 4.68213128e-01 1.23577982e-01 9.61124040e+01] [-4.63704697e-01 8.83615368e-01 -6.48215645e-02 -1.25960061e+01] [-1.39545711e-01 -5.89268557e-04 9.90215455e-01 -1.10910038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters 0.029092833684147303 Centerline is valid? [True, True] Translation: X:96.17, Y:-12.62, Z:-11.10 [[ 8.73496445e-01 4.70447140e-01 1.25233578e-01 9.61689134e+01] [-4.65826988e-01 8.82427737e-01 -6.57761882e-02 -1.26224202e+01] [-1.41453802e-01 -8.81913861e-04 9.89944465e-01 -1.10958675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters 0.02945372776927402 Centerline is valid? [True, True] Translation: X:96.22, Y:-12.65, Z:-11.10 [[ 8.71293327e-01 4.74341560e-01 1.25888935e-01 9.62240116e+01] [-4.69701998e-01 8.80339692e-01 -6.61971278e-02 -1.26506838e+01] [-1.42225075e-01 -1.45316851e-03 9.89833277e-01 -1.11022983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters 0.029457459160224284 Centerline is valid? [True, True] Translation: X:96.28, Y:-12.68, Z:-11.11 [[ 8.70712355e-01 4.75739721e-01 1.24626297e-01 9.62785105e+01] [-4.71196916e-01 8.79584654e-01 -6.56071884e-02 -1.26790061e+01] [-1.40831323e-01 -1.59853715e-03 9.90032314e-01 -1.11086040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters 0.029559254942580483 Centerline is valid? [True, True] Translation: X:96.33, Y:-12.70, Z:-11.12 [[ 8.68441662e-01 4.79914970e-01 1.24461645e-01 9.63345736e+01] [-4.75416239e-01 8.77312234e-01 -6.55945430e-02 -1.27049624e+01] [-1.40671527e-01 -2.20605321e-03 9.90053865e-01 -1.11164237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters 0.029997849773023742 Centerline is valid? [True, True] Translation: X:96.39, Y:-12.73, Z:-11.12 [[ 8.66071414e-01 4.84212988e-01 1.24330558e-01 9.63906738e+01] [-4.79757200e-01 8.74945568e-01 -6.55994095e-02 -1.27302308e+01] [-1.40546556e-01 -2.83470682e-03 9.90070013e-01 -1.11235906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters 0.030484961388169866 Centerline is valid? [True, True] Translation: X:96.45, Y:-12.75, Z:-11.13 [[ 8.63293525e-01 4.88414668e-01 1.27182553e-01 9.64478273e+01] [-4.83785631e-01 8.72604501e-01 -6.71777319e-02 -1.27541029e+01] [-1.43790658e-01 -3.53499082e-03 9.89601814e-01 -1.11313993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters 0.03012589511459676 Centerline is valid? [True, True] Translation: X:96.51, Y:-12.78, Z:-11.14 [[ 8.63517780e-01 4.88222543e-01 1.26395382e-01 9.65063021e+01] [-4.83640051e-01 8.72712440e-01 -6.68228831e-02 -1.27759195e+01] [-1.42931260e-01 -3.42712126e-03 9.89726684e-01 -1.11386283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters 0.029766701355033412 Centerline is valid? [True, True] Translation: X:96.56, Y:-12.80, Z:-11.15 [[ 8.64565156e-01 4.85844838e-01 1.28381793e-01 9.65640538e+01] [-4.81078965e-01 8.74039879e-01 -6.79508581e-02 -1.28003629e+01] [-1.45224380e-01 -3.01383575e-03 9.89394156e-01 -1.11454667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters 0.02905263223966407 Centerline is valid? [True, True] Translation: X:96.62, Y:-12.82, Z:-11.15 [[ 8.67165434e-01 4.81335540e-01 1.27828825e-01 9.66211790e+01] [-4.76549733e-01 8.76533727e-01 -6.77419880e-02 -1.28245883e+01] [-1.44652903e-01 -2.17328206e-03 9.89480073e-01 -1.11530463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters 0.02867035920892734 Centerline is valid? [True, True] Translation: X:96.68, Y:-12.85, Z:-11.16 [[ 8.69627986e-01 4.76981904e-01 1.27418323e-01 9.66764459e+01] [-4.72169247e-01 8.78912038e-01 -6.76005295e-02 -1.28524262e+01] [-1.44233727e-01 -1.37570111e-03 9.89542692e-01 -1.11614653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters 0.028555022134546502 Centerline is valid? [True, True] Translation: X:96.73, Y:-12.88, Z:-11.17 [[ 8.71016498e-01 4.74697906e-01 1.26460107e-01 9.67316886e+01] [-4.69922812e-01 8.80148310e-01 -6.71677267e-02 -1.28795986e+01] [-1.43188029e-01 -9.22291045e-04 9.89695073e-01 -1.11666700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters 0.028420148333325693 Centerline is valid? [True, True] Translation: X:96.79, Y:-12.91, Z:-11.17 [[ 8.70548866e-01 4.75165588e-01 1.27915345e-01 9.67862698e+01] [-4.70272921e-01 8.79895891e-01 -6.80191245e-02 -1.29087364e+01] [-1.44872533e-01 -9.41151067e-04 9.89449879e-01 -1.11741288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters 0.02814075716397289 Centerline is valid? [True, True] Translation: X:96.84, Y:-12.94, Z:-11.18 [[ 8.70587491e-01 4.75546555e-01 1.26225572e-01 9.68405993e+01] [-4.70775978e-01 8.79690071e-01 -6.71964072e-02 -1.29376405e+01] [-1.42994402e-01 -9.23615476e-04 9.89723066e-01 -1.11818811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters 0.028045274082381864 Centerline is valid? [True, True] Translation: X:96.89, Y:-12.97, Z:-11.19 [[ 8.72203933e-01 4.72251587e-01 1.27431310e-01 9.68948203e+01] [-4.67342708e-01 8.81463747e-01 -6.79150668e-02 -1.29660880e+01] [-1.44399078e-01 -3.18304998e-04 9.89519482e-01 -1.11894857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters 0.028129074450032102 Centerline is valid? [True, True] Translation: X:96.95, Y:-12.99, Z:-11.20 [[ 8.74553107e-01 4.68123839e-01 1.26558024e-01 9.69502112e+01] [-4.63228810e-01 8.83662769e-01 -6.75217030e-02 -1.29938089e+01] [-1.43443132e-01 4.25992597e-04 9.89658470e-01 -1.11951713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters 0.028062851394791363 Centerline is valid? [True, True] Translation: X:97.00, Y:-13.02, Z:-11.20 [[ 8.74521053e-01 4.67951028e-01 1.27415711e-01 9.70039235e+01] [-4.62975989e-01 8.83754241e-01 -6.80564169e-02 -1.30249096e+01] [-1.44451245e-01 5.26354452e-04 9.89511779e-01 -1.12026639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters 0.02795676712011282 Centerline is valid? [True, True] Translation: X:97.06, Y:-13.06, Z:-11.21 [[ 8.73728121e-01 4.69660148e-01 1.26564274e-01 9.70566499e+01] [-4.64758627e-01 8.82847240e-01 -6.76769461e-02 -1.30563341e+01] [-1.43522085e-01 3.09412617e-04 9.89647066e-01 -1.12112510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters 0.028394322635658293 Centerline is valid? [True, True] Translation: X:97.11, Y:-13.09, Z:-11.22 [[ 8.71562062e-01 4.73112657e-01 1.28623424e-01 9.71105699e+01] [-4.68075248e-01 8.81001916e-01 -6.88562691e-02 -1.30873099e+01] [-1.45894255e-01 -1.92929165e-04 9.89300171e-01 -1.12171117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters 0.02832183136446896 Centerline is valid? [True, True] Translation: X:97.16, Y:-13.12, Z:-11.23 [[ 8.71167752e-01 4.73583197e-01 1.29559652e-01 9.71627280e+01] [-4.68465400e-01 8.80749064e-01 -6.94352589e-02 -1.31194448e+01] [-1.46992914e-01 -2.04455706e-04 9.89137524e-01 -1.12254900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters 0.02839378327570541 Centerline is valid? [True, True] Translation: X:97.22, Y:-13.15, Z:-11.24 [[ 8.71704712e-01 4.72320335e-01 1.30554186e-01 9.72171560e+01] [-4.67097826e-01 8.81426965e-01 -7.00437440e-02 -1.31488264e+01] [-1.48157065e-01 7.58852382e-05 9.88963841e-01 -1.12350790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters 0.02830090809689807 Centerline is valid? [True, True] Translation: X:97.27, Y:-13.18, Z:-11.24 [[ 8.71440181e-01 4.72744039e-01 1.30786409e-01 9.72707133e+01] [-4.67495169e-01 8.81199788e-01 -7.02509794e-02 -1.31802862e+01] [-1.48459687e-01 7.75120500e-05 9.88918457e-01 -1.12436295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters 0.028332145474347443 Centerline is valid? [True, True] Translation: X:97.32, Y:-13.21, Z:-11.25 [[ 8.68985969e-01 4.77202512e-01 1.30924205e-01 9.73243129e+01] [-4.71979069e-01 8.78793149e-01 -7.04156238e-02 -1.32138569e+01] [-1.48657807e-01 -6.03295299e-04 9.88888514e-01 -1.12472368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters 0.028565095624762876 Centerline is valid? [True, True] Translation: X:97.38, Y:-13.24, Z:-11.26 [[ 8.65264978e-01 4.83585852e-01 1.32140992e-01 9.73773356e+01] [-4.78324422e-01 8.75295409e-01 -7.11596416e-02 -1.32443519e+01] [-1.50074200e-01 -1.63431801e-03 9.88673386e-01 -1.12563472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters 0.02884867570204555 Centerline is valid? [True, True] Translation: X:97.43, Y:-13.27, Z:-11.26 [[ 8.63553772e-01 4.86185561e-01 1.33785215e-01 9.74309773e+01] [-4.80810011e-01 8.73853214e-01 -7.21269286e-02 -1.32743831e+01] [-1.51975711e-01 -2.03978945e-03 9.88382124e-01 -1.12647594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters 0.02850468898270482 Centerline is valid? [True, True] Translation: X:97.49, Y:-13.30, Z:-11.27 [[ 8.64193444e-01 4.86922617e-01 1.26791386e-01 9.74854451e+01] [-4.82095586e-01 8.73442831e-01 -6.84212455e-02 -1.33039309e+01] [-1.44060879e-01 -1.99637584e-03 9.89566813e-01 -1.12702005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters 0.02814813203488781 Centerline is valid? [True, True] Translation: X:97.54, Y:-13.33, Z:-11.28 [[ 8.63995920e-01 4.88200456e-01 1.23172095e-01 9.75420915e+01] [-4.83653752e-01 8.72728973e-01 -6.65070561e-02 -1.33290297e+01] [-1.39964631e-01 -2.11082050e-03 9.90154254e-01 -1.12772743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters 0.028629652912131865 Centerline is valid? [True, True] Translation: X:97.60, Y:-13.36, Z:-11.28 [[ 8.61681444e-01 4.91289928e-01 1.27040528e-01 9.75978758e+01] [-4.86474029e-01 8.70992132e-01 -6.86711348e-02 -1.33561782e+01] [-1.44388737e-01 -2.62927512e-03 9.89517549e-01 -1.12846968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters 0.028265228783518077 Centerline is valid? [True, True] Translation: X:97.65, Y:-13.38, Z:-11.29 [[ 8.61482054e-01 4.92988694e-01 1.21699708e-01 9.76549681e+01] [-4.88580019e-01 8.70031402e-01 -6.58401468e-02 -1.33818955e+01] [-1.38341016e-01 -2.73994080e-03 9.90380864e-01 -1.12904152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters 0.028294742328445813 Centerline is valid? [True, True] Translation: X:97.71, Y:-13.41, Z:-11.30 [[ 8.61862349e-01 4.92247631e-01 1.22006400e-01 9.77108354e+01] [-4.87802522e-01 8.70451368e-01 -6.60538853e-02 -1.34110262e+01] [-1.38715506e-01 -2.58567293e-03 9.90328896e-01 -1.12961884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters 0.02816663666841373 Centerline is valid? [True, True] Translation: X:97.77, Y:-13.44, Z:-11.30 [[ 8.62133388e-01 4.91350164e-01 1.23697359e-01 9.77685665e+01] [-4.86758943e-01 8.70958815e-01 -6.70557588e-02 -1.34367275e+01] [-1.40683163e-01 -2.39978712e-03 9.90051761e-01 -1.13039022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters 0.0281446522251446 Centerline is valid? [True, True] Translation: X:97.82, Y:-13.46, Z:-11.31 [[ 8.62835173e-01 4.89560196e-01 1.25882000e-01 9.78245515e+01] [-4.84773163e-01 8.71967046e-01 -6.83260688e-02 -1.34623769e+01] [-1.43214679e-01 -2.07007979e-03 9.89689482e-01 -1.13113121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters 0.02765775742098032 Centerline is valid? [True, True] Translation: X:97.88, Y:-13.49, Z:-11.32 [[ 8.64841340e-01 4.87131637e-01 1.21458739e-01 9.78800408e+01] [-4.82642945e-01 8.73327189e-01 -6.59955149e-02 -1.34888671e+01] [-1.38221723e-01 -1.54555410e-03 9.90400104e-01 -1.13191948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters 0.02744347276202475 Centerline is valid? [True, True] Translation: X:97.94, Y:-13.52, Z:-11.33 [[ 8.68140009e-01 4.80953082e-01 1.22544107e-01 9.79353092e+01] [-4.76311924e-01 8.76746189e-01 -6.66563628e-02 -1.35171953e+01] [-1.39498662e-01 -5.02164234e-04 9.90222132e-01 -1.13252392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters 0.02785701169284576 Centerline is valid? [True, True] Translation: X:97.99, Y:-13.55, Z:-11.33 [[ 8.69255731e-01 4.78548894e-01 1.24038018e-01 9.79907546e+01] [-4.73757915e-01 8.78060905e-01 -6.75461672e-02 -1.35452876e+01] [-1.41237078e-01 -4.90999977e-05 9.89975800e-01 -1.13329914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters 0.027727391539046974 Centerline is valid? [True, True] Translation: X:98.05, Y:-13.57, Z:-11.34 [[ 8.69450788e-01 4.78236431e-01 1.23875923e-01 9.80458181e+01] [-4.73443655e-01 8.78231126e-01 -6.75366167e-02 -1.35747834e+01] [-1.41090162e-01 7.14948830e-05 9.89996748e-01 -1.13420443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters 0.027909512692245085 Centerline is valid? [True, True] Translation: X:98.10, Y:-13.61, Z:-11.35 [[ 8.69437546e-01 4.78293776e-01 1.23747393e-01 9.81009921e+01] [-4.73499203e-01 8.78199889e-01 -6.75533875e-02 -1.36057656e+01] [-1.40985312e-01 1.39159275e-04 9.90011678e-01 -1.13472778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters 0.028069253674193453 Centerline is valid? [True, True] Translation: X:98.15, Y:-13.64, Z:-11.36 [[ 8.69734166e-01 4.77081848e-01 1.26314652e-01 9.81539290e+01] [-4.72059748e-01 8.78858768e-01 -6.90424596e-02 -1.36373964e+01] [-1.43951643e-01 4.20523361e-04 9.89584634e-01 -1.13557579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters 0.027721854127922586 Centerline is valid? [True, True] Translation: X:98.21, Y:-13.67, Z:-11.36 [[ 8.68670451e-01 4.78700791e-01 1.27503726e-01 9.82080345e+01] [-4.73588993e-01 8.77978076e-01 -6.97707861e-02 -1.36667925e+01] [-1.45344807e-01 2.23458811e-04 9.89381037e-01 -1.13631624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters 0.027804941831521608 Centerline is valid? [True, True] Translation: X:98.26, Y:-13.70, Z:-11.37 [[ 8.65807137e-01 4.83609872e-01 1.28450353e-01 9.82617817e+01] [-4.78463334e-01 8.75283501e-01 -7.03678247e-02 -1.36965705e+01] [-1.46461049e-01 -5.33819234e-04 9.89216294e-01 -1.13702262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters 0.027808008631806987 Centerline is valid? [True, True] Translation: X:98.32, Y:-13.73, Z:-11.38 [[ 8.63474557e-01 4.87758215e-01 1.28466388e-01 9.83167354e+01] [-4.82644290e-01 8.72977984e-01 -7.04551524e-02 -1.37251193e+01] [-1.46513408e-01 -1.16733713e-03 9.89207996e-01 -1.13775634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters 0.027635515862672898 Centerline is valid? [True, True] Translation: X:98.37, Y:-13.75, Z:-11.39 [[ 8.64541750e-01 4.86637727e-01 1.25504125e-01 9.83731151e+01] [-4.81736940e-01 8.73603410e-01 -6.88955935e-02 -1.37514150e+01] [-1.43168027e-01 -8.96856235e-04 9.89697990e-01 -1.13869180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters 0.027768966792985978 Centerline is valid? [True, True] Translation: X:98.43, Y:-13.78, Z:-11.39 [[ 8.66762057e-01 4.82074565e-01 1.27779695e-01 9.84298216e+01] [-4.76938224e-01 8.76130185e-01 -7.01842506e-02 -1.37766350e+01] [-1.45785690e-01 -1.09975329e-04 9.89316188e-01 -1.13945913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters 0.028053779156227625 Centerline is valid? [True, True] Translation: X:98.48, Y:-13.80, Z:-11.40 [[ 8.68805013e-01 4.78021841e-01 1.29123847e-01 9.84841483e+01] [-4.72719796e-01 8.78347710e-01 -7.10020711e-02 -1.38049041e+01] [-1.47356176e-01 6.47556508e-04 9.89083282e-01 -1.14016562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters 0.028065114116012382 Centerline is valid? [True, True] Translation: X:98.54, Y:-13.83, Z:-11.41 [[ 8.71460474e-01 4.73780293e-01 1.26841937e-01 9.85395550e+01] [-4.68609564e-01 8.80641958e-01 -6.98199053e-02 -1.38329668e+01] [-1.44781627e-01 1.40594301e-03 9.89462634e-01 -1.14100957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters 0.028030717663425735 Centerline is valid? [True, True] Translation: X:98.59, Y:-13.86, Z:-11.42 [[ 8.71622886e-01 4.73535575e-01 1.26639659e-01 9.85939789e+01] [-4.68367323e-01 8.80773391e-01 -6.97874323e-02 -1.38633994e+01] [-1.44587674e-01 1.51444495e-03 9.89490834e-01 -1.14182570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters 0.02810348862391198 Centerline is valid? [True, True] Translation: X:98.65, Y:-13.89, Z:-11.43 [[ 8.71986675e-01 4.73316024e-01 1.24944712e-01 9.86478892e+01] [-4.68271802e-01 8.80891237e-01 -6.89358232e-02 -1.38927225e+01] [-1.42691131e-01 1.60303399e-03 9.89765968e-01 -1.14266809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters 0.028177672768574295 Centerline is valid? [True, True] Translation: X:98.70, Y:-13.93, Z:-11.43 [[ 8.73434066e-01 4.70885073e-01 1.24016855e-01 9.87020212e+01] [-4.65880682e-01 8.82192176e-01 -6.84993068e-02 -1.39255080e+01] [-1.41662001e-01 2.05257082e-03 9.89912958e-01 -1.14324143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters 0.028673719435670774 Centerline is valid? [True, True] Translation: X:98.76, Y:-13.96, Z:-11.44 [[ 8.74668744e-01 4.68621982e-01 1.23887155e-01 9.87555611e+01] [-4.63593845e-01 8.83395291e-01 -6.85091721e-02 -1.39551191e+01] [-1.41546233e-01 2.48950917e-03 9.89928516e-01 -1.14403859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters 0.02907094710037044 Centerline is valid? [True, True] Translation: X:98.81, Y:-13.99, Z:-11.45 [[ 8.75680104e-01 4.66437907e-01 1.24980138e-01 9.88090816e+01] [-4.61287865e-01 8.84549087e-01 -6.91839462e-02 -1.39866931e+01] [-1.42821082e-01 2.93118404e-03 9.89744182e-01 -1.14462410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters 0.029317060679314277 Centerline is valid? [True, True] Translation: X:98.86, Y:-14.02, Z:-11.46 [[ 8.75970453e-01 4.65879972e-01 1.25026468e-01 9.88620958e+01] [-4.60709807e-01 8.84842534e-01 -6.92832170e-02 -1.40187779e+01] [-1.42906400e-01 3.08913100e-03 9.89731387e-01 -1.14552443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters 0.029681113758702284 Centerline is valid? [True, True] Translation: X:98.91, Y:-14.05, Z:-11.46 [[ 8.76896220e-01 4.63611481e-01 1.26954374e-01 9.89145498e+01] [-4.58245088e-01 8.86031363e-01 -7.04263009e-02 -1.40521066e+01] [-1.45135999e-01 3.58033886e-03 9.89405237e-01 -1.14615417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters 0.02990754909255694 Centerline is valid? [True, True] Translation: X:98.97, Y:-14.09, Z:-11.47 [[ 8.77406269e-01 4.63014567e-01 1.25601555e-01 9.89675027e+01] [-4.57746035e-01 8.86342932e-01 -6.97479299e-02 -1.40857672e+01] [-1.43620358e-01 3.70365724e-03 9.89625927e-01 -1.14680579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters 0.029892596724852595 Centerline is valid? [True, True] Translation: X:99.02, Y:-14.12, Z:-11.47 [[ 8.77923541e-01 4.62889299e-01 1.22408144e-01 9.90204393e+01] [-4.57875600e-01 8.86408416e-01 -6.80445134e-02 -1.41188123e+01] [-1.40000686e-01 3.69017778e-03 9.90144530e-01 -1.14743705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters 0.02977096516529648 Centerline is valid? [True, True] Translation: X:99.07, Y:-14.15, Z:-11.48 [[ 8.78067221e-01 4.62861729e-01 1.21478288e-01 9.90735427e+01] [-4.57919151e-01 8.86422783e-01 -6.75625713e-02 -1.41515950e+01] [-1.38953250e-01 3.69724488e-03 9.90292040e-01 -1.14815317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters 0.03003146285618597 Centerline is valid? [True, True] Translation: X:99.12, Y:-14.19, Z:-11.49 [[ 8.78393054e-01 4.62138731e-01 1.21874670e-01 9.91245783e+01] [-4.57145554e-01 8.86799086e-01 -6.78625381e-02 -1.41858262e+01] [-1.39440253e-01 3.89551855e-03 9.90222824e-01 -1.14902866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters 0.030744058403891585 Centerline is valid? [True, True] Translation: X:99.18, Y:-14.22, Z:-11.50 [[ 8.79509793e-01 4.59803912e-01 1.22649449e-01 9.91765966e+01] [-4.54713867e-01 8.88009779e-01 -6.83661602e-02 -1.42190790e+01] [-1.40348938e-01 4.35830222e-03 9.90092511e-01 -1.14962453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters 0.03088850963556679 Centerline is valid? [True, True] Translation: X:99.23, Y:-14.25, Z:-11.51 [[ 8.79501773e-01 4.59605886e-01 1.23446590e-01 9.92292633e+01] [-4.54436807e-01 8.88111662e-01 -6.88829783e-02 -1.42518782e+01] [-1.41293379e-01 4.48402709e-03 9.89957613e-01 -1.15050689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters 0.031006577179816298 Centerline is valid? [True, True] Translation: X:99.28, Y:-14.29, Z:-11.51 [[ 8.79241757e-01 4.60173490e-01 1.23183974e-01 9.92804300e+01] [-4.55021587e-01 8.87817867e-01 -6.88098151e-02 -1.42879056e+01] [-1.41029386e-01 4.44909525e-03 9.89995413e-01 -1.15117185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters 0.03098409395971314 Centerline is valid? [True, True] Translation: X:99.33, Y:-14.32, Z:-11.52 [[ 8.78678043e-01 4.61390672e-01 1.22652127e-01 9.93315753e+01] [-4.56283938e-01 8.87186624e-01 -6.85919967e-02 -1.43226840e+01] [-1.40463034e-01 4.30608571e-03 9.90076559e-01 -1.15190675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters 0.030563788340412405 Centerline is valid? [True, True] Translation: X:99.38, Y:-14.36, Z:-11.53 [[ 8.77452312e-01 4.63159462e-01 1.24742746e-01 9.93836374e+01] [-4.57883005e-01 8.86265198e-01 -6.98366166e-02 -1.43585289e+01] [-1.42900644e-01 4.16071728e-03 9.89728293e-01 -1.15250583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters 0.030445499004149067 Centerline is valid? [True, True] Translation: X:99.44, Y:-14.39, Z:-11.53 [[ 8.76069086e-01 4.65543077e-01 1.25589012e-01 9.94368639e+01] [-4.60206758e-01 8.85016753e-01 -7.03923764e-02 -1.43896704e+01] [-1.43919063e-01 3.87167292e-03 9.89581888e-01 -1.15318548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters 0.0297196478748918 Centerline is valid? [True, True] Translation: X:99.49, Y:-14.42, Z:-11.54 [[ 8.74121127e-01 4.69659944e-01 1.23821611e-01 9.94904352e+01] [-4.64504294e-01 8.82841558e-01 -6.94733354e-02 -1.44199219e+01] [-1.41943707e-01 3.21244015e-03 9.89869519e-01 -1.15397685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters 0.029077204217276994 Centerline is valid? [True, True] Translation: X:99.54, Y:-14.45, Z:-11.55 [[ 8.72854054e-01 4.72807027e-01 1.20744840e-01 9.95438528e+01] [-4.67926008e-01 8.81161880e-01 -6.78158675e-02 -1.44513160e+01] [-1.38459569e-01 2.69370391e-03 9.90364424e-01 -1.15474268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters 0.029285315474876995 Centerline is valid? [True, True] Translation: X:99.60, Y:-14.48, Z:-11.55 [[ 8.72630731e-01 4.72995763e-01 1.21616672e-01 9.96001546e+01] [-4.68035192e-01 8.81060415e-01 -6.83783886e-02 -1.44780253e+01] [-1.39494323e-01 2.74820107e-03 9.90219057e-01 -1.15538683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters 0.028948417467108765 Centerline is valid? [True, True] Translation: X:99.65, Y:-14.51, Z:-11.56 [[ 8.71159393e-01 4.75625256e-01 1.21909511e-01 9.96537763e+01] [-4.70655822e-01 8.79644737e-01 -6.86165759e-02 -1.45090865e+01] [-1.39872836e-01 2.39855344e-03 9.90166570e-01 -1.15620592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters 0.028664259246716083 Centerline is valid? [True, True] Translation: X:99.71, Y:-14.54, Z:-11.57 [[ 8.70089616e-01 4.77704424e-01 1.21418878e-01 9.97095469e+01] [-4.72784967e-01 8.78518062e-01 -6.84133659e-02 -1.45360665e+01] [-1.39350045e-01 2.12073920e-03 9.90240914e-01 -1.15668109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters 0.02872861400345901 Centerline is valid? [True, True] Translation: X:99.76, Y:-14.57, Z:-11.57 [[ 8.69450799e-01 4.78492146e-01 1.22884393e-01 9.97635903e+01] [-4.73449720e-01 8.78089355e-01 -6.93141178e-02 -1.45654866e+01] [-1.41069738e-01 2.08563372e-03 9.89997464e-01 -1.15742640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters 0.02879561201285035 Centerline is valid? [True, True] Translation: X:99.82, Y:-14.60, Z:-11.58 [[ 8.69642570e-01 4.78442196e-01 1.21716332e-01 9.98162896e+01] [-4.73484898e-01 8.78116446e-01 -6.87281430e-02 -1.45972113e+01] [-1.39763556e-01 2.13807393e-03 9.90182598e-01 -1.15796896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters 0.028626249637207748 Centerline is valid? [True, True] Translation: X:99.87, Y:-14.63, Z:-11.59 [[ 8.69712040e-01 4.78547180e-01 1.20803824e-01 9.98703970e+01] [-4.73655104e-01 8.78059160e-01 -6.82858231e-02 -1.46271301e+01] [-1.38750892e-01 2.16965485e-03 9.90324938e-01 -1.15879659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters 0.02889179918806784 Centerline is valid? [True, True] Translation: X:99.92, Y:-14.66, Z:-11.59 [[ 8.68399968e-01 4.79926945e-01 1.24706149e-01 9.99238404e+01] [-4.74714951e-01 8.77305986e-01 -7.05685590e-02 -1.46571885e+01] [-1.43273204e-01 2.08186087e-03 9.89680986e-01 -1.15948103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters 0.02878621886253761 Centerline is valid? [True, True] Translation: X:99.98, Y:-14.69, Z:-11.60 [[ 8.67211226e-01 4.82195712e-01 1.24225539e-01 9.99784095e+01] [-4.77036853e-01 8.76061747e-01 -7.03680065e-02 -1.46866037e+01] [-1.42760394e-01 1.76376499e-03 9.89755707e-01 -1.16020794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters 0.029015005533840028 Centerline is valid? [True, True] Translation: X:100.03, Y:-14.71, Z:-11.61 [[ 8.68326912e-01 4.80388610e-01 1.23430779e-01 1.00034636e+02] [-4.75266705e-01 8.77053195e-01 -6.99946586e-02 -1.47135218e+01] [-1.41879996e-01 2.11570590e-03 9.89881604e-01 -1.16092618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters 0.03001194787743496 Centerline is valid? [True, True] Translation: X:100.09, Y:-14.74, Z:-11.61 [[ 8.70375170e-01 4.76064338e-01 1.25737067e-01 1.00090287e+02] [-4.70690837e-01 8.79405505e-01 -7.13869250e-02 -1.47404972e+01] [-1.44558638e-01 2.95012155e-03 9.89491838e-01 -1.16144997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters 0.030520947829834912 Centerline is valid? [True, True] Translation: X:100.15, Y:-14.77, Z:-11.62 [[ 8.72696328e-01 4.71689947e-01 1.26133711e-01 1.00145498e+02] [-4.66227019e-01 8.81756518e-01 -7.16785183e-02 -1.47680241e+01] [-1.45029258e-01 3.74663586e-03 9.89420273e-01 -1.16233983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters 0.031031461444959843 Centerline is valid? [True, True] Translation: X:100.20, Y:-14.80, Z:-11.63 [[ 8.75024815e-01 4.67673121e-01 1.24953691e-01 1.00196830e+02] [-4.62260979e-01 8.83890358e-01 -7.10818073e-02 -1.48015313e+01] [-1.43688413e-01 4.43712975e-03 9.89613031e-01 -1.16330366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters 0.03166456696803808 Centerline is valid? [True, True] Translation: X:100.25, Y:-14.84, Z:-11.64 [[ 8.75256412e-01 4.66865880e-01 1.26342642e-01 1.00248305e+02] [-4.61312651e-01 8.84315705e-01 -7.19470027e-02 -1.48367030e+01] [-1.45316383e-01 4.68861622e-03 9.89374128e-01 -1.16386876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters 0.03134964409359182 Centerline is valid? [True, True] Translation: X:100.30, Y:-14.87, Z:-11.65 [[ 8.74103063e-01 4.69735732e-01 1.23661545e-01 1.00300175e+02] [-4.64435326e-01 8.82797168e-01 -7.04910520e-02 -1.48692068e+01] [-1.42280228e-01 4.18365446e-03 9.89817576e-01 -1.16460187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters 0.0306395801972259 Centerline is valid? [True, True] Translation: X:100.35, Y:-14.90, Z:-11.65 [[ 8.71267960e-01 4.75117578e-01 1.23107390e-01 1.00351991e+02] [-4.69908142e-01 8.79915932e-01 -7.02445097e-02 -1.49025620e+01] [-1.41698555e-01 3.35262568e-03 9.89904177e-01 -1.16532307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters 0.03079078961776333 Centerline is valid? [True, True] Translation: X:100.40, Y:-14.93, Z:-11.66 [[ 8.69524510e-01 4.77149503e-01 1.27496977e-01 1.00404557e+02] [-4.71570051e-01 8.78816313e-01 -7.28256463e-02 -1.49344293e+01] [-1.46795144e-01 3.19992840e-03 9.89161739e-01 -1.16615474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters 0.030854247971386774 Centerline is valid? [True, True] Translation: X:100.46, Y:-14.97, Z:-11.67 [[ 8.68997041e-01 4.77475812e-01 1.29849881e-01 1.00457110e+02] [-4.71678841e-01 8.78638791e-01 -7.42492233e-02 -1.49658603e+01] [-1.49543350e-01 3.27491416e-03 9.88749747e-01 -1.16705085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters 0.030385026248089912 Centerline is valid? [True, True] Translation: X:100.51, Y:-15.00, Z:-11.68 [[ 8.66058833e-01 4.83033083e-01 1.28922993e-01 1.00508767e+02] [-4.77368507e-01 8.75598900e-01 -7.37961689e-02 -1.50004184e+01] [-1.48530822e-01 2.36804719e-03 9.88904944e-01 -1.16762144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters 0.029880403520234675 Centerline is valid? [True, True] Translation: X:100.56, Y:-15.03, Z:-11.68 [[ 8.60645925e-01 4.92969511e-01 1.27552547e-01 1.00560748e+02] [-4.87521878e-01 8.70046289e-01 -7.30881208e-02 -1.50339195e+01] [-1.47006835e-01 7.18336045e-04 9.89135215e-01 -1.16826731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters 0.03001143025663523 Centerline is valid? [True, True] Translation: X:100.61, Y:-15.07, Z:-11.69 [[ 8.56893802e-01 4.99611621e-01 1.26969448e-01 1.00613648e+02] [-4.94274586e-01 8.66249448e-01 -7.28321850e-02 -1.50666705e+01] [-1.46375020e-01 -3.48323397e-04 9.89229110e-01 -1.16891168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters 0.0303004617334442 Centerline is valid? [True, True] Translation: X:100.67, Y:-15.10, Z:-11.70 [[ 8.54219089e-01 5.04002321e-01 1.27637801e-01 1.00666563e+02] [-4.98645271e-01 8.63701678e-01 -7.32960096e-02 -1.50974140e+01] [-1.47182342e-01 -1.03513530e-03 9.89108835e-01 -1.16971053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters 0.03073150433173294 Centerline is valid? [True, True] Translation: X:100.72, Y:-15.13, Z:-11.70 [[ 8.49750659e-01 5.10950821e-01 1.29819398e-01 1.00720730e+02] [-5.05476846e-01 8.59607108e-01 -7.46242430e-02 -1.51271979e+01] [-1.49722996e-01 -2.20870017e-03 9.88725516e-01 -1.17036832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters 0.031246169570932597 Centerline is valid? [True, True] Translation: X:100.77, Y:-15.16, Z:-11.71 [[ 8.46988074e-01 5.15880514e-01 1.28368600e-01 1.00774860e+02] [-5.10576503e-01 8.56655313e-01 -7.38465228e-02 -1.51575078e+01] [-1.48063625e-01 -2.99486649e-03 9.88973303e-01 -1.17092475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters 0.03151509432365342 Centerline is valid? [True, True] Translation: X:100.83, Y:-15.19, Z:-11.71 [[ 8.45257440e-01 5.18852299e-01 1.27797307e-01 1.00830220e+02] [-5.13617850e-01 8.54857012e-01 -7.35947961e-02 -1.51852818e+01] [-1.47433253e-01 -3.43242904e-03 9.89066052e-01 -1.17149285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters 0.031206470996527687 Centerline is valid? [True, True] Translation: X:100.89, Y:-15.21, Z:-11.72 [[ 8.45270416e-01 5.19066385e-01 1.26838526e-01 1.00885811e+02] [-5.13901742e-01 8.54727254e-01 -7.31185367e-02 -1.52118073e+01] [-1.46365720e-01 -3.37760355e-03 9.89224781e-01 -1.17234957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters 0.031084853116529206 Centerline is valid? [True, True] Translation: X:100.94, Y:-15.24, Z:-11.73 [[ 8.45707300e-01 5.18697440e-01 1.25427783e-01 1.00941173e+02] [-5.13634073e-01 8.54951810e-01 -7.23701706e-02 -1.52407321e+01] [-1.44772932e-01 -3.22000122e-03 9.89459666e-01 -1.17294298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters 0.031158833516681878 Centerline is valid? [True, True] Translation: X:101.00, Y:-15.27, Z:-11.74 [[ 8.45826096e-01 5.18238498e-01 1.26519069e-01 1.00998338e+02] [-5.13075082e-01 8.55230399e-01 -7.30405617e-02 -1.52669072e+01] [-1.46055385e-01 -3.13416879e-03 9.89271450e-01 -1.17373516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters 0.030829319156673824 Centerline is valid? [True, True] Translation: X:101.05, Y:-15.29, Z:-11.74 [[ 8.45380344e-01 5.18871866e-01 1.26901773e-01 1.01054787e+02] [-5.13671185e-01 8.54846118e-01 -7.33486733e-02 -1.52935429e+01] [-1.46540051e-01 -3.17825766e-03 9.89199632e-01 -1.17435428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters 0.030650150054377063 Centerline is valid? [True, True] Translation: X:101.11, Y:-15.32, Z:-11.75 [[ 8.44708186e-01 5.20269502e-01 1.25649216e-01 1.01110541e+02] [-5.15175111e-01 8.53995692e-01 -7.27046341e-02 -1.53197052e+01] [-1.45129893e-01 -3.31714891e-03 9.89407050e-01 -1.17501331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters 0.03127526284691934 Centerline is valid? [True, True] Translation: X:101.17, Y:-15.34, Z:-11.76 [[ 8.41800496e-01 5.25389263e-01 1.23846875e-01 1.01169243e+02] [-5.20484751e-01 8.50852240e-01 -7.17362447e-02 -1.53416203e+01] [-1.43064844e-01 -4.07280362e-03 9.89704937e-01 -1.17571701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters 0.031145835008816236 Centerline is valid? [True, True] Translation: X:101.23, Y:-15.36, Z:-11.76 [[ 8.41206584e-01 5.26011922e-01 1.25231548e-01 1.01228479e+02] [-5.20992306e-01 8.50467016e-01 -7.26145457e-02 -1.53627016e+01] [-1.44701418e-01 -4.16083897e-03 9.89466618e-01 -1.17634004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters 0.030383377412073757 Centerline is valid? [True, True] Translation: X:101.29, Y:-15.38, Z:-11.77 [[ 8.43801331e-01 5.21943568e-01 1.24796741e-01 1.01288238e+02] [-5.16903629e-01 8.52973302e-01 -7.24374559e-02 -1.53833918e+01] [-1.44256552e-01 -3.38506643e-03 9.89534531e-01 -1.17697595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters 0.029809998532853824 Centerline is valid? [True, True] Translation: X:101.35, Y:-15.41, Z:-11.78 [[ 8.47493008e-01 5.15610014e-01 1.26102794e-01 1.01346002e+02] [-5.10382099e-01 8.56820398e-01 -7.32729013e-02 -1.54068184e+01] [-1.45827688e-01 -2.26233699e-03 9.89307418e-01 -1.17770135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters 0.02961031526811289 Centerline is valid? [True, True] Translation: X:101.40, Y:-15.43, Z:-11.79 [[ 8.48275781e-01 5.14289424e-01 1.26232280e-01 1.01404529e+02] [-5.09024571e-01 8.57614430e-01 -7.34266668e-02 -1.54289870e+01] [-1.46021183e-01 -1.96926923e-03 9.89279503e-01 -1.17851924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters 0.030029287010264773 Centerline is valid? [True, True] Translation: X:101.46, Y:-15.45, Z:-11.79 [[ 8.45450460e-01 5.19307258e-01 1.24633432e-01 1.01461989e+02] [-5.14218298e-01 8.54583240e-01 -7.25742896e-02 -1.54528462e+01] [-1.44197997e-01 -2.73082469e-03 9.89545087e-01 -1.17936333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters 0.03012308838264431 Centerline is valid? [True, True] Translation: X:101.52, Y:-15.48, Z:-11.80 [[ 8.44564788e-01 5.20597742e-01 1.25252984e-01 1.01517055e+02] [-5.15460377e-01 8.53797161e-01 -7.30137520e-02 -1.54809978e+01] [-1.44951437e-01 -2.89810632e-03 9.89434526e-01 -1.18004782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters 0.029839277227050487 Centerline is valid? [True, True] Translation: X:101.58, Y:-15.50, Z:-11.81 [[ 8.47159460e-01 5.16214751e-01 1.25869693e-01 1.01575737e+02] [-5.10966539e-01 8.56456633e-01 -7.34522400e-02 -1.55029901e+01] [-1.45719063e-01 -2.08944125e-03 9.89323804e-01 -1.18087183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters 0.029191499540739147 Centerline is valid? [True, True] Translation: X:101.63, Y:-15.53, Z:-11.82 [[ 8.52044802e-01 5.07983954e-01 1.26380215e-01 1.01631983e+02] [-5.02592153e-01 8.61366309e-01 -7.38187696e-02 -1.55292123e+01] [-1.46358410e-01 -6.20805589e-04 9.89231434e-01 -1.18192993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters 0.02944916451277729 Centerline is valid? [True, True] Translation: X:101.69, Y:-15.55, Z:-11.83 [[ 8.55292643e-01 5.02070011e-01 1.28063263e-01 1.01690590e+02] [-4.96460489e-01 8.64826870e-01 -7.48429520e-02 -1.55522845e+01] [-1.48328952e-01 4.34276132e-04 9.88937983e-01 -1.18257529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters 0.029333769431974074 Centerline is valid? [True, True] Translation: X:101.75, Y:-15.58, Z:-11.83 [[ 8.54922657e-01 5.03116543e-01 1.26415959e-01 1.01745921e+02] [-4.97650995e-01 8.64218516e-01 -7.39583961e-02 -1.55807457e+01] [-1.46460705e-01 3.17680531e-04 9.89216438e-01 -1.18313046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters 0.02934693526049233 Centerline is valid? [True, True] Translation: X:101.80, Y:-15.61, Z:-11.84 [[ 8.52901798e-01 5.06267726e-01 1.27481421e-01 1.01802536e+02] [-5.00732239e-01 8.62376348e-01 -7.46609636e-02 -1.56068522e+01] [-1.47735399e-01 -1.55587399e-04 9.89026910e-01 -1.18397091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters 0.02925713401440639 Centerline is valid? [True, True] Translation: X:101.86, Y:-15.64, Z:-11.85 [[ 8.50633851e-01 5.10016530e-01 1.27691780e-01 1.01858961e+02] [-5.04492366e-01 8.60164285e-01 -7.48655877e-02 -1.56353141e+01] [-1.48018596e-01 -7.36324878e-04 9.88984304e-01 -1.18464885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters 0.028954177554190594 Centerline is valid? [True, True] Translation: X:101.92, Y:-15.66, Z:-11.85 [[ 8.49762028e-01 5.12523726e-01 1.23385277e-01 1.01915893e+02] [-5.07382042e-01 8.58672408e-01 -7.24234631e-02 -1.56602908e+01] [-1.43066276e-01 -1.06076519e-03 9.89712542e-01 -1.18517991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters 0.029115864259482954 Centerline is valid? [True, True] Translation: X:101.97, Y:-15.69, Z:-11.86 [[ 8.49794098e-01 5.12349320e-01 1.23887715e-01 1.01974043e+02] [-5.07152056e-01 8.58776595e-01 -7.27980215e-02 -1.56862907e+01] [-1.43689887e-01 -9.66580269e-04 9.89622293e-01 -1.18566031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters 0.029211649171734428 Centerline is valid? [True, True] Translation: X:102.03, Y:-15.71, Z:-11.86 [[ 8.51551721e-01 5.09711716e-01 1.22693248e-01 1.02031698e+02] [-5.04575090e-01 8.60345147e-01 -7.21817599e-02 -1.57111046e+01] [-1.42350429e-01 -4.41454941e-04 9.89816226e-01 -1.18626853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters 0.02937916759029192 Centerline is valid? [True, True] Translation: X:102.09, Y:-15.74, Z:-11.87 [[ 8.52286296e-01 5.08670767e-01 1.21910294e-01 1.02087718e+02] [-5.03578325e-01 8.60961097e-01 -7.17973490e-02 -1.57373331e+01] [-1.41481233e-01 -1.99484981e-04 9.89940918e-01 -1.18698575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters 0.029775951284016115 Centerline is valid? [True, True] Translation: X:102.14, Y:-15.77, Z:-11.88 [[ 8.52622891e-01 5.08123593e-01 1.21838499e-01 1.02143244e+02] [-5.03020440e-01 8.61284165e-01 -7.18333050e-02 -1.57659346e+01] [-1.41437766e-01 -4.05349514e-05 9.89947148e-01 -1.18762670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters 0.02989764133579401 Centerline is valid? [True, True] Translation: X:102.20, Y:-15.80, Z:-11.89 [[ 8.53273956e-01 5.06271665e-01 1.24950221e-01 1.02197208e+02] [-5.00870285e-01 8.62373978e-01 -7.37568941e-02 -1.57956487e+01] [-1.45094845e-01 3.50983868e-04 9.89417689e-01 -1.18859494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters 0.03006566062424544 Centerline is valid? [True, True] Translation: X:102.25, Y:-15.82, Z:-11.89 [[ 8.55078894e-01 5.03050218e-01 1.25620715e-01 1.02253702e+02] [-4.97544204e-01 8.64256637e-01 -7.42309290e-02 -1.58225149e+01] [-1.45910422e-01 9.71441946e-04 9.89297329e-01 -1.18922361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters 0.030573328324569764 Centerline is valid? [True, True] Translation: X:102.31, Y:-15.86, Z:-11.90 [[ 8.57784156e-01 4.98455319e-01 1.25493572e-01 1.02305505e+02] [-4.92900305e-01 8.66913483e-01 -7.42314094e-02 -1.58553566e+01] [-1.45793110e-01 1.81870699e-03 9.89313429e-01 -1.18998286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters 0.030675220537155167 Centerline is valid? [True, True] Translation: X:102.36, Y:-15.89, Z:-11.91 [[ 8.57788476e-01 4.97939675e-01 1.27495141e-01 1.02357805e+02] [-4.92188250e-01 8.67209358e-01 -7.54894415e-02 -1.58881240e+01] [-1.48154167e-01 2.00236281e-03 9.88962251e-01 -1.19063026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters 0.030864874661185693 Centerline is valid? [True, True] Translation: X:102.41, Y:-15.92, Z:-11.92 [[ 8.56780680e-01 4.99456275e-01 1.28336653e-01 1.02409906e+02] [-4.93632981e-01 8.66337179e-01 -7.60682069e-02 -1.59235790e+01] [-1.49175557e-01 1.82256566e-03 9.88809047e-01 -1.19150752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters 0.03142788879623887 Centerline is valid? [True, True] Translation: X:102.46, Y:-15.96, Z:-11.92 [[ 8.54474405e-01 5.02408109e-01 1.32134718e-01 1.02462923e+02] [-4.96253835e-01 8.64629433e-01 -7.84096608e-02 -1.59550867e+01] [-1.53641216e-01 1.42668767e-03 9.88125671e-01 -1.19218701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78591999999999 meters 0.03075356197094304 Centerline is valid? [True, True] Translation: X:102.51, Y:-15.99, Z:-11.93 [[ 8.54451054e-01 5.03002668e-01 1.30006583e-01 1.02514460e+02] [-4.97041288e-01 8.64283780e-01 -7.72237424e-02 -1.59894436e+01] [-1.51206329e-01 1.36526867e-03 9.88501281e-01 -1.19289829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters 0.030775238659710887 Centerline is valid? [True, True] Translation: X:102.57, Y:-16.02, Z:-11.94 [[ 8.52653441e-01 5.05595402e-01 1.31739891e-01 1.02568259e+02] [-4.99491256e-01 8.62770139e-01 -7.83337233e-02 -1.60199406e+01] [-1.53266414e-01 9.88595303e-04 9.88184410e-01 -1.19356766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters 0.030581532501258276 Centerline is valid? [True, True] Translation: X:102.62, Y:-16.05, Z:-11.94 [[ 8.51477866e-01 5.08217430e-01 1.29230368e-01 1.02621027e+02] [-5.02364903e-01 8.61228614e-01 -7.69075965e-02 -1.60533045e+01] [-1.50382672e-01 5.64314882e-04 9.88627702e-01 -1.19415380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters 0.030224329136202238 Centerline is valid? [True, True] Translation: X:102.67, Y:-16.08, Z:-11.95 [[ 8.52234019e-01 5.07148198e-01 1.28444082e-01 1.02673905e+02] [-5.01348941e-01 8.61858510e-01 -7.64797209e-02 -1.60844307e+01] [-1.49487177e-01 7.83315533e-04 9.88763354e-01 -1.19495492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters 0.030664135756140937 Centerline is valid? [True, True] Translation: X:102.73, Y:-16.12, Z:-11.96 [[ 8.53611137e-01 5.04018006e-01 1.31582207e-01 1.02727739e+02] [-4.97882516e-01 8.63691970e-01 -7.84167147e-02 -1.61151992e+01] [-1.53169932e-01 1.42490063e-03 9.88198837e-01 -1.19570392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters 0.03054895098690146 Centerline is valid? [True, True] Translation: X:102.78, Y:-16.15, Z:-11.97 [[ 8.55010517e-01 5.02168192e-01 1.29553550e-01 1.02781337e+02] [-4.96194901e-01 8.64768182e-01 -7.72438473e-02 -1.61460132e+01] [-1.50823191e-01 1.76049074e-03 9.88559187e-01 -1.19660645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters 0.029934712536239604 Centerline is valid? [True, True] Translation: X:102.84, Y:-16.17, Z:-11.97 [[ 8.52999716e-01 5.06227245e-01 1.26986070e-01 1.02836374e+02] [-5.00524834e-01 8.62399452e-01 -7.57764842e-02 -1.61745189e+01] [-1.47872838e-01 1.07763810e-03 9.89005795e-01 -1.19721096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters 0.029818775482482456 Centerline is valid? [True, True] Translation: X:102.89, Y:-16.20, Z:-11.98 [[ 8.51135444e-01 5.09334592e-01 1.27069777e-01 1.02891869e+02] [-5.03653554e-01 8.60568386e-01 -7.58627033e-02 -1.62048266e+01] [-1.47991732e-01 5.70290722e-04 9.88988434e-01 -1.19769832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters 0.030373065933670437 Centerline is valid? [True, True] Translation: X:102.95, Y:-16.23, Z:-11.98 [[ 8.48814130e-01 5.12678012e-01 1.29134927e-01 1.02947504e+02] [-5.06834369e-01 8.58580952e-01 -7.71859501e-02 -1.62316017e+01] [-1.50444328e-01 6.65059957e-05 9.88618480e-01 -1.19841001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters 0.030454399119411682 Centerline is valid? [True, True] Translation: X:103.00, Y:-16.26, Z:-11.99 [[ 8.49520596e-01 5.11709167e-01 1.28329594e-01 1.03002330e+02] [-5.05915378e-01 8.59158678e-01 -7.67853921e-02 -1.62612384e+01] [-1.49547274e-01 3.06856800e-04 9.88754529e-01 -1.19912071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters 0.030247022929300885 Centerline is valid? [True, True] Translation: X:103.06, Y:-16.29, Z:-12.00 [[ 8.48760165e-01 5.13186054e-01 1.27460802e-01 1.03058850e+02] [-5.07475604e-01 8.58277380e-01 -7.63442868e-02 -1.62865036e+01] [-1.48575546e-01 1.14742052e-04 9.88901054e-01 -1.19976966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters 0.030711997398939192 Centerline is valid? [True, True] Translation: X:103.11, Y:-16.32, Z:-12.01 [[ 8.46070496e-01 5.16556542e-01 1.31658854e-01 1.03111535e+02] [-5.10490571e-01 8.56252974e-01 -7.89317537e-02 -1.63175728e+01] [-1.53505999e-01 -4.28775597e-04 9.88147623e-01 -1.20064663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters 0.03033788900872907 Centerline is valid? [True, True] Translation: X:103.17, Y:-16.35, Z:-12.02 [[ 8.47116077e-01 5.15364102e-01 1.29592418e-01 1.03166444e+02] [-5.09466854e-01 8.56971303e-01 -7.77413094e-02 -1.63450295e+01] [-1.51122063e-01 -1.67128278e-04 9.88515096e-01 -1.20156065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters 0.030291585226950715 Centerline is valid? [True, True] Translation: X:103.22, Y:-16.38, Z:-12.02 [[ 8.50070132e-01 5.10629379e-01 1.28989957e-01 1.03220892e+02] [-5.04721854e-01 8.59800615e-01 -7.74516169e-02 -1.63756025e+01] [-1.50454716e-01 7.35255856e-04 9.88616628e-01 -1.20216994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters 0.030568589519290857 Centerline is valid? [True, True] Translation: X:103.28, Y:-16.40, Z:-12.03 [[ 8.52854732e-01 5.06116262e-01 1.28394450e-01 1.03277616e+02] [-5.00204248e-01 8.62463828e-01 -7.71482658e-02 -1.64034602e+01] [-1.49781561e-01 1.57281435e-03 9.88717862e-01 -1.20275625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters 0.03141526195573267 Centerline is valid? [True, True] Translation: X:103.33, Y:-16.43, Z:-12.04 [[ 8.57817441e-01 4.97116455e-01 1.30477846e-01 1.03333659e+02] [-4.90894334e-01 8.67677686e-01 -7.84741175e-02 -1.64289437e+01] [-1.52223490e-01 3.26563151e-03 9.88340703e-01 -1.20353267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters 0.03239170975351541 Centerline is valid? [True, True] Translation: X:103.39, Y:-16.46, Z:-12.04 [[ 8.60510296e-01 4.92358574e-01 1.30786335e-01 1.03386854e+02] [-4.86049411e-01 8.70382645e-01 -7.86766890e-02 -1.64598117e+01] [-1.52571298e-01 4.13348013e-03 9.88283822e-01 -1.20447478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters 0.03311583390260691 Centerline is valid? [True, True] Translation: X:103.44, Y:-16.49, Z:-12.05 [[ 8.61548498e-01 4.90093475e-01 1.32448372e-01 1.03440705e+02] [-4.83591755e-01 8.71657674e-01 -7.96988887e-02 -1.64908917e+01] [-1.54509545e-01 4.61351730e-03 9.87980524e-01 -1.20483507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters 0.03262538617295748 Centerline is valid? [True, True] Translation: X:103.49, Y:-16.52, Z:-12.06 [[ 8.62544729e-01 4.89417440e-01 1.28402334e-01 1.03491682e+02] [-4.83299113e-01 8.72037489e-01 -7.72824985e-02 -1.65244863e+01] [-1.49795052e-01 4.60287757e-03 9.88706355e-01 -1.20551284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters 0.03246378343430532 Centerline is valid? [True, True] Translation: X:103.55, Y:-16.55, Z:-12.06 [[ 8.61876576e-01 4.90683604e-01 1.28056115e-01 1.03546299e+02] [-4.84608454e-01 8.71326747e-01 -7.70995844e-02 -1.65534576e+01] [-1.49410220e-01 4.39325011e-03 9.88765536e-01 -1.20632784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters 0.03281146691665282 Centerline is valid? [True, True] Translation: X:103.60, Y:-16.59, Z:-12.07 [[ 8.62052567e-01 4.89961355e-01 1.29627322e-01 1.03596962e+02] [-4.83715578e-01 8.71731796e-01 -7.81211559e-02 -1.65890018e+01] [-1.51276606e-01 4.64178802e-03 9.88480573e-01 -1.20714738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters 0.03380262720902812 Centerline is valid? [True, True] Translation: X:103.65, Y:-16.62, Z:-12.08 [[ 8.65536202e-01 4.84584917e-01 1.26588082e-01 1.03648292e+02] [-4.78562391e-01 8.74726854e-01 -7.63607855e-02 -1.66239387e+01] [-1.47733279e-01 5.51272922e-03 9.89011875e-01 -1.20763313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters 0.034577868376109676 Centerline is valid? [True, True] Translation: X:103.70, Y:-16.66, Z:-12.08 [[ 8.66525760e-01 4.82622095e-01 1.27314652e-01 1.03698841e+02] [-4.76497882e-01 8.75808518e-01 -7.68713728e-02 -1.66586865e+01] [-1.48603079e-01 5.94586286e-03 9.88879048e-01 -1.20842146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters 0.03511943133163991 Centerline is valid? [True, True] Translation: X:103.75, Y:-16.70, Z:-12.09 [[ 8.67004634e-01 4.81127213e-01 1.29690286e-01 1.03748999e+02] [-4.74745348e-01 8.76627633e-01 -7.83635607e-02 -1.66953542e+01] [-1.51392930e-01 6.37171019e-03 9.88453126e-01 -1.20921501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters 0.03521050109910054 Centerline is valid? [True, True] Translation: X:103.80, Y:-16.74, Z:-12.10 [[ 8.67634523e-01 4.79854231e-01 1.30193132e-01 1.03795609e+02] [-4.73402997e-01 8.77323025e-01 -7.87014037e-02 -1.67376517e+01] [-1.51986634e-01 6.65023618e-03 9.88360176e-01 -1.21000967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters 0.03488016369188184 Centerline is valid? [True, True] Translation: X:103.85, Y:-16.77, Z:-12.11 [[ 8.66796498e-01 4.81275049e-01 1.30530296e-01 1.03845882e+02] [-4.74794737e-01 8.76545658e-01 -7.89789053e-02 -1.67735794e+01] [-1.52426340e-01 6.48354120e-03 9.88293567e-01 -1.21068344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34591999999999 meters 0.035208161478514216 Centerline is valid? [True, True] Translation: X:103.89, Y:-16.82, Z:-12.12 [[ 8.66713654e-01 4.80761946e-01 1.32948835e-01 1.03892895e+02] [-4.74021841e-01 8.76825148e-01 -8.05043700e-02 -1.68154632e+01] [-1.55276319e-01 6.75358534e-03 9.87847991e-01 -1.21155201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters 0.03466762269278918 Centerline is valid? [True, True] Translation: X:103.94, Y:-16.85, Z:-12.12 [[ 8.66894259e-01 4.80935108e-01 1.31132624e-01 1.03942004e+02] [-4.74375718e-01 8.76730902e-01 -7.94393093e-02 -1.68535469e+01] [-1.53173177e-01 6.65934847e-03 9.88176923e-01 -1.21243780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters 0.03440293117720619 Centerline is valid? [True, True] Translation: X:103.99, Y:-16.89, Z:-12.13 [[ 8.65962749e-01 4.82492456e-01 1.31565749e-01 1.03989411e+02] [-4.75895443e-01 8.75876211e-01 -7.97771306e-02 -1.68936746e+01] [-1.53727173e-01 6.47248293e-03 9.88092133e-01 -1.21320862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters 0.03418622692725237 Centerline is valid? [True, True] Translation: X:104.04, Y:-16.93, Z:-12.14 [[ 8.64432962e-01 4.84626735e-01 1.33763158e-01 1.04038817e+02] [-4.77818979e-01 8.74698611e-01 -8.11872060e-02 -1.69307677e+01] [-1.56347939e-01 6.26632135e-03 9.87682163e-01 -1.21378329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters 0.033494563831078024 Centerline is valid? [True, True] Translation: X:104.09, Y:-16.97, Z:-12.15 [[ 8.63911657e-01 4.86106427e-01 1.31746693e-01 1.04086542e+02] [-4.79511545e-01 8.73879304e-01 -8.00227523e-02 -1.69701529e+01] [-1.54030282e-01 5.95852829e-03 9.88048161e-01 -1.21464976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters 0.03277054509993491 Centerline is valid? [True, True] Translation: X:104.14, Y:-17.01, Z:-12.15 [[ 8.63045899e-01 4.88486954e-01 1.28577884e-01 1.04135079e+02] [-4.82231295e-01 8.72554417e-01 -7.81138080e-02 -1.70086158e+01] [-1.50348777e-01 5.41152212e-03 9.88618208e-01 -1.21548684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters 0.03213445767391486 Centerline is valid? [True, True] Translation: X:104.18, Y:-17.05, Z:-12.16 [[ 8.60581505e-01 4.92655735e-01 1.29189011e-01 1.04184049e+02] [-4.86381884e-01 8.70211420e-01 -7.85159116e-02 -1.70476194e+01] [-1.51103066e-01 4.73414702e-03 9.88506677e-01 -1.21620392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters 0.030835693713846358 Centerline is valid? [True, True] Translation: X:104.23, Y:-17.09, Z:-12.17 [[ 8.58306061e-01 4.97844595e-01 1.24344141e-01 1.04233301e+02] [-4.92078795e-01 8.67258207e-01 -7.56416711e-02 -1.70851144e+01] [-1.45496274e-01 3.73658954e-03 9.89351743e-01 -1.21672623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters 0.030410170184770064 Centerline is valid? [True, True] Translation: X:104.28, Y:-17.12, Z:-12.17 [[ 8.54637545e-01 5.03877933e-01 1.25306406e-01 1.04281740e+02] [-4.98075598e-01 8.63770347e-01 -7.62986617e-02 -1.71245566e+01] [-1.46681170e-01 2.79563762e-03 9.89179872e-01 -1.21749146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters 0.030094480648594976 Centerline is valid? [True, True] Translation: X:104.33, Y:-17.16, Z:-12.18 [[ 8.51380507e-01 5.09615692e-01 1.24270185e-01 1.04334646e+02] [-5.03960439e-01 8.60400153e-01 -7.57327691e-02 -1.71580387e+01] [-1.45516694e-01 1.85014631e-03 9.89354066e-01 -1.21792077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters 0.029836459660779337 Centerline is valid? [True, True] Translation: X:104.39, Y:-17.19, Z:-12.19 [[ 8.50031718e-01 5.12164955e-01 1.23016815e-01 1.04386939e+02] [-5.06644910e-01 8.58885911e-01 -7.50061782e-02 -1.71908262e+01] [-1.44072945e-01 1.43178756e-03 9.89566034e-01 -1.21868180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters 0.030085727058509964 Centerline is valid? [True, True] Translation: X:104.44, Y:-17.22, Z:-12.19 [[ 8.49006569e-01 5.12716105e-01 1.27710773e-01 1.04440709e+02] [-5.06759453e-01 8.58556977e-01 -7.79408379e-02 -1.72204671e+01] [-1.49608498e-01 1.45364214e-03 9.88744246e-01 -1.21945220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters 0.03042920729435362 Centerline is valid? [True, True] Translation: X:104.50, Y:-17.25, Z:-12.20 [[ 8.51303107e-01 5.09183127e-01 1.26552613e-01 1.04496432e+02] [-5.03288224e-01 8.60655642e-01 -7.72840854e-02 -1.72493308e+01] [-1.48269973e-01 2.09974210e-03 9.88944693e-01 -1.22015285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters 0.03129952007597234 Centerline is valid? [True, True] Translation: X:104.55, Y:-17.28, Z:-12.21 [[ 8.54564890e-01 5.03310578e-01 1.28051982e-01 1.04550567e+02] [-4.97195576e-01 8.64099538e-01 -7.82850491e-02 -1.72792477e+01] [-1.50051352e-01 3.23277564e-03 9.88672919e-01 -1.22063697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters 0.03236166445339141 Centerline is valid? [True, True] Translation: X:104.61, Y:-17.31, Z:-12.22 [[ 8.57767624e-01 4.97899611e-01 1.27791550e-01 1.04605519e+02] [-4.91740163e-01 8.67224368e-01 -7.81889302e-02 -1.73077716e+01] [-1.49754184e-01 4.22769552e-03 9.88714221e-01 -1.22151513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters 0.0327495033155511 Centerline is valid? [True, True] Translation: X:104.66, Y:-17.34, Z:-12.22 [[ 8.58175672e-01 4.96719054e-01 1.29632931e-01 1.04657761e+02] [-4.90355603e-01 8.67899410e-01 -7.93851134e-02 -1.73393554e+01] [-1.51940442e-01 4.56013919e-03 9.88379131e-01 -1.22237365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters 0.03245661375387195 Centerline is valid? [True, True] Translation: X:104.71, Y:-17.37, Z:-12.23 [[ 8.57952595e-01 4.97192848e-01 1.29292759e-01 1.04711107e+02] [-4.90857170e-01 8.67628244e-01 -7.92494117e-02 -1.73702535e+01] [-1.51580290e-01 4.52796083e-03 9.88434577e-01 -1.22312538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters 0.03230527994465027 Centerline is valid? [True, True] Translation: X:104.76, Y:-17.40, Z:-12.24 [[ 8.57393937e-01 4.98266190e-01 1.28865977e-01 1.04764533e+02] [-4.91972814e-01 8.67012989e-01 -7.90647049e-02 -1.74010565e+01] [-1.51123745e-01 4.39104142e-03 9.88505100e-01 -1.22388993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters 0.03257276999021391 Centerline is valid? [True, True] Translation: X:104.82, Y:-17.43, Z:-12.25 [[ 8.58221313e-01 4.97091367e-01 1.27891947e-01 1.04817915e+02] [-4.90868411e-01 8.67685842e-01 -7.85460573e-02 -1.74338931e+01] [-1.50014598e-01 4.63178369e-03 9.88672932e-01 -1.22456959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48592 meters 0.03274866407650401 Centerline is valid? [True, True] Translation: X:104.87, Y:-17.47, Z:-12.25 [[ 8.58455660e-01 4.96967294e-01 1.26796644e-01 1.04870768e+02] [-4.90837121e-01 8.67756616e-01 -7.79575257e-02 -1.74651507e+01] [-1.48770967e-01 4.68657962e-03 9.88860574e-01 -1.22534946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters 0.032575910834993484 Centerline is valid? [True, True] Translation: X:104.92, Y:-17.50, Z:-12.26 [[ 8.57592884e-01 4.97939947e-01 1.28803160e-01 1.04924031e+02] [-4.91612127e-01 8.67199002e-01 -7.92679537e-02 -1.74953276e+01] [-1.51168652e-01 4.65843771e-03 9.88497009e-01 -1.22612247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters 0.03258438996454415 Centerline is valid? [True, True] Translation: X:104.98, Y:-17.53, Z:-12.27 [[ 8.56046498e-01 5.00314051e-01 1.29885504e-01 1.04975489e+02] [-4.93894400e-01 8.65833128e-01 -8.00082252e-02 -1.75294096e+01] [-1.52488412e-01 4.34103786e-03 9.88295725e-01 -1.22687916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters 0.03218007165950111 Centerline is valid? [True, True] Translation: X:105.03, Y:-17.56, Z:-12.28 [[ 8.54956256e-01 5.02422467e-01 1.28924260e-01 1.05026787e+02] [-4.96110012e-01 8.64613001e-01 -7.94934825e-02 -1.75641920e+01] [-1.51408903e-01 4.00283391e-03 9.88463111e-01 -1.22755859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters 0.03131056505072577 Centerline is valid? [True, True] Translation: X:105.08, Y:-17.60, Z:-12.28 [[ 8.53890829e-01 5.05163226e-01 1.25222074e-01 1.05078589e+02] [-4.99230463e-01 8.63016858e-01 -7.72712573e-02 -1.75979859e+01] [-1.47103359e-01 3.46654397e-03 9.89115051e-01 -1.22808096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters 0.030942623183025302 Centerline is valid? [True, True] Translation: X:105.13, Y:-17.63, Z:-12.29 [[ 8.51760498e-01 5.08989561e-01 1.24232368e-01 1.05130763e+02] [-5.03186818e-01 8.60768108e-01 -7.66895732e-02 -1.76310168e+01] [-1.45969452e-01 2.80905928e-03 9.89285110e-01 -1.22869211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters 0.02997513420655362 Centerline is valid? [True, True] Translation: X:105.18, Y:-17.66, Z:-12.29 [[ 8.49731072e-01 5.13537012e-01 1.19318240e-01 1.05184151e+02] [-5.08222543e-01 8.58065115e-01 -7.37163827e-02 -1.76622021e+01] [-1.40238910e-01 1.99888140e-03 9.90115676e-01 -1.22908414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters 0.03008602126120486 Centerline is valid? [True, True] Translation: X:105.24, Y:-17.69, Z:-12.30 [[ 8.48516967e-01 5.15412041e-01 1.19872371e-01 1.05238146e+02] [-5.10062264e-01 8.56940757e-01 -7.40879557e-02 -1.76939028e+01] [-1.40909345e-01 1.72251446e-03 9.90021005e-01 -1.22997257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters 0.030222579436233056 Centerline is valid? [True, True] Translation: X:105.29, Y:-17.72, Z:-12.31 [[ 8.48137896e-01 5.15547639e-01 1.21953848e-01 1.05291999e+02] [-5.09998286e-01 8.56859016e-01 -7.54610882e-02 -1.77240955e+01] [-1.43401040e-01 1.80515515e-03 9.89663015e-01 -1.23063847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters 0.030487313913844745 Centerline is valid? [True, True] Translation: X:105.35, Y:-17.75, Z:-12.31 [[ 8.48753843e-01 5.14222232e-01 1.23257497e-01 1.05347594e+02] [-5.08527516e-01 8.57654362e-01 -7.63463220e-02 -1.77520659e+01] [-1.44971306e-01 2.11940563e-03 9.89433590e-01 -1.23137524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters 0.030238308031533056 Centerline is valid? [True, True] Translation: X:105.40, Y:-17.78, Z:-12.32 [[ 8.49096286e-01 5.14079858e-01 1.21480026e-01 1.05399996e+02] [-5.08536688e-01 8.57739562e-01 -7.53211872e-02 -1.77849310e+01] [-1.42919330e-01 2.17789005e-03 9.89731944e-01 -1.23191288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters 0.030084433291771216 Centerline is valid? [True, True] Translation: X:105.45, Y:-17.82, Z:-12.32 [[ 8.46285258e-01 5.18469023e-01 1.22438289e-01 1.05453283e+02] [-5.12871917e-01 8.55095067e-01 -7.59922522e-02 -1.78165009e+01] [-1.44096006e-01 1.51596286e-03 9.89562551e-01 -1.23240379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters 0.029986583027213985 Centerline is valid? [True, True] Translation: X:105.51, Y:-17.85, Z:-12.33 [[ 8.45631447e-01 5.19918741e-01 1.20797183e-01 1.05507090e+02] [-5.14476735e-01 8.54214722e-01 -7.50393079e-02 -1.78482240e+01] [-1.42201075e-01 1.30825803e-03 9.89836927e-01 -1.23292672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters 0.030210560578022096 Centerline is valid? [True, True] Translation: X:105.56, Y:-17.88, Z:-12.34 [[ 8.46499054e-01 5.18290899e-01 1.21712344e-01 1.05560757e+02] [-5.12743429e-01 8.55202840e-01 -7.56457483e-02 -1.78794429e+01] [-1.43295245e-01 1.62684971e-03 9.89678648e-01 -1.23353677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters 0.030884321171904892 Centerline is valid? [True, True] Translation: X:105.61, Y:-17.91, Z:-12.34 [[ 8.49603963e-01 5.12846462e-01 1.23132500e-01 1.05613989e+02] [-5.07099613e-01 8.58476275e-01 -7.66059293e-02 -1.79098326e+01] [-1.44993410e-01 2.64425803e-03 9.89429087e-01 -1.23420414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters 0.030834810127538678 Centerline is valid? [True, True] Translation: X:105.67, Y:-17.94, Z:-12.35 [[ 8.49973423e-01 5.11629161e-01 1.25621586e-01 1.05666617e+02] [-5.05621782e-01 8.59201225e-01 -7.82295892e-02 -1.79410251e+01] [-1.47958759e-01 2.97606173e-03 9.88989054e-01 -1.23522218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters 0.030509843219722176 Centerline is valid? [True, True] Translation: X:105.72, Y:-17.98, Z:-12.36 [[ 8.48184031e-01 5.14618386e-01 1.25506042e-01 1.05717858e+02] [-5.08643146e-01 8.57415634e-01 -7.82341321e-02 -1.79753404e+01] [-1.47871565e-01 2.51915365e-03 9.89003364e-01 -1.23590451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters 0.030342022571028936 Centerline is valid? [True, True] Translation: X:105.77, Y:-18.01, Z:-12.37 [[ 8.45803203e-01 5.18035482e-01 1.27499731e-01 1.05771292e+02] [-5.11894073e-01 8.55356736e-01 -7.95569755e-02 -1.80057993e+01] [-1.50271090e-01 2.02318784e-03 9.88642760e-01 -1.23671134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters 0.03021649125654866 Centerline is valid? [True, True] Translation: X:105.82, Y:-18.04, Z:-12.38 [[ 8.45708088e-01 5.18393521e-01 1.26672754e-01 1.05824623e+02] [-5.12324070e-01 8.55139812e-01 -7.91198403e-02 -1.80368729e+01] [-1.49338128e-01 2.01478795e-03 9.88784134e-01 -1.23770251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters 0.030940398865211362 Centerline is valid? [True, True] Translation: X:105.88, Y:-18.06, Z:-12.39 [[ 8.46984836e-01 5.15456309e-01 1.30082597e-01 1.05879392e+02] [-5.09006452e-01 8.56911691e-01 -8.13313313e-02 -1.80648327e+01] [-1.53392046e-01 2.67352286e-03 9.88161795e-01 -1.23865076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters 0.032149387167724815 Centerline is valid? [True, True] Translation: X:105.93, Y:-18.09, Z:-12.39 [[ 8.52203237e-01 5.07018798e-01 1.29157194e-01 1.05934882e+02] [-5.00554054e-01 8.61924651e-01 -8.08179163e-02 -1.80919019e+01] [-1.52299972e-01 4.22313304e-03 9.88325292e-01 -1.23921036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters 0.03226608783023137 Centerline is valid? [True, True] Translation: X:105.99, Y:-18.12, Z:-12.40 [[ 8.53011581e-01 5.05639232e-01 1.29229290e-01 1.05986471e+02] [-4.99144185e-01 8.62733213e-01 -8.09103568e-02 -1.81249181e+01] [-1.52401851e-01 4.51342255e-03 9.88308304e-01 -1.24010212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters 0.03188489883185801 Centerline is valid? [True, True] Translation: X:106.04, Y:-18.16, Z:-12.41 [[ 8.51699727e-01 5.08085355e-01 1.28284247e-01 1.06039809e+02] [-5.01701287e-01 8.61296905e-01 -8.03956437e-02 -1.81559418e+01] [-1.51338674e-01 4.11257592e-03 9.88473415e-01 -1.24086754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters 0.03107958252146157 Centerline is valid? [True, True] Translation: X:106.09, Y:-18.19, Z:-12.42 [[ 8.49256357e-01 5.12795472e-01 1.25715728e-01 1.06088164e+02] [-5.06707958e-01 8.58504615e-01 -7.88471364e-02 -1.81948661e+01] [-1.48359987e-01 3.26027213e-03 9.88928048e-01 -1.24151250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters 0.030600627291481365 Centerline is valid? [True, True] Translation: X:106.14, Y:-18.23, Z:-12.42 [[ 8.48567810e-01 5.14834590e-01 1.21975475e-01 1.06140069e+02] [-5.09124345e-01 8.57284862e-01 -7.65184088e-02 -1.82278020e+01] [-1.43962052e-01 2.83037459e-03 9.89579161e-01 -1.24200901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters 0.03033155955927132 Centerline is valid? [True, True] Translation: X:106.19, Y:-18.26, Z:-12.43 [[ 8.46084932e-01 5.18625227e-01 1.23159089e-01 1.06191321e+02] [-5.12837658e-01 8.54998751e-01 -7.72960117e-02 -1.82630986e+01] [-1.45388529e-01 2.23837217e-03 9.89372107e-01 -1.24265070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters 0.030179425270621917 Centerline is valid? [True, True] Translation: X:106.24, Y:-18.30, Z:-12.43 [[ 8.43848111e-01 5.22312409e-01 1.22923201e-01 1.06244380e+02] [-5.16574623e-01 8.52752583e-01 -7.72249322e-02 -1.82950805e+01] [-1.45158618e-01 1.66710690e-03 9.89406992e-01 -1.24336051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters 0.030201860080063408 Centerline is valid? [True, True] Translation: X:106.30, Y:-18.33, Z:-12.44 [[ 8.42563740e-01 5.24606303e-01 1.21961353e-01 1.06298629e+02] [-5.18971121e-01 8.51343916e-01 -7.66975379e-02 -1.83254447e+01] [-1.44067067e-01 1.32814448e-03 9.89567035e-01 -1.24383767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters 0.030158332050618436 Centerline is valid? [True, True] Translation: X:106.35, Y:-18.36, Z:-12.45 [[ 8.42847598e-01 5.23365696e-01 1.25284772e-01 1.06350164e+02] [-5.17392976e-01 8.52106590e-01 -7.88597940e-02 -1.83583834e+01] [-1.48028491e-01 1.64532677e-03 9.88981728e-01 -1.24490374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters 0.030832788254366413 Centerline is valid? [True, True] Translation: X:106.40, Y:-18.39, Z:-12.45 [[ 8.46797452e-01 5.16603470e-01 1.26708047e-01 1.06403684e+02] [-5.10410468e-01 8.56219840e-01 -7.98043781e-02 -1.83892353e+01] [-1.49717163e-01 2.90503033e-03 9.88724599e-01 -1.24538772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters 0.030879946331758574 Centerline is valid? [True, True] Translation: X:106.46, Y:-18.42, Z:-12.46 [[ 8.46679904e-01 5.17249044e-01 1.24846168e-01 1.06455002e+02] [-5.11233862e-01 8.55830309e-01 -7.87046356e-02 -1.84231587e+01] [-1.47557032e-01 2.81204477e-03 9.89049551e-01 -1.24607297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters 0.030113499147666947 Centerline is valid? [True, True] Translation: X:106.51, Y:-18.46, Z:-12.47 [[ 8.44799879e-01 5.21317283e-01 1.20587957e-01 1.06506340e+02] [-5.15739877e-01 8.53360391e-01 -7.60816836e-02 -1.84571415e+01] [-1.42567682e-01 2.08177925e-03 9.89782866e-01 -1.24668842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters 0.029889175865332355 Centerline is valid? [True, True] Translation: X:106.56, Y:-18.49, Z:-12.47 [[ 8.43979110e-01 5.23107023e-01 1.18567717e-01 1.06557903e+02] [-5.17729691e-01 8.52265160e-01 -7.48335741e-02 -1.84919409e+01] [-1.40197103e-01 1.77194554e-03 9.90122029e-01 -1.24737536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters 0.03030138082956808 Centerline is valid? [True, True] Translation: X:106.61, Y:-18.53, Z:-12.48 [[ 8.43953026e-01 5.22397126e-01 1.21838140e-01 1.06609289e+02] [-5.16698547e-01 8.52699946e-01 -7.69767056e-02 -1.85265228e+01] [-1.44103785e-01 2.01113347e-03 9.89560536e-01 -1.24789803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters 0.030116446321353393 Centerline is valid? [True, True] Translation: X:106.66, Y:-18.56, Z:-12.49 [[ 8.44183618e-01 5.22142724e-01 1.21330105e-01 1.06661208e+02] [-5.16477740e-01 8.52855502e-01 -7.67348545e-02 -1.85607638e+01] [-1.43543594e-01 2.11400846e-03 9.89641737e-01 -1.24872184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters 0.030007173436886334 Centerline is valid? [True, True] Translation: X:106.71, Y:-18.59, Z:-12.49 [[ 8.44573837e-01 5.21594536e-01 1.20971792e-01 1.06714561e+02] [-5.15944952e-01 8.53190460e-01 -7.65953316e-02 -1.85940674e+01] [-1.43163685e-01 2.27562786e-03 9.89696408e-01 -1.24945890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters 0.030637290144130427 Centerline is valid? [True, True] Translation: X:106.77, Y:-18.63, Z:-12.50 [[ 8.47708618e-01 5.16544451e-01 1.20714247e-01 1.06766028e+02] [-5.10855672e-01 8.56254408e-01 -7.65171225e-02 -1.86280608e+01] [-1.42886601e-01 3.19666634e-03 9.89733904e-01 -1.25006306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters 0.030779400570898202 Centerline is valid? [True, True] Translation: X:106.82, Y:-18.66, Z:-12.51 [[ 8.48886882e-01 5.14625556e-01 1.20630006e-01 1.06815333e+02] [-5.08914748e-01 8.57407551e-01 -7.65380422e-02 -1.86644940e+01] [-1.42817511e-01 3.58175069e-03 9.89742557e-01 -1.25088265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters 0.03056812769704007 Centerline is valid? [True, True] Translation: X:106.87, Y:-18.70, Z:-12.52 [[ 8.48521258e-01 5.15407091e-01 1.19863276e-01 1.06866042e+02] [-5.09766741e-01 8.56938365e-01 -7.61216714e-02 -1.86997868e+01] [-1.41949089e-01 3.48854472e-03 9.89867812e-01 -1.25158651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters 0.03023493676090731 Centerline is valid? [True, True] Translation: X:106.91, Y:-18.74, Z:-12.52 [[ 8.46054184e-01 5.19341374e-01 1.20319807e-01 1.06913883e+02] [-5.13686374e-01 8.54561933e-01 -7.64866761e-02 -1.87399958e+01] [-1.42543422e-01 2.90522688e-03 9.89784286e-01 -1.25242951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters 0.030085462469981436 Centerline is valid? [True, True] Translation: X:106.97, Y:-18.78, Z:-12.53 [[ 8.45622933e-01 5.20080979e-01 1.20156693e-01 1.06965861e+02] [-5.14437695e-01 8.54112224e-01 -7.64602306e-02 -1.87761251e+01] [-1.42392812e-01 2.84339222e-03 9.89806144e-01 -1.25294347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters 0.02994299699819339 Centerline is valid? [True, True] Translation: X:107.01, Y:-18.82, Z:-12.54 [[ 8.46503406e-01 5.18917374e-01 1.18982108e-01 1.07014891e+02] [-5.13360976e-01 8.54818846e-01 -7.57974177e-02 -1.88158111e+01] [-1.41040745e-01 3.08200134e-03 9.89998995e-01 -1.25363060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters 0.029825153302932478 Centerline is valid? [True, True] Translation: X:107.06, Y:-18.85, Z:-12.54 [[ 8.46699960e-01 5.18339082e-01 1.20099015e-01 1.07062671e+02] [-5.12659281e-01 8.55168886e-01 -7.65939861e-02 -1.88548612e+01] [-1.42406598e-01 3.28225017e-03 9.89802802e-01 -1.25439721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters 0.02964452689145264 Centerline is valid? [True, True] Translation: X:107.11, Y:-18.89, Z:-12.55 [[ 8.45476029e-01 5.20326824e-01 1.20126100e-01 1.07111835e+02] [-5.14653481e-01 8.53961893e-01 -7.66869017e-02 -1.88929340e+01] [-1.42485364e-01 3.01362137e-03 9.89792321e-01 -1.25486759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters 0.028768218200088635 Centerline is valid? [True, True] Translation: X:107.16, Y:-18.93, Z:-12.56 [[ 8.42974472e-01 5.24885823e-01 1.17851227e-01 1.07161490e+02] [-5.19461626e-01 8.51169658e-01 -7.52982933e-02 -1.89295609e+01] [-1.39834395e-01 2.25534914e-03 9.90172336e-01 -1.25560138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters 0.02827774976491389 Centerline is valid? [True, True] Translation: X:107.21, Y:-18.96, Z:-12.56 [[ 8.39440520e-01 5.30364982e-01 1.18543662e-01 1.07212418e+02] [-5.24926270e-01 8.47768296e-01 -7.57715422e-02 -1.89648354e+01] [-1.40684131e-01 1.37902046e-03 9.90053571e-01 -1.25623939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters 0.02862265473370673 Centerline is valid? [True, True] Translation: X:107.27, Y:-19.00, Z:-12.57 [[ 8.39332614e-01 5.30653195e-01 1.18016738e-01 1.07265046e+02] [-5.25254727e-01 8.47587901e-01 -7.55130570e-02 -1.89989599e+01] [-1.40100804e-01 1.39172215e-03 9.90136267e-01 -1.25667839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters 0.028567824301269085 Centerline is valid? [True, True] Translation: X:107.32, Y:-19.03, Z:-12.57 [[ 8.42552834e-01 5.26147458e-01 1.15210994e-01 1.07317776e+02] [-5.20950096e-01 8.50390599e-01 -7.38026142e-02 -1.90321149e+01] [-1.36805404e-01 2.16342321e-03 9.90595579e-01 -1.25737368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters 0.029157547232036743 Centerline is valid? [True, True] Translation: X:107.37, Y:-19.06, Z:-12.58 [[ 8.44770080e-01 5.22351774e-01 1.16241716e-01 1.07370487e+02] [-5.17012809e-01 8.52725245e-01 -7.45480485e-02 -1.90645479e+01] [-1.38062551e-01 2.87750482e-03 9.90419331e-01 -1.25796293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters 0.029399041537486615 Centerline is valid? [True, True] Translation: X:107.42, Y:-19.10, Z:-12.59 [[ 8.44470480e-01 5.22710183e-01 1.16806131e-01 1.07419509e+02] [-5.17311542e-01 8.52505517e-01 -7.49874055e-02 -1.91037368e+01] [-1.38774551e-01 2.89949071e-03 9.90319755e-01 -1.25858443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters 0.028914023944990295 Centerline is valid? [True, True] Translation: X:107.47, Y:-19.14, Z:-12.59 [[ 8.44375358e-01 5.23554521e-01 1.13670216e-01 1.07471069e+02] [-5.18440001e-01 8.51987723e-01 -7.30539839e-02 -1.91378746e+01] [-1.35093372e-01 2.75379692e-03 9.90829046e-01 -1.25926594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters 0.028888922804052045 Centerline is valid? [True, True] Translation: X:107.52, Y:-19.17, Z:-12.60 [[ 8.43528198e-01 5.24968234e-01 1.13439560e-01 1.07521256e+02] [-5.19877317e-01 8.51117895e-01 -7.29787872e-02 -1.91735649e+01] [-1.34861984e-01 2.58501085e-03 9.90861021e-01 -1.25998924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters 0.02923884026441562 Centerline is valid? [True, True] Translation: X:107.57, Y:-19.21, Z:-12.61 [[ 8.43485861e-01 5.24260666e-01 1.16971607e-01 1.07572762e+02] [-5.18829352e-01 8.51553087e-01 -7.53222614e-02 -1.92067301e+01] [-1.39096032e-01 2.84495921e-03 9.90274810e-01 -1.26068465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters 0.029376760297649844 Centerline is valid? [True, True] Translation: X:107.63, Y:-19.24, Z:-12.61 [[ 8.45222817e-01 5.21241981e-01 1.17920258e-01 1.07625735e+02] [-5.15685951e-01 8.53402117e-01 -7.59791241e-02 -1.92386689e+01] [-1.40236907e-01 3.40946878e-03 9.90112107e-01 -1.26146321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters 0.030487222211786524 Centerline is valid? [True, True] Translation: X:107.67, Y:-19.28, Z:-12.62 [[ 8.48931714e-01 5.15367150e-01 1.17096735e-01 1.07674255e+02] [-5.09823595e-01 8.56958144e-01 -7.55158392e-02 -1.92764585e+01] [-1.39265384e-01 4.40911238e-03 9.90245279e-01 -1.26231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters 0.03043454466207318 Centerline is valid? [True, True] Translation: X:107.72, Y:-19.31, Z:-12.63 [[ 8.49050881e-01 5.14798936e-01 1.18720923e-01 1.07724198e+02] [-5.09088042e-01 8.57298587e-01 -7.66061275e-02 -1.93120302e+01] [-1.41216032e-01 4.60309797e-03 9.89968102e-01 -1.26296527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters 0.03015062335507091 Centerline is valid? [True, True] Translation: X:107.77, Y:-19.35, Z:-12.64 [[ 8.48360221e-01 5.16021141e-01 1.18351672e-01 1.07771353e+02] [-5.10347857e-01 8.56564310e-01 -7.64372163e-02 -1.93532101e+01] [-1.40819038e-01 4.44577167e-03 9.90025370e-01 -1.26382231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters 0.029645259396778808 Centerline is valid? [True, True] Translation: X:107.82, Y:-19.39, Z:-12.65 [[ 8.47918238e-01 5.17181905e-01 1.16436847e-01 1.07820382e+02] [-5.11692470e-01 8.55864975e-01 -7.52725697e-02 -1.93913871e+01] [-1.38583830e-01 4.24512685e-03 9.90341608e-01 -1.26456262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters 0.030003911716835644 Centerline is valid? [True, True] Translation: X:107.87, Y:-19.43, Z:-12.65 [[ 8.49378696e-01 5.15266255e-01 1.14265119e-01 1.07868410e+02] [-5.09953674e-01 8.57018166e-01 -7.39399281e-02 -1.94304786e+01] [-1.36026032e-01 4.53308263e-03 9.90694892e-01 -1.26520276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters 0.029498349583969657 Centerline is valid? [True, True] Translation: X:107.92, Y:-19.47, Z:-12.66 [[ 8.49096216e-01 5.16068042e-01 1.12735940e-01 1.07918292e+02] [-5.10894843e-01 8.56536260e-01 -7.30211914e-02 -1.94667435e+01] [-1.34246324e-01 4.40580693e-03 9.90938199e-01 -1.26590916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters 0.029396034057600606 Centerline is valid? [True, True] Translation: X:107.97, Y:-19.51, Z:-12.67 [[ 8.47848094e-01 5.17813143e-01 1.14119055e-01 1.07966820e+02] [-5.12517065e-01 8.55483211e-01 -7.39914414e-02 -1.95069028e+01] [-1.35940677e-01 4.24553927e-03 9.90707882e-01 -1.26658571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters 0.028557095260800372 Centerline is valid? [True, True] Translation: X:108.02, Y:-19.55, Z:-12.67 [[ 8.46149233e-01 5.20849616e-01 1.12903287e-01 1.08016078e+02] [-5.15683228e-01 8.53640080e-01 -7.32763435e-02 -1.95457745e+01] [-1.34544727e-01 3.78039031e-03 9.90900310e-01 -1.26715877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters 0.028068817668753607 Centerline is valid? [True, True] Translation: X:108.06, Y:-19.58, Z:-12.68 [[ 8.43164142e-01 5.25724611e-01 1.12640417e-01 1.08064966e+02] [-5.20621087e-01 8.50649449e-01 -7.31382110e-02 -1.95832777e+01] [-1.34268066e-01 3.02454054e-03 9.90940431e-01 -1.26788990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters 0.02731878970472608 Centerline is valid? [True, True] Translation: X:108.11, Y:-19.62, Z:-12.68 [[ 8.39476719e-01 5.31653683e-01 1.12353010e-01 1.08114379e+02] [-5.26619092e-01 8.46959151e-01 -7.30241682e-02 -1.96209030e+01] [-1.33981978e-01 2.13484923e-03 9.90981469e-01 -1.26843953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters 0.02685778725454861 Centerline is valid? [True, True] Translation: X:108.17, Y:-19.65, Z:-12.69 [[ 8.35520225e-01 5.37882660e-01 1.12197138e-01 1.08166300e+02] [-5.32907805e-01 8.43018865e-01 -7.29963342e-02 -1.96539228e+01] [-1.33847767e-01 1.19918281e-03 9.91001179e-01 -1.26909724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters 0.026385604202441872 Centerline is valid? [True, True] Translation: X:108.22, Y:-19.68, Z:-12.70 [[ 8.32518467e-01 5.42983659e-01 1.09917001e-01 1.08219872e+02] [-5.38244382e-01 8.39743150e-01 -7.15851051e-02 -1.96842274e+01] [-1.31171591e-01 4.33713814e-04 9.91359584e-01 -1.26971949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters 0.026556317169904618 Centerline is valid? [True, True] Translation: X:108.27, Y:-19.71, Z:-12.71 [[ 8.29205960e-01 5.47741864e-01 1.11338788e-01 1.08274668e+02] [-5.42910669e-01 8.36647348e-01 -7.25893943e-02 -1.97143401e+01] [-1.32911552e-01 -2.55457268e-04 9.91127870e-01 -1.27052122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters 0.026586962600639488 Centerline is valid? [True, True] Translation: X:108.33, Y:-19.74, Z:-12.71 [[ 8.26932770e-01 5.51141476e-01 1.11468685e-01 1.08332625e+02] [-5.46317711e-01 8.34411496e-01 -7.27627299e-02 -1.97401861e+01] [-1.33113311e-01 -7.27431215e-04 9.91100559e-01 -1.27132863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters 0.02667116426534147 Centerline is valid? [True, True] Translation: X:108.39, Y:-19.77, Z:-12.72 [[ 8.24752219e-01 5.53978653e-01 1.13540429e-01 1.08385201e+02] [-5.48987710e-01 8.32530101e-01 -7.42032754e-02 -1.97719825e+01] [-1.35632855e-01 -1.13298396e-03 9.90758520e-01 -1.27202524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters 0.026697654787262163 Centerline is valid? [True, True] Translation: X:108.44, Y:-19.80, Z:-12.73 [[ 8.22217655e-01 5.57963028e-01 1.12407237e-01 1.08443606e+02] [-5.53098185e-01 8.29864053e-01 -7.35394597e-02 -1.97964219e+01] [-1.34315025e-01 -1.70679643e-03 9.90937213e-01 -1.27284805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters 0.02679096160153925 Centerline is valid? [True, True] Translation: X:108.50, Y:-19.83, Z:-12.74 [[ 8.22674376e-01 5.56838002e-01 1.14622469e-01 1.08498572e+02] [-5.51755650e-01 8.30619798e-01 -7.50763245e-02 -1.98256024e+01] [-1.37013043e-01 -1.48022672e-03 9.90568137e-01 -1.27355281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters 0.026579812999220267 Centerline is valid? [True, True] Translation: X:108.55, Y:-19.86, Z:-12.74 [[ 8.24817529e-01 5.53737770e-01 1.14238896e-01 1.08552714e+02] [-5.48649342e-01 8.32690625e-01 -7.49014126e-02 -1.98555328e+01] [-1.36601399e-01 -8.97096935e-04 9.90625688e-01 -1.27432914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters 0.02632511100896355 Centerline is valid? [True, True] Translation: X:108.61, Y:-19.88, Z:-12.75 [[ 8.28968969e-01 5.47626316e-01 1.13647994e-01 1.08609750e+02] [-5.42522658e-01 8.36723005e-01 -7.45907397e-02 -1.98808334e+01] [-1.35939743e-01 1.76796663e-04 9.90717091e-01 -1.27509471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters 0.027158707154291778 Centerline is valid? [True, True] Translation: X:108.66, Y:-19.91, Z:-12.76 [[ 8.32138908e-01 5.42093141e-01 1.16960950e-01 1.08662623e+02] [-5.36619893e-01 8.40317574e-01 -7.68470227e-02 -1.99127043e+01] [-1.39942585e-01 1.18382522e-03 9.90158912e-01 -1.27614252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters 0.027694043526672894 Centerline is valid? [True, True] Translation: X:108.72, Y:-19.94, Z:-12.77 [[ 8.34679135e-01 5.38277017e-01 1.16484307e-01 1.08716327e+02] [-5.32800323e-01 8.42765865e-01 -7.66127470e-02 -1.99433333e+01] [-1.39407879e-01 1.88418495e-03 9.90233252e-01 -1.27702919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters 0.027973751361941204 Centerline is valid? [True, True] Translation: X:108.77, Y:-19.98, Z:-12.78 [[ 8.35818993e-01 5.36276743e-01 1.17532408e-01 1.08767259e+02] [-5.30669700e-01 8.44039064e-01 -7.73804123e-02 -1.99782085e+01] [-1.40699259e-01 2.30513050e-03 9.90049698e-01 -1.27777111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters 0.02781769733444087 Centerline is valid? [True, True] Translation: X:108.82, Y:-20.01, Z:-12.79 [[ 8.34100015e-01 5.39275475e-01 1.16013473e-01 1.08818038e+02] [-5.33831407e-01 8.42127411e-01 -7.64555571e-02 -2.00132017e+01] [-1.38928733e-01 1.83994575e-03 9.90300672e-01 -1.27866011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters 0.02776706815316492 Centerline is valid? [True, True] Translation: X:108.87, Y:-20.05, Z:-12.79 [[ 8.33182191e-01 5.41150478e-01 1.13857792e-01 1.08868064e+02] [-5.35915778e-01 8.40924335e-01 -7.51035396e-02 -2.00505669e+01] [-1.36388104e-01 1.55674471e-03 9.90654259e-01 -1.27926442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters 0.028112326741466676 Centerline is valid? [True, True] Translation: X:108.92, Y:-20.08, Z:-12.80 [[ 8.33136017e-01 5.40570656e-01 1.16909127e-01 1.08919393e+02] [-5.35037408e-01 8.41296821e-01 -7.71662521e-02 -2.00842342e+01] [-1.40069089e-01 1.73922745e-03 9.90140205e-01 -1.28006973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters 0.028044571858082675 Centerline is valid? [True, True] Translation: X:108.97, Y:-20.12, Z:-12.81 [[ 8.33196989e-01 5.40854720e-01 1.15147508e-01 1.08971638e+02] [-5.35479883e-01 8.41114248e-01 -7.60796748e-02 -2.01170102e+01] [-1.38000261e-01 1.73018208e-03 9.90430681e-01 -1.28094494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters 0.028081145540685575 Centerline is valid? [True, True] Translation: X:109.03, Y:-20.15, Z:-12.82 [[ 8.32294307e-01 5.42202700e-01 1.15336108e-01 1.09025993e+02] [-5.36811911e-01 8.40246241e-01 -7.62838600e-02 -2.01474333e+01] [-1.38272046e-01 1.57682595e-03 9.90393031e-01 -1.28165393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters 0.028151563448166717 Centerline is valid? [True, True] Translation: X:109.08, Y:-20.18, Z:-12.82 [[ 8.32106016e-01 5.42337080e-01 1.16060631e-01 1.09077912e+02] [-5.36867029e-01 8.40159394e-01 -7.68504141e-02 -2.01815372e+01] [-1.39188258e-01 1.63856586e-03 9.90264583e-01 -1.28236297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters 0.028269251353774165 Centerline is valid? [True, True] Translation: X:109.13, Y:-20.21, Z:-12.83 [[ 8.32852062e-01 5.41241442e-01 1.15823767e-01 1.09132800e+02] [-5.35772189e-01 8.40865119e-01 -7.67724707e-02 -2.02123651e+01] [-1.38944609e-01 1.88495704e-03 9.90298360e-01 -1.28310465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters 0.02861402504426353 Centerline is valid? [True, True] Translation: X:109.19, Y:-20.25, Z:-12.84 [[ 8.33250184e-01 5.40391853e-01 1.16922095e-01 1.09185603e+02] [-5.34797043e-01 8.41410807e-01 -7.75885067e-02 -2.02452037e+01] [-1.40307711e-01 2.12104698e-03 9.90105675e-01 -1.28365118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters 0.028681237952211374 Centerline is valid? [True, True] Translation: X:109.24, Y:-20.28, Z:-12.84 [[ 8.33520404e-01 5.39818732e-01 1.17641286e-01 1.09237588e+02] [-5.34137664e-01 8.41778151e-01 -7.81441026e-02 -2.02793421e+01] [-1.41211514e-01 2.29806244e-03 9.89976781e-01 -1.28433234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters 0.028527834258438214 Centerline is valid? [True, True] Translation: X:109.29, Y:-20.32, Z:-12.85 [[ 8.33970555e-01 5.39929239e-01 1.13883849e-01 1.09288027e+02] [-5.34599023e-01 8.41707375e-01 -7.57137991e-02 -2.03159757e+01] [-1.36736969e-01 2.26088477e-03 9.90604810e-01 -1.28501758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters 0.02824565468403901 Centerline is valid? [True, True] Translation: X:109.34, Y:-20.35, Z:-12.86 [[ 8.31543013e-01 5.43528711e-01 1.14510952e-01 1.09339379e+02] [-5.38168268e-01 8.39388836e-01 -7.61662457e-02 -2.03507826e+01] [-1.37517756e-01 1.70934869e-03 9.90497827e-01 -1.28574592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters 0.027956715404621836 Centerline is valid? [True, True] Translation: X:109.39, Y:-20.39, Z:-12.86 [[ 8.26976742e-01 5.50717198e-01 1.13225595e-01 1.09387577e+02] [-5.45533443e-01 8.34691703e-01 -7.53858369e-02 -2.03901908e+01] [-1.36024741e-01 5.73985385e-04 9.90705274e-01 -1.28632168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters 0.02800962825538188 Centerline is valid? [True, True] Translation: X:109.44, Y:-20.43, Z:-12.87 [[ 8.21614351e-01 5.59116000e-01 1.11081757e-01 1.09436286e+02] [-5.54193539e-01 8.29089114e-01 -7.40321680e-02 -2.04281505e+01] [-1.33489245e-01 -7.34900628e-04 9.91049989e-01 -1.28704369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters 0.028227116565053396 Centerline is valid? [True, True] Translation: X:109.49, Y:-20.46, Z:-12.88 [[ 8.17491691e-01 5.65094233e-01 1.11246769e-01 1.09488464e+02] [-5.60201703e-01 8.25024722e-01 -7.42176578e-02 -2.04603446e+01] [-1.33721305e-01 -1.64831077e-03 9.91017606e-01 -1.28772277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters 0.028691418442339932 Centerline is valid? [True, True] Translation: X:109.54, Y:-20.49, Z:-12.88 [[ 8.14521578e-01 5.69319614e-01 1.11488910e-01 1.09541144e+02] [-5.64435221e-01 8.22113100e-01 -7.44508671e-02 -2.04934160e+01] [-1.34042833e-01 -2.28643008e-03 9.90972901e-01 -1.28841153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters 0.028652409751784024 Centerline is valid? [True, True] Translation: X:109.60, Y:-20.52, Z:-12.89 [[ 8.12469469e-01 5.72831256e-01 1.08432994e-01 1.09598733e+02] [-5.68233484e-01 8.19668791e-01 -7.24829691e-02 -2.05200132e+01] [-1.30399652e-01 -2.72505880e-03 9.91457768e-01 -1.28907652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters 0.028913105268714764 Centerline is valid? [True, True] Translation: X:109.66, Y:-20.55, Z:-12.90 [[ 8.09089918e-01 5.77448968e-01 1.09207114e-01 1.09656758e+02] [-5.72815733e-01 8.16419599e-01 -7.30833362e-02 -2.05450186e+01] [-1.31360725e-01 -3.42456262e-03 9.91328721e-01 -1.28966753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters 0.02918614184624468 Centerline is valid? [True, True] Translation: X:109.72, Y:-20.57, Z:-12.90 [[ 8.08299362e-01 5.78511892e-01 1.09435518e-01 1.09715443e+02] [-5.73859321e-01 8.15666242e-01 -7.33079866e-02 -2.05680887e+01] [-1.31672400e-01 -3.54579323e-03 9.91286945e-01 -1.29033537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters 0.028030674198926697 Centerline is valid? [True, True] Translation: X:109.78, Y:-20.59, Z:-12.91 [[ 8.12422642e-01 5.72279412e-01 1.11650017e-01 1.09776191e+02] [-5.67367695e-01 8.20054803e-01 -7.48599872e-02 -2.05892694e+01] [-1.34399962e-01 -2.52866399e-03 9.90923941e-01 -1.29096922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters 0.027605091435591107 Centerline is valid? [True, True] Translation: X:109.83, Y:-20.62, Z:-12.92 [[ 8.13428179e-01 5.70974200e-01 1.11009282e-01 1.09831166e+02] [-5.66102283e-01 8.20964862e-01 -7.44640977e-02 -2.06188452e+01] [-1.33651798e-01 -2.27141250e-03 9.91025750e-01 -1.29163445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters 0.026941989182302603 Centerline is valid? [True, True] Translation: X:109.89, Y:-20.65, Z:-12.92 [[ 8.16553969e-01 5.66247666e-01 1.12263957e-01 1.09887925e+02] [-5.61209314e-01 8.24233875e-01 -7.53831864e-02 -2.06450316e+01] [-1.35217309e-01 -1.44913807e-03 9.90814907e-01 -1.29240619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters 0.026590126404148012 Centerline is valid? [True, True] Translation: X:109.95, Y:-20.67, Z:-12.93 [[ 8.17894848e-01 5.64462725e-01 1.11489232e-01 1.09945259e+02] [-5.59467051e-01 8.25457850e-01 -7.49396899e-02 -2.06713784e+01] [-1.34330323e-01 -1.08176548e-03 9.90936019e-01 -1.29300504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters 0.026314096038046644 Centerline is valid? [True, True] Translation: X:110.00, Y:-20.70, Z:-12.94 [[ 8.19281755e-01 5.62105917e-01 1.13200459e-01 1.10001102e+02] [-5.56921408e-01 8.27065010e-01 -7.61709616e-02 -2.07001486e+01] [-1.36440287e-01 -6.38280085e-04 9.90648091e-01 -1.29392830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters 0.02612077866241572 Centerline is valid? [True, True] Translation: X:110.06, Y:-20.73, Z:-12.95 [[ 8.20286073e-01 5.60626194e-01 1.13265305e-01 1.10055221e+02] [-5.55409375e-01 8.28068940e-01 -7.63037067e-02 -2.07319116e+01] [-1.36569338e-01 -3.17744218e-04 9.90630463e-01 -1.29466706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters 0.026094215869883967 Centerline is valid? [True, True] Translation: X:110.11, Y:-20.76, Z:-12.95 [[ 8.22921498e-01 5.56762725e-01 1.13205457e-01 1.10110218e+02] [-5.51502788e-01 8.30671481e-01 -7.63515899e-02 -2.07622044e+01] [-1.36546264e-01 3.98239571e-04 9.90633615e-01 -1.29538074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters 0.02605815078153345 Centerline is valid? [True, True] Translation: X:110.17, Y:-20.79, Z:-12.96 [[ 8.22652547e-01 5.56933880e-01 1.14312906e-01 1.10165170e+02] [-5.51559452e-01 8.30556713e-01 -7.71862479e-02 -2.07916194e+01] [-1.37930988e-01 4.47099591e-04 9.90441741e-01 -1.29618241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters 0.026177033095457266 Centerline is valid? [True, True] Translation: X:110.22, Y:-20.82, Z:-12.97 [[ 8.20963137e-01 5.59369747e-01 1.14564453e-01 1.10221089e+02] [-5.53983938e-01 8.28918256e-01 -7.74359215e-02 -2.08198471e+01] [-1.38279878e-01 1.05170304e-04 9.90393187e-01 -1.29692136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters 0.026140612876611524 Centerline is valid? [True, True] Translation: X:110.28, Y:-20.85, Z:-12.98 [[ 8.19931503e-01 5.60683478e-01 1.15526482e-01 1.10276954e+02] [-5.55206891e-01 8.28030214e-01 -7.81746302e-02 -2.08468196e+01] [-1.39490641e-01 -4.32570544e-05 9.90223388e-01 -1.29769275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters 0.025950332103908107 Centerline is valid? [True, True] Translation: X:110.34, Y:-20.87, Z:-12.98 [[ 8.20529786e-01 5.60076494e-01 1.14215546e-01 1.10336815e+02] [-5.54707501e-01 8.28440888e-01 -7.73646136e-02 -2.08693507e+01] [-1.37950930e-01 1.23749827e-04 9.90439057e-01 -1.29825563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters 0.026480633338244117 Centerline is valid? [True, True] Translation: X:110.39, Y:-20.90, Z:-12.99 [[ 8.22782496e-01 5.56503191e-01 1.15469314e-01 1.10391554e+02] [-5.50968843e-01 8.30845089e-01 -7.82928578e-02 -2.08986254e+01] [-1.39507338e-01 7.97998757e-04 9.90220716e-01 -1.29912154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters 0.026993869530197688 Centerline is valid? [True, True] Translation: X:110.45, Y:-20.93, Z:-13.00 [[ 8.27121073e-01 5.49977731e-01 1.15737747e-01 1.10448343e+02] [-5.44342647e-01 8.35176993e-01 -7.85523591e-02 -2.09252785e+01] [-1.39863552e-01 1.97131986e-03 9.90168824e-01 -1.29980561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters 0.027590256244444118 Centerline is valid? [True, True] Translation: X:110.51, Y:-20.95, Z:-13.01 [[ 8.29951803e-01 5.45714266e-01 1.15654421e-01 1.10505393e+02] [-5.40035267e-01 8.37966800e-01 -7.85719551e-02 -2.09513448e+01] [-1.39792402e-01 2.75346977e-03 9.90177006e-01 -1.30054091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters 0.028701976076832055 Centerline is valid? [True, True] Translation: X:110.56, Y:-20.98, Z:-13.01 [[ 8.34518057e-01 5.39124613e-01 1.13684931e-01 1.10560514e+02] [-5.33567198e-01 8.42217188e-01 -7.73062337e-02 -2.09794204e+01] [-1.37425096e-01 3.85489808e-03 9.90504661e-01 -1.30121701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters 0.030694493182297604 Centerline is valid? [True, True] Translation: X:110.62, Y:-21.01, Z:-13.02 [[ 8.39817083e-01 5.30782886e-01 1.13915739e-01 1.10615847e+02] [-5.25117903e-01 8.47491357e-01 -7.75215326e-02 -2.10060161e+01] [-1.37689707e-01 5.28471359e-03 9.90461315e-01 -1.30186293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters 0.032222185734846816 Centerline is valid? [True, True] Translation: X:110.67, Y:-21.04, Z:-13.03 [[ 8.43354074e-01 5.25225010e-01 1.13545564e-01 1.10668821e+02] [-5.19544974e-01 8.50940915e-01 -7.72824634e-02 -2.10362228e+01] [-1.37211249e-01 6.18445331e-03 9.90522501e-01 -1.30270115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters 0.03310240348033307 Centerline is valid? [True, True] Translation: X:110.72, Y:-21.07, Z:-13.03 [[ 8.44838172e-01 5.23070440e-01 1.12453447e-01 1.10720206e+02] [-5.17478143e-01 8.52264768e-01 -7.65580666e-02 -2.10709614e+01] [-1.35885372e-01 6.48697616e-03 9.90703328e-01 -1.30343321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters 0.03303833845014378 Centerline is valid? [True, True] Translation: X:110.77, Y:-21.11, Z:-13.04 [[ 8.44859394e-01 5.22909720e-01 1.13039944e-01 1.10767569e+02] [-5.17247763e-01 8.52362471e-01 -7.70257741e-02 -2.11116575e+01] [-1.36628532e-01 6.60629080e-03 9.90600324e-01 -1.30413434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters 0.0333626384304884 Centerline is valid? [True, True] Translation: X:110.82, Y:-21.15, Z:-13.05 [[ 8.44346217e-01 5.23534394e-01 1.13978964e-01 1.10817624e+02] [-5.17773242e-01 8.51978812e-01 -7.77365639e-02 -2.11496175e+01] [-1.37805427e-01 6.62131599e-03 9.90437188e-01 -1.30488131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters 0.03348986550479461 Centerline is valid? [True, True] Translation: X:110.87, Y:-21.19, Z:-13.06 [[ 8.43905825e-01 5.24106928e-01 1.14607533e-01 1.10867400e+02] [-5.18275742e-01 8.51626636e-01 -7.82453110e-02 -2.11877452e+01] [-1.38611737e-01 6.63336951e-03 9.90324586e-01 -1.30550753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters 0.033268367588780275 Centerline is valid? [True, True] Translation: X:110.92, Y:-21.23, Z:-13.06 [[ 8.44255343e-01 5.24000849e-01 1.12499010e-01 1.10915205e+02] [-5.18372145e-01 8.51692242e-01 -7.68807144e-02 -2.12271094e+01] [-1.36100094e-01 6.59060068e-03 9.90673169e-01 -1.30630055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters 0.03315239417000149 Centerline is valid? [True, True] Translation: X:110.96, Y:-21.27, Z:-13.07 [[ 8.43439903e-01 5.25080942e-01 1.13574355e-01 1.10963080e+02] [-5.19343489e-01 8.51027169e-01 -7.76858986e-02 -2.12676381e+01] [-1.37446247e-01 6.53928487e-03 9.90487641e-01 -1.30704137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters 0.03247061534870576 Centerline is valid? [True, True] Translation: X:111.01, Y:-21.31, Z:-13.08 [[ 8.41381619e-01 5.27868114e-01 1.15897475e-01 1.11011371e+02] [-5.21907895e-01 8.49303172e-01 -7.93490446e-02 -2.13074086e+01] [-1.40317923e-01 6.27502054e-03 9.90086615e-01 -1.30771982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters 0.03108680283462031 Centerline is valid? [True, True] Translation: X:111.06, Y:-21.35, Z:-13.08 [[ 8.38648141e-01 5.32702373e-01 1.13567061e-01 1.11057702e+02] [-5.27019978e-01 8.46285531e-01 -7.77865210e-02 -2.13480334e+01] [-1.37547225e-01 5.38341144e-03 9.90480580e-01 -1.30848082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters 0.029477418137737618 Centerline is valid? [True, True] Translation: X:111.11, Y:-21.39, Z:-13.09 [[ 8.35264567e-01 5.38199860e-01 1.12578919e-01 1.11105164e+02] [-5.32664138e-01 8.42805495e-01 -7.71220656e-02 -2.13865902e+01] [-1.36389217e-01 4.45057579e-03 9.90645332e-01 -1.30917924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters 0.028532966994097207 Centerline is valid? [True, True] Translation: X:111.15, Y:-21.43, Z:-13.10 [[ 8.31832636e-01 5.43338220e-01 1.13305093e-01 1.11152715e+02] [-5.37774826e-01 8.39505955e-01 -7.76401148e-02 -2.14266730e+01] [-1.37305142e-01 3.65095454e-03 9.90522069e-01 -1.30980711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters 0.028612164851958343 Centerline is valid? [True, True] Translation: X:111.20, Y:-21.46, Z:-13.11 [[ 8.30961436e-01 5.44318140e-01 1.14981971e-01 1.11202544e+02] [-5.38586821e-01 8.38871127e-01 -7.88636083e-02 -2.14624533e+01] [-1.39381949e-01 3.60484269e-03 9.90232133e-01 -1.31053373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters 0.028825872648664656 Centerline is valid? [True, True] Translation: X:111.25, Y:-21.50, Z:-13.11 [[ 8.31474741e-01 5.43837575e-01 1.13536101e-01 1.11251979e+02] [-5.38235464e-01 8.39182336e-01 -7.79460771e-02 -2.15002091e+01] [-1.37667496e-01 3.70103846e-03 9.90471586e-01 -1.31135413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters 0.029143583533595165 Centerline is valid? [True, True] Translation: X:111.30, Y:-21.54, Z:-13.12 [[ 8.32465624e-01 5.42069585e-01 1.14723803e-01 1.11303098e+02] [-5.36320643e-01 8.40323569e-01 -7.88445767e-02 -2.15354357e+01] [-1.39144363e-01 4.10665593e-03 9.90263592e-01 -1.31210097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters 0.02911570181063692 Centerline is valid? [True, True] Translation: X:111.35, Y:-21.57, Z:-13.13 [[ 8.33236949e-01 5.41556960e-01 1.11499983e-01 1.11353181e+02] [-5.36114084e-01 8.40653906e-01 -7.66987598e-02 -2.15714211e+01] [-1.35269644e-01 4.13152913e-03 9.90800209e-01 -1.31261951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters 0.028992063258447352 Centerline is valid? [True, True] Translation: X:111.41, Y:-21.61, Z:-13.13 [[ 8.32388867e-01 5.42594563e-01 1.12782593e-01 1.11405884e+02] [-5.37024218e-01 8.39984852e-01 -7.76558954e-02 -2.16057150e+01] [-1.36871337e-01 4.07291887e-03 9.90580460e-01 -1.31349958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters 0.02844572121865706 Centerline is valid? [True, True] Translation: X:111.46, Y:-21.64, Z:-13.14 [[ 8.29970085e-01 5.46114026e-01 1.13618345e-01 1.11457822e+02] [-5.40482695e-01 8.37703189e-01 -7.83059593e-02 -2.16402787e+01] [-1.37942433e-01 3.58285454e-03 9.90433768e-01 -1.31416369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters 0.028287073145619592 Centerline is valid? [True, True] Translation: X:111.51, Y:-21.67, Z:-13.15 [[ 8.29168632e-01 5.47272977e-01 1.13893230e-01 1.11510168e+02] [-5.41620000e-01 8.36947148e-01 -7.85318204e-02 -2.16739511e+01] [-1.38300957e-01 3.42927099e-03 9.90384312e-01 -1.31490340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters 0.027774543688752488 Centerline is valid? [True, True] Translation: X:111.56, Y:-21.71, Z:-13.16 [[ 8.27095594e-01 5.50716814e-01 1.12355996e-01 1.11562974e+02] [-5.45237565e-01 8.34687196e-01 -7.75453609e-02 -2.17069608e+01] [-1.36487645e-01 2.87671695e-03 9.90637596e-01 -1.31569260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters 0.027493207654835806 Centerline is valid? [True, True] Translation: X:111.62, Y:-21.74, Z:-13.16 [[ 8.24612029e-01 5.54027545e-01 1.14317459e-01 1.11617617e+02] [-5.48380650e-01 8.32494869e-01 -7.89363976e-02 -2.17385246e+01] [-1.38901637e-01 2.40242037e-03 9.90303269e-01 -1.31619305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters 0.02698285012990288 Centerline is valid? [True, True] Translation: X:111.67, Y:-21.77, Z:-13.17 [[ 8.22487585e-01 5.57552949e-01 1.12467249e-01 1.11671858e+02] [-5.52110327e-01 8.30139334e-01 -7.77359152e-02 -2.17697019e+01] [-1.36705376e-01 1.84249561e-03 9.90610037e-01 -1.31694451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters 0.027049097937506966 Centerline is valid? [True, True] Translation: X:111.73, Y:-21.80, Z:-13.18 [[ 8.20448780e-01 5.60167049e-01 1.14353298e-01 1.11729262e+02] [-5.54556702e-01 8.28378350e-01 -7.90959779e-02 -2.17965585e+01] [-1.39034757e-01 1.47881066e-03 9.90286398e-01 -1.31777718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters 0.027189670195626507 Centerline is valid? [True, True] Translation: X:111.79, Y:-21.82, Z:-13.18 [[ 8.20811374e-01 5.59832318e-01 1.13386345e-01 1.11785342e+02] [-5.54301764e-01 8.28604389e-01 -7.85131906e-02 -2.18249144e+01] [-1.37906645e-01 1.59426856e-03 9.90443949e-01 -1.31848608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters 0.027582488872533485 Centerline is valid? [True, True] Translation: X:111.84, Y:-21.85, Z:-13.19 [[ 8.21575517e-01 5.58694733e-01 1.13463055e-01 1.11840044e+02] [-5.53135359e-01 8.29371313e-01 -7.86415970e-02 -2.18543166e+01] [-1.38039649e-01 1.84958325e-03 9.90424977e-01 -1.31937067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters 0.027743337511887914 Centerline is valid? [True, True] Translation: X:111.90, Y:-21.88, Z:-13.20 [[ 8.23071374e-01 5.56545141e-01 1.13185774e-01 1.11898108e+02] [-5.50982353e-01 8.30814277e-01 -7.85244144e-02 -2.18795704e+01] [-1.37738738e-01 2.26783343e-03 9.90466000e-01 -1.32000847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters 0.02779519300428239 Centerline is valid? [True, True] Translation: X:111.95, Y:-21.91, Z:-13.21 [[ 8.22489766e-01 5.57493994e-01 1.12743206e-01 1.11954150e+02] [-5.51973452e-01 8.30178155e-01 -7.82913738e-02 -2.19077112e+01] [-1.37243918e-01 2.16259715e-03 9.90534921e-01 -1.32079682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters 0.02796804871410192 Centerline is valid? [True, True] Translation: X:112.01, Y:-21.94, Z:-13.22 [[ 8.21427483e-01 5.58677188e-01 1.14615400e-01 1.12009821e+02] [-5.52971498e-01 8.29382630e-01 -7.96679109e-02 -2.19355291e+01] [-1.39568666e-01 2.06236196e-03 9.90210247e-01 -1.32157961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters 0.02792186647445819 Centerline is valid? [True, True] Translation: X:112.07, Y:-21.96, Z:-13.22 [[ 8.24487363e-01 5.55138365e-01 1.09735975e-01 1.12065655e+02] [-5.49870631e-01 8.31753951e-01 -7.63390673e-02 -2.19644786e+01] [-1.33652075e-01 2.60000665e-03 9.91024905e-01 -1.32226259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters 0.029047643691466597 Centerline is valid? [True, True] Translation: X:112.12, Y:-21.99, Z:-13.23 [[ 8.27023258e-01 5.50777153e-01 1.12592444e-01 1.12120805e+02] [-5.45186304e-01 8.34645353e-01 -7.83519529e-02 -2.19938112e+01] [-1.37129226e-01 3.41502898e-03 9.90547280e-01 -1.32287316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters 0.030176410538315847 Centerline is valid? [True, True] Translation: X:112.17, Y:-22.02, Z:-13.24 [[ 8.29249178e-01 5.47000647e-01 1.14612790e-01 1.12174986e+02] [-5.41166105e-01 8.37121949e-01 -7.97877795e-02 -2.20229114e+01] [-1.39588850e-01 4.13939321e-03 9.90200898e-01 -1.32370729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters 0.0315659716066865 Centerline is valid? [True, True] Translation: X:112.23, Y:-22.06, Z:-13.24 [[ 8.33040633e-01 5.41510975e-01 1.13177595e-01 1.12227341e+02] [-5.35763733e-01 8.40678536e-01 -7.88468241e-02 -2.20562592e+01] [-1.37842396e-01 5.04615729e-03 9.90441321e-01 -1.32446504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters 0.03279563083253191 Centerline is valid? [True, True] Translation: X:112.28, Y:-22.09, Z:-13.25 [[ 8.36561785e-01 5.36142569e-01 1.12763136e-01 1.12280080e+02] [-5.30386365e-01 8.44106644e-01 -7.85765697e-02 -2.20875573e+01] [-1.37312357e-01 5.92612538e-03 9.90510069e-01 -1.32503475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters 0.03300390328986817 Centerline is valid? [True, True] Translation: X:112.33, Y:-22.12, Z:-13.26 [[ 8.36547026e-01 5.36076438e-01 1.13186246e-01 1.12329883e+02] [-5.30273336e-01 8.44148288e-01 -7.88914280e-02 -2.21246909e+01] [-1.37837812e-01 5.97674111e-03 9.90436781e-01 -1.32569242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters 0.032780511570040465 Centerline is valid? [True, True] Translation: X:112.38, Y:-22.16, Z:-13.26 [[ 8.35356872e-01 5.37874904e-01 1.13443744e-01 1.12381652e+02] [-5.32051966e-01 8.43005039e-01 -7.91404464e-02 -2.21581739e+01] [-1.38201308e-01 5.75254866e-03 9.90387453e-01 -1.32648859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters 0.031182480421311 Centerline is valid? [True, True] Translation: X:112.43, Y:-22.19, Z:-13.27 [[ 8.32389575e-01 5.42823723e-01 1.11669162e-01 1.12431940e+02] [-5.37218541e-01 8.39832344e-01 -7.79607104e-02 -2.21931246e+01] [-1.36102298e-01 4.90293802e-03 9.90682656e-01 -1.32695091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters 0.03131018622669279 Centerline is valid? [True, True] Translation: X:112.48, Y:-22.23, Z:-13.28 [[ 8.32426842e-01 5.42899491e-01 1.11021154e-01 1.12483784e+02] [-5.37357304e-01 8.39783504e-01 -7.75293113e-02 -2.22278170e+01] [-1.35324357e-01 4.87945203e-03 9.90789337e-01 -1.32775467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters 0.032477512080152725 Centerline is valid? [True, True] Translation: X:112.54, Y:-22.26, Z:-13.28 [[ 8.34778556e-01 5.39056471e-01 1.12084271e-01 1.12536180e+02] [-5.33363037e-01 8.42250904e-01 -7.83408314e-02 -2.22590142e+01] [-1.36633211e-01 5.61563880e-03 9.90605790e-01 -1.32840385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters 0.033943881484819624 Centerline is valid? [True, True] Translation: X:112.59, Y:-22.29, Z:-13.29 [[ 8.37493658e-01 5.34700866e-01 1.12691421e-01 1.12588767e+02] [-5.28904593e-01 8.45017395e-01 -7.87752081e-02 -2.22898612e+01] [-1.37347383e-01 6.37072709e-03 9.90502453e-01 -1.32916056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters 0.03447691484841436 Centerline is valid? [True, True] Translation: X:112.64, Y:-22.32, Z:-13.30 [[ 8.38002784e-01 5.34154769e-01 1.11489984e-01 1.12642053e+02] [-5.28474493e-01 8.45362424e-01 -7.79556450e-02 -2.23232598e+01] [-1.35889823e-01 6.40743463e-03 9.90703235e-01 -1.32991823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters 0.0338429194313736 Centerline is valid? [True, True] Translation: X:112.70, Y:-22.35, Z:-13.31 [[ 8.37196697e-01 5.35381277e-01 1.11662793e-01 1.12696057e+02] [-5.29683672e-01 8.44587126e-01 -7.81523833e-02 -2.23534838e+01] [-1.36150280e-01 6.28295917e-03 9.90668272e-01 -1.33058321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters 0.03443349389371172 Centerline is valid? [True, True] Translation: X:112.75, Y:-22.39, Z:-13.31 [[ 8.37975667e-01 5.34178518e-01 1.11579984e-01 1.12748862e+02] [-5.28469568e-01 8.45346472e-01 -7.81617500e-02 -2.23860375e+01] [-1.36076073e-01 6.53101895e-03 9.90676864e-01 -1.33123672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters 0.03716733289247032 Centerline is valid? [True, True] Translation: X:112.80, Y:-22.42, Z:-13.32 [[ 8.41606575e-01 5.27822603e-01 1.14462537e-01 1.12800970e+02] [-5.21746274e-01 8.49318725e-01 -8.02404473e-02 -2.24173016e+01] [-1.39567898e-01 7.81048567e-03 9.90181700e-01 -1.33207866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters 0.03828819668471916 Centerline is valid? [True, True] Translation: X:112.85, Y:-22.45, Z:-13.33 [[ 8.43268836e-01 5.24803807e-01 1.16097520e-01 1.12851467e+02] [-5.18522180e-01 8.51181395e-01 -8.13939936e-02 -2.24509597e+01] [-1.41535927e-01 8.43787888e-03 9.89897158e-01 -1.33287157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters 0.03880277537198502 Centerline is valid? [True, True] Translation: X:112.90, Y:-22.49, Z:-13.34 [[ 8.45576343e-01 5.22050158e-01 1.11643547e-01 1.12902327e+02] [-5.16217242e-01 8.52871739e-01 -7.82914780e-02 -2.24861467e+01] [-1.36089705e-01 8.56909749e-03 9.90659459e-01 -1.33353191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters 0.03988005872735839 Centerline is valid? [True, True] Translation: X:112.95, Y:-22.53, Z:-13.34 [[ 8.45244655e-01 5.22035194e-01 1.14196010e-01 1.12949799e+02] [-5.15921345e-01 8.52878244e-01 -8.01490349e-02 -2.25251193e+01] [-1.39235910e-01 8.82938422e-03 9.90219876e-01 -1.33437487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters 0.04039512767546681 Centerline is valid? [True, True] Translation: X:113.00, Y:-22.56, Z:-13.35 [[ 8.47975358e-01 5.18427413e-01 1.10321396e-01 1.12997311e+02] [-5.12686183e-01 8.55072764e-01 -7.74819070e-02 -2.25649941e+01] [-1.34501565e-01 9.14249267e-03 9.90871204e-01 -1.33486902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters 0.038542292820884116 Centerline is valid? [True, True] Translation: X:113.04, Y:-22.61, Z:-13.35 [[ 8.44936402e-01 5.22918129e-01 1.12423783e-01 1.13042369e+02] [-5.16991661e-01 8.52339459e-01 -7.89751133e-02 -2.26062083e+01] [-1.37120745e-01 8.60678990e-03 9.90516948e-01 -1.33547830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters 0.03588524298095076 Centerline is valid? [True, True] Translation: X:113.09, Y:-22.64, Z:-13.36 [[ 8.39622640e-01 5.30767400e-01 1.15411392e-01 1.13089538e+02] [-5.24591963e-01 8.47484052e-01 -8.10805419e-02 -2.26449085e+01] [-1.40844222e-01 7.53317022e-03 9.90003109e-01 -1.33598365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters 0.03271992838897909 Centerline is valid? [True, True] Translation: X:113.13, Y:-22.69, Z:-13.37 [[ 8.33539771e-01 5.39931696e-01 1.16983818e-01 1.13134388e+02] [-5.33673225e-01 8.41686860e-01 -8.21956070e-02 -2.26864897e+01] [-1.42843756e-01 6.08217615e-03 9.89726563e-01 -1.33698128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters 0.03241895622910794 Centerline is valid? [True, True] Translation: X:113.18, Y:-22.72, Z:-13.38 [[ 8.31989103e-01 5.42224214e-01 1.17418202e-01 1.13183888e+02] [-5.35938054e-01 8.40214293e-01 -8.25248074e-02 -2.27232161e+01] [-1.43403400e-01 5.73085783e-03 9.89647726e-01 -1.33778836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters 0.03175177148753914 Centerline is valid? [True, True] Translation: X:113.24, Y:-22.76, Z:-13.38 [[ 8.30117244e-01 5.45209265e-01 1.16842713e-01 1.13235001e+02] [-5.39003820e-01 8.38283537e-01 -8.21924192e-02 -2.27578170e+01] [-1.42759391e-01 5.25067586e-03 9.89743495e-01 -1.33837758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters 0.0313957410779883 Centerline is valid? [True, True] Translation: X:113.29, Y:-22.79, Z:-13.39 [[ 8.29447313e-01 5.46396979e-01 1.16049541e-01 1.13286770e+02] [-5.40277298e-01 8.37510967e-01 -8.17057019e-02 -2.27928339e+01] [-1.41836512e-01 5.07164241e-03 9.89877105e-01 -1.33885895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters 0.031120205472976083 Centerline is valid? [True, True] Translation: X:113.34, Y:-22.83, Z:-13.40 [[ 8.29734732e-01 5.45974377e-01 1.15983857e-01 1.13338549e+02] [-5.39847244e-01 8.37785725e-01 -8.17314652e-02 -2.28266298e+01] [-1.41792905e-01 5.20186990e-03 9.89882676e-01 -1.33953907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters 0.03214597717401877 Centerline is valid? [True, True] Translation: X:113.39, Y:-22.86, Z:-13.40 [[ 8.31471096e-01 5.43139349e-01 1.16856598e-01 1.13389230e+02] [-5.36882178e-01 8.39622657e-01 -8.24094709e-02 -2.28620238e+01] [-1.42875274e-01 5.78286811e-03 9.89723807e-01 -1.34049561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters 0.03307837198909323 Centerline is valid? [True, True] Translation: X:113.44, Y:-22.89, Z:-13.41 [[ 8.33371109e-01 5.40564746e-01 1.15249077e-01 1.13442349e+02] [-5.34450733e-01 8.41279842e-01 -8.13058515e-02 -2.28945929e+01] [-1.40907803e-01 6.16299377e-03 9.90003540e-01 -1.34099751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters 0.03316967470035822 Centerline is valid? [True, True] Translation: X:113.49, Y:-22.93, Z:-13.42 [[ 8.33914419e-01 5.39681960e-01 1.15456151e-01 1.13490542e+02] [-5.33527210e-01 8.41844770e-01 -8.15236100e-02 -2.29330865e+01] [-1.41192979e-01 6.38471579e-03 9.89961503e-01 -1.34182703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters 0.033623926227602505 Centerline is valid? [True, True] Translation: X:113.54, Y:-22.97, Z:-13.43 [[ 8.34163720e-01 5.39039266e-01 1.16651439e-01 1.13539107e+02] [-5.32739034e-01 8.42254592e-01 -8.24398143e-02 -2.29706834e+01] [-1.42688507e-01 6.62352720e-03 9.89745482e-01 -1.34285815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters 0.03386302440369525 Centerline is valid? [True, True] Translation: X:113.59, Y:-23.01, Z:-13.44 [[ 8.34209616e-01 5.39105147e-01 1.16017058e-01 1.13589264e+02] [-5.32863784e-01 8.42212313e-01 -8.20646561e-02 -2.30086376e+01] [-1.41952474e-01 6.63783657e-03 9.89851218e-01 -1.34350336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters 0.03333370100160918 Centerline is valid? [True, True] Translation: X:113.64, Y:-23.05, Z:-13.44 [[ 8.34232340e-01 5.39581802e-01 1.13612857e-01 1.13635254e+02] [-5.33591468e-01 8.41908216e-01 -8.04406642e-02 -2.30512822e+01] [-1.39055917e-01 6.48335213e-03 9.90263307e-01 -1.34393184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters 0.034164183976118714 Centerline is valid? [True, True] Translation: X:113.68, Y:-23.09, Z:-13.45 [[ 8.36055152e-01 5.36804714e-01 1.13368785e-01 1.13682001e+02] [-5.30806425e-01 8.43677637e-01 -8.03279812e-02 -2.30915871e+01] [-1.38767148e-01 6.98174290e-03 9.90300426e-01 -1.34474151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters 0.03483244653768851 Centerline is valid? [True, True] Translation: X:113.73, Y:-23.13, Z:-13.45 [[ 8.37655379e-01 5.34250618e-01 1.13621050e-01 1.13729493e+02] [-5.28199309e-01 8.45293403e-01 -8.05267167e-02 -2.31320813e+01] [-1.39064572e-01 7.43907744e-03 9.90255374e-01 -1.34540942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters 0.03579376979667177 Centerline is valid? [True, True] Translation: X:113.78, Y:-23.17, Z:-13.46 [[ 8.40037887e-01 5.30847283e-01 1.11971025e-01 1.13775319e+02] [-5.24938689e-01 8.47430664e-01 -7.93765887e-02 -2.31741001e+01] [-1.37024527e-01 7.90141853e-03 9.90536141e-01 -1.34604656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters 0.036633760862870866 Centerline is valid? [True, True] Translation: X:113.82, Y:-23.22, Z:-13.47 [[ 8.40803601e-01 5.28884091e-01 1.15459612e-01 1.13818672e+02] [-5.22577527e-01 8.48651463e-01 -8.18744388e-02 -2.32172525e+01] [-1.41287056e-01 8.50372473e-03 9.89932146e-01 -1.34689616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters 0.035906322449541214 Centerline is valid? [True, True] Translation: X:113.86, Y:-23.26, Z:-13.48 [[ 8.39212813e-01 5.31199614e-01 1.16399420e-01 1.13862101e+02] [-5.24804422e-01 8.47206795e-01 -8.25891383e-02 -2.32628177e+01] [-1.42485698e-01 8.22293281e-03 9.89762704e-01 -1.34764456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters 0.03394553214369819 Centerline is valid? [True, True] Translation: X:113.91, Y:-23.31, Z:-13.48 [[ 8.36111301e-01 5.36580884e-01 1.14012485e-01 1.13905504e+02] [-5.30487315e-01 8.43818110e-01 -8.09580469e-02 -2.33066822e+01] [-1.39646340e-01 7.20776121e-03 9.90175211e-01 -1.34817365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters 0.03164223866485445 Centerline is valid? [True, True] Translation: X:113.95, Y:-23.35, Z:-13.49 [[ 8.31286190e-01 5.43764659e-01 1.15253052e-01 1.13948504e+02] [-5.37600012e-01 8.39215568e-01 -8.18746416e-02 -2.33519873e+01] [-1.41242692e-01 6.10121696e-03 9.89956200e-01 -1.34889631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters 0.029306496406445674 Centerline is valid? [True, True] Translation: X:113.99, Y:-23.39, Z:-13.50 [[ 8.24219461e-01 5.54008004e-01 1.17206704e-01 1.13993889e+02] [-5.47731525e-01 8.32499505e-01 -8.32751571e-02 -2.33933426e+01] [-1.43709626e-01 4.43919861e-03 9.89609942e-01 -1.34974433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters 0.027973058189855047 Centerline is valid? [True, True] Translation: X:114.04, Y:-23.43, Z:-13.51 [[ 8.19186929e-01 5.61417566e-01 1.17230936e-01 1.14040916e+02] [-5.55211262e-01 8.27526648e-01 -8.33072677e-02 -2.34319085e+01] [-1.43781887e-01 3.15628903e-03 9.89604369e-01 -1.35050790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters 0.02718071861794534 Centerline is valid? [True, True] Translation: X:114.09, Y:-23.47, Z:-13.51 [[ 8.17867755e-01 5.64034785e-01 1.13829244e-01 1.14090894e+02] [-5.58206590e-01 8.25746810e-01 -8.09172931e-02 -2.34675120e+01] [-1.39634304e-01 2.63941046e-03 9.90199624e-01 -1.35107004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters 0.02769300018706583 Centerline is valid? [True, True] Translation: X:114.14, Y:-23.50, Z:-13.52 [[ 8.18131898e-01 5.63078808e-01 1.16629553e-01 1.14141261e+02] [-5.56940114e-01 8.26398029e-01 -8.29699166e-02 -2.35030453e+01] [-1.43101034e-01 2.92465879e-03 9.89703764e-01 -1.35178862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters 0.027639254673586838 Centerline is valid? [True, True] Translation: X:114.20, Y:-23.54, Z:-13.53 [[ 8.17395186e-01 5.64089831e-01 1.16909250e-01 1.14195035e+02] [-5.57920139e-01 8.25708606e-01 -8.32491231e-02 -2.35360503e+01] [-1.43492957e-01 2.82140750e-03 9.89647316e-01 -1.35252688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters 0.027234864875889858 Centerline is valid? [True, True] Translation: X:114.25, Y:-23.57, Z:-13.53 [[ 8.15777737e-01 5.66880562e-01 1.14687022e-01 1.14246299e+02] [-5.60959823e-01 8.23796625e-01 -8.17508244e-02 -2.35713830e+01] [-1.40821735e-01 2.35569099e-03 9.90032166e-01 -1.35304942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters 0.026758281290587924 Centerline is valid? [True, True] Translation: X:114.30, Y:-23.61, Z:-13.54 [[ 8.13062053e-01 5.70866206e-01 1.14201024e-01 1.14298304e+02] [-5.65024063e-01 8.21041296e-01 -8.14800492e-02 -2.36055007e+01] [-1.40277963e-01 1.72200960e-03 9.90110664e-01 -1.35381786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters 0.026913689565719698 Centerline is valid? [True, True] Translation: X:114.35, Y:-23.64, Z:-13.54 [[ 8.14120301e-01 5.69369819e-01 1.14132133e-01 1.14349298e+02] [-5.63509244e-01 8.22078972e-01 -8.15076408e-02 -2.36400322e+01] [-1.40233618e-01 2.04251290e-03 9.90116337e-01 -1.35446528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters 0.027458887818525124 Centerline is valid? [True, True] Translation: X:114.40, Y:-23.67, Z:-13.55 [[ 8.16981144e-01 5.65531736e-01 1.12763761e-01 1.14401388e+02] [-5.59764536e-01 8.24722008e-01 -8.06056646e-02 -2.36738167e+01] [-1.38583817e-01 2.73215364e-03 9.90346940e-01 -1.35533889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters 0.028185403636502113 Centerline is valid? [True, True] Translation: X:114.45, Y:-23.71, Z:-13.56 [[ 8.18954277e-01 5.62192661e-01 1.15122999e-01 1.14451840e+02] [-5.56136288e-01 8.26999169e-01 -8.23699196e-02 -2.37090360e+01] [-1.41514389e-01 3.43312067e-03 9.89930246e-01 -1.35587010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters 0.028347916856007623 Centerline is valid? [True, True] Translation: X:114.50, Y:-23.75, Z:-13.57 [[ 8.19282085e-01 5.61684937e-01 1.15268802e-01 1.14500623e+02] [-5.55597754e-01 8.27343443e-01 -8.25467306e-02 -2.37471778e+01] [-1.41732143e-01 3.58597007e-03 9.89898551e-01 -1.35663819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters 0.02806382004717972 Centerline is valid? [True, True] Translation: X:114.55, Y:-23.79, Z:-13.57 [[ 8.16738848e-01 5.65555706e-01 1.14387055e-01 1.14549436e+02] [-5.59588649e-01 8.24704800e-01 -8.19910742e-02 -2.37858241e+01] [-1.40706073e-01 2.95559816e-03 9.90047002e-01 -1.35730662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters 0.027610727928791653 Centerline is valid? [True, True] Translation: X:114.60, Y:-23.82, Z:-13.58 [[ 8.13431814e-01 5.70182221e-01 1.14982258e-01 1.14602147e+02] [-5.64187376e-01 8.21515217e-01 -8.24945619e-02 -2.38187877e+01] [-1.41496607e-01 2.23216293e-03 9.89936224e-01 -1.35788557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters 0.027358518223611086 Centerline is valid? [True, True] Translation: X:114.65, Y:-23.85, Z:-13.59 [[ 8.11339990e-01 5.73075703e-01 1.15376164e-01 1.14654246e+02] [-5.67057350e-01 8.19500459e-01 -8.28550497e-02 -2.38526596e+01] [-1.42033035e-01 1.79871328e-03 9.89860284e-01 -1.35861915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters 0.027490649479728582 Centerline is valid? [True, True] Translation: X:114.71, Y:-23.88, Z:-13.59 [[ 8.11311135e-01 5.73055727e-01 1.15677901e-01 1.14707571e+02] [-5.66993915e-01 8.19514261e-01 -8.31521284e-02 -2.38847914e+01] [-1.42450493e-01 1.87358173e-03 9.89800155e-01 -1.35943701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters 0.027815127156612825 Centerline is valid? [True, True] Translation: X:114.76, Y:-23.92, Z:-13.60 [[ 8.12057192e-01 5.72187382e-01 1.14737600e-01 1.14761553e+02] [-5.66203567e-01 8.20120283e-01 -8.25605398e-02 -2.39174415e+01] [-1.41338732e-01 2.07904201e-03 9.89959111e-01 -1.36015723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters 0.027828316496115623 Centerline is valid? [True, True] Translation: X:114.82, Y:-23.95, Z:-13.61 [[ 8.13698933e-01 5.70022836e-01 1.13877183e-01 1.14816203e+02] [-5.64095640e-01 8.21625023e-01 -8.20270104e-02 -2.39474485e+01] [-1.40321612e-01 2.50766812e-03 9.90102801e-01 -1.36081127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters 0.02825983710031928 Centerline is valid? [True, True] Translation: X:114.87, Y:-23.98, Z:-13.61 [[ 8.14855102e-01 5.68193515e-01 1.14748827e-01 1.14867806e+02] [-5.62145591e-01 8.22889825e-01 -8.27325185e-02 -2.39810343e+01] [-1.41433723e-01 2.90946755e-03 9.89943451e-01 -1.36145469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters 0.02908896907615645 Centerline is valid? [True, True] Translation: X:114.92, Y:-24.01, Z:-13.62 [[ 8.18564560e-01 5.63157967e-01 1.13159907e-01 1.14919389e+02] [-5.57218632e-01 8.26340568e-01 -8.16618735e-02 -2.40147801e+01] [-1.39497156e-01 3.79070705e-03 9.90215216e-01 -1.36226810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters 0.0304549638556383 Centerline is valid? [True, True] Translation: X:114.97, Y:-24.05, Z:-13.63 [[ 8.22191723e-01 5.57408589e-01 1.15310171e-01 1.14968594e+02] [-5.51172918e-01 8.30223720e-01 -8.32885881e-02 -2.40513891e+01] [-1.42159013e-01 4.92334438e-03 9.89831590e-01 -1.36286258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters 0.03058141089311787 Centerline is valid? [True, True] Translation: X:115.02, Y:-24.09, Z:-13.64 [[ 8.23263045e-01 5.55992513e-01 1.14500152e-01 1.15016863e+02] [-5.49822790e-01 8.31171162e-01 -8.27611013e-02 -2.40892282e+01] [-1.41183777e-01 5.17936311e-03 9.89969856e-01 -1.36361113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters 0.030331714266531383 Centerline is valid? [True, True] Translation: X:115.06, Y:-24.13, Z:-13.64 [[ 8.22245371e-01 5.57338256e-01 1.15267596e-01 1.15064896e+02] [-5.51091121e-01 8.30270337e-01 -8.33651297e-02 -2.41296830e+01] [-1.42165841e-01 5.02364355e-03 9.89830105e-01 -1.36427933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters 0.030034661309580254 Centerline is valid? [True, True] Translation: X:115.11, Y:-24.17, Z:-13.65 [[ 8.21641508e-01 5.58463510e-01 1.14121601e-01 1.15114044e+02] [-5.52339790e-01 8.29514918e-01 -8.26181412e-02 -2.41673459e+01] [-1.40804788e-01 4.84859281e-03 9.90025506e-01 -1.36494108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters 0.03023724663257128 Centerline is valid? [True, True] Translation: X:115.17, Y:-24.20, Z:-13.66 [[ 8.22391415e-01 5.57420134e-01 1.13820709e-01 1.15165276e+02] [-5.51308409e-01 8.30215050e-01 -8.24742899e-02 -2.42026992e+01] [-1.40468495e-01 5.07583421e-03 9.90072138e-01 -1.36559805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters 0.03043436660033399 Centerline is valid? [True, True] Translation: X:115.21, Y:-24.24, Z:-13.66 [[ 8.21130233e-01 5.58261724e-01 1.18697042e-01 1.15211409e+02] [-5.51610613e-01 8.29648576e-01 -8.60753821e-02 -2.42439101e+01] [-1.46529423e-01 5.20455055e-03 9.89192621e-01 -1.36649440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters 0.029397944961488977 Centerline is valid? [True, True] Translation: X:115.26, Y:-24.28, Z:-13.67 [[ 8.18938898e-01 5.61972522e-01 1.16301186e-01 1.15260647e+02] [-5.55622638e-01 8.27143846e-01 -8.43596075e-02 -2.42795952e+01] [-1.43605591e-01 4.46579246e-03 9.89624924e-01 -1.36721405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters 0.02804953292152191 Centerline is valid? [True, True] Translation: X:115.31, Y:-24.32, Z:-13.68 [[ 8.15234330e-01 5.67833101e-01 1.13835655e-01 1.15307611e+02] [-5.61804178e-01 8.23136768e-01 -8.25949583e-02 -2.43190410e+01] [-1.40602464e-01 3.38089920e-03 9.90060360e-01 -1.36774716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters 0.02740613193105344 Centerline is valid? [True, True] Translation: X:115.36, Y:-24.36, Z:-13.68 [[ 8.11185059e-01 5.73723065e-01 1.13228285e-01 1.15356062e+02] [-5.67810626e-01 8.19045903e-01 -8.21882071e-02 -2.43559056e+01] [-1.39892433e-01 2.37762205e-03 9.90163852e-01 -1.36826754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters 0.02751392141600351 Centerline is valid? [True, True] Translation: X:115.41, Y:-24.39, Z:-13.69 [[ 8.11156180e-01 5.73767080e-01 1.13212142e-01 1.15407383e+02] [-5.67848082e-01 8.19014944e-01 -8.22379261e-02 -2.43921503e+01] [-1.39907851e-01 2.42050462e-03 9.90161570e-01 -1.36908893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters 0.0275128026067153 Centerline is valid? [True, True] Translation: X:115.46, Y:-24.43, Z:-13.70 [[ 8.12813941e-01 5.71549144e-01 1.12539208e-01 1.15458365e+02] [-5.65667558e-01 8.20562868e-01 -8.18339438e-02 -2.44277631e+01] [-1.39117616e-01 2.85599143e-03 9.90271747e-01 -1.36988113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters 0.02834057101130851 Centerline is valid? [True, True] Translation: X:115.51, Y:-24.46, Z:-13.70 [[ 8.15095253e-01 5.67941160e-01 1.14291592e-01 1.15507789e+02] [-5.61828943e-01 8.23061355e-01 -8.31759853e-02 -2.44649131e+01] [-1.41308058e-01 3.58402622e-03 9.89959185e-01 -1.37041783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters 0.029297812095626072 Centerline is valid? [True, True] Translation: X:115.56, Y:-24.50, Z:-13.71 [[ 8.16753431e-01 5.65254656e-01 1.15762719e-01 1.15556160e+02] [-5.58951588e-01 8.24906128e-01 -8.42793154e-02 -2.45019948e+01] [-1.43132651e-01 4.12966460e-03 9.89694897e-01 -1.37137468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters 0.030052000694409876 Centerline is valid? [True, True] Translation: X:115.61, Y:-24.54, Z:-13.72 [[ 8.18798976e-01 5.62011894e-01 1.17093416e-01 1.15606028e+02] [-5.55519958e-01 8.27115192e-01 -8.53113997e-02 -2.45386814e+01] [-1.44795765e-01 4.80515701e-03 9.89449896e-01 -1.37215727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters 0.030217101907807957 Centerline is valid? [True, True] Translation: X:115.66, Y:-24.57, Z:-13.73 [[ 8.19361012e-01 5.61279023e-01 1.16676437e-01 1.15656977e+02] [-5.54821280e-01 8.27611871e-01 -8.50407958e-02 -2.45739519e+01] [-1.44294419e-01 4.94454232e-03 9.89522446e-01 -1.37293167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters 0.030620916248627703 Centerline is valid? [True, True] Translation: X:115.71, Y:-24.61, Z:-13.74 [[ 8.19980106e-01 5.60340350e-01 1.16838855e-01 1.15708550e+02] [-5.53843877e-01 8.28246249e-01 -8.52356223e-02 -2.46085213e+01] [-1.44532302e-01 5.18103037e-03 9.89486519e-01 -1.37360114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters 0.030529383282620746 Centerline is valid? [True, True] Translation: X:115.76, Y:-24.64, Z:-13.74 [[ 8.19610759e-01 5.60836186e-01 1.17051167e-01 1.15759463e+02] [-5.54309425e-01 8.27910656e-01 -8.54693399e-02 -2.46445940e+01] [-1.44842207e-01 5.16902567e-03 9.89441265e-01 -1.37444890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters 0.029581810733487 Centerline is valid? [True, True] Translation: X:115.81, Y:-24.68, Z:-13.75 [[ 8.17767079e-01 5.63941981e-01 1.15006289e-01 1.15809097e+02] [-5.57662711e-01 8.25801618e-01 -8.40475336e-02 -2.46811109e+01] [-1.42370312e-01 4.59658734e-03 9.89802791e-01 -1.37508745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters 0.029555378186475106 Centerline is valid? [True, True] Translation: X:115.86, Y:-24.72, Z:-13.76 [[ 8.16740002e-01 5.65561790e-01 1.14348724e-01 1.15859889e+02] [-5.59367248e-01 8.24694678e-01 -8.35880915e-02 -2.47171304e+01] [-1.41577015e-01 4.30680695e-03 9.89917876e-01 -1.37578162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters 0.029703946767552843 Centerline is valid? [True, True] Translation: X:115.91, Y:-24.76, Z:-13.77 [[ 8.15917798e-01 5.66302273e-01 1.16532755e-01 1.15907498e+02] [-5.59867574e-01 8.24186403e-01 -8.52353943e-02 -2.47565922e+01] [-1.44313710e-01 4.30216436e-03 9.89522635e-01 -1.37662179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters 0.029507143586273443 Centerline is valid? [True, True] Translation: X:115.96, Y:-24.79, Z:-13.78 [[ 8.13306493e-01 5.69462110e-01 1.19354324e-01 1.15956995e+02] [-5.62731432e-01 8.22008311e-01 -8.73823389e-02 -2.47940131e+01] [-1.47871177e-01 3.90419414e-03 9.88998924e-01 -1.37752632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters 0.028842386141519783 Centerline is valid? [True, True] Translation: X:116.01, Y:-24.83, Z:-13.78 [[ 8.12297848e-01 5.71840509e-01 1.14763404e-01 1.16006140e+02] [-5.65633798e-01 8.20357797e-01 -8.40921627e-02 -2.48317101e+01] [-1.42234358e-01 3.39382284e-03 9.89827192e-01 -1.37800320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters 0.028058950182844593 Centerline is valid? [True, True] Translation: X:116.06, Y:-24.86, Z:-13.79 [[ 8.09979220e-01 5.75591953e-01 1.12372445e-01 1.16057232e+02] [-5.69675081e-01 8.17732617e-01 -8.23630384e-02 -2.48645864e+01] [-1.39298116e-01 2.69656787e-03 9.90246819e-01 -1.37887819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters 0.028536603901892207 Centerline is valid? [True, True] Translation: X:116.11, Y:-24.90, Z:-13.80 [[ 8.09209486e-01 5.75707624e-01 1.17220897e-01 1.16108127e+02] [-5.69259755e-01 8.17650707e-01 -8.59689060e-02 -2.48993895e+01] [-1.45338704e-01 2.83771505e-03 9.89377890e-01 -1.37965440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters 0.02857861819959961 Centerline is valid? [True, True] Translation: X:116.16, Y:-24.93, Z:-13.80 [[ 8.10157523e-01 5.74468686e-01 1.16749805e-01 1.16161382e+02] [-5.68054984e-01 8.18520779e-01 -8.56578598e-02 -2.49312300e+01] [-1.44769900e-01 3.07605082e-03 9.89460567e-01 -1.38036952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters 0.02907943914714136 Centerline is valid? [True, True] Translation: X:116.21, Y:-24.97, Z:-13.81 [[ 8.12416052e-01 5.71620498e-01 1.15022452e-01 1.16212373e+02] [-5.65356647e-01 8.20510261e-01 -8.44675875e-02 -2.49653083e+01] [-1.42660506e-01 3.59411645e-03 9.89765155e-01 -1.38124439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters 0.029829434344131826 Centerline is valid? [True, True] Translation: X:116.26, Y:-25.00, Z:-13.82 [[ 8.15320226e-01 5.67350063e-01 1.15615027e-01 1.16264150e+02] [-5.60968546e-01 8.23464848e-01 -8.49702002e-02 -2.49990516e+01] [-1.43412759e-01 4.42152947e-03 9.89653086e-01 -1.38183969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters 0.029908021795872076 Centerline is valid? [True, True] Translation: X:116.31, Y:-25.04, Z:-13.82 [[ 8.15102027e-01 5.67542244e-01 1.16208811e-01 1.16314142e+02] [-5.61091672e-01 8.23332314e-01 -8.54402520e-02 -2.50357385e+01] [-1.44169422e-01 4.43872637e-03 9.89543064e-01 -1.38249238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters 0.029213702059560545 Centerline is valid? [True, True] Translation: X:116.36, Y:-25.07, Z:-13.83 [[ 8.13415956e-01 5.70637609e-01 1.12814898e-01 1.16363020e+02] [-5.64580874e-01 8.21193079e-01 -8.30082221e-02 -2.50718481e+01] [-1.40010426e-01 3.82707895e-03 9.90142633e-01 -1.38312475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters 0.028107811696766717 Centerline is valid? [True, True] Translation: X:116.41, Y:-25.11, Z:-13.84 [[ 8.09850609e-01 5.76170306e-01 1.10316676e-01 1.16411500e+02] [-5.70428511e-01 8.17324790e-01 -8.11880654e-02 -2.51098098e+01] [-1.36942706e-01 2.82242731e-03 9.90574949e-01 -1.38391309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters 0.02751049762503321 Centerline is valid? [True, True] Translation: X:116.46, Y:-25.15, Z:-13.85 [[ 8.03661297e-01 5.84364965e-01 1.12454915e-01 1.16461251e+02] [-5.78472610e-01 8.11489612e-01 -8.27891838e-02 -2.51455571e+01] [-1.39635094e-01 1.48237448e-03 9.90201920e-01 -1.38478260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters 0.02708900883720533 Centerline is valid? [True, True] Translation: X:116.51, Y:-25.18, Z:-13.86 [[ 7.99841719e-01 5.89896342e-01 1.10794991e-01 1.16511516e+02] [-5.84219602e-01 8.07478779e-01 -8.16423793e-02 -2.51815867e+01] [-1.37625145e-01 5.72375721e-04 9.90484221e-01 -1.38556855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters 0.027119877504519094 Centerline is valid? [True, True] Translation: X:116.56, Y:-25.22, Z:-13.86 [[ 7.96611897e-01 5.94103400e-01 1.11582417e-01 1.16562837e+02] [-5.88374867e-01 8.04388676e-01 -8.23035423e-02 -2.52166869e+01] [-1.38652447e-01 -8.83087502e-05 9.90341098e-01 -1.38640758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters 0.027411142452557637 Centerline is valid? [True, True] Translation: X:116.62, Y:-25.25, Z:-13.87 [[ 7.95385598e-01 5.95745781e-01 1.11573807e-01 1.16615769e+02] [-5.90021494e-01 8.03173004e-01 -8.23878797e-02 -2.52510893e+01] [-1.38695301e-01 -3.00811107e-04 9.90335056e-01 -1.38705790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters 0.027373651652838726 Centerline is valid? [True, True] Translation: X:116.67, Y:-25.29, Z:-13.88 [[ 7.94029889e-01 5.97506347e-01 1.11815471e-01 1.16668510e+02] [-5.91761521e-01 8.01864003e-01 -8.26584717e-02 -2.52850367e+01] [-1.39049762e-01 -5.34795973e-04 9.90285251e-01 -1.38792608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters 0.027437485677576527 Centerline is valid? [True, True] Translation: X:116.72, Y:-25.32, Z:-13.89 [[ 7.96869844e-01 5.93663030e-01 1.12083265e-01 1.16722237e+02] [-5.87839642e-01 8.04713714e-01 -8.29481373e-02 -2.53184210e+01] [-1.39438183e-01 2.11882889e-04 9.90230755e-01 -1.38870895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters 0.027623997497994258 Centerline is valid? [True, True] Translation: X:116.77, Y:-25.35, Z:-13.89 [[ 8.01298304e-01 5.87759155e-01 1.11625287e-01 1.16774320e+02] [-5.81913733e-01 8.09034895e-01 -8.26979216e-02 -2.53520565e+01] [-1.38915213e-01 1.30941706e-03 9.90303413e-01 -1.38928052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters 0.0278182958624649 Centerline is valid? [True, True] Translation: X:116.83, Y:-25.39, Z:-13.90 [[ 8.03828350e-01 5.84129761e-01 1.12482915e-01 1.16826591e+02] [-5.78146933e-01 8.11657778e-01 -8.34132779e-02 -2.53859582e+01] [-1.40021811e-01 2.01830527e-03 9.90146362e-01 -1.38995829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters 0.02728488882538334 Centerline is valid? [True, True] Translation: X:116.88, Y:-25.42, Z:-13.91 [[ 8.01379535e-01 5.87632873e-01 1.11706969e-01 1.16876706e+02] [-5.81755681e-01 8.09126365e-01 -8.29147307e-02 -2.54225012e+01] [-1.39108476e-01 1.46000427e-03 9.90276073e-01 -1.39077629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters 0.026949609836125064 Centerline is valid? [True, True] Translation: X:116.93, Y:-25.46, Z:-13.91 [[ 7.99248436e-01 5.90692672e-01 1.10833682e-01 1.16928345e+02] [-5.84926067e-01 8.06896029e-01 -8.23425464e-02 -2.54578772e+01] [-1.38070396e-01 9.82641927e-04 9.90421930e-01 -1.39123256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters 0.026928595120941794 Centerline is valid? [True, True] Translation: X:116.98, Y:-25.49, Z:-13.92 [[ 8.02242530e-01 5.87092468e-01 1.08302159e-01 1.16982605e+02] [-5.81544743e-01 8.09518245e-01 -8.05352261e-02 -2.54890124e+01] [-1.34954198e-01 1.62623233e-03 9.90850503e-01 -1.39183821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters 0.027605651441444876 Centerline is valid? [True, True] Translation: X:117.04, Y:-25.52, Z:-13.93 [[ 8.04855949e-01 5.82699832e-01 1.12551356e-01 1.17035393e+02] [-5.76651726e-01 8.12683540e-01 -8.37750023e-02 -2.55206568e+01] [-1.40284314e-01 2.52387529e-03 9.90108045e-01 -1.39253189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters 0.027939916060883592 Centerline is valid? [True, True] Translation: X:117.09, Y:-25.55, Z:-13.93 [[ 8.07214437e-01 5.79894040e-01 1.10126091e-01 1.17090254e+02] [-5.74069071e-01 8.14686364e-01 -8.20416432e-02 -2.55519320e+01] [-1.37293684e-01 3.00521629e-03 9.90525826e-01 -1.39311557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters 0.027798685848113798 Centerline is valid? [True, True] Translation: X:117.14, Y:-25.59, Z:-13.94 [[ 8.06618208e-01 5.80429739e-01 1.11661924e-01 1.17139937e+02] [-5.74433367e-01 8.14304711e-01 -8.32715150e-02 -2.55891352e+01] [-1.39260094e-01 3.02598520e-03 9.90251215e-01 -1.39395303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters 0.027467919744983995 Centerline is valid? [True, True] Translation: X:117.19, Y:-25.62, Z:-13.95 [[ 8.04057801e-01 5.83707174e-01 1.13035339e-01 1.17193028e+02] [-5.77582715e-01 8.11960230e-01 -8.43729380e-02 -2.56207696e+01] [-1.41029289e-01 2.55346105e-03 9.90002131e-01 -1.39471289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters 0.026983917384978087 Centerline is valid? [True, True] Translation: X:117.24, Y:-25.66, Z:-13.95 [[ 8.03128691e-01 5.85536591e-01 1.10141751e-01 1.17243283e+02] [-5.79730202e-01 8.10642900e-01 -8.22859801e-02 -2.56569358e+01] [-1.37467081e-01 2.23373175e-03 9.90503817e-01 -1.39540328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters 0.027081519149882168 Centerline is valid? [True, True] Translation: X:117.30, Y:-25.68, Z:-13.96 [[ 8.03853314e-01 5.84480000e-01 1.10467098e-01 1.17300084e+02] [-5.78618753e-01 8.11404316e-01 -8.26037156e-02 -2.56845735e+01] [-1.37913700e-01 2.48293614e-03 9.90441137e-01 -1.39603748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters 0.027489999601597336 Centerline is valid? [True, True] Translation: X:117.35, Y:-25.72, Z:-13.97 [[ 8.05853196e-01 5.81769730e-01 1.10202580e-01 1.17352874e+02] [-5.75901090e-01 8.13348004e-01 -8.24800500e-02 -2.57166671e+01] [-1.37617445e-01 3.00102607e-03 9.90480910e-01 -1.39687981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters 0.028385992936614375 Centerline is valid? [True, True] Translation: X:117.41, Y:-25.75, Z:-13.98 [[ 8.08712995e-01 5.77950837e-01 1.09344054e-01 1.17407988e+02] [-5.72128939e-01 8.16063275e-01 -8.19097590e-02 -2.57454959e+01] [-1.36571481e-01 3.68258870e-03 9.90623374e-01 -1.39753137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters 0.029233396146479535 Centerline is valid? [True, True] Translation: X:117.46, Y:-25.78, Z:-13.98 [[ 8.11098690e-01 5.74284718e-01 1.10977370e-01 1.17459560e+02] [-5.68243814e-01 8.18643726e-01 -8.31950576e-02 -2.57792674e+01] [-1.38628578e-01 4.41719823e-03 9.90334593e-01 -1.39836757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters 0.031393983151113004 Centerline is valid? [True, True] Translation: X:117.51, Y:-25.81, Z:-13.99 [[ 8.15911200e-01 5.67121164e-01 1.12527770e-01 1.17509292e+02] [-5.60838523e-01 8.23614416e-01 -8.43767998e-02 -2.58141855e+01] [-1.40531362e-01 5.73406772e-03 9.90059623e-01 -1.39929247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters 0.03313059241832481 Centerline is valid? [True, True] Translation: X:117.56, Y:-25.85, Z:-14.00 [[ 8.19338945e-01 5.61912302e-01 1.13746465e-01 1.17555184e+02] [-5.55440676e-01 8.27169593e-01 -8.53001727e-02 -2.58531203e+01] [-1.42018833e-01 6.71034035e-03 9.89841211e-01 -1.40011178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters 0.03521592877718433 Centerline is valid? [True, True] Translation: X:117.60, Y:-25.89, Z:-14.01 [[ 8.23582741e-01 5.55999675e-01 1.12142010e-01 1.17599984e+02] [-5.49654848e-01 8.31147518e-01 -8.41032183e-02 -2.58940676e+01] [-1.39967915e-01 7.62655954e-03 9.90126668e-01 -1.40079446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters 0.034827392663042 Centerline is valid? [True, True] Translation: X:117.64, Y:-25.94, Z:-14.02 [[ 8.23362667e-01 5.55904991e-01 1.14208405e-01 1.17642098e+02] [-5.49318464e-01 8.31209181e-01 -8.56768541e-02 -2.59402662e+01] [-1.42559265e-01 7.80633767e-03 9.89755483e-01 -1.40165222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters 0.033244604620226346 Centerline is valid? [True, True] Translation: X:117.68, Y:-25.99, Z:-14.02 [[ 8.21219969e-01 5.59585210e-01 1.11634020e-01 1.17683335e+02] [-5.53319505e-01 8.28742829e-01 -8.38024354e-02 -2.59861295e+01] [-1.39410497e-01 7.05095271e-03 9.90209572e-01 -1.40214273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters 0.032493534502681234 Centerline is valid? [True, True] Translation: X:117.72, Y:-26.03, Z:-14.03 [[ 8.18734850e-01 5.62661938e-01 1.14388763e-01 1.17724776e+02] [-5.56108425e-01 8.26659878e-01 -8.58886823e-02 -2.60334677e+01] [-1.42886893e-01 6.70750253e-03 9.89716295e-01 -1.40288541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters 0.03164424349681569 Centerline is valid? [True, True] Translation: X:117.76, Y:-26.08, Z:-14.04 [[ 8.16785805e-01 5.65608281e-01 1.13790249e-01 1.17764644e+02] [-5.59143025e-01 8.24650653e-01 -8.55007480e-02 -2.60824739e+01] [-1.42197135e-01 6.21077292e-03 9.89818873e-01 -1.40364180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters 0.030060766767873996 Centerline is valid? [True, True] Translation: X:117.81, Y:-26.13, Z:-14.04 [[ 8.12195152e-01 5.72050167e-01 1.14444923e-01 1.17806892e+02] [-5.65570890e-01 8.20202603e-01 -8.60073198e-02 -2.61273717e+01] [-1.43068526e-01 5.12801105e-03 9.89699500e-01 -1.40431209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters 0.028475573422723197 Centerline is valid? [True, True] Translation: X:117.85, Y:-26.17, Z:-14.05 [[ 8.07426073e-01 5.78835678e-01 1.14071886e-01 1.17851882e+02] [-5.72464212e-01 8.15434766e-01 -8.57372097e-02 -2.61699577e+01] [-1.42645938e-01 3.92438600e-03 9.89766000e-01 -1.40495193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters 0.028053532589242425 Centerline is valid? [True, True] Translation: X:117.90, Y:-26.21, Z:-14.06 [[ 8.06076259e-01 5.80897591e-01 1.13132902e-01 1.17900718e+02] [-5.74647439e-01 8.13968901e-01 -8.50585046e-02 -2.62081451e+01] [-1.41496944e-01 3.55210886e-03 9.89932320e-01 -1.40565915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters 0.027611439804463015 Centerline is valid? [True, True] Translation: X:117.95, Y:-26.25, Z:-14.06 [[ 8.04289857e-01 5.83473732e-01 1.12588761e-01 1.17949053e+02] [-5.77298090e-01 8.12125916e-01 -8.47255139e-02 -2.62463950e+01] [-1.40871362e-01 3.14659498e-03 9.90022908e-01 -1.40638310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters 0.02744761461869269 Centerline is valid? [True, True] Translation: X:118.00, Y:-26.28, Z:-14.07 [[ 8.03381688e-01 5.85015659e-01 1.11060981e-01 1.18001130e+02] [-5.79011354e-01 8.11016817e-01 -8.36515131e-02 -2.62794358e+01] [-1.39009769e-01 2.89852465e-03 9.90286768e-01 -1.40720019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters 0.027341366161104934 Centerline is valid? [True, True] Translation: X:118.05, Y:-26.32, Z:-14.08 [[ 8.01706556e-01 5.87217103e-01 1.11546728e-01 1.18051306e+02] [-5.81170054e-01 8.09425324e-01 -8.40952640e-02 -2.63158240e+01] [-1.39670924e-01 2.59210626e-03 9.90194584e-01 -1.40786482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters 0.027281939233893663 Centerline is valid? [True, True] Translation: X:118.10, Y:-26.35, Z:-14.09 [[ 8.01922377e-01 5.87265015e-01 1.09728313e-01 1.18101474e+02] [-5.81404397e-01 8.09390528e-01 -8.28003671e-02 -2.63520613e+01] [-1.37438816e-01 2.60294343e-03 9.90506838e-01 -1.40863795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters 0.027240321025011928 Centerline is valid? [True, True] Translation: X:118.15, Y:-26.39, Z:-14.09 [[ 8.01525626e-01 5.87776209e-01 1.09889943e-01 1.18151072e+02] [-5.81891928e-01 8.09019438e-01 -8.30020073e-02 -2.63912786e+01] [-1.37689705e-01 2.58416521e-03 9.90472043e-01 -1.40927883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters 0.026882087799445543 Centerline is valid? [True, True] Translation: X:118.20, Y:-26.43, Z:-14.10 [[ 7.99766774e-01 5.90278469e-01 1.09290607e-01 1.18199454e+02] [-5.84469912e-01 8.07196655e-01 -8.26346330e-02 -2.64301774e+01] [-1.36996457e-01 2.21136224e-03 9.90569069e-01 -1.40990071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters 0.026439474427064267 Centerline is valid? [True, True] Translation: X:118.25, Y:-26.47, Z:-14.11 [[ 7.97566036e-01 5.93374541e-01 1.08605124e-01 1.18248705e+02] [-5.87657008e-01 8.04924628e-01 -8.21923571e-02 -2.64678525e+01] [-1.36189791e-01 1.73127012e-03 9.90681252e-01 -1.41056563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters 0.026261829241131657 Centerline is valid? [True, True] Translation: X:118.30, Y:-26.50, Z:-14.11 [[ 7.94529665e-01 5.97373962e-01 1.08935582e-01 1.18299011e+02] [-5.91648009e-01 8.01962038e-01 -8.25198302e-02 -2.65046861e+01] [-1.36657399e-01 1.11293265e-03 9.90617745e-01 -1.41110078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters 0.02610411706838355 Centerline is valid? [True, True] Translation: X:118.35, Y:-26.54, Z:-14.12 [[ 7.90974348e-01 6.02060006e-01 1.09010686e-01 1.18352347e+02] [-5.96359420e-01 7.98450758e-01 -8.26548810e-02 -2.65362157e+01] [-1.36802863e-01 3.68341403e-04 9.90598224e-01 -1.41184169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters 0.026067207601843757 Centerline is valid? [True, True] Translation: X:118.41, Y:-26.57, Z:-14.12 [[ 7.92724467e-01 5.99875189e-01 1.08340562e-01 1.18408371e+02] [-5.94213506e-01 8.00093188e-01 -8.22265170e-02 -2.65668769e+01] [-1.36008193e-01 8.05546859e-04 9.90707385e-01 -1.41231532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters 0.02670500940897377 Centerline is valid? [True, True] Translation: X:118.46, Y:-26.60, Z:-14.13 [[ 7.97433869e-01 5.93573846e-01 1.08486471e-01 1.18463220e+02] [-5.87826259e-01 8.04777147e-01 -8.24259272e-02 -2.65969447e+01] [-1.36233307e-01 1.95802963e-03 9.90674847e-01 -1.41292502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters 0.026931268756716444 Centerline is valid? [True, True] Translation: X:118.52, Y:-26.63, Z:-14.14 [[ 7.99296311e-01 5.91106660e-01 1.08251207e-01 1.18518836e+02] [-5.85350941e-01 8.06589722e-01 -8.23243351e-02 -2.66254448e+01] [-1.35976774e-01 2.43659132e-03 9.90709029e-01 -1.41372517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters 0.02650338885911634 Centerline is valid? [True, True] Translation: X:118.57, Y:-26.66, Z:-14.14 [[ 7.97207177e-01 5.93894300e-01 1.08398695e-01 1.18571240e+02] [-5.88137901e-01 8.04540524e-01 -8.25127583e-02 -2.66578315e+01] [-1.36215000e-01 2.02638218e-03 9.90677227e-01 -1.41449496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters 0.026190544363054888 Centerline is valid? [True, True] Translation: X:118.63, Y:-26.69, Z:-14.15 [[ 7.97207088e-01 5.94475589e-01 1.05164788e-01 1.18625358e+02] [-5.89055355e-01 8.04111361e-01 -8.01168360e-02 -2.66895402e+01] [-1.32191704e-01 1.92182798e-03 9.91222306e-01 -1.41519945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters 0.0260136683492556 Centerline is valid? [True, True] Translation: X:118.68, Y:-26.72, Z:-14.16 [[ 7.96878393e-01 5.95085801e-01 1.04200369e-01 1.18678811e+02] [-5.89765953e-01 8.03660092e-01 -7.94139650e-02 -2.67211055e+01] [-1.30999801e-01 1.82944300e-03 9.91380707e-01 -1.41597651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters 0.026316487235349843 Centerline is valid? [True, True] Translation: X:118.74, Y:-26.75, Z:-14.17 [[ 7.98662563e-01 5.92367078e-01 1.06015824e-01 1.18735537e+02] [-5.86825295e-01 8.05664689e-01 -8.08732433e-02 -2.67491259e+01] [-1.33319853e-01 2.37766447e-03 9.91070211e-01 -1.41674750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters 0.027027428137831298 Centerline is valid? [True, True] Translation: X:118.79, Y:-26.78, Z:-14.18 [[ 8.00752931e-01 5.89060603e-01 1.08638624e-01 1.18788703e+02] [-5.83200014e-01 8.08083072e-01 -8.29427032e-02 -2.67811345e+01] [-1.36647312e-01 3.05856573e-03 9.90615040e-01 -1.41765981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters 0.02761358795429094 Centerline is valid? [True, True] Translation: X:118.84, Y:-26.82, Z:-14.18 [[ 8.02352703e-01 5.86913414e-01 1.08456374e-01 1.18839413e+02] [-5.81048904e-01 8.09642383e-01 -8.28334581e-02 -2.68172817e+01] [-1.36426945e-01 3.44319178e-03 9.90644151e-01 -1.41830915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters 0.02745481701738511 Centerline is valid? [True, True] Translation: X:118.89, Y:-26.85, Z:-14.19 [[ 8.01090686e-01 5.88333862e-01 1.10077151e-01 1.18893515e+02] [-5.82294320e-01 8.08611332e-01 -8.41489000e-02 -2.68509081e+01] [-1.38517279e-01 3.31360026e-03 9.90354474e-01 -1.41883693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters 0.027375888840860854 Centerline is valid? [True, True] Translation: X:118.94, Y:-26.89, Z:-14.20 [[ 8.00239435e-01 5.89523748e-01 1.09902675e-01 1.18942293e+02] [-5.83502879e-01 8.07744821e-01 -8.40993164e-02 -2.68889132e+01] [-1.38351861e-01 3.17106219e-03 9.90378063e-01 -1.41955370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters 0.02701504564423475 Centerline is valid? [True, True] Translation: X:118.99, Y:-26.93, Z:-14.20 [[ 7.98678250e-01 5.91757918e-01 1.09250262e-01 1.18991765e+02] [-5.85819182e-01 8.06110769e-01 -8.36738606e-02 -2.69265315e+01] [-1.37582482e-01 2.82759329e-03 9.90486277e-01 -1.42021301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters 0.02669490051861857 Centerline is valid? [True, True] Translation: X:119.04, Y:-26.96, Z:-14.21 [[ 7.97681350e-01 5.93304121e-01 1.08141966e-01 1.19041410e+02] [-5.87489923e-01 8.04974218e-01 -8.28981217e-02 -2.69630139e+01] [-1.36235291e-01 2.59397046e-03 9.90673113e-01 -1.42085592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters 0.026256861451945505 Centerline is valid? [True, True] Translation: X:119.09, Y:-27.00, Z:-14.22 [[ 7.96068918e-01 5.95571003e-01 1.07561416e-01 1.19092301e+02] [-5.89829853e-01 8.03299508e-01 -8.25266296e-02 -2.69985624e+01] [-1.35554500e-01 2.25395071e-03 9.90767328e-01 -1.42162327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters 0.02639552729957341 Centerline is valid? [True, True] Translation: X:119.14, Y:-27.04, Z:-14.22 [[ 7.96307865e-01 5.95023112e-01 1.08817646e-01 1.19141838e+02] [-5.89130758e-01 8.03704894e-01 -8.35666984e-02 -2.70354025e+01] [-1.37181392e-01 2.43699694e-03 9.90542945e-01 -1.42227839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters 0.02674858868766818 Centerline is valid? [True, True] Translation: X:119.19, Y:-27.07, Z:-14.23 [[ 7.97070899e-01 5.94023772e-01 1.08691028e-01 1.19192555e+02] [-5.88125532e-01 8.04443065e-01 -8.35446825e-02 -2.70710627e+01] [-1.37063271e-01 2.66706638e-03 9.90558704e-01 -1.42297115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters 0.027077250512078325 Centerline is valid? [True, True] Translation: X:119.24, Y:-27.11, Z:-14.24 [[ 7.98107341e-01 5.92720032e-01 1.08201829e-01 1.19241349e+02] [-5.86852751e-01 8.05403207e-01 -8.32437529e-02 -2.71092795e+01] [-1.36486340e-01 2.93890907e-03 9.90637594e-01 -1.42384324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters 0.027798335403671603 Centerline is valid? [True, True] Translation: X:119.29, Y:-27.15, Z:-14.25 [[ 8.00784377e-01 5.89504395e-01 1.05966737e-01 1.19289796e+02] [-5.83840366e-01 8.07757702e-01 -8.15960872e-02 -2.71468870e+01] [-1.33696700e-01 3.47321346e-03 9.91016210e-01 -1.42465547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters 0.028201723513535934 Centerline is valid? [True, True] Translation: X:119.34, Y:-27.19, Z:-14.25 [[ 8.01727554e-01 5.87853587e-01 1.07986523e-01 1.19335923e+02] [-5.81945317e-01 8.08958026e-01 -8.32259577e-02 -2.71889404e+01] [-1.36281242e-01 3.88229201e-03 9.90662582e-01 -1.42528844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters 0.02751518563583169 Centerline is valid? [True, True] Translation: X:119.38, Y:-27.23, Z:-14.26 [[ 8.00297572e-01 5.90265635e-01 1.05405297e-01 1.19382903e+02] [-5.84649177e-01 8.07201721e-01 -8.13063485e-02 -2.72293804e+01] [-1.33075681e-01 3.44415309e-03 9.91099895e-01 -1.42604598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters 0.027259295914189928 Centerline is valid? [True, True] Translation: X:119.43, Y:-27.27, Z:-14.27 [[ 7.97664302e-01 5.93743877e-01 1.05829435e-01 1.19431100e+02] [-5.88102497e-01 8.04648738e-01 -8.17059437e-02 -2.72687245e+01] [-1.33667925e-01 2.93535950e-03 9.91021831e-01 -1.42670182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters 0.027502185752659433 Centerline is valid? [True, True] Translation: X:119.48, Y:-27.31, Z:-14.27 [[ 7.97758578e-01 5.93599459e-01 1.05928908e-01 1.19480662e+02] [-5.87936125e-01 8.04754960e-01 -8.18569920e-02 -2.73073339e+01] [-1.33837080e-01 3.02268576e-03 9.90998738e-01 -1.42733907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters 0.02722319675688586 Centerline is valid? [True, True] Translation: X:119.53, Y:-27.35, Z:-14.28 [[ 7.97660210e-01 5.93813493e-01 1.05469071e-01 1.19529866e+02] [-5.88190140e-01 8.04596972e-01 -8.15847536e-02 -2.73453827e+01] [-1.33306222e-01 3.04104432e-03 9.91070231e-01 -1.42806251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters 0.027633970409499806 Centerline is valid? [True, True] Translation: X:119.58, Y:-27.38, Z:-14.29 [[ 7.97078064e-01 5.94070627e-01 1.08381965e-01 1.19581206e+02] [-5.88121276e-01 8.04406709e-01 -8.39238372e-02 -2.73804006e+01] [-1.37039866e-01 3.15211025e-03 9.90560518e-01 -1.42891553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters 0.0273845922642568 Centerline is valid? [True, True] Translation: X:119.63, Y:-27.42, Z:-14.29 [[ 7.95237768e-01 5.96552100e-01 1.08270424e-01 1.19631083e+02] [-5.90627498e-01 8.02569528e-01 -8.39125203e-02 -2.74165896e+01] [-1.36952733e-01 2.78291574e-03 9.90573674e-01 -1.42947509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters 0.027786583162066763 Centerline is valid? [True, True] Translation: X:119.68, Y:-27.45, Z:-14.30 [[ 7.96880365e-01 5.94296425e-01 1.08597623e-01 1.19683081e+02] [-5.88304525e-01 8.04239549e-01 -8.42409221e-02 -2.74506632e+01] [-1.37402582e-01 3.24146372e-03 9.90509981e-01 -1.43025835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters 0.02962266515988788 Centerline is valid? [True, True] Translation: X:119.73, Y:-27.49, Z:-14.31 [[ 8.01805452e-01 5.87480973e-01 1.09426341e-01 1.19732132e+02] [-5.81324360e-01 8.09225470e-01 -8.49477898e-02 -2.74863252e+01] [-1.38455792e-01 4.49940355e-03 9.90358394e-01 -1.43108445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters 0.03138256544793214 Centerline is valid? [True, True] Translation: X:119.78, Y:-27.52, Z:-14.32 [[ 8.07246759e-01 5.80719991e-01 1.05437002e-01 1.19780719e+02] [-5.74947817e-01 8.14085072e-01 -8.18565997e-02 -2.75234304e+01] [-1.33370453e-01 5.45770100e-03 9.91051228e-01 -1.43177142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters 0.031830226806736514 Centerline is valid? [True, True] Translation: X:119.83, Y:-27.57, Z:-14.33 [[ 8.07901078e-01 5.79348250e-01 1.07941897e-01 1.19825668e+02] [-5.73283279e-01 8.15059260e-01 -8.38133933e-02 -2.75658377e+01] [-1.36536185e-01 5.83164633e-03 9.90617919e-01 -1.43256796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters 0.029736253369116852 Centerline is valid? [True, True] Translation: X:119.87, Y:-27.61, Z:-14.33 [[ 8.03056422e-01 5.86056373e-01 1.07881005e-01 1.19868228e+02] [-5.80055509e-01 8.10256611e-01 -8.37844304e-02 -2.76100164e+01] [-1.36513697e-01 4.70665346e-03 9.90627002e-01 -1.43311309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters 0.02829079162621278 Centerline is valid? [True, True] Translation: X:119.91, Y:-27.65, Z:-14.34 [[ 7.97508362e-01 5.93459162e-01 1.08566275e-01 1.19912278e+02] [-5.87447898e-01 8.04856608e-01 -8.43256018e-02 -2.76527335e+01] [-1.37424085e-01 3.47334238e-03 9.90506212e-01 -1.43403676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters 0.0277156176974679 Centerline is valid? [True, True] Translation: X:119.96, Y:-27.69, Z:-14.35 [[ 7.95017207e-01 5.96795456e-01 1.08548724e-01 1.19961782e+02] [-5.90813401e-01 8.02388104e-01 -8.43377430e-02 -2.76903181e+01] [-1.37430586e-01 2.91791615e-03 9.90507102e-01 -1.43456692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters 0.027477459713655037 Centerline is valid? [True, True] Translation: X:120.01, Y:-27.73, Z:-14.35 [[ 7.94931412e-01 5.97230446e-01 1.06770049e-01 1.20011273e+02] [-5.91437739e-01 8.02064615e-01 -8.30286328e-02 -2.77281846e+01] [-1.35223706e-01 2.85423169e-03 9.90810982e-01 -1.43517378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters 0.028044873471001746 Centerline is valid? [True, True] Translation: X:120.06, Y:-27.77, Z:-14.36 [[ 7.96696208e-01 5.94772926e-01 1.07332747e-01 1.20060834e+02] [-5.88886203e-01 8.03886773e-01 -8.35409839e-02 -2.77655951e+01] [-1.35971291e-01 3.35001137e-03 9.90707114e-01 -1.43579137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters 0.02809399013967459 Centerline is valid? [True, True] Translation: X:120.11, Y:-27.81, Z:-14.36 [[ 7.96305954e-01 5.95187138e-01 1.07930987e-01 1.20109036e+02] [-5.89227428e-01 8.03580101e-01 -8.40836493e-02 -2.78054625e+01] [-1.36776700e-01 3.36041267e-03 9.90596205e-01 -1.43638746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters 0.027711901407024443 Centerline is valid? [True, True] Translation: X:120.16, Y:-27.84, Z:-14.37 [[ 7.95470857e-01 5.96558981e-01 1.06505857e-01 1.20159615e+02] [-5.90757439e-01 8.02563061e-01 -8.30552925e-02 -2.78407419e+01] [-1.35025048e-01 3.14893716e-03 9.90837182e-01 -1.43709653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters 0.028238965460950262 Centerline is valid? [True, True] Translation: X:120.21, Y:-27.88, Z:-14.38 [[ 7.96153265e-01 5.95518208e-01 1.07228930e-01 1.20207358e+02] [-5.89617599e-01 8.03334577e-01 -8.36937463e-02 -2.78802575e+01] [-1.35981857e-01 3.40898527e-03 9.90705463e-01 -1.43784321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters 0.029309663452128997 Centerline is valid? [True, True] Translation: X:120.26, Y:-27.92, Z:-14.38 [[ 8.00235421e-01 5.90361064e-01 1.05342703e-01 1.20255748e+02] [-5.84612947e-01 8.07127989e-01 -8.22928443e-02 -2.79180932e+01] [-1.33607535e-01 4.26894100e-03 9.91025127e-01 -1.43849749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters 0.03158293445717858 Centerline is valid? [True, True] Translation: X:120.30, Y:-27.95, Z:-14.39 [[ 8.05809870e-01 5.82502481e-01 1.06589456e-01 1.20303578e+02] [-5.76539966e-01 8.12808996e-01 -8.33258940e-02 -2.79546500e+01] [-1.35174409e-01 5.69174662e-03 9.90805472e-01 -1.43912230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters 0.03306210559797137 Centerline is valid? [True, True] Translation: X:120.35, Y:-27.99, Z:-14.40 [[ 8.10076897e-01 5.76784749e-01 1.05331730e-01 1.20351013e+02] [-5.70913748e-01 8.16869720e-01 -8.23489676e-02 -2.79924544e+01] [-1.33539930e-01 6.57366335e-03 9.91021632e-01 -1.43984149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters 0.03341854485031475 Centerline is valid? [True, True] Translation: X:120.39, Y:-28.04, Z:-14.41 [[ 8.11505803e-01 5.74670313e-01 1.05888447e-01 1.20394841e+02] [-5.68716178e-01 8.18355284e-01 -8.28042121e-02 -2.80358319e+01] [-1.34239493e-01 6.97562579e-03 9.90924366e-01 -1.44064465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters 0.034574312012707546 Centerline is valid? [True, True] Translation: X:120.44, Y:-28.08, Z:-14.41 [[ 8.12952374e-01 5.72995396e-01 1.03849479e-01 1.20441384e+02] [-5.67247511e-01 8.19527286e-01 -8.12729235e-02 -2.80766778e+01] [-1.31676492e-01 7.16265783e-03 9.91266865e-01 -1.44137432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters 0.035850036188696026 Centerline is valid? [True, True] Translation: X:120.48, Y:-28.12, Z:-14.42 [[ 8.14516769e-01 5.70388014e-01 1.05924249e-01 1.20484354e+02] [-5.64376685e-01 8.21338438e-01 -8.29585907e-02 -2.81200661e+01] [-1.34318243e-01 7.78998674e-03 9.90907627e-01 -1.44207932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters 0.03557742331069928 Centerline is valid? [True, True] Translation: X:120.53, Y:-28.16, Z:-14.43 [[ 8.13435571e-01 5.71852279e-01 1.06336931e-01 1.20530853e+02] [-5.65804145e-01 8.20321495e-01 -8.32965399e-02 -2.81615664e+01] [-1.34863787e-01 7.59049192e-03 9.90835074e-01 -1.44276947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters 0.03459216568623801 Centerline is valid? [True, True] Translation: X:120.57, Y:-28.21, Z:-14.43 [[ 8.12544799e-01 5.73555492e-01 1.03947328e-01 1.20574066e+02] [-5.67783439e-01 8.19135160e-01 -8.14834723e-02 -2.82051266e+01] [-1.31882205e-01 7.18939993e-03 9.91239324e-01 -1.44342734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters 0.03358983996020611 Centerline is valid? [True, True] Translation: X:120.62, Y:-28.25, Z:-14.44 [[ 8.10231047e-01 5.76526615e-01 1.05559050e-01 1.20618852e+02] [-5.70596736e-01 8.17049897e-01 -8.27576657e-02 -2.82477146e+01] [-1.33959008e-01 6.82118079e-03 9.90963398e-01 -1.44400801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters 0.032035060251611645 Centerline is valid? [True, True] Translation: X:120.66, Y:-28.29, Z:-14.45 [[ 8.06809325e-01 5.81146662e-01 1.06429646e-01 1.20661861e+02] [-5.75155551e-01 8.13775831e-01 -8.34565056e-02 -2.82925387e+01] [-1.35110343e-01 6.11988529e-03 9.90811658e-01 -1.44482524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters 0.031653768096500494 Centerline is valid? [True, True] Translation: X:120.71, Y:-28.34, Z:-14.46 [[ 8.04927456e-01 5.83321226e-01 1.08757244e-01 1.20706518e+02] [-5.77079017e-01 8.12220058e-01 -8.53134503e-02 -2.83359902e+01] [-1.38099962e-01 5.90961487e-03 9.90400665e-01 -1.44578991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters 0.03195676266336669 Centerline is valid? [True, True] Translation: X:120.75, Y:-28.38, Z:-14.46 [[ 8.05358466e-01 5.83015959e-01 1.07192038e-01 1.20750835e+02] [-5.76940328e-01 8.12439028e-01 -8.41586848e-02 -2.83807069e+01] [-1.36152851e-01 5.93449965e-03 9.90670068e-01 -1.44644673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters 0.03174935451982084 Centerline is valid? [True, True] Translation: X:120.79, Y:-28.42, Z:-14.47 [[ 8.05072231e-01 5.83284469e-01 1.07879241e-01 1.20794762e+02] [-5.77121278e-01 8.12245830e-01 -8.47805572e-02 -2.84243856e+01] [-1.37075646e-01 5.99506681e-03 9.90542441e-01 -1.44720886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters 0.031283996134414724 Centerline is valid? [True, True] Translation: X:120.84, Y:-28.47, Z:-14.48 [[ 8.02410639e-01 5.86419014e-01 1.10679294e-01 1.20837803e+02] [-5.79948614e-01 8.09988037e-01 -8.70573635e-02 -2.84701135e+01] [-1.40700998e-01 5.66745133e-03 9.90035913e-01 -1.44800800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters 0.029083281619666373 Centerline is valid? [True, True] Translation: X:120.88, Y:-28.51, Z:-14.49 [[ 7.97417331e-01 5.93790255e-01 1.07418494e-01 1.20880751e+02] [-5.87753768e-01 8.04608400e-01 -8.45625847e-02 -2.85141544e+01] [-1.36642262e-01 4.29604573e-03 9.90611143e-01 -1.44866566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters 0.027721061801978853 Centerline is valid? [True, True] Translation: X:120.93, Y:-28.55, Z:-14.49 [[ 7.90679138e-01 6.02246175e-01 1.10118326e-01 1.20926926e+02] [-5.95973293e-01 7.98304938e-01 -8.67471050e-02 -2.85541200e+01] [-1.40151116e-01 2.96154464e-03 9.90125696e-01 -1.44925319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters 0.027325387872183766 Centerline is valid? [True, True] Translation: X:120.98, Y:-28.59, Z:-14.50 [[ 7.88389164e-01 6.05525391e-01 1.08542744e-01 1.20976047e+02] [-5.99458874e-01 7.95822472e-01 -8.55315889e-02 -2.85911059e+01] [-1.38172303e-01 2.36526705e-03 9.90405382e-01 -1.45016499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters 0.02735358224336582 Centerline is valid? [True, True] Translation: X:121.03, Y:-28.63, Z:-14.51 [[ 7.88408545e-01 6.05619787e-01 1.07873261e-01 1.21027215e+02] [-5.99618164e-01 7.95750543e-01 -8.50830833e-02 -2.86275504e+01] [-1.37368205e-01 2.39746290e-03 9.90517152e-01 -1.45096054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters 0.02763923403468751 Centerline is valid? [True, True] Translation: X:121.08, Y:-28.66, Z:-14.52 [[ 7.89250750e-01 6.04373992e-01 1.08698345e-01 1.21076289e+02] [-5.98255596e-01 7.96696150e-01 -8.58224186e-02 -2.86645594e+01] [-1.38468391e-01 2.70601530e-03 9.90363157e-01 -1.45165128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters 0.02825017619347035 Centerline is valid? [True, True] Translation: X:121.12, Y:-28.70, Z:-14.52 [[ 7.91397838e-01 6.01235187e-01 1.10479465e-01 1.21123241e+02] [-5.94871724e-01 7.99064992e-01 -8.73084822e-02 -2.87041835e+01] [-1.40773205e-01 3.37463416e-03 9.90036119e-01 -1.45227055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters 0.027728627805015865 Centerline is valid? [True, True] Translation: X:121.17, Y:-28.74, Z:-14.53 [[ 7.90461830e-01 6.02875766e-01 1.08216937e-01 1.21170383e+02] [-5.96778018e-01 7.97829173e-01 -8.55839208e-02 -2.87448736e+01] [-1.37935101e-01 3.06933340e-03 9.90436513e-01 -1.45308298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters 0.027452164791657085 Centerline is valid? [True, True] Translation: X:121.21, Y:-28.79, Z:-14.54 [[ 7.89051781e-01 6.04843521e-01 1.07524895e-01 1.21214620e+02] [-5.98837089e-01 7.96339642e-01 -8.50724067e-02 -2.87879918e+01] [-1.37081830e-01 2.73663894e-03 9.90555946e-01 -1.45373845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters 0.027043038353643117 Centerline is valid? [True, True] Translation: X:121.26, Y:-28.83, Z:-14.54 [[ 7.86825126e-01 6.07486112e-01 1.08935045e-01 1.21260082e+02] [-6.01333949e-01 7.94326754e-01 -8.62698661e-02 -2.88316284e+01] [-1.38937766e-01 2.37295757e-03 9.90298271e-01 -1.45429657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters 0.026627667733414503 Centerline is valid? [True, True] Translation: X:121.31, Y:-28.87, Z:-14.55 [[ 7.83834588e-01 6.11483087e-01 1.08128508e-01 1.21306404e+02] [-6.05447640e-01 7.91255626e-01 -8.57186650e-02 -2.88720290e+01] [-1.37972804e-01 1.72310448e-03 9.90434519e-01 -1.45502517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98592 meters 0.026364254084319718 Centerline is valid? [True, True] Translation: X:121.35, Y:-28.92, Z:-14.56 [[ 7.78907072e-01 6.17665659e-01 1.08595149e-01 1.21350733e+02] [-6.11625911e-01 7.86440491e-01 -8.61690137e-02 -2.89155096e+01] [-1.38627263e-01 6.98047070e-04 9.90344382e-01 -1.45556033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters 0.026614159326179797 Centerline is valid? [True, True] Translation: X:121.40, Y:-28.95, Z:-14.56 [[ 7.76770461e-01 6.20473438e-01 1.07890519e-01 1.21399633e+02] [-6.14527934e-01 7.84227419e-01 -8.56899851e-02 -2.89530785e+01] [-1.37779063e-01 2.59711659e-04 9.90462954e-01 -1.45598274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters 0.02678430073838939 Centerline is valid? [True, True] Translation: X:121.45, Y:-28.99, Z:-14.57 [[ 7.75980558e-01 6.21612526e-01 1.07014211e-01 1.21448600e+02] [-6.15763358e-01 7.83324870e-01 -8.50742895e-02 -2.89912732e+01] [-1.36710137e-01 1.20564710e-04 9.90611086e-01 -1.45680621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters 0.02666896786793831 Centerline is valid? [True, True] Translation: X:121.50, Y:-29.03, Z:-14.58 [[ 7.73707211e-01 6.24040032e-01 1.09321504e-01 1.21497218e+02] [-6.17946687e-01 7.81392333e-01 -8.69937600e-02 -2.90285857e+01] [-1.39710574e-01 -2.47161886e-04 9.90192352e-01 -1.45760531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters 0.02679104047096951 Centerline is valid? [True, True] Translation: X:121.55, Y:-29.06, Z:-14.58 [[ 7.70709808e-01 6.27743786e-01 1.09289208e-01 1.21548374e+02] [-6.21678862e-01 7.78419564e-01 -8.70538634e-02 -2.90645785e+01] [-1.39720380e-01 -8.49524437e-04 9.90190635e-01 -1.45831869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters 0.027020840490242667 Centerline is valid? [True, True] Translation: X:121.60, Y:-29.10, Z:-14.59 [[ 7.67025992e-01 6.32176262e-01 1.09655378e-01 1.21598832e+02] [-6.26102081e-01 7.74822982e-01 -8.74387245e-02 -2.91001996e+01] [-1.40240193e-01 -1.58768623e-03 9.90116239e-01 -1.45929675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters 0.026997364368487937 Centerline is valid? [True, True] Translation: X:121.65, Y:-29.13, Z:-14.60 [[ 7.64595742e-01 6.35572552e-01 1.06962065e-01 1.21650775e+02] [-6.29816380e-01 7.72038311e-01 -8.53707974e-02 -2.91349747e+01] [-1.36838147e-01 -2.09231224e-03 9.90591209e-01 -1.45989459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters 0.027307037384534622 Centerline is valid? [True, True] Translation: X:121.71, Y:-29.16, Z:-14.61 [[ 7.64397252e-01 6.35100167e-01 1.11106340e-01 1.21707662e+02] [-6.28869764e-01 7.72427147e-01 -8.87644282e-02 -2.91619747e+01] [-1.42195857e-01 -2.02013306e-03 9.89836480e-01 -1.46065292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters 0.027180570265670962 Centerline is valid? [True, True] Translation: X:121.76, Y:-29.20, Z:-14.61 [[ 7.64660854e-01 6.34551320e-01 1.12420643e-01 1.21758649e+02] [-6.28154184e-01 7.72878449e-01 -8.98956337e-02 -2.91961906e+01] [-1.43930885e-01 -1.87782547e-03 9.89585961e-01 -1.46148403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters 0.027179333233142502 Centerline is valid? [True, True] Translation: X:121.81, Y:-29.23, Z:-14.62 [[ 7.64761898e-01 6.34492889e-01 1.12062544e-01 1.21812237e+02] [-6.28125897e-01 7.72926589e-01 -8.96791309e-02 -2.92287340e+01] [-1.43516890e-01 -1.80620348e-03 9.89646220e-01 -1.46229161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters 0.02726348182798269 Centerline is valid? [True, True] Translation: X:121.86, Y:-29.26, Z:-14.63 [[ 7.63921913e-01 6.35890030e-01 1.09850718e-01 1.21864277e+02] [-6.29781844e-01 7.71777095e-01 -8.79485322e-02 -2.92630369e+01] [-1.40705863e-01 -1.99617683e-03 9.90049431e-01 -1.46289669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters 0.02719746832431532 Centerline is valid? [True, True] Translation: X:121.92, Y:-29.30, Z:-14.64 [[ 7.61425630e-01 6.39561109e-01 1.05795075e-01 1.21916606e+02] [-6.33922040e-01 7.68736155e-01 -8.47795458e-02 -2.92968478e+01] [-1.35550199e-01 -2.51251052e-03 9.90767294e-01 -1.46360310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters 0.026979126417904262 Centerline is valid? [True, True] Translation: X:121.97, Y:-29.33, Z:-14.64 [[ 7.60855658e-01 6.40533942e-01 1.03994887e-01 1.21970784e+02] [-6.35084531e-01 7.67925529e-01 -8.34147528e-02 -2.93276469e+01] [-1.33290309e-01 -2.57895753e-03 9.91073682e-01 -1.46433795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters 0.027296610979418733 Centerline is valid? [True, True] Translation: X:122.03, Y:-29.36, Z:-14.65 [[ 7.59733865e-01 6.41746988e-01 1.04715130e-01 1.22026816e+02] [-6.36222150e-01 7.66911497e-01 -8.40721853e-02 -2.93557018e+01] [-1.34260309e-01 -2.74959885e-03 9.90942284e-01 -1.46514397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters 0.02770632751536712 Centerline is valid? [True, True] Translation: X:122.08, Y:-29.38, Z:-14.66 [[ 7.58010614e-01 6.43695312e-01 1.05243783e-01 1.22084651e+02] [-6.38122534e-01 7.65275791e-01 -8.45730232e-02 -2.93816124e+01] [-1.34979778e-01 -3.05118019e-03 9.90843656e-01 -1.46609990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters 0.027232029767652523 Centerline is valid? [True, True] Translation: X:122.15, Y:-29.41, Z:-14.67 [[ 7.60145377e-01 6.41039897e-01 1.06051196e-01 1.22145049e+02] [-6.35343950e-01 7.67503367e-01 -8.53032663e-02 -2.94060670e+01] [-1.36077447e-01 -2.53610234e-03 9.90694956e-01 -1.46668368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters 0.027009080768466538 Centerline is valid? [True, True] Translation: X:122.20, Y:-29.43, Z:-14.68 [[ 7.64647763e-01 6.35698750e-01 1.05834290e-01 1.22202871e+02] [-6.29963893e-01 7.71935748e-01 -8.52097074e-02 -2.94324888e+01] [-1.35864976e-01 -1.51636885e-03 9.90726203e-01 -1.46752102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters 0.026915300530817962 Centerline is valid? [True, True] Translation: X:122.26, Y:-29.46, Z:-14.68 [[ 7.68238789e-01 6.31171384e-01 1.06919814e-01 1.22259042e+02] [-6.25262248e-01 7.75643123e-01 -8.61676656e-02 -2.94629252e+01] [-1.37318183e-01 -6.55580402e-04 9.90526772e-01 -1.46828661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters 0.026816651220584357 Centerline is valid? [True, True] Translation: X:122.32, Y:-29.49, Z:-14.69 [[ 7.72625760e-01 6.25873769e-01 1.06449337e-01 1.22315468e+02] [-6.19954108e-01 7.79924290e-01 -8.58778581e-02 -2.94921264e+01] [-1.36771123e-01 3.57741352e-04 9.90602611e-01 -1.46901921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters 0.027142185847033255 Centerline is valid? [True, True] Translation: X:122.37, Y:-29.52, Z:-14.70 [[ 7.76545834e-01 6.21003472e-01 1.06448367e-01 1.22369781e+02] [-6.15027210e-01 7.83806767e-01 -8.59562890e-02 -2.95235447e+01] [-1.36814104e-01 1.28035630e-03 9.90595912e-01 -1.46980605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters 0.027622012881209503 Centerline is valid? [True, True] Translation: X:122.42, Y:-29.56, Z:-14.71 [[ 7.79303669e-01 6.17789661e-01 1.04984410e-01 1.22420132e+02] [-6.11937711e-01 7.86341144e-01 -8.48518841e-02 -2.95603815e+01] [-1.34974178e-01 1.88146481e-03 9.90847330e-01 -1.47057366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters 0.028112329932739294 Centerline is valid? [True, True] Translation: X:122.47, Y:-29.59, Z:-14.71 [[ 7.82000759e-01 6.14339309e-01 1.05176169e-01 1.22472260e+02] [-6.08423036e-01 7.89037837e-01 -8.50923123e-02 -2.95941809e+01] [-1.35263529e-01 2.55064871e-03 9.90806375e-01 -1.47125082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters 0.02868322400682157 Centerline is valid? [True, True] Translation: X:122.52, Y:-29.64, Z:-14.72 [[ 7.83221909e-01 6.12799824e-01 1.05070530e-01 1.22518167e+02] [-6.06871471e-01 7.90232952e-01 -8.50817227e-02 -2.96357280e+01] [-1.35168260e-01 2.87356230e-03 9.90818492e-01 -1.47233580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters 0.028331719702732926 Centerline is valid? [True, True] Translation: X:122.57, Y:-29.67, Z:-14.73 [[ 7.82902672e-01 6.13679481e-01 1.02278545e-01 1.22567301e+02] [-6.08061454e-01 7.89550619e-01 -8.28920282e-02 -2.96730067e+01] [-1.31623225e-01 2.70474977e-03 9.91296127e-01 -1.47293367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters 0.028017949837227725 Centerline is valid? [True, True] Translation: X:122.61, Y:-29.71, Z:-14.74 [[ 7.81231055e-01 6.15693716e-01 1.02952838e-01 1.22614746e+02] [-6.10008607e-01 7.87981786e-01 -8.35117034e-02 -2.97131670e+01] [-1.32542592e-01 2.43981915e-03 9.91174308e-01 -1.47359936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters 0.027808860916670602 Centerline is valid? [True, True] Translation: X:122.66, Y:-29.75, Z:-14.74 [[ 7.79017684e-01 6.18324546e-01 1.03952892e-01 1.22663415e+02] [-6.12541083e-01 7.85920138e-01 -8.43976227e-02 -2.97510909e+01] [-1.33883793e-01 2.07182386e-03 9.90994873e-01 -1.47427194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters 0.02762131428930761 Centerline is valid? [True, True] Translation: X:122.71, Y:-29.79, Z:-14.75 [[ 7.76882105e-01 6.21071543e-01 1.03558358e-01 1.22713969e+02] [-6.15346376e-01 7.83752136e-01 -8.41512123e-02 -2.97875515e+01] [-1.33428007e-01 1.65131081e-03 9.91057133e-01 -1.47487831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters 0.02754296627360098 Centerline is valid? [True, True] Translation: X:122.77, Y:-29.82, Z:-14.75 [[ 7.77026587e-01 6.21031989e-01 1.02708089e-01 1.22766280e+02] [-6.15390535e-01 7.83783368e-01 -8.35351559e-02 -2.98224116e+01] [-1.32378896e-01 1.70345125e-03 9.91197723e-01 -1.47537163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters 0.027941211753575845 Centerline is valid? [True, True] Translation: X:122.82, Y:-29.86, Z:-14.76 [[ 7.78025430e-01 6.19807201e-01 1.02544933e-01 1.22817583e+02] [-6.14161934e-01 7.84751637e-01 -8.34864500e-02 -2.98568011e+01] [-1.32217807e-01 1.97538669e-03 9.91218719e-01 -1.47608405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters 0.029500959669826823 Centerline is valid? [True, True] Translation: X:122.87, Y:-29.89, Z:-14.77 [[ 7.82342911e-01 6.13770102e-01 1.05952025e-01 1.22870887e+02] [-6.07676694e-01 7.89478506e-01 -8.63291622e-02 -2.98878529e+01] [-1.36633105e-01 3.15443177e-03 9.90616699e-01 -1.47687876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters 0.030362445270640363 Centerline is valid? [True, True] Translation: X:122.92, Y:-29.92, Z:-14.78 [[ 7.84930347e-01 6.10295121e-01 1.06884121e-01 1.22922808e+02] [-6.04058419e-01 7.92164973e-01 -8.71096007e-02 -2.99209632e+01] [-1.37832421e-01 3.81071577e-03 9.90448233e-01 -1.47769817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters 0.03257249446525122 Centerline is valid? [True, True] Translation: X:122.97, Y:-29.96, Z:-14.79 [[ 7.91174785e-01 6.02335143e-01 1.05994505e-01 1.22972985e+02] [-5.96122638e-01 7.98226327e-01 -8.64438052e-02 -2.99556720e+01] [-1.36675746e-01 5.20643521e-03 9.90602157e-01 -1.47855326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters 0.033686375013346675 Centerline is valid? [True, True] Translation: X:123.02, Y:-29.99, Z:-14.79 [[ 7.94213368e-01 5.98310202e-01 1.06066147e-01 1.23021238e+02] [-5.92052152e-01 8.01242752e-01 -8.65118567e-02 -2.99921137e+01] [-1.36745658e-01 5.91218277e-03 9.90588548e-01 -1.47933365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters 0.035395839759744675 Centerline is valid? [True, True] Translation: X:123.07, Y:-30.03, Z:-14.80 [[ 7.98841114e-01 5.92365534e-01 1.04670668e-01 1.23068928e+02] [-5.86220310e-01 8.05640264e-01 -8.53786459e-02 -3.00297879e+01] [-1.34902272e-01 6.84390123e-03 9.90835273e-01 -1.48001977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters 0.037100588602510226 Centerline is valid? [True, True] Translation: X:123.11, Y:-30.07, Z:-14.81 [[ 8.00933579e-01 5.89414904e-01 1.05335049e-01 1.23112954e+02] [-5.83164957e-01 8.07796642e-01 -8.59256553e-02 -3.00717833e+01] [-1.35735160e-01 7.39303360e-03 9.90717573e-01 -1.48066627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters 0.038064093086480226 Centerline is valid? [True, True] Translation: X:123.16, Y:-30.11, Z:-14.81 [[ 8.02617857e-01 5.87068555e-01 1.05617646e-01 1.23157495e+02] [-5.80762695e-01 8.09499417e-01 -8.61706754e-02 -3.01147087e+01] [-1.36085517e-01 7.82333388e-03 9.90666204e-01 -1.48115839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters 0.03675273237246155 Centerline is valid? [True, True] Translation: X:123.20, Y:-30.16, Z:-14.82 [[ 8.01027360e-01 5.89225326e-01 1.05681991e-01 1.23197699e+02] [-5.82922651e-01 8.07933882e-01 -8.62787704e-02 -3.01621865e+01] [-1.36221698e-01 7.50722932e-03 9.90649933e-01 -1.48186181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters 0.03468119823133734 Centerline is valid? [True, True] Translation: X:123.24, Y:-30.21, Z:-14.83 [[ 7.97245290e-01 5.94538659e-01 1.04516650e-01 1.23239520e+02] [-5.88418739e-01 8.04040473e-01 -8.53364188e-02 -3.02069414e+01] [-1.34771417e-01 6.53450260e-03 9.90855169e-01 -1.48256768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters 0.0332063716578422 Centerline is valid? [True, True] Translation: X:123.28, Y:-30.25, Z:-14.83 [[ 7.93830268e-01 5.99075656e-01 1.04603367e-01 1.23280818e+02] [-5.92983658e-01 8.00671596e-01 -8.54129816e-02 -3.02533225e+01] [-1.34921783e-01 5.77532274e-03 9.90839421e-01 -1.48306772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters 0.03312697327506021 Centerline is valid? [True, True] Translation: X:123.33, Y:-30.30, Z:-14.84 [[ 7.91923582e-01 6.01086974e-01 1.07477857e-01 1.23325531e+02] [-5.94668790e-01 7.99163964e-01 -8.77837597e-02 -3.02965003e+01] [-1.38658105e-01 5.60430212e-03 9.90324453e-01 -1.48416690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters 0.03301080048589988 Centerline is valid? [True, True] Translation: X:123.37, Y:-30.34, Z:-14.85 [[ 7.91867407e-01 6.01181830e-01 1.07361158e-01 1.23372111e+02] [-5.94766751e-01 7.99092293e-01 -8.77725435e-02 -3.03391499e+01] [-1.38558733e-01 5.64936904e-03 9.90338105e-01 -1.48494356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters 0.03291713508580433 Centerline is valid? [True, True] Translation: X:123.42, Y:-30.38, Z:-14.86 [[ 7.90948767e-01 6.02350513e-01 1.07582092e-01 1.23419183e+02] [-5.95908022e-01 7.98212603e-01 -8.80356166e-02 -3.03793892e+01] [-1.38901681e-01 5.52263079e-03 9.90290777e-01 -1.48558799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters 0.03250667577691203 Centerline is valid? [True, True] Translation: X:123.46, Y:-30.42, Z:-14.86 [[ 7.89401003e-01 6.04249685e-01 1.08297619e-01 1.23464875e+02] [-5.97727916e-01 7.96777508e-01 -8.86957813e-02 -3.04215187e+01] [-1.39883505e-01 5.28402845e-03 9.90153869e-01 -1.48631675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters 0.032301443795621325 Centerline is valid? [True, True] Translation: X:123.51, Y:-30.46, Z:-14.87 [[ 7.89344422e-01 6.04747698e-01 1.05903755e-01 1.23511080e+02] [-5.98508181e-01 7.96400593e-01 -8.67989193e-02 -3.04634461e+01] [-1.36833260e-01 5.12997908e-03 9.90580811e-01 -1.48694356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters 0.031934585386887905 Centerline is valid? [True, True] Translation: X:123.56, Y:-30.50, Z:-14.87 [[ 7.87595277e-01 6.06886201e-01 1.06690292e-01 1.23559369e+02] [-6.00567823e-01 7.94774108e-01 -8.74780392e-02 -3.05025757e+01] [-1.37883897e-01 4.82253403e-03 9.90436658e-01 -1.48736567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters 0.03099346997843767 Centerline is valid? [True, True] Translation: X:123.61, Y:-30.54, Z:-14.88 [[ 7.85210795e-01 6.10010653e-01 1.06447225e-01 1.23606616e+02] [-6.03740516e-01 7.92381452e-01 -8.73442862e-02 -3.05432177e+01] [-1.37627751e-01 4.31717411e-03 9.90474616e-01 -1.48809432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters 0.030530980282339578 Centerline is valid? [True, True] Translation: X:123.65, Y:-30.58, Z:-14.89 [[ 7.82693305e-01 6.13175634e-01 1.06802774e-01 1.23652796e+02] [-6.06887633e-01 7.89937456e-01 -8.76710713e-02 -3.05839844e+01] [-1.38125276e-01 3.80227777e-03 9.90407467e-01 -1.48885150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters 0.030093412622477222 Centerline is valid? [True, True] Translation: X:123.70, Y:-30.62, Z:-14.90 [[ 7.81128440e-01 6.15426386e-01 1.05303010e-01 1.23701496e+02] [-6.09324814e-01 7.88186974e-01 -8.65133849e-02 -3.06215983e+01] [-1.36241081e-01 3.41432827e-03 9.90669829e-01 -1.48954581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters 0.030115591951213858 Centerline is valid? [True, True] Translation: X:123.75, Y:-30.66, Z:-14.90 [[ 7.81141558e-01 6.15519493e-01 1.04659540e-01 1.23749137e+02] [-6.09483082e-01 7.88114166e-01 -8.60606454e-02 -3.06620738e+01] [-1.35455671e-01 3.43732738e-03 9.90777445e-01 -1.49044052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters 0.032128690352818706 Centerline is valid? [True, True] Translation: X:123.80, Y:-30.70, Z:-14.91 [[ 7.84310394e-01 6.10450055e-01 1.10489527e-01 1.23796663e+02] [-6.03656987e-01 7.92041265e-01 -9.09333685e-02 -3.06990522e+01] [-1.43022545e-01 4.62221120e-03 9.89708637e-01 -1.49121095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters 0.03344839439902407 Centerline is valid? [True, True] Translation: X:123.84, Y:-30.74, Z:-14.92 [[ 7.88624959e-01 6.05092847e-01 1.09239739e-01 1.23842675e+02] [-5.98400603e-01 7.96135636e-01 -8.99153380e-02 -3.07390342e+01] [-1.41376777e-01 5.54035404e-03 9.89940358e-01 -1.49190826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters 0.033961661422508345 Centerline is valid? [True, True] Translation: X:123.89, Y:-30.78, Z:-14.93 [[ 7.89987592e-01 6.03566768e-01 1.07827462e-01 1.23890778e+02] [-5.97030131e-01 7.97291690e-01 -8.87749037e-02 -3.07783589e+01] [-1.39551521e-01 5.75482853e-03 9.90198089e-01 -1.49263981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters 0.03387867656002699 Centerline is valid? [True, True] Translation: X:123.94, Y:-30.82, Z:-14.93 [[ 7.88442456e-01 6.05230324e-01 1.09794118e-01 1.23935840e+02] [-5.98456355e-01 7.96030530e-01 -9.04731281e-02 -3.08222520e+01] [-1.42156551e-01 5.62586743e-03 9.89828200e-01 -1.49322581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters 0.03316449520129003 Centerline is valid? [True, True] Translation: X:123.98, Y:-30.86, Z:-14.94 [[ 7.86234852e-01 6.08087054e-01 1.09840300e-01 1.23982475e+02] [-6.01322771e-01 7.93853450e-01 -9.05959438e-02 -3.08625228e+01] [-1.42287322e-01 5.18021465e-03 9.89811842e-01 -1.49397453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters 0.03275409446534397 Centerline is valid? [True, True] Translation: X:124.03, Y:-30.90, Z:-14.95 [[ 7.84916567e-01 6.10096742e-01 1.08110818e-01 1.24027104e+02] [-6.03553347e-01 7.92312403e-01 -8.92435654e-02 -3.09048474e+01] [-1.40104750e-01 4.79810705e-03 9.90125061e-01 -1.49488956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters 0.032263384578964355 Centerline is valid? [True, True] Translation: X:124.07, Y:-30.95, Z:-14.96 [[ 7.82435006e-01 6.13230376e-01 1.08369589e-01 1.24072369e+02] [-6.06674402e-01 7.89892359e-01 -8.95334125e-02 -3.09470348e+01] [-1.40504919e-01 4.30902046e-03 9.90070604e-01 -1.49560724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters 0.03154581156812726 Centerline is valid? [True, True] Translation: X:124.12, Y:-30.99, Z:-14.96 [[ 7.79363876e-01 6.16835554e-01 1.10026584e-01 1.24119677e+02] [-6.10100719e-01 7.87082977e-01 -9.09807679e-02 -3.09868594e+01] [-1.42720224e-01 3.77982601e-03 9.89755854e-01 -1.49640301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters 0.0315670456877465 Centerline is valid? [True, True] Translation: X:124.17, Y:-31.03, Z:-14.97 [[ 7.78124208e-01 6.18490494e-01 1.09509022e-01 1.24167622e+02] [-6.11824329e-01 7.85784390e-01 -9.06304731e-02 -3.10253677e+01] [-1.42104566e-01 3.52148092e-03 9.89845388e-01 -1.49713417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters 0.031138077602304616 Centerline is valid? [True, True] Translation: X:124.22, Y:-31.07, Z:-14.98 [[ 7.76974537e-01 6.20215817e-01 1.07902314e-01 1.24215023e+02] [-6.13750560e-01 7.84424618e-01 -8.93771189e-02 -3.10652151e+01] [-1.40074334e-01 3.21864000e-03 9.90135759e-01 -1.49787714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters 0.03174287897580502 Centerline is valid? [True, True] Translation: X:124.27, Y:-31.10, Z:-14.98 [[ 7.78612363e-01 6.18066898e-01 1.08425538e-01 1.24269720e+02] [-6.11506623e-01 7.86116867e-01 -8.98883826e-02 -3.10963214e+01] [-1.40792178e-01 3.68527138e-03 9.90032313e-01 -1.49840820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters 0.03242385576878997 Centerline is valid? [True, True] Translation: X:124.32, Y:-31.13, Z:-14.99 [[ 7.81568050e-01 6.14309339e-01 1.08514601e-01 1.24321704e+02] [-6.07692524e-01 7.89052909e-01 -9.00294522e-02 -3.11306121e+01] [-1.40929695e-01 4.42063184e-03 9.90009737e-01 -1.49913998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters 0.034179851506024476 Centerline is valid? [True, True] Translation: X:124.37, Y:-31.16, Z:-15.00 [[ 7.86339887e-01 6.08375298e-01 1.07466643e-01 1.24373435e+02] [-6.01828328e-01 7.93630778e-01 -8.91787616e-02 -3.11628978e+01] [-1.39542991e-01 5.44834757e-03 9.90201025e-01 -1.49972610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters 0.036597028815287314 Centerline is valid? [True, True] Translation: X:124.42, Y:-31.20, Z:-15.01 [[ 7.93491433e-01 5.99321191e-01 1.05761313e-01 1.24422533e+02] [-5.92900186e-01 8.00478590e-01 -8.77689921e-02 -3.11988376e+01] [-1.37261484e-01 6.93804095e-03 9.90510549e-01 -1.50064299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters 0.038573634264053386 Centerline is valid? [True, True] Translation: X:124.47, Y:-31.24, Z:-15.01 [[ 7.97693502e-01 5.93941502e-01 1.04491953e-01 1.24467278e+02] [-5.87627764e-01 8.04470664e-01 -8.67211766e-02 -3.12394275e+01] [-1.35568017e-01 7.77454632e-03 9.90737538e-01 -1.50132168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters 0.039159895813453714 Centerline is valid? [True, True] Translation: X:124.51, Y:-31.28, Z:-15.02 [[ 7.98761231e-01 5.92345034e-01 1.05393820e-01 1.24512231e+02] [-5.85906421e-01 8.05643460e-01 -8.74773177e-02 -3.12816285e+01] [-1.36726597e-01 8.12257398e-03 9.90575520e-01 -1.50203490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters 0.0391360128863181 Centerline is valid? [True, True] Translation: X:124.56, Y:-31.32, Z:-15.03 [[ 7.97919473e-01 5.93303502e-01 1.06374196e-01 1.24557988e+02] [-5.86747963e-01 8.04938509e-01 -8.83222702e-02 -3.13248619e+01] [-1.38026599e-01 8.05921650e-03 9.90395733e-01 -1.50266601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters 0.03844318515928425 Centerline is valid? [True, True] Translation: X:124.60, Y:-31.37, Z:-15.03 [[ 7.95837217e-01 5.96212713e-01 1.05704895e-01 1.24602251e+02] [-5.89755475e-01 8.02790877e-01 -8.78367093e-02 -3.13677038e+01] [-1.37228288e-01 7.56368194e-03 9.90510569e-01 -1.50336812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters 0.03722320824682657 Centerline is valid? [True, True] Translation: X:124.65, Y:-31.41, Z:-15.04 [[ 7.93756007e-01 5.98846005e-01 1.06465322e-01 1.24645915e+02] [-5.92316386e-01 8.00832074e-01 -8.84832586e-02 -3.14106947e+01] [-1.38248691e-01 7.17296324e-03 9.90371571e-01 -1.50398391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters 0.03639008390941389 Centerline is valid? [True, True] Translation: X:124.69, Y:-31.45, Z:-15.05 [[ 7.92195784e-01 6.01203608e-01 1.04785791e-01 1.24691307e+02] [-5.94898465e-01 7.99068112e-01 -8.70974601e-02 -3.14513956e+01] [-1.36094292e-01 6.66133421e-03 9.90673493e-01 -1.50474615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters 0.03521917622257433 Centerline is valid? [True, True] Translation: X:124.74, Y:-31.49, Z:-15.05 [[ 7.89463508e-01 6.04685175e-01 1.05371762e-01 1.24736103e+02] [-5.98338044e-01 7.96441183e-01 -8.75958143e-02 -3.14940056e+01] [-1.36890301e-01 6.10576471e-03 9.90567396e-01 -1.50535525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters 0.03451478757450694 Centerline is valid? [True, True] Translation: X:124.78, Y:-31.54, Z:-15.06 [[ 7.87357412e-01 6.07440772e-01 1.05280643e-01 1.24779367e+02] [-6.01127011e-01 7.94344990e-01 -8.75348674e-02 -3.15370028e+01] [-1.36801398e-01 5.63418863e-03 9.90582472e-01 -1.50643385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters 0.034809455734371844 Centerline is valid? [True, True] Translation: X:124.82, Y:-31.58, Z:-15.07 [[ 7.87342185e-01 6.07569566e-01 1.04649442e-01 1.24824844e+02] [-6.01329764e-01 7.94246759e-01 -8.70321770e-02 -3.15797218e+01] [-1.35995582e-01 5.59527991e-03 9.90693643e-01 -1.50723474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters 0.03478251526009 Centerline is valid? [True, True] Translation: X:124.87, Y:-31.62, Z:-15.08 [[ 7.85875053e-01 6.09103153e-01 1.06741508e-01 1.24872174e+02] [-6.02611857e-01 7.93071879e-01 -8.88591264e-02 -3.16208491e+01] [-1.38778062e-01 5.50847239e-03 9.90308187e-01 -1.50777584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters 0.03452288375716138 Centerline is valid? [True, True] Translation: X:124.92, Y:-31.66, Z:-15.09 [[ 7.83892600e-01 6.11389783e-01 1.08235511e-01 1.24916108e+02] [-6.04723858e-01 7.91312211e-01 -9.01889122e-02 -3.16643371e+01] [-1.40788661e-01 5.24582496e-03 9.90025775e-01 -1.50894402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters 0.03464471215125652 Centerline is valid? [True, True] Translation: X:124.96, Y:-31.70, Z:-15.09 [[ 7.84452058e-01 6.10664398e-01 1.08277244e-01 1.24964999e+02] [-6.03975618e-01 7.91870829e-01 -9.02997411e-02 -3.17032685e+01] [-1.40884428e-01 5.43900218e-03 9.90011109e-01 -1.50937256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters 0.035735364822858336 Centerline is valid? [True, True] Translation: X:125.01, Y:-31.74, Z:-15.10 [[ 7.87204326e-01 6.07020271e-01 1.08792188e-01 1.25013019e+02] [-6.00222544e-01 7.94662326e-01 -9.08002483e-02 -3.17400643e+01] [-1.41570645e-01 6.17882422e-03 9.89908872e-01 -1.51023877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters 0.037455536748186385 Centerline is valid? [True, True] Translation: X:125.06, Y:-31.78, Z:-15.11 [[ 7.90934729e-01 6.01852794e-01 1.10433094e-01 1.25058385e+02] [-5.94791302e-01 7.98574163e-01 -9.22096165e-02 -3.17802611e+01] [-1.43685631e-01 7.24714420e-03 9.89596846e-01 -1.51103911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters 0.038518245071328 Centerline is valid? [True, True] Translation: X:125.10, Y:-31.82, Z:-15.12 [[ 7.93703914e-01 5.98555515e-01 1.08468396e-01 1.25103820e+02] [-5.91712399e-01 8.01044216e-01 -9.05792560e-02 -3.18219150e+01] [-1.41104694e-01 7.71101534e-03 9.89964649e-01 -1.51171033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters 0.04008165079673117 Centerline is valid? [True, True] Translation: X:125.15, Y:-31.86, Z:-15.12 [[ 7.97940502e-01 5.92854039e-01 1.08697024e-01 1.25147854e+02] [-5.85926552e-01 8.05262333e-01 -9.07890455e-02 -3.18641271e+01] [-1.41354272e-01 8.75578395e-03 9.89920353e-01 -1.51233152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters 0.041127651430479834 Centerline is valid? [True, True] Translation: X:125.19, Y:-31.91, Z:-15.13 [[ 7.98521309e-01 5.91956463e-01 1.09321841e-01 1.25189602e+02] [-5.84937307e-01 8.05919867e-01 -9.13318929e-02 -3.19101783e+01] [-1.42169148e-01 8.98403926e-03 9.89801607e-01 -1.51322122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters 0.039624266336262315 Centerline is valid? [True, True] Translation: X:125.23, Y:-31.96, Z:-15.14 [[ 7.97263127e-01 5.93914895e-01 1.07873088e-01 1.25227085e+02] [-5.87090875e-01 8.04482263e-01 -9.01808965e-02 -3.19606308e+01] [-1.40341764e-01 8.56659792e-03 9.90066060e-01 -1.51370768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters 0.03735642731964722 Centerline is valid? [True, True] Translation: X:125.26, Y:-32.01, Z:-15.14 [[ 7.92358290e-01 6.00371983e-01 1.08267364e-01 1.25264126e+02] [-5.93554108e-01 7.99685985e-01 -9.05309123e-02 -3.20121739e+01] [-1.40932117e-01 7.47038017e-03 9.89991077e-01 -1.51439410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters 0.03601572856545059 Centerline is valid? [True, True] Translation: X:125.31, Y:-32.06, Z:-15.15 [[ 7.88431214e-01 6.05186622e-01 1.10115274e-01 1.25306709e+02] [-5.98170915e-01 7.96054832e-01 -9.21317591e-02 -3.20567189e+01] [-1.43414704e-01 6.77180059e-03 9.89639513e-01 -1.51537452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters 0.03367751760040549 Centerline is valid? [True, True] Translation: X:125.34, Y:-32.11, Z:-15.16 [[ 7.82320854e-01 6.13138943e-01 1.09702865e-01 1.25341953e+02] [-6.06249069e-01 7.89957169e-01 -9.18136003e-02 -3.21106402e+01] [-1.42955059e-01 5.32043446e-03 9.89714880e-01 -1.51581642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters 0.03283383572834749 Centerline is valid? [True, True] Translation: X:125.39, Y:-32.15, Z:-15.17 [[ 7.79297551e-01 6.16970671e-01 1.09738408e-01 1.25385078e+02] [-6.10105410e-01 7.86972306e-01 -9.19020058e-02 -3.21548743e+01] [-1.43061930e-01 4.66701169e-03 9.89702735e-01 -1.51656049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters 0.03204238108358169 Centerline is valid? [True, True] Translation: X:125.43, Y:-32.20, Z:-15.17 [[ 7.74971105e-01 6.22489762e-01 1.09207520e-01 1.25426212e+02] [-6.15741605e-01 7.82619417e-01 -9.14829142e-02 -3.22003976e+01] [-1.42415103e-01 3.65300162e-03 9.89800280e-01 -1.51734125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters 0.03127638785500575 Centerline is valid? [True, True] Translation: X:125.47, Y:-32.24, Z:-15.18 [[ 7.70276164e-01 6.28731579e-01 1.06635983e-01 1.25471209e+02] [-6.22350060e-01 7.77618424e-01 -8.93867403e-02 -3.22415620e+01] [-1.39122371e-01 2.48756512e-03 9.90272073e-01 -1.51817628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters 0.031069488807750695 Centerline is valid? [True, True] Translation: X:125.52, Y:-32.28, Z:-15.19 [[ 7.65174130e-01 6.34788266e-01 1.07482126e-01 1.25517860e+02] [-6.28354367e-01 7.72684766e-01 -9.01611996e-02 -3.22825125e+01] [-1.40283073e-01 1.45215427e-03 9.90110373e-01 -1.51882571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters 0.031061447227780994 Centerline is valid? [True, True] Translation: X:125.57, Y:-32.32, Z:-15.20 [[ 7.63669001e-01 6.36394306e-01 1.08682770e-01 1.25566018e+02] [-6.29819190e-01 7.71362923e-01 -9.12525553e-02 -3.23208374e+01] [-1.41906466e-01 1.23625354e-03 9.89879299e-01 -1.51956498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters 0.030826371725969016 Centerline is valid? [True, True] Translation: X:125.61, Y:-32.36, Z:-15.20 [[ 7.61254278e-01 6.39667092e-01 1.06385784e-01 1.25613441e+02] [-6.33389966e-01 7.68651783e-01 -8.93956803e-02 -3.23609661e+01] [-1.38957098e-01 6.69155909e-04 9.90298176e-01 -1.52031135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters 0.030868266145801668 Centerline is valid? [True, True] Translation: X:125.66, Y:-32.40, Z:-15.21 [[ 7.60310606e-01 6.40879761e-01 1.05834371e-01 1.25661844e+02] [-6.34674158e-01 7.67641131e-01 -8.89708169e-02 -3.23994654e+01] [-1.38262412e-01 4.75115469e-04 9.90395517e-01 -1.52087281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters 0.030894881787209755 Centerline is valid? [True, True] Translation: X:125.71, Y:-32.44, Z:-15.22 [[ 7.57666765e-01 6.43924584e-01 1.06311826e-01 1.25710021e+02] [-6.37680240e-01 7.65088969e-01 -8.94582621e-02 -3.24402221e+01] [-1.38942379e-01 -1.33986116e-05 9.90300467e-01 -1.52152250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters 0.031039816450207168 Centerline is valid? [True, True] Translation: X:125.76, Y:-32.48, Z:-15.22 [[ 7.52731911e-01 6.49829267e-01 1.05435263e-01 1.25760038e+02] [-6.43732007e-01 7.60079528e-01 -8.88156237e-02 -3.24788800e+01] [-1.37854176e-01 -1.01769912e-03 9.90452013e-01 -1.52216440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters 0.031168709408581897 Centerline is valid? [True, True] Translation: X:125.81, Y:-32.52, Z:-15.23 [[ 7.50101260e-01 6.53353459e-01 1.02358963e-01 1.25809552e+02] [-6.47628893e-01 7.57051428e-01 -8.63131084e-02 -3.25163266e+01] [-1.33883967e-01 -1.54705061e-03 9.90995807e-01 -1.52301151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters 0.031159858166300642 Centerline is valid? [True, True] Translation: X:125.86, Y:-32.55, Z:-15.24 [[ 7.49191527e-01 6.54174203e-01 1.03769782e-01 1.25860917e+02] [-6.48286496e-01 7.56342102e-01 -8.75856364e-02 -3.25506002e+01] [-1.35781719e-01 -1.65413197e-03 9.90737396e-01 -1.52368002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters 0.0312249160878616 Centerline is valid? [True, True] Translation: X:125.91, Y:-32.58, Z:-15.24 [[ 7.48362356e-01 6.54873975e-01 1.05327396e-01 1.25912369e+02] [-6.48803238e-01 7.55736079e-01 -8.89794197e-02 -3.25849393e+01] [-1.37870019e-01 -1.74790724e-03 9.90448788e-01 -1.52428092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters 0.031167888004147527 Centerline is valid? [True, True] Translation: X:125.96, Y:-32.62, Z:-15.25 [[ 7.47532376e-01 6.56107423e-01 1.03529687e-01 1.25964549e+02] [-6.50244363e-01 7.54665161e-01 -8.75372154e-02 -3.26183150e+01] [-1.35564065e-01 -1.88269271e-03 9.90766794e-01 -1.52511105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters 0.031075075613466917 Centerline is valid? [True, True] Translation: X:126.02, Y:-32.65, Z:-15.26 [[ 7.48080144e-01 6.55431027e-01 1.03856951e-01 1.26019608e+02] [-6.49512402e-01 7.55253121e-01 -8.78997337e-02 -3.26500044e+01] [-1.36050499e-01 -1.70033192e-03 9.90700444e-01 -1.52581676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters 0.03102834168237035 Centerline is valid? [True, True] Translation: X:126.07, Y:-32.69, Z:-15.27 [[ 7.51871424e-01 6.50996088e-01 1.04371716e-01 1.26070293e+02] [-6.44962605e-01 7.59080633e-01 -8.84298036e-02 -3.26855345e+01] [-1.36794004e-01 -8.28011468e-04 9.90599170e-01 -1.52651459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters 0.03110633487404748 Centerline is valid? [True, True] Translation: X:126.12, Y:-32.72, Z:-15.28 [[ 7.53357706e-01 6.49129925e-01 1.05273483e-01 1.26123150e+02] [-6.42960885e-01 7.60677434e-01 -8.92812535e-02 -3.27196337e+01] [-1.38034297e-01 -4.26011570e-04 9.90427358e-01 -1.52752540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters 0.030927850158017234 Centerline is valid? [True, True] Translation: X:126.17, Y:-32.76, Z:-15.28 [[ 7.53303751e-01 6.49202942e-01 1.05209314e-01 1.26171320e+02] [-6.43028631e-01 7.60615151e-01 -8.93239735e-02 -3.27594556e+01] [-1.38013185e-01 -3.64517142e-04 9.90430325e-01 -1.52799647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters 0.03092773019656479 Centerline is valid? [True, True] Translation: X:126.22, Y:-32.80, Z:-15.29 [[ 7.53812397e-01 6.48772595e-01 1.04216075e-01 1.26219871e+02] [-6.42698115e-01 7.60982309e-01 -8.85723329e-02 -3.27979256e+01] [-1.36769892e-01 -2.12552359e-04 9.90602822e-01 -1.52878910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters 0.031229964747469995 Centerline is valid? [True, True] Translation: X:126.27, Y:-32.84, Z:-15.30 [[ 7.55366279e-01 6.46993168e-01 1.04027044e-01 1.26266921e+02] [-6.40912277e-01 7.62495777e-01 -8.84965664e-02 -3.28379983e+01] [-1.36576856e-01 1.75112196e-04 9.90629462e-01 -1.52985000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters 0.03105773131969274 Centerline is valid? [True, True] Translation: X:126.32, Y:-32.88, Z:-15.31 [[ 7.56377528e-01 6.45928594e-01 1.03292238e-01 1.26316178e+02] [-6.39911104e-01 7.63397708e-01 -8.79643017e-02 -3.28770454e+01] [-1.35671716e-01 4.36370723e-04 9.90753751e-01 -1.53051622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters 0.030942548296718376 Centerline is valid? [True, True] Translation: X:126.37, Y:-32.92, Z:-15.31 [[ 7.54922936e-01 6.47664387e-01 1.03064067e-01 1.26365008e+02] [-6.41676966e-01 7.61925720e-01 -8.78627813e-02 -3.29167128e+01] [-1.35432758e-01 1.95791300e-04 9.90786521e-01 -1.53112310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters 0.031132168793349766 Centerline is valid? [True, True] Translation: X:126.41, Y:-32.95, Z:-15.32 [[ 7.53965808e-01 6.48483368e-01 1.04904153e-01 1.26413755e+02] [-6.42274162e-01 7.61228814e-01 -8.95242649e-02 -3.29541229e+01] [-1.37911060e-01 1.21008068e-04 9.90444610e-01 -1.53179602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters 0.03075057127867936 Centerline is valid? [True, True] Translation: X:126.46, Y:-32.99, Z:-15.32 [[ 7.54373862e-01 6.48326430e-01 1.02921899e-01 1.26463491e+02] [-6.42339012e-01 7.61362462e-01 -8.79078745e-02 -3.29916461e+01] [-1.35353869e-01 2.04651849e-04 9.90797299e-01 -1.53242411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters 0.030431462790728437 Centerline is valid? [True, True] Translation: X:126.52, Y:-33.03, Z:-15.33 [[ 7.54202164e-01 6.48516791e-01 1.02980907e-01 1.26515150e+02] [-6.42512739e-01 7.61200313e-01 -8.80423978e-02 -3.30284214e+01] [-1.35486072e-01 2.35222668e-04 9.90779223e-01 -1.53315149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters 0.03029653392311041 Centerline is valid? [True, True] Translation: X:126.56, Y:-33.07, Z:-15.34 [[ 7.53559136e-01 6.49323715e-01 1.02602832e-01 1.26563773e+02] [-6.43358721e-01 7.60512121e-01 -8.78115584e-02 -3.30677131e+01] [-1.35048825e-01 1.60775126e-04 9.90838932e-01 -1.53386327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters 0.030106085160874665 Centerline is valid? [True, True] Translation: X:126.62, Y:-33.10, Z:-15.34 [[ 7.52210392e-01 6.50840754e-01 1.02887510e-01 1.26615432e+02] [-6.44843889e-01 7.59214272e-01 -8.81478715e-02 -3.31032705e+01] [-1.35483893e-01 -4.06372757e-05 9.90779548e-01 -1.53443526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters 0.02976152984900532 Centerline is valid? [True, True] Translation: X:126.67, Y:-33.14, Z:-15.35 [[ 7.50376477e-01 6.53025263e-01 1.02436071e-01 1.26666120e+02] [-6.47088814e-01 7.57336038e-01 -8.78532409e-02 -3.31409325e+01] [-1.34948914e-01 -3.62230352e-04 9.90852491e-01 -1.53501026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters 0.02997090783943058 Centerline is valid? [True, True] Translation: X:126.71, Y:-33.18, Z:-15.36 [[ 7.48787840e-01 6.54649634e-01 1.03685227e-01 1.26714927e+02] [-6.48569476e-01 7.55932210e-01 -8.90175755e-02 -3.31783123e+01] [-1.36654326e-01 -5.91795280e-04 9.90618617e-01 -1.53580625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters 0.02974194747044129 Centerline is valid? [True, True] Translation: X:126.77, Y:-33.21, Z:-15.36 [[ 7.47469324e-01 6.56354088e-01 1.02415435e-01 1.26765603e+02] [-6.50427580e-01 7.54452531e-01 -8.80076232e-02 -3.32141224e+01] [-1.35031748e-01 -8.30825104e-04 9.90840924e-01 -1.53635533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters 0.02981866831765806 Centerline is valid? [True, True] Translation: X:126.81, Y:-33.25, Z:-15.37 [[ 7.44879806e-01 6.58991231e-01 1.04329440e-01 1.26814273e+02] [-6.52854085e-01 7.52149551e-01 -8.97362602e-02 -3.32520541e+01] [-1.37606750e-01 -1.26917310e-03 9.90486129e-01 -1.53725399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters 0.02991798507869092 Centerline is valid? [True, True] Translation: X:126.87, Y:-33.29, Z:-15.38 [[ 7.43153864e-01 6.60843509e-01 1.04919927e-01 1.26865940e+02] [-6.54643000e-01 7.50522105e-01 -9.03278071e-02 -3.32864153e+01] [-1.38437269e-01 -1.55763686e-03 9.90369979e-01 -1.53785320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters 0.030100213199034206 Centerline is valid? [True, True] Translation: X:126.92, Y:-33.32, Z:-15.39 [[ 7.41185444e-01 6.63013937e-01 1.05150642e-01 1.26917085e+02] [-6.56795960e-01 7.48604632e-01 -9.06099962e-02 -3.33222448e+01] [-1.38791948e-01 -1.90370684e-03 9.90319732e-01 -1.53860547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters 0.02982068874964353 Centerline is valid? [True, True] Translation: X:126.97, Y:-33.36, Z:-15.39 [[ 7.40870822e-01 6.63356793e-01 1.05205464e-01 1.26970239e+02] [-6.57123710e-01 7.48300835e-01 -9.07429950e-02 -3.33562904e+01] [-1.38920319e-01 -1.90416749e-03 9.90301731e-01 -1.53914788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters 0.029732945756878907 Centerline is valid? [True, True] Translation: X:127.02, Y:-33.39, Z:-15.40 [[ 7.41104591e-01 6.63302913e-01 1.03890470e-01 1.27019071e+02] [-6.57212067e-01 7.48348852e-01 -8.97011366e-02 -3.33939064e+01] [-1.37245339e-01 -1.80014619e-03 9.90535449e-01 -1.53994551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters 0.029826836550051927 Centerline is valid? [True, True] Translation: X:127.07, Y:-33.43, Z:-15.41 [[ 7.43059241e-01 6.61159574e-01 1.03590453e-01 1.27071153e+02] [-6.55072659e-01 7.50244105e-01 -8.95186774e-02 -3.34290935e+01] [-1.36904257e-01 -1.34159279e-03 9.90583376e-01 -1.54059321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters 0.029580613875359082 Centerline is valid? [True, True] Translation: X:127.12, Y:-33.47, Z:-15.41 [[ 7.46669548e-01 6.56857461e-01 1.04989816e-01 1.27119455e+02] [-6.50554017e-01 7.54014594e-01 -9.07824995e-02 -3.34685280e+01] [-1.38795016e-01 -5.17018918e-04 9.90320997e-01 -1.54147978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters 0.029720487026653596 Centerline is valid? [True, True] Translation: X:127.17, Y:-33.51, Z:-15.42 [[ 7.49522051e-01 6.53663018e-01 1.04600928e-01 1.27167097e+02] [-6.47362093e-01 7.56785727e-01 -9.05410569e-02 -3.35087628e+01] [-1.38343830e-01 1.47842715e-04 9.90384250e-01 -1.54226978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters 0.029555626205790428 Centerline is valid? [True, True] Translation: X:127.22, Y:-33.55, Z:-15.43 [[ 7.50722341e-01 6.52652160e-01 1.02279640e-01 1.27215391e+02] [-6.46608662e-01 7.57657579e-01 -8.86128132e-02 -3.35483602e+01] [-1.35326288e-01 3.88717614e-04 9.90801012e-01 -1.54288962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters 0.02960230140483005 Centerline is valid? [True, True] Translation: X:127.26, Y:-33.59, Z:-15.44 [[ 7.51821241e-01 6.51513527e-01 1.01464014e-01 1.27261816e+02] [-6.45551035e-01 7.58636766e-01 -8.79438402e-02 -3.35909259e+01] [-1.34270933e-01 6.17848031e-04 9.90944466e-01 -1.54368908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters 0.02973849699649146 Centerline is valid? [True, True] Translation: X:127.31, Y:-33.63, Z:-15.44 [[ 7.53800685e-01 6.49083804e-01 1.02346192e-01 1.27307847e+02] [-6.42981916e-01 7.60716069e-01 -8.87993077e-02 -3.36319257e+01] [-1.35494586e-01 1.13022800e-03 9.90777442e-01 -1.54447294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters 0.0306206903510837 Centerline is valid? [True, True] Translation: X:127.35, Y:-33.67, Z:-15.45 [[ 7.59112998e-01 6.42907047e-01 1.02068532e-01 1.27354343e+02] [-6.36771696e-01 7.65940781e-01 -8.86370548e-02 -3.36722029e+01] [-1.35163838e-01 2.29118825e-03 9.90820613e-01 -1.54507063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters 0.031264963117367615 Centerline is valid? [True, True] Translation: X:127.40, Y:-33.72, Z:-15.46 [[ 7.62680783e-01 6.38561322e-01 1.02749505e-01 1.27398443e+02] [-6.32294956e-01 7.69564558e-01 -8.92943372e-02 -3.37157248e+01] [-1.36092288e-01 3.13508110e-03 9.90691203e-01 -1.54590337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters 0.03187531322236815 Centerline is valid? [True, True] Translation: X:127.44, Y:-33.76, Z:-15.47 [[ 7.64495137e-01 6.36386118e-01 1.02761346e-01 1.27442735e+02] [-6.30094443e-01 7.71362512e-01 -8.93356989e-02 -3.37594778e+01] [-1.36118249e-01 3.54735421e-03 9.90686246e-01 -1.54661554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters 0.032716002222723556 Centerline is valid? [True, True] Translation: X:127.48, Y:-33.80, Z:-15.47 [[ 7.68325610e-01 6.31895146e-01 1.01903294e-01 1.27484947e+02] [-6.25658953e-01 7.75041584e-01 -8.86646295e-02 -3.38048069e+01] [-1.35006039e-01 4.36659764e-03 9.90835154e-01 -1.54720587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters 0.03370437066006542 Centerline is valid? [True, True] Translation: X:127.53, Y:-33.85, Z:-15.48 [[ 7.69752533e-01 6.30103426e-01 1.02228717e-01 1.27528576e+02] [-6.23801636e-01 7.76496676e-01 -8.90192778e-02 -3.38491988e+01] [-1.35471611e-01 4.75237363e-03 9.90769831e-01 -1.54803227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters 0.033982160935458354 Centerline is valid? [True, True] Translation: X:127.57, Y:-33.90, Z:-15.49 [[ 7.70867089e-01 6.28866920e-01 1.01441257e-01 1.27570353e+02] [-6.22641481e-01 7.77496945e-01 -8.84086379e-02 -3.38952571e+01] [-1.34467535e-01 4.98977476e-03 9.90905437e-01 -1.54857201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters 0.03373848619929309 Centerline is valid? [True, True] Translation: X:127.61, Y:-33.94, Z:-15.50 [[ 7.69748018e-01 6.30127681e-01 1.02113145e-01 1.27611006e+02] [-6.23819841e-01 7.76476323e-01 -8.90692237e-02 -3.39427393e+01] [-1.35413423e-01 4.86065252e-03 9.90777260e-01 -1.54966412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters 0.03330326850469942 Centerline is valid? [True, True] Translation: X:127.65, Y:-33.99, Z:-15.50 [[ 7.67830318e-01 6.32636896e-01 1.01030491e-01 1.27653362e+02] [-6.26474317e-01 7.74435889e-01 -8.81985494e-02 -3.39881374e+01] [-1.34039294e-01 4.42851266e-03 9.90966122e-01 -1.55044419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters 0.03258436645485457 Centerline is valid? [True, True] Translation: X:127.70, Y:-34.03, Z:-15.51 [[ 7.65629566e-01 6.35481737e-01 9.98715644e-02 1.27698773e+02] [-6.29475388e-01 7.72105859e-01 -8.72541057e-02 -3.40312983e+01] [-1.32559811e-01 3.93763137e-03 9.91167187e-01 -1.55094211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters 0.03250613118798945 Centerline is valid? [True, True] Translation: X:127.74, Y:-34.08, Z:-15.52 [[ 7.63874219e-01 6.37456557e-01 1.00723961e-01 1.27742683e+02] [-6.31359157e-01 7.70477639e-01 -8.80330717e-02 -3.40753508e+01] [-1.33722818e-01 3.65319878e-03 9.91012039e-01 -1.55184459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters 0.0324595447655172 Centerline is valid? [True, True] Translation: X:127.79, Y:-34.12, Z:-15.52 [[ 7.63216547e-01 6.38268936e-01 1.00564741e-01 1.27788371e+02] [-6.32187654e-01 7.69805210e-01 -8.79699386e-02 -3.41167718e+01] [-1.33563741e-01 3.56432524e-03 9.91033815e-01 -1.55248215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters 0.03260124428622519 Centerline is valid? [True, True] Translation: X:127.83, Y:-34.16, Z:-15.53 [[ 7.64550700e-01 6.36924268e-01 9.89429336e-02 1.27833273e+02] [-6.31017482e-01 7.70917038e-01 -8.66248102e-02 -3.41600413e+01] [-1.31450237e-01 3.79433855e-03 9.91315509e-01 -1.55316865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters 0.03297311330006019 Centerline is valid? [True, True] Translation: X:127.88, Y:-34.20, Z:-15.54 [[ 7.65843999e-01 6.35346040e-01 9.90877274e-02 1.27876260e+02] [-6.29398761e-01 7.72216520e-01 -8.68265336e-02 -3.42042162e+01] [-1.31682074e-01 4.12988688e-03 9.91283398e-01 -1.55389600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters 0.03372784273280758 Centerline is valid? [True, True] Translation: X:127.92, Y:-34.25, Z:-15.55 [[ 7.66343660e-01 6.34197661e-01 1.02521810e-01 1.27916732e+02] [-6.27807779e-01 7.73157616e-01 -8.99149241e-02 -3.42508132e+01] [-1.36289353e-01 4.54174204e-03 9.90658662e-01 -1.55469023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters 0.0337726123611637 Centerline is valid? [True, True] Translation: X:127.96, Y:-34.30, Z:-15.56 [[ 7.66544366e-01 6.33915462e-01 1.02766350e-01 1.27958505e+02] [-6.27482284e-01 7.73388304e-01 -9.02026267e-02 -3.42968437e+01] [-1.36659133e-01 4.66025120e-03 9.90607169e-01 -1.55551198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters 0.032978609091985876 Centerline is valid? [True, True] Translation: X:128.00, Y:-34.34, Z:-15.56 [[ 7.64220218e-01 6.37017303e-01 1.00878215e-01 1.27997546e+02] [-6.30836525e-01 7.70838677e-01 -8.86172279e-02 -3.43442224e+01] [-1.34211537e-01 4.08541464e-03 9.90944283e-01 -1.55631558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters 0.03242784168365847 Centerline is valid? [True, True] Translation: X:128.04, Y:-34.39, Z:-15.57 [[ 7.60242610e-01 6.41505799e-01 1.02476747e-01 1.28039328e+02] [-6.35158476e-01 7.67110669e-01 -9.00829242e-02 -3.43902293e+01] [-1.36399724e-01 3.39590275e-03 9.90648062e-01 -1.55697061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters 0.03197235229730042 Centerline is valid? [True, True] Translation: X:128.08, Y:-34.43, Z:-15.58 [[ 7.58136537e-01 6.43995910e-01 1.02461013e-01 1.28084555e+02] [-6.37662155e-01 7.65023014e-01 -9.01485677e-02 -3.44330170e+01] [-1.36440342e-01 3.00941239e-03 9.90643718e-01 -1.55760482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters 0.03137187903761722 Centerline is valid? [True, True] Translation: X:128.13, Y:-34.48, Z:-15.59 [[ 7.54694892e-01 6.48138895e-01 1.01742781e-01 1.28127023e+02] [-6.41921348e-01 7.61518663e-01 -8.95896676e-02 -3.44784998e+01] [-1.35545575e-01 2.30200127e-03 9.90768438e-01 -1.55850916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters 0.03100675763570989 Centerline is valid? [True, True] Translation: X:128.17, Y:-34.52, Z:-15.59 [[ 7.51573243e-01 6.51923902e-01 1.00662238e-01 1.28174778e+02] [-6.45865464e-01 7.58282623e-01 -8.86863335e-02 -3.45184552e+01] [-1.34147167e-01 1.64001200e-03 9.90960064e-01 -1.55892797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters 0.030572466095413853 Centerline is valid? [True, True] Translation: X:128.22, Y:-34.56, Z:-15.60 [[ 7.47534150e-01 6.56575446e-01 1.00505613e-01 1.28223373e+02] [-6.50566848e-01 7.54259858e-01 -8.86275559e-02 -3.45574946e+01] [-1.33998027e-01 8.66504552e-04 9.90981220e-01 -1.55957966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters 0.030480668627169253 Centerline is valid? [True, True] Translation: X:128.27, Y:-34.60, Z:-15.60 [[ 7.47893122e-01 6.56202178e-01 1.00272524e-01 1.28273593e+02] [-6.50207094e-01 7.54584464e-01 -8.85043617e-02 -3.45957323e+01] [-1.33740844e-01 9.93896837e-04 9.91015842e-01 -1.56044934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters 0.031059437257841507 Centerline is valid? [True, True] Translation: X:128.32, Y:-34.63, Z:-15.61 [[ 7.52287718e-01 6.50962889e-01 1.01540660e-01 1.28321727e+02] [-6.44753990e-01 7.59106857e-01 -8.97166193e-02 -3.46341195e+01] [-1.35482401e-01 2.02396525e-03 9.90777686e-01 -1.56117648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters 0.03167426256821454 Centerline is valid? [True, True] Translation: X:128.37, Y:-34.67, Z:-15.62 [[ 7.56780082e-01 6.45927649e-01 1.00306428e-01 1.28370905e+02] [-6.39814340e-01 7.63392918e-01 -8.87066135e-02 -3.46724799e+01] [-1.33871271e-01 2.95390748e-03 9.90994328e-01 -1.56183090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters 0.031597550647204785 Centerline is valid? [True, True] Translation: X:128.42, Y:-34.71, Z:-15.63 [[ 7.57953706e-01 6.44904940e-01 9.79989660e-02 1.28418742e+02] [-6.39052217e-01 7.64256422e-01 -8.67432192e-02 -3.47124251e+01] [-1.30837470e-01 3.12088804e-03 9.91398919e-01 -1.56258621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters 0.03167538551565135 Centerline is valid? [True, True] Translation: X:128.46, Y:-34.75, Z:-15.63 [[ 7.57791704e-01 6.44633958e-01 1.00989077e-01 1.28464150e+02] [-6.38402273e-01 7.64484098e-01 -8.94796116e-02 -3.47540018e+01] [-1.34886139e-01 3.33525115e-03 9.90855492e-01 -1.56314291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters 0.03190470230365753 Centerline is valid? [True, True] Translation: X:128.51, Y:-34.79, Z:-15.64 [[ 7.58228006e-01 6.43941029e-01 1.02128562e-01 1.28511443e+02] [-6.37550565e-01 7.65066861e-01 -9.05647555e-02 -3.47930154e+01] [-1.36453540e-01 3.55661169e-03 9.90640087e-01 -1.56407773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters 0.032081298112198994 Centerline is valid? [True, True] Translation: X:128.56, Y:-34.83, Z:-15.65 [[ 7.58918142e-01 6.43271568e-01 1.01217309e-01 1.28558473e+02] [-6.36978369e-01 7.65629128e-01 -8.98364958e-02 -3.48338873e+01] [-1.35284184e-01 3.70530999e-03 9.90799909e-01 -1.56476698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters 0.03198576244494589 Centerline is valid? [True, True] Translation: X:128.61, Y:-34.87, Z:-15.65 [[ 7.57069952e-01 6.45117920e-01 1.03285805e-01 1.28607668e+02] [-6.38567605e-01 7.64074927e-01 -9.17655714e-02 -3.48734140e+01] [-1.38117708e-01 3.51798764e-03 9.90409573e-01 -1.56549598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters 0.03167733960201962 Centerline is valid? [True, True] Translation: X:128.65, Y:-34.91, Z:-15.66 [[ 7.53250819e-01 6.49312790e-01 1.04909980e-01 1.28653630e+02] [-6.42580935e-01 7.60516066e-01 -9.33008839e-02 -3.49145432e+01] [-1.40367183e-01 2.86581400e-03 9.90095370e-01 -1.56647145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters 0.031387040409121186 Centerline is valid? [True, True] Translation: X:128.70, Y:-34.95, Z:-15.67 [[ 7.51608635e-01 6.51236386e-01 1.04764637e-01 1.28702955e+02] [-6.44530203e-01 7.58870598e-01 -9.32535994e-02 -3.49524856e+01] [-1.40232940e-01 2.56623767e-03 9.90115214e-01 -1.56734093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters 0.031114961121694457 Centerline is valid? [True, True] Translation: X:128.75, Y:-34.99, Z:-15.68 [[ 7.49957990e-01 6.53064017e-01 1.05215984e-01 1.28749922e+02] [-6.46307152e-01 7.57299244e-01 -9.37279061e-02 -3.49934817e+01] [-1.40890308e-01 2.29014929e-03 9.90022564e-01 -1.56800557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters 0.031022152626100325 Centerline is valid? [True, True] Translation: X:128.80, Y:-35.03, Z:-15.69 [[ 7.48271668e-01 6.55019686e-01 1.05065321e-01 1.28800608e+02] [-6.48295723e-01 7.55609296e-01 -9.36335795e-02 -3.50291624e+01] [-1.40720171e-01 1.94995617e-03 9.90047489e-01 -1.56878287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters 0.030388542148868044 Centerline is valid? [True, True] Translation: X:128.85, Y:-35.07, Z:-15.70 [[ 7.44262338e-01 6.59698013e-01 1.04269379e-01 1.28848985e+02] [-6.53110788e-01 7.51529962e-01 -9.30000802e-02 -3.50682972e+01] [-1.39713531e-01 1.11700078e-03 9.90191336e-01 -1.56959498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters 0.03029930206580813 Centerline is valid? [True, True] Translation: X:128.90, Y:-35.11, Z:-15.70 [[ 7.41876372e-01 6.62465859e-01 1.03722875e-01 1.28898219e+02] [-6.55967315e-01 7.49091840e-01 -9.25650930e-02 -3.51051648e+01] [-1.39019173e-01 6.33039771e-04 9.90289487e-01 -1.57037594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters 0.030333047313030728 Centerline is valid? [True, True] Translation: X:128.95, Y:-35.14, Z:-15.71 [[ 7.40407920e-01 6.64214974e-01 1.03027084e-01 1.28949251e+02] [-6.57810132e-01 7.47541530e-01 -9.20189716e-02 -3.51415361e+01] [-1.38137403e-01 3.59315440e-04 9.90413009e-01 -1.57107751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters 0.030654839295371727 Centerline is valid? [True, True] Translation: X:129.00, Y:-35.18, Z:-15.72 [[ 7.39884504e-01 6.64512722e-01 1.04851146e-01 1.29000623e+02] [-6.57875007e-01 7.47276874e-01 -9.36896410e-02 -3.51774121e+01] [-1.40610795e-01 3.40564857e-04 9.90064891e-01 -1.57171632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters 0.030384386107419857 Centerline is valid? [True, True] Translation: X:129.05, Y:-35.21, Z:-15.73 [[ 7.40871577e-01 6.63635619e-01 1.03426650e-01 1.29051585e+02] [-6.57157650e-01 7.48055779e-01 -9.25006747e-02 -3.52133121e+01] [-1.38755646e-01 5.63506205e-04 9.90326488e-01 -1.57250438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters 0.03059329391172436 Centerline is valid? [True, True] Translation: X:129.10, Y:-35.25, Z:-15.73 [[ 7.40521373e-01 6.63922662e-01 1.04090319e-01 1.29101434e+02] [-6.57351675e-01 7.47801020e-01 -9.31794465e-02 -3.52500692e+01] [-1.39702793e-01 5.77426084e-04 9.90193313e-01 -1.57328268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters 0.031095437003308347 Centerline is valid? [True, True] Translation: X:129.15, Y:-35.28, Z:-15.74 [[ 7.41635997e-01 6.62515578e-01 1.05114969e-01 1.29153143e+02] [-6.55787626e-01 7.49047575e-01 -9.41823709e-02 -3.52842397e+01] [-1.41133400e-01 9.15940701e-04 9.89990164e-01 -1.57409597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters 0.03126402652526146 Centerline is valid? [True, True] Translation: X:129.21, Y:-35.32, Z:-15.75 [[ 7.42754098e-01 6.61290144e-01 1.04936625e-01 1.29205600e+02] [-6.54560636e-01 7.50129239e-01 -9.41089707e-02 -3.53186509e+01] [-1.40949365e-01 1.21243979e-03 9.90016064e-01 -1.57497275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters 0.03098029497854608 Centerline is valid? [True, True] Translation: X:129.26, Y:-35.35, Z:-15.75 [[ 7.43176898e-01 6.61224705e-01 1.02322955e-01 1.29258061e+02] [-6.54814790e-01 7.50186842e-01 -9.18547380e-02 -3.53530706e+01] [-1.37497956e-01 1.26173504e-03 9.90501247e-01 -1.57540655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters 0.031211741491536146 Centerline is valid? [True, True] Translation: X:129.31, Y:-35.39, Z:-15.76 [[ 7.42058275e-01 6.62303261e-01 1.03459687e-01 1.29308676e+02] [-6.55748022e-01 7.49235007e-01 -9.29593226e-02 -3.53888458e+01] [-1.39082881e-01 1.13774978e-03 9.90280090e-01 -1.57614240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters 0.031164993394110947 Centerline is valid? [True, True] Translation: X:129.36, Y:-35.42, Z:-15.77 [[ 7.43502034e-01 6.61025239e-01 1.01244053e-01 1.29360653e+02] [-6.54726343e-01 7.50362348e-01 -9.10481371e-02 -3.54239314e+01] [-1.36154842e-01 1.40732664e-03 9.90686569e-01 -1.57677833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters 0.031592445705159296 Centerline is valid? [True, True] Translation: X:129.41, Y:-35.46, Z:-15.77 [[ 7.45560003e-01 6.58638388e-01 1.01664916e-01 1.29412334e+02] [-6.52253323e-01 7.52457182e-01 -9.15084217e-02 -3.54592243e+01] [-1.36769456e-01 1.91373994e-03 9.90601057e-01 -1.57732462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters 0.031821913404550095 Centerline is valid? [True, True] Translation: X:129.46, Y:-35.50, Z:-15.78 [[ 7.47399799e-01 6.56887748e-01 9.94586750e-02 1.29463729e+02] [-6.50752107e-01 7.53985046e-01 -8.96004792e-02 -3.54950025e+01] [-1.33847811e-01 2.24443776e-03 9.90999357e-01 -1.57793676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters 0.032291563375881994 Centerline is valid? [True, True] Translation: X:129.51, Y:-35.53, Z:-15.79 [[ 7.49097342e-01 6.54902828e-01 9.97770385e-02 1.29513488e+02] [-6.48699277e-01 7.55708385e-01 -8.99671308e-02 -3.55320214e+01] [-1.34322073e-01 2.66884581e-03 9.90934134e-01 -1.57860045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters 0.03324858733271888 Centerline is valid? [True, True] Translation: X:129.57, Y:-35.56, Z:-15.79 [[ 7.52174147e-01 6.51030037e-01 1.01950696e-01 1.29566448e+02] [-6.44505129e-01 7.59043907e-01 -9.20080770e-02 -3.55649674e+01] [-1.37285077e-01 3.49835012e-03 9.90525401e-01 -1.57948003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters 0.03396031313951525 Centerline is valid? [True, True] Translation: X:129.62, Y:-35.60, Z:-15.80 [[ 7.55956157e-01 6.47001855e-01 9.95936168e-02 1.29615094e+02] [-6.40732082e-01 7.62476931e-01 -8.99518110e-02 -3.56035020e+01] [-1.34136824e-01 4.18679993e-03 9.90953976e-01 -1.58000176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters 0.034452907234848354 Centerline is valid? [True, True] Translation: X:129.66, Y:-35.64, Z:-15.81 [[ 7.57919964e-01 6.44721415e-01 9.94566538e-02 1.29664171e+02] [-6.38439260e-01 7.64403523e-01 -8.99030835e-02 -3.56408920e+01] [-1.33987460e-01 4.64230930e-03 9.90972154e-01 -1.58070639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters 0.035133597185063446 Centerline is valid? [True, True] Translation: X:129.71, Y:-35.68, Z:-15.82 [[ 7.59200907e-01 6.43273427e-01 9.90620057e-02 1.29710643e+02] [-6.37019437e-01 7.65620638e-01 -8.96173784e-02 -3.56817478e+01] [-1.33492394e-01 4.93317185e-03 9.91037560e-01 -1.58162484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters 0.03571353292168819 Centerline is valid? [True, True] Translation: X:129.76, Y:-35.72, Z:-15.82 [[ 7.60706799e-01 6.41535017e-01 9.87825272e-02 1.29757346e+02] [-6.35291847e-01 7.67075571e-01 -8.94390154e-02 -3.57226680e+01] [-1.33151924e-01 5.28113287e-03 9.91081568e-01 -1.58223277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters 0.036541680980736096 Centerline is valid? [True, True] Translation: X:129.80, Y:-35.76, Z:-15.83 [[ 7.62366460e-01 6.39309402e-01 1.00403535e-01 1.29802951e+02] [-6.32829099e-01 7.68927549e-01 -9.09821709e-02 -3.57642712e+01] [-1.35368802e-01 5.82347681e-03 9.90778166e-01 -1.58274913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters 0.03680142973622446 Centerline is valid? [True, True] Translation: X:129.85, Y:-35.81, Z:-15.83 [[ 7.63738451e-01 6.38052270e-01 9.79432460e-02 1.29848139e+02] [-6.31867982e-01 7.69970080e-01 -8.88196435e-02 -3.58064929e+01] [-1.32084944e-01 5.94777570e-03 9.91220556e-01 -1.58346158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters 0.03663526797108528 Centerline is valid? [True, True] Translation: X:129.89, Y:-35.85, Z:-15.84 [[ 7.62984485e-01 6.38810341e-01 9.88737765e-02 1.29891712e+02] [-6.32503577e-01 7.69341386e-01 -8.97388267e-02 -3.58513218e+01] [-1.33393779e-01 5.93131517e-03 9.91045367e-01 -1.58428709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters 0.034399839402808885 Centerline is valid? [True, True] Translation: X:129.93, Y:-35.89, Z:-15.85 [[ 7.58439928e-01 6.44302831e-01 9.81974405e-02 1.29934956e+02] [-6.38118252e-01 7.64754190e-01 -8.91971167e-02 -3.58946994e+01] [-1.32566859e-01 4.98907574e-03 9.91161509e-01 -1.58471967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters 0.03253976082109725 Centerline is valid? [True, True] Translation: X:129.98, Y:-35.93, Z:-15.86 [[ 7.52945659e-01 6.50785779e-01 9.77277031e-02 1.29980603e+02] [-6.44713686e-01 7.59251703e-01 -8.87756414e-02 -3.59347763e+01] [-1.31973850e-01 3.83684621e-03 9.91245773e-01 -1.58552981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters 0.03158164116464133 Centerline is valid? [True, True] Translation: X:130.03, Y:-35.97, Z:-15.86 [[ 7.48208120e-01 6.55903508e-01 9.98759103e-02 1.30029531e+02] [-6.49604067e-01 7.54838744e-01 -9.07360263e-02 -3.59733054e+01] [-1.34904285e-01 3.00963411e-03 9.90854064e-01 -1.58639772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters 0.03152683531445223 Centerline is valid? [True, True] Translation: X:130.08, Y:-36.01, Z:-15.87 [[ 7.47358805e-01 6.56850168e-01 1.00013371e-01 1.30079813e+02] [-6.50536608e-01 7.54015658e-01 -9.08983479e-02 -3.60112598e+01] [-1.35118243e-01 2.87132146e-03 9.90825321e-01 -1.58699808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters 0.03174275483835984 Centerline is valid? [True, True] Translation: X:130.13, Y:-36.05, Z:-15.88 [[ 7.49039082e-01 6.55005068e-01 9.95430275e-02 1.30130734e+02] [-6.48722997e-01 7.55617471e-01 -9.05577736e-02 -3.60467308e+01] [-1.34532251e-01 3.25546045e-03 9.90903868e-01 -1.58795407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters 0.031888060334675374 Centerline is valid? [True, True] Translation: X:130.18, Y:-36.09, Z:-15.89 [[ 7.49357667e-01 6.54534001e-01 1.00241353e-01 1.30176209e+02] [-6.48148908e-01 7.56024834e-01 -9.12657860e-02 -3.60878636e+01] [-1.35521512e-01 3.41939318e-03 9.90768504e-01 -1.58867722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters 0.0323243717278326 Centerline is valid? [True, True] Translation: X:130.23, Y:-36.12, Z:-15.89 [[ 7.48855255e-01 6.54550700e-01 1.03822867e-01 1.30226194e+02] [-6.47691653e-01 7.56009633e-01 -9.45777846e-02 -3.61249759e+01] [-1.40397043e-01 3.57986656e-03 9.90088812e-01 -1.58934365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters 0.03190434573694904 Centerline is valid? [True, True] Translation: X:130.27, Y:-36.17, Z:-15.90 [[ 7.48855013e-01 6.55101455e-01 1.00290846e-01 1.30271057e+02] [-6.48698283e-01 7.55533218e-01 -9.14335523e-02 -3.61669218e+01] [-1.35671319e-01 3.41197433e-03 9.90748026e-01 -1.59013865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters 0.03172101810549803 Centerline is valid? [True, True] Translation: X:130.32, Y:-36.21, Z:-15.91 [[ 7.47474239e-01 6.56715506e-01 1.00035027e-01 1.30316378e+02] [-6.50348993e-01 7.54131752e-01 -9.12769870e-02 -3.62086411e+01] [-1.35382603e-01 3.16951752e-03 9.90788325e-01 -1.59069780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters 0.03173128930351874 Centerline is valid? [True, True] Translation: X:130.36, Y:-36.25, Z:-15.92 [[ 7.46649061e-01 6.57401650e-01 1.01677183e-01 1.30361229e+02] [-6.50818565e-01 7.53533745e-01 -9.28552164e-02 -3.62510848e+01] [-1.37660361e-01 3.15686190e-03 9.90474462e-01 -1.59150580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters 0.03182407299767407 Centerline is valid? [True, True] Translation: X:130.40, Y:-36.30, Z:-15.92 [[ 7.44423087e-01 6.59675298e-01 1.03260685e-01 1.30404706e+02] [-6.52894420e-01 7.51545350e-01 -9.43846509e-02 -3.62963660e+01] [-1.39868310e-01 2.84378839e-03 9.90166031e-01 -1.59238841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters 0.03135719379988482 Centerline is valid? [True, True] Translation: X:130.45, Y:-36.34, Z:-15.93 [[ 7.43541757e-01 6.60740719e-01 1.02797651e-01 1.30449311e+02] [-6.54018299e-01 7.50609362e-01 -9.40513180e-02 -3.63389905e+01] [-1.39304415e-01 2.69953738e-03 9.90245925e-01 -1.59286162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters 0.03091344195784975 Centerline is valid? [True, True] Translation: X:130.50, Y:-36.38, Z:-15.93 [[ 7.41612672e-01 6.62925755e-01 1.02664931e-01 1.30495792e+02] [-6.56230315e-01 7.48681464e-01 -9.40097836e-02 -3.63804317e+01] [-1.39184838e-01 2.34700643e-03 9.90263638e-01 -1.59336812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters 0.03032257463853194 Centerline is valid? [True, True] Translation: X:130.54, Y:-36.42, Z:-15.94 [[ 7.39154398e-01 6.65907234e-01 1.01085764e-01 1.30541817e+02] [-6.59435132e-01 7.46032355e-01 -9.26338575e-02 -3.64224701e+01] [-1.37098806e-01 1.81121926e-03 9.90555721e-01 -1.59413056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters 0.03017104629647439 Centerline is valid? [True, True] Translation: X:130.59, Y:-36.46, Z:-15.95 [[ 7.36366196e-01 6.68846662e-01 1.02024345e-01 1.30589868e+02] [-6.62275543e-01 7.43399242e-01 -9.35343353e-02 -3.64631702e+01] [-1.38404949e-01 1.30729396e-03 9.90374859e-01 -1.59473685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters 0.030173305024823967 Centerline is valid? [True, True] Translation: X:130.64, Y:-36.50, Z:-15.96 [[ 7.34588975e-01 6.70759344e-01 1.02278737e-01 1.30641304e+02] [-6.64160416e-01 7.41674363e-01 -9.38620361e-02 -3.65001346e+01] [-1.38816355e-01 1.02052872e-03 9.90317615e-01 -1.59554347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68592 meters 0.02999990736110037 Centerline is valid? [True, True] Translation: X:130.69, Y:-36.54, Z:-15.96 [[ 7.33716457e-01 6.71908485e-01 1.00990835e-01 1.30691385e+02] [-6.65473866e-01 7.40633680e-01 -9.27700660e-02 -3.65375189e+01] [-1.37130208e-01 8.60163050e-04 9.90552657e-01 -1.59627410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters 0.03037715229403082 Centerline is valid? [True, True] Translation: X:130.74, Y:-36.57, Z:-15.97 [[ 7.35356848e-01 6.70042453e-01 1.01456482e-01 1.30743784e+02] [-6.63520360e-01 7.42321698e-01 -9.32696528e-02 -3.65725674e+01] [-1.37807975e-01 1.26803648e-03 9.90458154e-01 -1.59682772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters 0.03050406373994333 Centerline is valid? [True, True] Translation: X:130.79, Y:-36.61, Z:-15.98 [[ 7.38418938e-01 6.66753906e-01 1.00879637e-01 1.30792899e+02] [-6.60272249e-01 7.45275558e-01 -9.27625950e-02 -3.66107430e+01] [-1.37032951e-01 1.88963192e-03 9.90564687e-01 -1.59762938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters 0.031727677710208756 Centerline is valid? [True, True] Translation: X:130.84, Y:-36.65, Z:-15.99 [[ 7.43146055e-01 6.61365905e-01 1.01632085e-01 1.30840027e+02] [-6.54732995e-01 7.50057717e-01 -9.34779411e-02 -3.66506874e+01] [-1.38053053e-01 2.92588382e-03 9.90420514e-01 -1.59853107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92592000000002 meters 0.032857662683338985 Centerline is valid? [True, True] Translation: X:130.89, Y:-36.69, Z:-15.99 [[ 7.45857952e-01 6.58060217e-01 1.03211751e-01 1.30885207e+02] [-6.51182120e-01 7.52956602e-01 -9.49642091e-02 -3.66918881e+01] [-1.40206137e-01 3.62016377e-03 9.90115717e-01 -1.59935354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters 0.033197355691498766 Centerline is valid? [True, True] Translation: X:130.93, Y:-36.74, Z:-16.00 [[ 7.45901850e-01 6.57884677e-01 1.04010493e-01 1.30929115e+02] [-6.50886545e-01 7.53109397e-01 -9.57754706e-02 -3.67360448e+01] [-1.41340494e-01 3.74007014e-03 9.89953977e-01 -1.60008196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters 0.03342357566042814 Centerline is valid? [True, True] Translation: X:130.97, Y:-36.78, Z:-16.01 [[ 7.46831137e-01 6.56903206e-01 1.03544340e-01 1.30973922e+02] [-6.49947318e-01 7.53964475e-01 -9.54256463e-02 -3.67790263e+01] [-1.40754167e-01 3.96847815e-03 9.90036623e-01 -1.60090406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters 0.03447008094924485 Centerline is valid? [True, True] Translation: X:131.02, Y:-36.82, Z:-16.02 [[ 7.48230521e-01 6.55070278e-01 1.05042937e-01 1.31018033e+02] [-6.47880878e-01 7.55554915e-01 -9.68872458e-02 -3.68218186e+01] [-1.42833662e-01 4.43868414e-03 9.89736754e-01 -1.60169505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters 0.03443643621580596 Centerline is valid? [True, True] Translation: X:131.06, Y:-36.86, Z:-16.02 [[ 7.48031432e-01 6.55172572e-01 1.05820025e-01 1.31062699e+02] [-6.47865620e-01 7.55465783e-01 -9.76810588e-02 -3.68645110e+01] [-1.43941359e-01 4.51134589e-03 9.89575936e-01 -1.60247918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters 0.035546028016399354 Centerline is valid? [True, True] Translation: X:131.11, Y:-36.90, Z:-16.03 [[ 7.50452662e-01 6.52672217e-01 1.04114258e-01 1.31110603e+02] [-6.45565040e-01 7.57624102e-01 -9.61847081e-02 -3.69043188e+01] [-1.41656558e-01 4.96954488e-03 9.89903391e-01 -1.60322665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters 0.03624608903245264 Centerline is valid? [True, True] Translation: X:131.15, Y:-36.95, Z:-16.04 [[ 7.52805463e-01 6.49834991e-01 1.04873351e-01 1.31154927e+02] [-6.42585777e-01 7.60054696e-01 -9.69555496e-02 -3.69472312e+01] [-1.42714591e-01 5.59854378e-03 9.89748050e-01 -1.60404092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters 0.03747921015159224 Centerline is valid? [True, True] Translation: X:131.20, Y:-36.99, Z:-16.05 [[ 7.55658999e-01 6.46526613e-01 1.04798930e-01 1.31201473e+02] [-6.39251346e-01 7.62865870e-01 -9.69194565e-02 -3.69872124e+01] [-1.42608535e-01 6.24520254e-03 9.89759467e-01 -1.60465490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40592 meters 0.03763574475909145 Centerline is valid? [True, True] Translation: X:131.24, Y:-37.03, Z:-16.05 [[ 7.57615214e-01 6.44763384e-01 1.01485793e-01 1.31244392e+02] [-6.37917479e-01 7.64355249e-01 -9.39273286e-02 -3.70328980e+01] [-1.38132101e-01 6.42121209e-03 9.90392998e-01 -1.60528530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46592 meters 0.0383820231832919 Centerline is valid? [True, True] Translation: X:131.29, Y:-37.08, Z:-16.06 [[ 7.59342949e-01 6.42620082e-01 1.02165139e-01 1.31286924e+02] [-6.35651713e-01 7.66153760e-01 -9.46325298e-02 -3.70778330e+01] [-1.39086970e-01 6.91709852e-03 9.90256012e-01 -1.60592317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52592 meters 0.039269015780088554 Centerline is valid? [True, True] Translation: X:131.32, Y:-37.13, Z:-16.07 [[ 7.61276064e-01 6.40450185e-01 1.01401751e-01 1.31324119e+02] [-6.33563981e-01 7.67965255e-01 -9.39470595e-02 -3.71287116e+01] [-1.38041433e-01 7.27515064e-03 9.90399735e-01 -1.60667420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters 0.03932633533296062 Centerline is valid? [True, True] Translation: X:131.37, Y:-37.17, Z:-16.07 [[ 7.60707202e-01 6.40953034e-01 1.02487859e-01 1.31365823e+02] [-6.33917756e-01 7.67545509e-01 -9.49851079e-02 -3.71742760e+01] [-1.39545089e-01 7.28698207e-03 9.90188905e-01 -1.60736359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters 0.038939406589696655 Centerline is valid? [True, True] Translation: X:131.41, Y:-37.22, Z:-16.08 [[ 7.59020626e-01 6.42841211e-01 1.03164277e-01 1.31407435e+02] [-6.35718571e-01 7.65967053e-01 -9.56889400e-02 -3.72202019e+01] [-1.40533231e-01 7.04643265e-03 9.90050887e-01 -1.60800567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters 0.03818258739636731 Centerline is valid? [True, True] Translation: X:131.45, Y:-37.27, Z:-16.09 [[ 7.57116172e-01 6.45292201e-01 1.01848309e-01 1.31448180e+02] [-6.38364096e-01 7.63907719e-01 -9.45318845e-02 -3.72657448e+01] [-1.38803397e-01 6.55531459e-03 9.90298260e-01 -1.60874446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters 0.03678640519064023 Centerline is valid? [True, True] Translation: X:131.49, Y:-37.31, Z:-16.09 [[ 7.54712065e-01 6.48477601e-01 9.94308794e-02 1.31489542e+02] [-6.41901955e-01 7.61211378e-01 -9.22990689e-02 -3.73109183e+01] [-1.35541795e-01 5.83434504e-03 9.90754451e-01 -1.60928515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters 0.036727737429846724 Centerline is valid? [True, True] Translation: X:131.53, Y:-37.35, Z:-16.10 [[ 7.55392346e-01 6.48097508e-01 9.67058628e-02 1.31534268e+02] [-6.41874012e-01 7.61535664e-01 -8.97841055e-02 -3.73545526e+01] [-1.31833818e-01 5.74924590e-03 9.91255159e-01 -1.60987481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88592 meters 0.037116456349267496 Centerline is valid? [True, True] Translation: X:131.58, Y:-37.40, Z:-16.11 [[ 7.54860339e-01 6.48481904e-01 9.82704919e-02 1.31579940e+02] [-6.42053018e-01 7.61207960e-01 -9.12708231e-02 -3.73958674e+01] [-1.33991758e-01 5.80185851e-03 9.90965462e-01 -1.61070120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94592 meters 0.03744913864949369 Centerline is valid? [True, True] Translation: X:131.62, Y:-37.44, Z:-16.11 [[ 7.55931492e-01 6.46900300e-01 1.00436955e-01 1.31622522e+02] [-6.40159931e-01 7.62548794e-01 -9.33520172e-02 -3.74405216e+01] [-1.36977527e-01 6.27201530e-03 9.90554299e-01 -1.61136199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00592 meters 0.03821107896832523 Centerline is valid? [True, True] Translation: X:131.67, Y:-37.48, Z:-16.12 [[ 7.58814098e-01 6.43884373e-01 9.80514104e-02 1.31665813e+02] [-6.37434099e-01 7.65093747e-01 -9.11555202e-02 -3.74847449e+01] [-1.33712136e-01 6.66878136e-03 9.90997776e-01 -1.61221520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06592 meters 0.03905887762885675 Centerline is valid? [True, True] Translation: X:131.71, Y:-37.53, Z:-16.13 [[ 7.60300696e-01 6.42337710e-01 9.66701572e-02 1.31708815e+02] [-6.36052671e-01 7.66391001e-01 -8.98990154e-02 -3.75299180e+01] [-1.31832666e-01 6.86297224e-03 9.91248227e-01 -1.61262538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12592 meters 0.038687885737604816 Centerline is valid? [True, True] Translation: X:131.75, Y:-37.57, Z:-16.13 [[ 7.58487419e-01 6.44118306e-01 9.90375828e-02 1.31751789e+02] [-6.37524708e-01 7.64895871e-01 -9.21767484e-02 -3.75747427e+01] [-1.35126169e-01 6.77599794e-03 9.90805230e-01 -1.61348515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters 0.0374005338672259 Centerline is valid? [True, True] Translation: X:131.79, Y:-37.62, Z:-16.14 [[ 7.56189093e-01 6.46987632e-01 9.79033169e-02 1.31793361e+02] [-6.40559885e-01 7.62474950e-01 -9.11865363e-02 -3.76202173e+01] [-1.33645388e-01 6.24132677e-03 9.91009564e-01 -1.61411246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters 0.03654817291983766 Centerline is valid? [True, True] Translation: X:131.84, Y:-37.66, Z:-16.15 [[ 7.53681373e-01 6.49819210e-01 9.84854428e-02 1.31836636e+02] [-6.43335320e-01 7.60066741e-01 -9.17508373e-02 -3.76642735e+01] [-1.34476966e-01 5.79173324e-03 9.90899794e-01 -1.61461172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30592000000001 meters 0.035873354652124774 Centerline is valid? [True, True] Translation: X:131.88, Y:-37.71, Z:-16.15 [[ 7.52555475e-01 6.51270184e-01 9.75059153e-02 1.31880842e+02] [-6.44924073e-01 7.58826034e-01 -9.08624802e-02 -3.77075001e+01] [-1.33166051e-01 5.49514499e-03 9.91078507e-01 -1.61538355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36592000000002 meters 0.03478254945238672 Centerline is valid? [True, True] Translation: X:131.93, Y:-37.75, Z:-16.16 [[ 7.49391355e-01 6.54841546e-01 9.79548190e-02 1.31925971e+02] [-6.48457801e-01 7.55750087e-01 -9.13470628e-02 -3.77483020e+01] [-1.33847215e-01 4.93513261e-03 9.90989691e-01 -1.61599639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters 0.034213889854536335 Centerline is valid? [True, True] Translation: X:131.97, Y:-37.79, Z:-16.17 [[ 7.46940843e-01 6.57345952e-01 9.98783062e-02 1.31971008e+02] [-6.50726876e-01 7.53574945e-01 -9.31629485e-02 -3.77905729e+01] [-1.36506076e-01 4.59371313e-03 9.90628583e-01 -1.61683234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters 0.034024675461035075 Centerline is valid? [True, True] Translation: X:132.02, Y:-37.83, Z:-16.18 [[ 7.46819169e-01 6.57790330e-01 9.78417588e-02 1.32018896e+02] [-6.51433351e-01 7.53187790e-01 -9.13386192e-02 -3.78303068e+01] [-1.33774879e-01 4.47604696e-03 9.91001638e-01 -1.61755252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters 0.03389575261318678 Centerline is valid? [True, True] Translation: X:132.06, Y:-37.87, Z:-16.18 [[ 7.45376885e-01 6.59123670e-01 9.98463182e-02 1.32064260e+02] [-6.52502835e-01 7.52021768e-01 -9.32915377e-02 -3.78738421e+01] [-1.36577265e-01 4.38735004e-03 9.90619706e-01 -1.61834517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60592 meters 0.033550796314167776 Centerline is valid? [True, True] Translation: X:132.11, Y:-37.91, Z:-16.19 [[ 7.44619754e-01 6.60014587e-01 9.96100806e-02 1.32110804e+02] [-6.53421097e-01 7.51240592e-01 -9.31581668e-02 -3.79142922e+01] [-1.36316885e-01 4.28008312e-03 9.90656039e-01 -1.61896982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters 0.03373693006559079 Centerline is valid? [True, True] Translation: X:132.16, Y:-37.95, Z:-16.20 [[ 7.44866699e-01 6.59564406e-01 1.00739238e-01 1.32157715e+02] [-6.52804741e-01 7.51634744e-01 -9.42930603e-02 -3.79538812e+01] [-1.37911458e-01 4.47270808e-03 9.90434463e-01 -1.61977187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters 0.034265298170437525 Centerline is valid? [True, True] Translation: X:132.20, Y:-38.00, Z:-16.20 [[ 7.47108045e-01 6.57334881e-01 9.86935881e-02 1.32202961e+02] [-6.50819135e-01 7.53583070e-01 -9.24500373e-02 -3.79964250e+01] [-1.35144451e-01 4.83849091e-03 9.90814093e-01 -1.62037550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters 0.03522867729234623 Centerline is valid? [True, True] Translation: X:132.25, Y:-38.04, Z:-16.21 [[ 7.49176404e-01 6.54774252e-01 1.00026976e-01 1.32246848e+02] [-6.48047641e-01 7.55805005e-01 -9.37712608e-02 -3.80393407e+01] [-1.36999896e-01 5.42896989e-03 9.90556185e-01 -1.62110163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84592 meters 0.03562146818145885 Centerline is valid? [True, True] Translation: X:132.29, Y:-38.08, Z:-16.22 [[ 7.49620437e-01 6.54332815e-01 9.95879905e-02 1.32289289e+02] [-6.47655621e-01 7.56186564e-01 -9.34027653e-02 -3.80847936e+01] [-1.36423595e-01 5.51789983e-03 9.90635228e-01 -1.62198829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90592 meters 0.03489952742779591 Centerline is valid? [True, True] Translation: X:132.33, Y:-38.13, Z:-16.22 [[ 7.47780009e-01 6.56445939e-01 9.95177732e-02 1.32331744e+02] [-6.49786121e-01 7.54355231e-01 -9.34140354e-02 -3.81304659e+01] [-1.36393017e-01 5.18788039e-03 9.90641222e-01 -1.62247449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters 0.03425311149745416 Centerline is valid? [True, True] Translation: X:132.38, Y:-38.17, Z:-16.23 [[ 7.46478858e-01 6.58032923e-01 9.88027644e-02 1.32375959e+02] [-6.51472363e-01 7.52973085e-01 -9.28186076e-02 -3.81740369e+01] [-1.35473522e-01 4.91985782e-03 9.90768752e-01 -1.62314118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters 0.03401188905273962 Centerline is valid? [True, True] Translation: X:132.42, Y:-38.22, Z:-16.24 [[ 7.44808134e-01 6.59917217e-01 9.88438659e-02 1.32419401e+02] [-6.53357817e-01 7.51324028e-01 -9.29288342e-02 -3.82185793e+01] [-1.35589109e-01 4.63373924e-03 9.90754320e-01 -1.62403671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters 0.03375660740097619 Centerline is valid? [True, True] Translation: X:132.47, Y:-38.26, Z:-16.25 [[ 7.43981430e-01 6.60726060e-01 9.96629577e-02 1.32466358e+02] [-6.54057101e-01 7.50613251e-01 -9.37499612e-02 -3.82601843e+01] [-1.36751379e-01 4.56296499e-03 9.90594892e-01 -1.62467518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters 0.03360746195292329 Centerline is valid? [True, True] Translation: X:132.52, Y:-38.30, Z:-16.25 [[ 7.43213577e-01 6.61801621e-01 9.82455784e-02 1.32515390e+02] [-6.55319570e-01 7.49666289e-01 -9.25025223e-02 -3.82992437e+01] [-1.34869717e-01 4.36688031e-03 9.90853718e-01 -1.62509318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters 0.0334918385051933 Centerline is valid? [True, True] Translation: X:132.56, Y:-38.34, Z:-16.26 [[ 7.42319948e-01 6.62764497e-01 9.85104888e-02 1.32561867e+02] [-6.56245746e-01 7.48815789e-01 -9.28247552e-02 -3.83403264e+01] [-1.35287162e-01 4.25857828e-03 9.90797279e-01 -1.62605637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters 0.034312713690899437 Centerline is valid? [True, True] Translation: X:132.61, Y:-38.38, Z:-16.27 [[ 7.44503425e-01 6.60092891e-01 9.99601162e-02 1.32610783e+02] [-6.53350297e-01 7.51168348e-01 -9.42311075e-02 -3.83783073e+01] [-1.37288160e-01 4.84641062e-03 9.90519295e-01 -1.62665613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters 0.034735539969227625 Centerline is valid? [True, True] Translation: X:132.66, Y:-38.42, Z:-16.27 [[ 7.47022778e-01 6.57627315e-01 9.73821487e-02 1.32655216e+02] [-6.51204838e-01 7.53325590e-01 -9.18303563e-02 -3.84215076e+01] [-1.33750615e-01 5.18364152e-03 9.91001465e-01 -1.62723774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters 0.035696831117659956 Centerline is valid? [True, True] Translation: X:132.70, Y:-38.46, Z:-16.28 [[ 7.48800360e-01 6.55573300e-01 9.75790435e-02 1.32700795e+02] [-6.49097031e-01 7.55110627e-01 -9.20922649e-02 -3.84623183e+01] [-1.34056203e-01 5.62045363e-03 9.90957792e-01 -1.62801757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters 0.036195138870279274 Centerline is valid? [True, True] Translation: X:132.74, Y:-38.51, Z:-16.29 [[ 7.51242961e-01 6.52861252e-01 9.69855609e-02 1.32741565e+02] [-6.46431911e-01 7.57452780e-01 -9.16027874e-02 -3.85083264e+01] [-1.33265893e-01 6.12138774e-03 9.91061416e-01 -1.62869999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters 0.038225364213975814 Centerline is valid? [True, True] Translation: X:132.78, Y:-38.56, Z:-16.29 [[ 7.55597302e-01 6.47903028e-01 9.64073795e-02 1.32780711e+02] [-6.41502148e-01 7.61690641e-01 -9.11172985e-02 -3.85554918e+01] [-1.32467772e-01 7.00244394e-03 9.91162578e-01 -1.62939991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters 0.04060205704707948 Centerline is valid? [True, True] Translation: X:132.82, Y:-38.60, Z:-16.30 [[ 7.60746208e-01 6.42049955e-01 9.50634660e-02 1.32818576e+02] [-6.35780903e-01 7.66621943e-01 -8.98523202e-02 -3.86040937e+01] [-1.30567417e-01 7.91527560e-03 9.91407836e-01 -1.62986133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters 0.0411740708446618 Centerline is valid? [True, True] Translation: X:132.86, Y:-38.65, Z:-16.31 [[ 7.61742012e-01 6.41054796e-01 9.37968815e-02 1.32857114e+02] [-6.34943390e-01 7.67453563e-01 -8.86674704e-02 -3.86534451e+01] [-1.28825458e-01 7.98602742e-03 9.91635127e-01 -1.63050896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68592 meters 0.04081442211833037 Centerline is valid? [True, True] Translation: X:132.89, Y:-38.71, Z:-16.31 [[ 7.59994248e-01 6.42949275e-01 9.49998574e-02 1.32892092e+02] [-6.36684493e-01 7.65868831e-01 -8.98765251e-02 -3.87065609e+01] [-1.30543476e-01 7.82070605e-03 9.91411740e-01 -1.63139691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters 0.03920020979054196 Centerline is valid? [True, True] Translation: X:132.93, Y:-38.76, Z:-16.32 [[ 7.58437522e-01 6.44913546e-01 9.41224905e-02 1.32929742e+02] [-6.38771198e-01 7.64219110e-01 -8.91095346e-02 -3.87559510e+01] [-1.29398152e-01 7.46127863e-03 9.91564646e-01 -1.63197453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters 0.038340929134084545 Centerline is valid? [True, True] Translation: X:132.97, Y:-38.81, Z:-16.33 [[ 7.56376229e-01 6.47359271e-01 9.39200406e-02 1.32968074e+02] [-6.41260559e-01 7.62152515e-01 -8.89294051e-02 -3.88050263e+01] [-1.29150670e-01 7.03687031e-03 9.91600014e-01 -1.63264072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters 0.037840527276063525 Centerline is valid? [True, True] Translation: X:133.01, Y:-38.85, Z:-16.33 [[ 7.54285100e-01 6.49615226e-01 9.51527526e-02 1.33005983e+02] [-6.43368472e-01 7.60233076e-01 -9.01259130e-02 -3.88545892e+01] [-1.30885435e-01 6.76235231e-03 9.91374437e-01 -1.63337790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters 0.03745941549818688 Centerline is valid? [True, True] Translation: X:133.05, Y:-38.90, Z:-16.34 [[ 7.53054285e-01 6.51034102e-01 9.52042108e-02 1.33046192e+02] [-6.44782002e-01 7.59019994e-01 -9.02486451e-02 -3.89017841e+01] [-1.31016845e-01 6.57616720e-03 9.91358331e-01 -1.63396936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters 0.0376533796464536 Centerline is valid? [True, True] Translation: X:133.08, Y:-38.95, Z:-16.35 [[ 7.53106520e-01 6.50822259e-01 9.62338703e-02 1.33083348e+02] [-6.44421703e-01 7.59200178e-01 -9.13003792e-02 -3.89529072e+01] [-1.32481090e-01 6.74371625e-03 9.91162592e-01 -1.63473435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters 0.037955612747070204 Centerline is valid? [True, True] Translation: X:133.12, Y:-39.00, Z:-16.35 [[ 7.53299164e-01 6.50408767e-01 9.75131055e-02 1.33122961e+02] [-6.43822200e-01 7.59552426e-01 -9.25909622e-02 -3.90006471e+01] [-1.34288289e-01 6.96759225e-03 9.90917811e-01 -1.63547091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters 0.03784158981042625 Centerline is valid? [True, True] Translation: X:133.16, Y:-39.05, Z:-16.36 [[ 7.51917485e-01 6.51744627e-01 9.92423153e-02 1.33162735e+02] [-6.44921578e-01 7.58406990e-01 -9.43132905e-02 -3.90503815e+01] [-1.36734246e-01 6.91230163e-03 9.90583649e-01 -1.63614085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters 0.036575029344358786 Centerline is valid? [True, True] Translation: X:133.20, Y:-39.10, Z:-16.37 [[ 7.48586014e-01 6.55653869e-01 9.86761559e-02 1.33200108e+02] [-6.48931872e-01 7.55035954e-01 -9.38516588e-02 -3.91001449e+01] [-1.36038249e-01 6.22193655e-03 9.90684048e-01 -1.63698717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters 0.03489731638540033 Centerline is valid? [True, True] Translation: X:133.24, Y:-39.15, Z:-16.38 [[ 7.43012084e-01 6.61829109e-01 9.95754654e-02 1.33240207e+02] [-6.55035692e-01 7.49637014e-01 -9.47237539e-02 -3.91472636e+01] [-1.37336392e-01 5.15540991e-03 9.90511048e-01 -1.63775899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters 0.033706370385227544 Centerline is valid? [True, True] Translation: X:133.28, Y:-39.19, Z:-16.38 [[ 7.38636101e-01 6.66688530e-01 9.97151669e-02 1.33284097e+02] [-6.59917384e-01 7.45324188e-01 -9.48730749e-02 -3.91904792e+01] [-1.37570917e-01 4.27290600e-03 9.90482703e-01 -1.63845386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters 0.03292067175742172 Centerline is valid? [True, True] Translation: X:133.33, Y:-39.23, Z:-16.39 [[ 7.33317883e-01 6.72193141e-01 1.01986587e-01 1.33328078e+02] [-6.65156506e-01 7.40368293e-01 -9.70649980e-02 -3.92341247e+01] [-1.40754061e-01 3.34245688e-03 9.90038950e-01 -1.63908256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters 0.032812553423417566 Centerline is valid? [True, True] Translation: X:133.38, Y:-39.27, Z:-16.40 [[ 7.29017311e-01 6.76683254e-01 1.03119026e-01 1.33376422e+02] [-6.69520499e-01 7.36269763e-01 -9.82300259e-02 -3.92726420e+01] [-1.42394034e-01 2.57108760e-03 9.89806713e-01 -1.64005498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters 0.032588485885472016 Centerline is valid? [True, True] Translation: X:133.42, Y:-39.31, Z:-16.41 [[ 7.26507778e-01 6.79121262e-01 1.04789117e-01 1.33422788e+02] [-6.71734876e-01 7.34022807e-01 -9.99138354e-02 -3.93149563e+01] [-1.44771212e-01 2.19767373e-03 9.89462716e-01 -1.64085223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters 0.032374800955376024 Centerline is valid? [True, True] Translation: X:133.47, Y:-39.35, Z:-16.41 [[ 7.22825494e-01 6.83022254e-01 1.04899500e-01 1.33470639e+02] [-6.75646204e-01 7.30396036e-01 -1.00119122e-01 -3.93542813e+01] [-1.45001767e-01 1.49370536e-03 9.89430269e-01 -1.64145470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters 0.03215307721020145 Centerline is valid? [True, True] Translation: X:133.52, Y:-39.39, Z:-16.42 [[ 7.19803483e-01 6.86385813e-01 1.03718180e-01 1.33518022e+02] [-6.79197577e-01 7.27237068e-01 -9.90802600e-02 -3.93937354e+01] [-1.43434990e-01 8.73179752e-04 9.89659356e-01 -1.64232982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters 0.03219642807416691 Centerline is valid? [True, True] Translation: X:133.57, Y:-39.43, Z:-16.43 [[ 7.17639473e-01 6.88548796e-01 1.04375012e-01 1.33566923e+02] [-6.81277711e-01 7.25189832e-01 -9.98017449e-02 -3.94333224e+01] [-1.44410069e-01 5.13302503e-04 9.89517796e-01 -1.64291484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters 0.03187482592169009 Centerline is valid? [True, True] Translation: X:133.62, Y:-39.47, Z:-16.44 [[ 7.16754962e-01 6.89813520e-01 1.02076603e-01 1.33616281e+02] [-6.82859528e-01 7.23987019e-01 -9.77019053e-02 -3.94716960e+01] [-1.41298230e-01 3.24344700e-04 9.89967022e-01 -1.64354319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters 0.03202481585868615 Centerline is valid? [True, True] Translation: X:133.67, Y:-39.51, Z:-16.44 [[ 7.18566845e-01 6.87933044e-01 1.02028505e-01 1.33665724e+02] [-6.80953610e-01 7.25773757e-01 -9.77478114e-02 -3.95109711e+01] [-1.41293561e-01 7.61657970e-04 9.89967449e-01 -1.64421157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters 0.03225806540989884 Centerline is valid? [True, True] Translation: X:133.71, Y:-39.55, Z:-16.45 [[ 7.23197001e-01 6.83314477e-01 1.00336546e-01 1.33711988e+02] [-6.76507344e-01 7.30122178e-01 -9.62258717e-02 -3.95531217e+01] [-1.39010469e-01 1.71185124e-03 9.90289432e-01 -1.64495684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters 0.03261661638608612 Centerline is valid? [True, True] Translation: X:133.76, Y:-39.60, Z:-16.46 [[ 7.24667451e-01 6.81423677e-01 1.02561485e-01 1.33757344e+02] [-6.74276271e-01 7.31885884e-01 -9.84609758e-02 -3.95955657e+01] [-1.42156943e-01 2.19668902e-03 9.89841693e-01 -1.64571384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters 0.03252495583836334 Centerline is valid? [True, True] Translation: X:133.80, Y:-39.64, Z:-16.47 [[ 7.24504227e-01 6.81833048e-01 1.00981776e-01 1.33799761e+02] [-6.74897021e-01 7.31504673e-01 -9.70305393e-02 -3.96400860e+01] [-1.40027269e-01 2.14673629e-03 9.90145320e-01 -1.64658732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters 0.03228961276437188 Centerline is valid? [True, True] Translation: X:133.84, Y:-39.68, Z:-16.47 [[ 7.22415918e-01 6.83819233e-01 1.02501207e-01 1.33844530e+02] [-6.76679089e-01 7.29649108e-01 -9.85778368e-02 -3.96819773e+01] [-1.42199335e-01 1.85377506e-03 9.89836306e-01 -1.64729160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters 0.031811859622098496 Centerline is valid? [True, True] Translation: X:133.89, Y:-39.73, Z:-16.48 [[ 7.20040765e-01 6.86394458e-01 1.01999729e-01 1.33885612e+02] [-6.79338314e-01 7.27228086e-01 -9.81772177e-02 -3.97277548e+01] [-1.41565366e-01 1.39927498e-03 9.89927921e-01 -1.64805037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters 0.0318360700820665 Centerline is valid? [True, True] Translation: X:133.93, Y:-39.77, Z:-16.49 [[ 7.18690335e-01 6.87986860e-01 1.00788310e-01 1.33931938e+02] [-6.81101556e-01 7.25722255e-01 -9.70972708e-02 -3.97685570e+01] [-1.39945966e-01 1.13579549e-03 9.90158491e-01 -1.64887759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters 0.031920260644310666 Centerline is valid? [True, True] Translation: X:133.98, Y:-39.81, Z:-16.50 [[ 7.18122481e-01 6.88497860e-01 1.01344957e-01 1.33976960e+02] [-6.81528027e-01 7.25237525e-01 -9.77245108e-02 -3.98124331e+01] [-1.40782282e-01 1.10873964e-03 9.90039959e-01 -1.64961951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters 0.03143997003440086 Centerline is valid? [True, True] Translation: X:134.02, Y:-39.86, Z:-16.50 [[ 7.16716098e-01 6.90061962e-01 1.00660437e-01 1.34021092e+02] [-6.83187962e-01 7.23749775e-01 -9.71620952e-02 -3.98554851e+01] [-1.39900834e-01 8.67639052e-04 9.90165140e-01 -1.65025166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters 0.031136693963344307 Centerline is valid? [True, True] Translation: X:134.07, Y:-39.90, Z:-16.51 [[ 7.15276119e-01 6.91448837e-01 1.01383328e-01 1.34067233e+02] [-6.84476043e-01 7.22425124e-01 -9.79514540e-02 -3.98975102e+01] [-1.40970282e-01 6.67876974e-04 9.90013603e-01 -1.65089723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters 0.030903204516304888 Centerline is valid? [True, True] Translation: X:134.12, Y:-39.94, Z:-16.52 [[ 7.13562761e-01 6.93473403e-01 9.96133791e-02 1.34115047e+02] [-6.86749131e-01 7.20482150e-01 -9.63384831e-02 -3.99362326e+01] [-1.38577837e-01 3.34152553e-04 9.90351489e-01 -1.65175673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters 0.030733646653637835 Centerline is valid? [True, True] Translation: X:134.16, Y:-39.98, Z:-16.53 [[ 7.12484609e-01 6.94624051e-01 9.93131881e-02 1.34161498e+02] [-6.87938891e-01 7.19372919e-01 -9.61388843e-02 -3.99786408e+01] [-1.38223599e-01 1.76070925e-04 9.90401033e-01 -1.65253150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters 0.03090091112578736 Centerline is valid? [True, True] Translation: X:134.21, Y:-40.02, Z:-16.53 [[ 7.11149774e-01 6.95783241e-01 1.00755551e-01 1.34208262e+02] [-6.88898750e-01 7.18251823e-01 -9.76362166e-02 -4.00189797e+01] [-1.40301501e-01 2.36004161e-05 9.90108826e-01 -1.65319188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters 0.030497160789003174 Centerline is valid? [True, True] Translation: X:134.26, Y:-40.06, Z:-16.54 [[ 7.09643758e-01 6.97516515e-01 9.93803180e-02 1.34256358e+02] [-6.90824168e-01 7.16568662e-01 -9.63914996e-02 -4.00575152e+01] [-1.38447484e-01 -2.50699467e-04 9.90369745e-01 -1.65397171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters 0.030427610029342158 Centerline is valid? [True, True] Translation: X:134.31, Y:-40.09, Z:-16.55 [[ 7.07989750e-01 6.99103481e-01 1.00024182e-01 1.34306611e+02] [-6.92326951e-01 7.15020330e-01 -9.71046894e-02 -4.00937976e+01] [-1.39405550e-01 -5.00312120e-04 9.90235246e-01 -1.65470240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters 0.030678510331657735 Centerline is valid? [True, True] Translation: X:134.35, Y:-40.13, Z:-16.55 [[ 7.07088398e-01 7.00112817e-01 9.93380145e-02 1.34354215e+02] [-6.93427607e-01 7.14031962e-01 -9.65220809e-02 -4.01339038e+01] [-1.38506863e-01 -6.34078046e-04 9.90361271e-01 -1.65533479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters 0.030662532394632343 Centerline is valid? [True, True] Translation: X:134.41, Y:-40.17, Z:-16.56 [[ 7.08287331e-01 6.99170651e-01 9.74138452e-02 1.34405919e+02] [-6.92722477e-01 7.14954724e-01 -9.47381268e-02 -4.01692660e+01] [-1.35884607e-01 -3.78945148e-04 9.90724599e-01 -1.65606825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters 0.03062859008680657 Centerline is valid? [True, True] Translation: X:134.46, Y:-40.21, Z:-16.57 [[ 7.08616858e-01 6.98779805e-01 9.78209172e-02 1.34455313e+02] [-6.92261366e-01 7.15336792e-01 -9.52232926e-02 -4.02081053e+01] [-1.36515015e-01 -2.40811381e-04 9.90637973e-01 -1.65688051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters 0.030703390727791754 Centerline is valid? [True, True] Translation: X:134.51, Y:-40.24, Z:-16.58 [[ 7.11531878e-01 6.95866831e-01 9.74255569e-02 1.34508023e+02] [-6.89360379e-01 7.18170733e-01 -9.49371709e-02 -4.02440699e+01] [-1.36031812e-01 3.89504690e-04 9.90704393e-01 -1.65769864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters 0.030850135195016278 Centerline is valid? [True, True] Translation: X:134.56, Y:-40.28, Z:-16.58 [[ 7.16154878e-01 6.91361096e-01 9.56139427e-02 1.34557806e+02] [-6.85042309e-01 7.22508241e-01 -9.32677653e-02 -4.02832434e+01] [-1.33563566e-01 1.29456896e-03 9.91039403e-01 -1.65841594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters 0.031214039827546513 Centerline is valid? [True, True] Translation: X:134.61, Y:-40.32, Z:-16.59 [[ 7.18992490e-01 6.88485744e-01 9.50640796e-02 1.34605919e+02] [-6.82202160e-01 7.25247419e-01 -9.28245347e-02 -4.03225318e+01] [-1.32853347e-01 1.88722288e-03 9.91133909e-01 -1.65919035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters 0.032017185546870094 Centerline is valid? [True, True] Translation: X:134.65, Y:-40.36, Z:-16.60 [[ 7.22676172e-01 6.84647891e-01 9.48494369e-02 1.34654543e+02] [-6.78348738e-01 7.28869158e-01 -9.26970339e-02 -4.03612204e+01] [-1.32597658e-01 2.64894178e-03 9.91166406e-01 -1.65994881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters 0.03243595039238896 Centerline is valid? [True, True] Translation: X:134.70, Y:-40.40, Z:-16.61 [[ 7.24757030e-01 6.82487327e-01 9.45425627e-02 1.34703161e+02] [-6.76200007e-01 7.30890878e-01 -9.24774298e-02 -4.04005822e+01] [-1.32214971e-01 3.09398585e-03 9.91216237e-01 -1.66058232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters 0.033254283107400306 Centerline is valid? [True, True] Translation: X:134.75, Y:-40.44, Z:-16.61 [[ 7.28342142e-01 6.78691661e-01 9.43151816e-02 1.34750464e+02] [-6.72392420e-01 7.34413325e-01 -9.23336404e-02 -4.04395742e+01] [-1.31932398e-01 3.83366825e-03 9.91251303e-01 -1.66143819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters 0.03498553813589005 Centerline is valid? [True, True] Translation: X:134.80, Y:-40.48, Z:-16.62 [[ 7.35194031e-01 6.71652400e-01 9.15029585e-02 1.34798177e+02] [-6.65662058e-01 7.40849582e-01 -8.96433014e-02 -4.04783611e+01] [-1.27999067e-01 4.99517242e-03 9.91761709e-01 -1.66197916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters 0.037997944571681076 Centerline is valid? [True, True] Translation: X:134.84, Y:-40.52, Z:-16.63 [[ 7.42874357e-01 6.63109948e-01 9.17762795e-02 1.34840227e+02] [-6.57016846e-01 7.48493767e-01 -8.99218858e-02 -4.05214879e+01] [-1.28322070e-01 6.50210144e-03 9.91711233e-01 -1.66275929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters 0.03948382745689505 Centerline is valid? [True, True] Translation: X:134.88, Y:-40.56, Z:-16.63 [[ 7.46840847e-01 6.58619481e-01 9.19191377e-02 1.34883158e+02] [-6.52472126e-01 7.52440806e-01 -9.00719667e-02 -4.05640136e+01] [-1.28486862e-01 7.29474873e-03 9.91684382e-01 -1.66337649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters 0.03954551960638014 Centerline is valid? [True, True] Translation: X:134.92, Y:-40.61, Z:-16.64 [[ 7.46915180e-01 6.58571814e-01 9.16563063e-02 1.34924608e+02] [-6.52457124e-01 7.52482524e-01 -8.98318011e-02 -4.06100679e+01] [-1.28130461e-01 7.29492596e-03 9.91730492e-01 -1.66413609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters 0.03917021305687744 Centerline is valid? [True, True] Translation: X:134.96, Y:-40.66, Z:-16.65 [[ 7.45934788e-01 6.59726739e-01 9.13341266e-02 1.34963973e+02] [-6.53654447e-01 7.51471791e-01 -8.95880119e-02 -4.06586044e+01] [-1.27738627e-01 7.12585662e-03 9.91782267e-01 -1.66489102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters 0.03815900677003769 Centerline is valid? [True, True] Translation: X:135.00, Y:-40.71, Z:-16.66 [[ 7.44427079e-01 6.61391502e-01 9.15947874e-02 1.35001812e+02] [-6.55288060e-01 7.50009008e-01 -8.99113222e-02 -4.07091445e+01] [-1.28163500e-01 6.91145235e-03 9.91728970e-01 -1.66557024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters 0.038573299296927356 Centerline is valid? [True, True] Translation: X:135.04, Y:-40.76, Z:-16.66 [[ 7.43090016e-01 6.62661291e-01 9.32590039e-02 1.35042074e+02] [-6.56338541e-01 7.48887984e-01 -9.15778737e-02 -4.07563816e+01] [-1.30525659e-01 6.84112504e-03 9.91421329e-01 -1.66624921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62592 meters 0.03746445118897902 Centerline is valid? [True, True] Translation: X:135.08, Y:-40.81, Z:-16.67 [[ 7.40860328e-01 6.65214492e-01 9.28205439e-02 1.35080306e+02] [-6.58962248e-01 7.46624778e-01 -9.12151063e-02 -4.08051471e+01] [-1.29979729e-01 6.41241927e-03 9.91495916e-01 -1.66694154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters 0.03554332898635858 Centerline is valid? [True, True] Translation: X:135.12, Y:-40.85, Z:-16.68 [[ 7.36089753e-01 6.70738383e-01 9.10049340e-02 1.35118088e+02] [-6.64769126e-01 7.41674778e-01 -8.94456993e-02 -4.08535903e+01] [-1.27490728e-01 5.34279231e-03 9.91825372e-01 -1.66760358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters 0.03368855793375125 Centerline is valid? [True, True] Translation: X:135.16, Y:-40.90, Z:-16.68 [[ 7.28386996e-01 6.78652179e-01 9.42528693e-02 1.35157089e+02] [-6.72311018e-01 7.34448280e-01 -9.26478218e-02 -4.08999070e+01] [-1.32099504e-01 4.11622613e-03 9.91227914e-01 -1.66834435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters 0.03214810451748858 Centerline is valid? [True, True] Translation: X:135.20, Y:-40.94, Z:-16.69 [[ 7.22734474e-01 6.84676725e-01 9.41948075e-02 1.35199998e+02] [-6.78392943e-01 7.28840618e-01 -9.25978891e-02 -4.09437333e+01] [-1.32052621e-01 3.02259401e-03 9.91238099e-01 -1.66901203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters 0.03133911866534032 Centerline is valid? [True, True] Translation: X:135.24, Y:-40.99, Z:-16.70 [[ 7.16393422e-01 6.91344811e-01 9.39298552e-02 1.35241866e+02] [-6.85150849e-01 7.22522728e-01 -9.23537864e-02 -4.09885041e+01] [-1.31714766e-01 1.80552510e-03 9.91286013e-01 -1.66968645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters 0.03106679859987689 Centerline is valid? [True, True] Translation: X:135.29, Y:-41.02, Z:-16.70 [[ 7.10421167e-01 6.97271889e-01 9.54655883e-02 1.35293693e+02] [-6.90922548e-01 7.16806366e-01 -9.38864557e-02 -4.10243629e+01] [-1.33894728e-01 7.39597986e-04 9.90995285e-01 -1.67031944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters 0.030463645570036436 Centerline is valid? [True, True] Translation: X:135.34, Y:-41.06, Z:-16.71 [[ 7.05797635e-01 7.02258235e-01 9.31829908e-02 1.35341657e+02] [-6.96242456e-01 7.11922294e-01 -9.17228991e-02 -4.10637576e+01] [-1.30752210e-01 -1.40149083e-04 9.91415069e-01 -1.67111596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters 0.030461952090059176 Centerline is valid? [True, True] Translation: X:135.39, Y:-41.10, Z:-16.72 [[ 7.02546859e-01 7.05468634e-01 9.34982215e-02 1.35394621e+02] [-6.99428826e-01 7.08740817e-01 -9.21182435e-02 -4.10994986e+01] [-1.31252537e-01 -6.77968716e-04 9.91348734e-01 -1.67177675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters 0.030405234211701604 Centerline is valid? [True, True] Translation: X:135.45, Y:-41.13, Z:-16.72 [[ 7.03695083e-01 7.04437381e-01 9.26347970e-02 1.35446299e+02] [-6.98487948e-01 7.09766021e-01 -9.13607235e-02 -4.11348551e+01] [-1.30106940e-01 -4.14197296e-04 9.91499880e-01 -1.67240660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters 0.030498304148440653 Centerline is valid? [True, True] Translation: X:135.50, Y:-41.17, Z:-16.73 [[ 7.08850627e-01 6.99395730e-01 9.15226811e-02 1.35499379e+02] [-6.93535874e-01 7.14734418e-01 -9.03476785e-02 -4.11698763e+01] [-1.28603191e-01 5.68745916e-04 9.91695969e-01 -1.67319593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters 0.03098695963851045 Centerline is valid? [True, True] Translation: X:135.55, Y:-41.21, Z:-16.74 [[ 7.12059923e-01 6.95983193e-01 9.26178174e-02 1.35547610e+02] [-6.89940248e-01 7.18056949e-01 -9.15241600e-02 -4.12082700e+01] [-1.30204145e-01 1.26992639e-03 9.91486393e-01 -1.67392411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters 0.031701593916927145 Centerline is valid? [True, True] Translation: X:135.60, Y:-41.25, Z:-16.75 [[ 7.16105011e-01 6.91600407e-01 9.42469675e-02 1.35596802e+02] [-6.85293309e-01 7.22277089e-01 -9.32142010e-02 -4.12462265e+01] [-1.32539405e-01 2.16434014e-03 9.91175374e-01 -1.67463412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters 0.03251713692965805 Centerline is valid? [True, True] Translation: X:135.64, Y:-41.29, Z:-16.76 [[ 7.16829671e-01 6.90485402e-01 9.68768910e-02 1.35644068e+02] [-6.83797583e-01 7.23342003e-01 -9.59020974e-02 -4.12864553e+01] [-1.36294123e-01 2.50128500e-03 9.90665259e-01 -1.67550129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters 0.032667959648271974 Centerline is valid? [True, True] Translation: X:135.69, Y:-41.33, Z:-16.76 [[ 7.17956453e-01 6.89474590e-01 9.57252390e-02 1.35690703e+02] [-6.82925286e-01 7.24304758e-01 -9.48455146e-02 -4.13285592e+01] [-1.34727818e-01 2.72176311e-03 9.90878906e-01 -1.67632672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters 0.033677505366884526 Centerline is valid? [True, True] Translation: X:135.74, Y:-41.37, Z:-16.77 [[ 7.21225925e-01 6.85866892e-01 9.70555129e-02 1.35736039e+02] [-6.79089052e-01 7.27718561e-01 -9.62484018e-02 -4.13706574e+01] [-1.36642690e-01 3.50750635e-03 9.90614190e-01 -1.67709381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters 0.034482068685417484 Centerline is valid? [True, True] Translation: X:135.78, Y:-41.41, Z:-16.78 [[ 7.23663194e-01 6.83257379e-01 9.73187290e-02 1.35779209e+02] [-6.76414382e-01 7.30166459e-01 -9.65428684e-02 -4.14149129e+01] [-1.37022499e-01 4.03673257e-03 9.90559710e-01 -1.67785902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters 0.03455073725747461 Centerline is valid? [True, True] Translation: X:135.82, Y:-41.46, Z:-16.79 [[ 7.22897250e-01 6.84095091e-01 9.71260616e-02 1.35822779e+02] [-6.77275471e-01 7.29382243e-01 -9.64338125e-02 -4.14584406e+01] [-1.36811922e-01 3.93063872e-03 9.90589243e-01 -1.67854984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters 0.034358191310127593 Centerline is valid? [True, True] Translation: X:135.87, Y:-41.50, Z:-16.79 [[ 7.21631835e-01 6.85358836e-01 9.76256191e-02 1.35866056e+02] [-6.78468557e-01 7.28195746e-01 -9.70122308e-02 -4.15024921e+01] [-1.37578750e-01 3.77120124e-03 9.90483652e-01 -1.67919581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters 0.03327229469976071 Centerline is valid? [True, True] Translation: X:135.91, Y:-41.55, Z:-16.80 [[ 7.18337452e-01 6.89102603e-01 9.55453193e-02 1.35905798e+02] [-6.82527427e-01 7.24657406e-01 -9.50155554e-02 -4.15495889e+01] [-1.34713090e-01 3.04093100e-03 9.90879981e-01 -1.67998982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters 0.032827361246781823 Centerline is valid? [True, True] Translation: X:135.95, Y:-41.59, Z:-16.81 [[ 7.15080551e-01 6.92412093e-01 9.60484240e-02 1.35948314e+02] [-6.85792043e-01 7.21498065e-01 -9.55500691e-02 -4.15938931e+01] [-1.35458775e-01 2.45675116e-03 9.90779937e-01 -1.68087463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters 0.03311883664445479 Centerline is valid? [True, True] Translation: X:135.99, Y:-41.64, Z:-16.81 [[ 7.16047493e-01 6.91302314e-01 9.68354205e-02 1.35990843e+02] [-6.84551129e-01 7.22560410e-01 -9.64168296e-02 -4.16389017e+01] [-1.36622619e-01 2.75023271e-03 9.90619350e-01 -1.68128628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters 0.0334836738088613 Centerline is valid? [True, True] Translation: X:136.03, Y:-41.68, Z:-16.82 [[ 7.17588202e-01 6.89844365e-01 9.58223571e-02 1.36033490e+02] [-6.83210176e-01 7.23951250e-01 -9.54905377e-02 -4.16832404e+01] [-1.35244325e-01 3.05607380e-03 9.90807566e-01 -1.68207121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters 0.03424362106300752 Centerline is valid? [True, True] Translation: X:136.07, Y:-41.73, Z:-16.83 [[ 7.21097403e-01 6.86243352e-01 9.53341376e-02 1.36072058e+02] [-6.79634423e-01 7.27362237e-01 -9.50853715e-02 -4.17313278e+01] [-1.34594156e-01 3.77345286e-03 9.90893624e-01 -1.68287739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters 0.03464082051034832 Centerline is valid? [True, True] Translation: X:136.11, Y:-41.78, Z:-16.83 [[ 7.22156680e-01 6.85153980e-01 9.51512091e-02 1.36110659e+02] [-6.78550768e-01 7.28387139e-01 -9.49791074e-02 -4.17807877e+01] [-1.34382230e-01 4.02487088e-03 9.90921398e-01 -1.68342589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters 0.03492830731724013 Centerline is valid? [True, True] Translation: X:136.15, Y:-41.83, Z:-16.84 [[ 7.23170891e-01 6.84092824e-01 9.50834873e-02 1.36148345e+02] [-6.77478928e-01 7.29382409e-01 -9.49926479e-02 -4.18311857e+01] [-1.34336012e-01 4.27885878e-03 9.90926600e-01 -1.68402720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters 0.03410741901600835 Centerline is valid? [True, True] Translation: X:136.18, Y:-41.88, Z:-16.85 [[ 7.20745360e-01 6.86772215e-01 9.41809470e-02 1.36183878e+02] [-6.80295895e-01 7.26862759e-01 -9.41701914e-02 -4.18834717e+01] [-1.33130094e-01 3.80181684e-03 9.91091279e-01 -1.68479734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters 0.033965224802503 Centerline is valid? [True, True] Translation: X:136.15, Y:-42.28, Z:-14.87 [[ 7.35395426e-01 -6.74386268e-01 -6.63078361e-02 1.36148151e+02] [-6.70938585e-01 -7.38356153e-01 6.83491494e-02 -4.22777527e+01] [-9.50525266e-02 -5.77516608e-03 -9.95455506e-01 -1.48716694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters 0.03365892332114259 Centerline is valid? [True, True] Translation: X:136.21, Y:-41.95, Z:-16.86 [[ 7.65880681e-01 6.34998841e-01 1.01011160e-01 1.36209988e+02] [-6.28972466e-01 7.72505783e-01 -8.73410037e-02 -4.19531308e+01] [-1.33493142e-01 3.35954880e-03 9.91044043e-01 -1.68558414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters 0.03334508927796575 Centerline is valid? [True, True] Translation: X:136.25, Y:-42.00, Z:-16.86 [[ 7.64250391e-01 6.36923073e-01 1.01243958e-01 1.36252212e+02] [-6.30875226e-01 7.70921169e-01 -8.76184868e-02 -4.19980225e+01] [-1.33857346e-01 3.09015807e-03 9.90995793e-01 -1.68639584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters 0.03251533651197441 Centerline is valid? [True, True] Translation: X:136.29, Y:-42.05, Z:-16.87 [[ 7.59290639e-01 6.42782903e-01 1.01527655e-01 1.36293170e+02] [-6.36742222e-01 7.66045442e-01 -8.79415911e-02 -4.20454915e+01] [-1.34302149e-01 2.12628203e-03 9.90938147e-01 -1.68710741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters 0.03145591005509621 Centerline is valid? [True, True] Translation: X:136.34, Y:-42.09, Z:-16.88 [[ 7.51165150e-01 6.52348127e-01 1.00959585e-01 1.36335609e+02] [-6.46449782e-01 7.57919315e-01 -8.75270818e-02 -4.20912705e+01] [-1.33617348e-01 4.81991587e-04 9.91032881e-01 -1.68782970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters 0.03129523217699181 Centerline is valid? [True, True] Translation: X:136.38, Y:-42.14, Z:-16.88 [[ 7.46686986e-01 6.57524659e-01 1.00597554e-01 1.36380620e+02] [-6.51704394e-01 7.53432930e-01 -8.72937698e-02 -4.21351619e+01] [-1.33191316e-01 -3.78745942e-04 9.91090273e-01 -1.68846117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters 0.031709837883373435 Centerline is valid? [True, True] Translation: X:136.43, Y:-42.17, Z:-16.89 [[ 7.40289418e-01 6.64437699e-01 1.02440821e-01 1.36428251e+02] [-6.58453735e-01 7.47341996e-01 -8.89866302e-02 -4.21748959e+01] [-1.35684400e-01 -1.57668063e-03 9.90750856e-01 -1.68918457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60592 meters 0.031900741201592135 Centerline is valid? [True, True] Translation: X:136.48, Y:-42.21, Z:-16.90 [[ 7.37082931e-01 6.67971344e-01 1.02581857e-01 1.36477199e+02] [-6.61993496e-01 7.44183839e-01 -8.91909487e-02 -4.22121137e+01] [-1.35916758e-01 -2.16739598e-03 9.90717890e-01 -1.68984879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters 0.03180736654269298 Centerline is valid? [True, True] Translation: X:136.53, Y:-42.25, Z:-16.91 [[ 7.34698474e-01 6.70769778e-01 1.01420199e-01 1.36526112e+02] [-6.64943258e-01 7.41661084e-01 -8.82570147e-02 -4.22500919e+01] [-1.34419553e-01 -2.59638329e-03 9.90921108e-01 -1.69052476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters 0.031711726899060544 Centerline is valid? [True, True] Translation: X:136.58, Y:-42.28, Z:-16.91 [[ 7.34119239e-01 6.71097462e-01 1.03426981e-01 1.36578162e+02] [-6.65028456e-01 7.41364414e-01 -9.00886123e-02 -4.22845508e+01] [-1.37135322e-01 -2.64610201e-03 9.90548788e-01 -1.69112891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters 0.031377241280013755 Centerline is valid? [True, True] Translation: X:136.63, Y:-42.32, Z:-16.92 [[ 7.36169283e-01 6.68843078e-01 1.03458805e-01 1.36628794e+02] [-6.62736415e-01 7.43400471e-01 -9.02008035e-02 -4.23209824e+01] [-1.37241507e-01 -2.16285674e-03 9.90535255e-01 -1.69188311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters 0.03127993445626269 Centerline is valid? [True, True] Translation: X:136.68, Y:-42.36, Z:-16.93 [[ 7.37953436e-01 6.66667175e-01 1.04783602e-01 1.36678331e+02] [-6.60368106e-01 7.45353566e-01 -9.14441139e-02 -4.23597519e+01] [-1.39063621e-01 -1.71425069e-03 9.90281965e-01 -1.69252474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters 0.03103040553305154 Centerline is valid? [True, True] Translation: X:136.73, Y:-42.40, Z:-16.93 [[ 7.42519705e-01 6.61466868e-01 1.05480194e-01 1.36729656e+02] [-6.55017240e-01 7.49974089e-01 -9.21481456e-02 -4.23955763e+01] [-1.40060358e-01 -6.69531699e-04 9.90142741e-01 -1.69320538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters 0.03129486415831665 Centerline is valid? [True, True] Translation: X:136.78, Y:-42.43, Z:-16.94 [[ 7.47765109e-01 6.55505297e-01 1.05641601e-01 1.36781633e+02] [-6.48963652e-01 7.55190397e-01 -9.23777179e-02 -4.24318072e+01] [-1.40333606e-01 5.19274971e-04 9.90104141e-01 -1.69394710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters 0.03142823887126716 Centerline is valid? [True, True] Translation: X:136.83, Y:-42.47, Z:-16.94 [[ 7.52763704e-01 6.50401762e-01 1.01608827e-01 1.36831152e+02] [-6.44293689e-01 7.59588930e-01 -8.89398603e-02 -4.24696016e+01] [-1.35027582e-01 1.48477239e-03 9.90840728e-01 -1.69449533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters 0.03195408981016346 Centerline is valid? [True, True] Translation: X:136.88, Y:-42.51, Z:-16.95 [[ 7.55530168e-01 6.47085122e-01 1.02249745e-01 1.36879847e+02] [-6.40857921e-01 7.62414720e-01 -8.95819199e-02 -4.25080574e+01] [-1.35923838e-01 2.15428424e-03 9.90716947e-01 -1.69525261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters 0.032627240433317405 Centerline is valid? [True, True] Translation: X:136.93, Y:-42.55, Z:-16.96 [[ 7.56973265e-01 6.45268149e-01 1.03055768e-01 1.36928541e+02] [-6.38913968e-01 7.63951862e-01 -9.03686591e-02 -4.25468135e+01] [-1.37041663e-01 2.56288938e-03 9.90561969e-01 -1.69599370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters 0.03275532507505108 Centerline is valid? [True, True] Translation: X:136.98, Y:-42.59, Z:-16.97 [[ 7.58320225e-01 6.43863180e-01 1.01934496e-01 1.36975452e+02] [-6.37623701e-01 7.65135348e-01 -8.94646018e-02 -4.25883049e+01] [-1.35596649e-01 2.84696618e-03 9.90760033e-01 -1.69684152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters 0.03306767831748524 Centerline is valid? [True, True] Translation: X:137.02, Y:-42.63, Z:-16.97 [[ 7.60585649e-01 6.41650428e-01 9.89656432e-02 1.37021849e+02] [-6.35740849e-01 7.66990492e-01 -8.69434218e-02 -4.26302801e+01] [-1.31692991e-01 3.21141690e-03 9.91285349e-01 -1.69735119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters 0.03349113447354377 Centerline is valid? [True, True] Translation: X:137.07, Y:-42.67, Z:-16.98 [[ 7.60780024e-01 6.41245240e-01 1.00091447e-01 1.37067158e+02] [-6.35184554e-01 7.67328527e-01 -8.80199600e-02 -4.26720878e+01] [-1.33245403e-01 3.38728637e-03 9.91077287e-01 -1.69804196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters 0.03340096504443057 Centerline is valid? [True, True] Translation: X:137.11, Y:-42.72, Z:-16.99 [[ 7.59000654e-01 6.43261930e-01 1.00658311e-01 1.37111324e+02] [-6.37139188e-01 7.65639870e-01 -8.85959613e-02 -4.27155741e+01] [-1.34058425e-01 3.11103776e-03 9.90968546e-01 -1.69865520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters 0.033425153331253614 Centerline is valid? [True, True] Translation: X:137.16, Y:-42.76, Z:-16.99 [[ 7.58974931e-01 6.43327272e-01 1.00434434e-01 1.37157049e+02] [-6.37221902e-01 7.65584797e-01 -8.84769277e-02 -4.27590406e+01] [-1.33810696e-01 3.15274910e-03 9.91001896e-01 -1.69947738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters 0.03343272507744033 Centerline is valid? [True, True] Translation: X:137.20, Y:-42.80, Z:-17.00 [[ 7.59566326e-01 6.42645578e-01 1.00327752e-01 1.37203023e+02] [-6.36535754e-01 7.66156338e-01 -8.84686356e-02 -4.28008941e+01] [-1.33720721e-01 3.33559527e-03 9.91013442e-01 -1.70012146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters 0.034017429476991205 Centerline is valid? [True, True] Translation: X:137.25, Y:-42.84, Z:-17.01 [[ 7.62046369e-01 6.39710115e-01 1.00281105e-01 1.37247010e+02] [-6.33571070e-01 7.68606351e-01 -8.84984556e-02 -4.28442188e+01] [-1.33690051e-01 3.90471994e-03 9.91015501e-01 -1.70059120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters 0.03412435590629358 Centerline is valid? [True, True] Translation: X:137.29, Y:-42.89, Z:-17.01 [[ 7.62561960e-01 6.39256043e-01 9.92520472e-02 1.37292948e+02] [-6.33233097e-01 7.68983673e-01 -8.76353545e-02 -4.28870694e+01] [-1.32344634e-01 3.97770651e-03 9.91195781e-01 -1.70133835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters 0.03385079802663645 Centerline is valid? [True, True] Translation: X:137.34, Y:-42.93, Z:-17.02 [[ 7.60953948e-01 6.41002991e-01 1.00320754e-01 1.37336584e+02] [-6.34852380e-01 7.67529064e-01 -8.86656153e-02 -4.29305056e+01] [-1.33834019e-01 3.78158076e-03 9.90996546e-01 -1.70218961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters 0.03430975135148797 Centerline is valid? [True, True] Translation: X:137.38, Y:-42.97, Z:-17.03 [[ 7.61557805e-01 6.39953171e-01 1.02418985e-01 1.37381800e+02] [-6.33520890e-01 7.68402909e-01 -9.05994008e-02 -4.29727489e+01] [-1.36678420e-01 4.11211403e-03 9.90606935e-01 -1.70278903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters 0.03381207434314437 Centerline is valid? [True, True] Translation: X:137.43, Y:-43.02, Z:-17.04 [[ 7.61892845e-01 6.39963673e-01 9.98288037e-02 1.37425862e+02] [-6.33844258e-01 7.68394428e-01 -8.83824554e-02 -4.30162316e+01] [-1.33269457e-01 4.06204636e-03 9.91071517e-01 -1.70350117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters 0.033209071265478944 Centerline is valid? [True, True] Translation: X:137.47, Y:-43.06, Z:-17.04 [[ 7.59945604e-01 6.42443934e-01 9.87343424e-02 1.37470833e+02] [-6.36469487e-01 7.66324024e-01 -8.74876164e-02 -4.30586014e+01] [-1.31868387e-01 3.64443327e-03 9.91260534e-01 -1.70406782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters 0.031860241449239976 Centerline is valid? [True, True] Translation: X:137.52, Y:-43.10, Z:-17.05 [[ 7.54006053e-01 6.48886597e-01 1.02083577e-01 1.37515020e+02] [-6.42546270e-01 7.60880466e-01 -9.05273879e-02 -4.31027934e+01] [-1.36415408e-01 2.66477701e-03 9.90648139e-01 -1.70476426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters 0.030756898763551362 Centerline is valid? [True, True] Translation: X:137.56, Y:-43.14, Z:-17.06 [[ 7.49266117e-01 6.54691345e-01 9.98975932e-02 1.37561879e+02] [-6.48668587e-01 7.55894636e-01 -8.86135652e-02 -4.31414622e+01] [-1.33526589e-01 1.59471131e-03 9.91043948e-01 -1.70550232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters 0.03038656404392208 Centerline is valid? [True, True] Translation: X:137.61, Y:-43.18, Z:-17.06 [[ 7.47282911e-01 6.56864585e-01 1.00484669e-01 1.37609300e+02] [-6.50786824e-01 7.54007560e-01 -8.91577800e-02 -4.31822448e+01] [-1.34330788e-01 1.23198645e-03 9.90935781e-01 -1.70624631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters 0.030567702298721404 Centerline is valid? [True, True] Translation: X:137.66, Y:-43.22, Z:-17.07 [[ 7.47458021e-01 6.56514843e-01 1.01463137e-01 1.37662317e+02] [-6.50301818e-01 7.54311847e-01 -9.01176004e-02 -4.32165464e+01] [-1.35698388e-01 1.37746081e-03 9.90749237e-01 -1.70668435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters 0.030560023105353773 Centerline is valid? [True, True] Translation: X:137.71, Y:-43.25, Z:-17.08 [[ 7.48640324e-01 6.55404223e-01 9.99148138e-02 1.37714094e+02] [-6.49359835e-01 7.55276572e-01 -8.88206372e-02 -4.32511203e+01] [-1.33676739e-01 1.61404367e-03 9.91023675e-01 -1.70753774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters 0.030674826046463793 Centerline is valid? [True, True] Translation: X:137.76, Y:-43.29, Z:-17.08 [[ 7.51838026e-01 6.51926035e-01 9.86510366e-02 1.37763655e+02] [-6.45993980e-01 7.58279181e-01 -8.77750669e-02 -4.32887405e+01] [-1.32027879e-01 2.26465731e-03 9.91243416e-01 -1.70827605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters 0.03173001549838367 Centerline is valid? [True, True] Translation: X:137.81, Y:-43.33, Z:-17.09 [[ 7.55693678e-01 6.47488284e-01 9.84174086e-02 1.37812598e+02] [-6.41536513e-01 7.62069123e-01 -8.76444741e-02 -4.33271255e+01] [-1.31749639e-01 3.09401390e-03 9.91278195e-01 -1.70888267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters 0.03259565546858806 Centerline is valid? [True, True] Translation: X:137.86, Y:-43.37, Z:-17.10 [[ 7.58509868e-01 6.44068794e-01 9.91875401e-02 1.37858145e+02] [-6.37984189e-01 7.64958262e-01 -8.84026656e-02 -4.33675778e+01] [-1.32811727e-01 3.77421191e-03 9.91134098e-01 -1.70981402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters 0.03348100034961096 Centerline is valid? [True, True] Translation: X:137.90, Y:-43.41, Z:-17.11 [[ 7.61596899e-01 6.40390787e-01 9.93468860e-02 1.37903315e+02] [-6.34250555e-01 7.68036344e-01 -8.85799582e-02 -4.34099224e+01] [-1.33027808e-01 4.45140385e-03 9.91102309e-01 -1.71063409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters 0.03440189868636939 Centerline is valid? [True, True] Translation: X:137.95, Y:-43.45, Z:-17.11 [[ 7.64472109e-01 6.37081258e-01 9.85386469e-02 1.37947712e+02] [-6.31010736e-01 7.70780407e-01 -8.78806883e-02 -4.34535065e+01] [-1.31938798e-01 5.00339110e-03 9.91245237e-01 -1.71124959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters 0.03574080825616941 Centerline is valid? [True, True] Translation: X:137.99, Y:-43.50, Z:-17.12 [[ 7.67353234e-01 6.33650956e-01 9.82623051e-02 1.37992949e+02] [-6.27583729e-01 7.73598838e-01 -8.76555839e-02 -4.34957251e+01] [-1.31558650e-01 5.59497196e-03 9.91292600e-01 -1.71212940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters 0.03642512892872731 Centerline is valid? [True, True] Translation: X:138.04, Y:-43.54, Z:-17.13 [[ 7.69024924e-01 6.31439903e-01 9.94198904e-02 1.38036430e+02] [-6.25205986e-01 7.75401081e-01 -8.87166193e-02 -4.35388651e+01] [-1.33109504e-01 6.06738076e-03 9.91082765e-01 -1.71285629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters 0.036870558404361216 Centerline is valid? [True, True] Translation: X:138.08, Y:-43.58, Z:-17.14 [[ 7.69909089e-01 6.30453926e-01 9.88323886e-02 1.38079514e+02] [-6.24276586e-01 7.76201476e-01 -8.82610525e-02 -4.35829337e+01] [-1.32358373e-01 6.25424047e-03 9.91182196e-01 -1.71354766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters 0.03631470415228169 Centerline is valid? [True, True] Translation: X:138.12, Y:-43.63, Z:-17.14 [[ 7.68115156e-01 6.32404040e-01 1.00320674e-01 1.38121673e+02] [-6.26045500e-01 7.74614984e-01 -8.96585721e-02 -4.36290451e+01] [-1.34410340e-01 6.06280163e-03 9.90907212e-01 -1.71436563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters 0.036429039463358716 Centerline is valid? [True, True] Translation: X:138.17, Y:-43.67, Z:-17.15 [[ 7.67485939e-01 6.33131967e-01 1.00544744e-01 1.38167412e+02] [-6.26746187e-01 7.74020794e-01 -8.98945324e-02 -4.36718585e+01] [-1.34738825e-01 5.97675481e-03 9.90863123e-01 -1.71512597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters 0.0362271242706558 Centerline is valid? [True, True] Translation: X:138.21, Y:-43.72, Z:-17.16 [[ 7.67044364e-01 6.33684201e-01 1.00435431e-01 1.38211610e+02] [-6.27305399e-01 7.73569031e-01 -8.98826519e-02 -4.37161559e+01] [-1.34650956e-01 5.94029346e-03 9.90875286e-01 -1.71603329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters 0.03650935426939701 Centerline is valid? [True, True] Translation: X:138.26, Y:-43.76, Z:-17.17 [[ 7.67636646e-01 6.32926415e-01 1.00688296e-01 1.38257035e+02] [-6.26497322e-01 7.74187491e-01 -9.01933148e-02 -4.37586151e+01] [-1.35037350e-01 6.15474611e-03 9.90821393e-01 -1.71674664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters 0.0369605971431239 Centerline is valid? [True, True] Translation: X:138.30, Y:-43.80, Z:-17.18 [[ 7.68342199e-01 6.32191721e-01 9.99194358e-02 1.38302530e+02] [-6.25844688e-01 7.74786437e-01 -8.95790413e-02 -4.38008873e+01] [-1.34047352e-01 6.29330944e-03 9.90954944e-01 -1.71753433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters 0.03659611211048928 Centerline is valid? [True, True] Translation: X:138.35, Y:-43.84, Z:-17.18 [[ 7.67458848e-01 6.33504993e-01 9.83785530e-02 1.38347838e+02] [-6.27354160e-01 7.73715138e-01 -8.82702784e-02 -4.38430297e+01] [-1.32036638e-01 6.02561171e-03 9.91226522e-01 -1.71829384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters 0.036455103718896806 Centerline is valid? [True, True] Translation: X:138.39, Y:-43.89, Z:-17.19 [[ 7.65494324e-01 6.35684351e-01 9.96185019e-02 1.38393056e+02] [-6.29384821e-01 7.71927446e-01 -8.94581759e-02 -4.38850883e+01] [-1.33765418e-01 5.78135287e-03 9.90996160e-01 -1.71905949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters 0.03650244876948664 Centerline is valid? [True, True] Translation: X:138.44, Y:-43.93, Z:-17.20 [[ 7.65988068e-01 6.35350055e-01 9.79417568e-02 1.38439726e+02] [-6.29249254e-01 7.72202497e-01 -8.80265867e-02 -4.39273777e+01] [-1.31558566e-01 5.79753764e-03 9.91291447e-01 -1.71983080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters 0.036695614160663984 Centerline is valid? [True, True] Translation: X:138.48, Y:-43.97, Z:-17.21 [[ 7.65896455e-01 6.35412082e-01 9.82553131e-02 1.38483504e+02] [-6.29261386e-01 7.72150907e-01 -8.83916553e-02 -4.39709641e+01] [-1.32033055e-01 5.87058094e-03 9.91227930e-01 -1.72050831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters 0.035735578835529976 Centerline is valid? [True, True] Translation: X:138.53, Y:-44.01, Z:-17.21 [[ 7.62126487e-01 6.39748296e-01 9.94250205e-02 1.38527847e+02] [-6.33477093e-01 7.68566664e-01 -8.95100878e-02 -4.40128584e+01] [-1.33678683e-01 5.23453588e-03 9.91010903e-01 -1.72100783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters 0.034287470996678726 Centerline is valid? [True, True] Translation: X:138.57, Y:-44.06, Z:-17.22 [[ 7.57263346e-01 6.45375653e-01 1.00212235e-01 1.38568005e+02] [-6.39051283e-01 7.63853313e-01 -9.02306746e-02 -4.40595685e+01] [-1.34780128e-01 4.28762546e-03 9.90866254e-01 -1.72189412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters 0.03384762924903375 Centerline is valid? [True, True] Translation: X:138.61, Y:-44.10, Z:-17.23 [[ 7.53528830e-01 6.49452349e-01 1.02009553e-01 1.38612797e+02] [-6.42931088e-01 7.60393549e-01 -9.18763639e-02 -4.41016528e+01] [-1.37236726e-01 3.64637612e-03 9.90531567e-01 -1.72263226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters 0.033624302315621794 Centerline is valid? [True, True] Translation: X:138.66, Y:-44.14, Z:-17.23 [[ 7.52801882e-01 6.50381550e-01 1.01455242e-01 1.38657957e+02] [-6.43928919e-01 7.59599542e-01 -9.14553639e-02 -4.41432570e+01] [-1.36546237e-01 3.51780557e-03 9.90627453e-01 -1.72335618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters 0.03320909950474771 Centerline is valid? [True, True] Translation: X:138.70, Y:-44.18, Z:-17.24 [[ 7.49903355e-01 6.53847824e-01 1.00637868e-01 1.38704239e+02] [-6.47519476e-01 7.56620429e-01 -9.07967734e-02 -4.41841315e+01] [-1.35511939e-01 2.92382568e-03 9.90771399e-01 -1.72407151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters 0.0330735445767871 Centerline is valid? [True, True] Translation: X:138.75, Y:-44.23, Z:-17.25 [[ 7.47997152e-01 6.55919088e-01 1.01343029e-01 1.38747846e+02] [-6.49509034e-01 7.54826628e-01 -9.15138001e-02 -4.42274081e+01] [-1.36522065e-01 2.62884882e-03 9.90633542e-01 -1.72484014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters 0.03277724114348594 Centerline is valid? [True, True] Translation: X:138.79, Y:-44.27, Z:-17.25 [[ 7.46940747e-01 6.57230556e-01 1.00635561e-01 1.38793087e+02] [-6.50911018e-01 7.53685662e-01 -9.09547708e-02 -4.42697482e+01] [-1.35625834e-01 2.43302877e-03 9.90757142e-01 -1.72548892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters 0.032472525952679056 Centerline is valid? [True, True] Translation: X:138.84, Y:-44.31, Z:-17.26 [[ 7.44657968e-01 6.59877709e-01 1.00229340e-01 1.38841457e+02] [-6.53623296e-01 7.51370359e-01 -9.06596424e-02 -4.43093237e+01] [-1.35133632e-01 1.99819379e-03 9.90825367e-01 -1.72609637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters 0.03208295952782989 Centerline is valid? [True, True] Translation: X:138.89, Y:-44.35, Z:-17.27 [[ 7.42303481e-01 6.62555517e-01 1.00028643e-01 1.38887527e+02] [-6.56345303e-01 7.49011233e-01 -9.05152883e-02 -4.43506194e+01] [-1.34893981e-01 1.53648386e-03 9.90858846e-01 -1.72674494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters 0.0322191823634634 Centerline is valid? [True, True] Translation: X:138.94, Y:-44.39, Z:-17.27 [[ 7.43196066e-01 6.61511291e-01 1.00311614e-01 1.38935003e+02] [-6.55245041e-01 7.49933061e-01 -9.08534001e-02 -4.43906080e+01] [-1.35327546e-01 1.79320177e-03 9.90799293e-01 -1.72736556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters 0.03247297850952802 Centerline is valid? [True, True] Translation: X:138.98, Y:-44.43, Z:-17.28 [[ 7.45689912e-01 6.58693854e-01 1.00344217e-01 1.38983669e+02] [-6.52386840e-01 7.52407335e-01 -9.09649009e-02 -4.44283103e+01] [-1.35417746e-01 2.36836253e-03 9.90785761e-01 -1.72817647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters 0.03274703544745569 Centerline is valid? [True, True] Translation: X:139.03, Y:-44.47, Z:-17.29 [[ 7.48671275e-01 6.55504464e-01 9.90213040e-02 1.39032889e+02] [-6.49324821e-01 7.55185468e-01 -8.98453477e-02 -4.44668159e+01] [-1.33673476e-01 2.96764059e-03 9.91020986e-01 -1.72881884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters 0.03312846401922499 Centerline is valid? [True, True] Translation: X:139.08, Y:-44.51, Z:-17.29 [[ 7.50746832e-01 6.53247461e-01 9.82188840e-02 1.39079503e+02] [-6.47138376e-01 7.57136833e-01 -8.91949482e-02 -4.45074843e+01] [-1.32631508e-01 3.40161564e-03 9.91159580e-01 -1.72940990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters 0.03368893160928366 Centerline is valid? [True, True] Translation: X:139.13, Y:-44.55, Z:-17.30 [[ 7.53263039e-01 6.50450650e-01 9.75128006e-02 1.39128871e+02] [-6.44395852e-01 7.59538374e-01 -8.86309473e-02 -4.45457211e+01] [-1.31714771e-01 3.92557248e-03 9.91279884e-01 -1.72983647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters 0.034068947451099445 Centerline is valid? [True, True] Translation: X:139.17, Y:-44.59, Z:-17.31 [[ 7.54688626e-01 6.48784186e-01 9.75917902e-02 1.39173772e+02] [-6.42695429e-01 7.60960425e-01 -8.87795976e-02 -4.45881502e+01] [-1.31862289e-01 4.27915501e-03 9.91258809e-01 -1.73052556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters 0.034049716088465985 Centerline is valid? [True, True] Translation: X:139.22, Y:-44.63, Z:-17.31 [[ 7.53945612e-01 6.49587612e-01 9.79895342e-02 1.39220619e+02] [-6.43445134e-01 7.60275054e-01 -8.92199599e-02 -4.46300776e+01] [-1.32455179e-01 4.21610830e-03 9.91180029e-01 -1.73116467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters 0.032906603055270996 Centerline is valid? [True, True] Translation: X:139.26, Y:-44.67, Z:-17.32 [[ 7.50860272e-01 6.53298863e-01 9.70023133e-02 1.39263033e+02] [-6.47300629e-01 7.57091637e-01 -8.83976797e-02 -4.46738886e+01] [-1.31189744e-01 3.58464741e-03 9.91350796e-01 -1.73172741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters 0.03229638587698271 Centerline is valid? [True, True] Translation: X:139.31, Y:-44.72, Z:-17.32 [[ 7.46711676e-01 6.57946175e-01 9.76140525e-02 1.39309278e+02] [-6.51908933e-01 7.53059753e-01 -8.89705116e-02 -4.47156613e+01] [-1.32047022e-01 2.79984710e-03 9.91239499e-01 -1.73245893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters 0.03166532445205402 Centerline is valid? [True, True] Translation: X:139.36, Y:-44.76, Z:-17.33 [[ 7.41565251e-01 6.63504414e-01 9.92112457e-02 1.39355867e+02] [-6.57309498e-01 7.48170003e-01 -9.04758007e-02 -4.47559671e+01] [-1.34257971e-01 1.88121574e-03 9.90944629e-01 -1.73316218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters 0.031557717360171794 Centerline is valid? [True, True] Translation: X:139.40, Y:-44.80, Z:-17.34 [[ 7.42015149e-01 6.62871302e-01 1.00075747e-01 1.39403109e+02] [-6.56550550e-01 7.48730479e-01 -9.13457417e-02 -4.47958098e+01] [-1.35480233e-01 2.07513723e-03 9.90777876e-01 -1.73373780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters 0.031910943978612404 Centerline is valid? [True, True] Translation: X:139.45, Y:-44.83, Z:-17.35 [[ 7.44352764e-01 6.60345821e-01 9.94100565e-02 1.39451680e+02] [-6.54075901e-01 7.50957219e-01 -9.08183406e-02 -4.48340917e+01] [-1.34624211e-01 2.57916050e-03 9.90893369e-01 -1.73462358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters 0.03180343798120892 Centerline is valid? [True, True] Translation: X:139.50, Y:-44.88, Z:-17.35 [[ 7.44281006e-01 6.60435693e-01 9.93502877e-02 1.39498418e+02] [-6.54162812e-01 7.50878024e-01 -9.08471677e-02 -4.48760773e+01] [-1.34598660e-01 2.62455778e-03 9.90896721e-01 -1.73530370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters 0.0315334243925967 Centerline is valid? [True, True] Translation: X:139.54, Y:-44.92, Z:-17.36 [[ 7.43685014e-01 6.61320347e-01 9.79183260e-02 1.39544339e+02] [-6.55223533e-01 7.50099441e-01 -8.96267325e-02 -4.49176760e+01] [-1.32720463e-01 2.49566634e-03 9.91150367e-01 -1.73586620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters 0.032011625783570745 Centerline is valid? [True, True] Translation: X:139.59, Y:-44.96, Z:-17.37 [[ 7.46482190e-01 6.57955508e-01 9.92919411e-02 1.39588743e+02] [-6.51645012e-01 7.53050005e-01 -9.09641065e-02 -4.49596118e+01] [-1.34622132e-01 3.19998722e-03 9.90891842e-01 -1.73672730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters 0.03276103863106546 Centerline is valid? [True, True] Translation: X:139.63, Y:-45.00, Z:-17.37 [[ 7.49952264e-01 6.53937476e-01 9.96864036e-02 1.39633140e+02] [-6.47531943e-01 7.56538076e-01 -9.13921418e-02 -4.50029005e+01] [-1.35181307e-01 3.98961307e-03 9.90812847e-01 -1.73749519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters 0.03418488683822454 Centerline is valid? [True, True] Translation: X:139.68, Y:-45.05, Z:-17.38 [[ 7.55216805e-01 6.47970491e-01 9.89030844e-02 1.39677152e+02] [-6.41610632e-01 7.61648745e-01 -9.07027320e-02 -4.50452685e+01] [-1.34102104e-01 5.04295701e-03 9.90954688e-01 -1.73822693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters 0.035915029611483545 Centerline is valid? [True, True] Translation: X:139.72, Y:-45.09, Z:-17.39 [[ 7.60722800e-01 6.41611994e-01 9.81573808e-02 1.39718728e+02] [-6.35287584e-01 7.67004595e-01 -9.00757334e-02 -4.50906973e+01] [-1.33080833e-01 6.16449887e-03 9.91086016e-01 -1.73878788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters 0.03747498148838922 Centerline is valid? [True, True] Translation: X:139.76, Y:-45.14, Z:-17.40 [[ 7.65019824e-01 6.36528397e-01 9.78584060e-02 1.39758952e+02] [-6.30198399e-01 7.71221084e-01 -8.98221474e-02 -4.51366918e+01] [-1.32644814e-01 7.04551269e-03 9.91138595e-01 -1.73955455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters 0.03918314882525934 Centerline is valid? [True, True] Translation: X:139.80, Y:-45.19, Z:-17.40 [[ 7.69360556e-01 6.31310502e-01 9.76288087e-02 1.39797195e+02] [-6.24960664e-01 7.75489174e-01 -8.96700063e-02 -4.51857291e+01] [-1.32319701e-01 7.97440081e-03 9.91175013e-01 -1.74027041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters 0.039470963434413094 Centerline is valid? [True, True] Translation: X:139.84, Y:-45.23, Z:-17.41 [[ 7.70427600e-01 6.29918664e-01 9.82027998e-02 1.39835349e+02] [-6.23474582e-01 7.76616670e-01 -9.02551601e-02 -4.52348690e+01] [-1.33119341e-01 8.30811683e-03 9.91065193e-01 -1.74117185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters 0.03894120532209944 Centerline is valid? [True, True] Translation: X:139.87, Y:-45.29, Z:-17.42 [[ 7.68488604e-01 6.31975849e-01 1.00158836e-01 1.39872785e+02] [-6.25284226e-01 7.74945361e-01 -9.20832432e-02 -4.52859074e+01] [-1.35812011e-01 8.13718297e-03 9.90701208e-01 -1.74187167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters 0.03828207787131307 Centerline is valid? [True, True] Translation: X:139.91, Y:-45.33, Z:-17.43 [[ 7.66697902e-01 6.34284897e-01 9.92824111e-02 1.39913349e+02] [-6.27719940e-01 7.73060895e-01 -9.13483928e-02 -4.53321160e+01] [-1.34692255e-01 7.71507194e-03 9.90857444e-01 -1.74264297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters 0.03747920675321981 Centerline is valid? [True, True] Translation: X:139.95, Y:-45.38, Z:-17.43 [[ 7.64158844e-01 6.37295474e-01 9.95778057e-02 1.39953150e+02] [-6.30708711e-01 7.70585428e-01 -9.16767122e-02 -4.53788668e+01] [-1.35158360e-01 7.25098089e-03 9.90797477e-01 -1.74342903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters 0.03684575585725511 Centerline is valid? [True, True] Translation: X:139.99, Y:-45.43, Z:-17.44 [[ 7.63537205e-01 6.37975862e-01 9.99886801e-02 1.39994210e+02] [-6.31331660e-01 7.70022621e-01 -9.21167641e-02 -4.54262954e+01] [-1.35761817e-01 7.20855722e-03 9.90715280e-01 -1.74415673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters 0.03646460708428617 Centerline is valid? [True, True] Translation: X:140.04, Y:-45.47, Z:-17.45 [[ 7.62654545e-01 6.39211432e-01 9.88270686e-02 1.40036433e+02] [-6.32721377e-01 7.68999497e-01 -9.11231754e-02 -4.54723428e+01] [-1.34244941e-01 6.96550503e-03 9.90923699e-01 -1.74480449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters 0.036230397806986905 Centerline is valid? [True, True] Translation: X:140.08, Y:-45.52, Z:-17.45 [[ 7.61537734e-01 6.40578280e-01 9.85887784e-02 1.40081287e+02] [-6.34126305e-01 7.67863339e-01 -9.09380129e-02 -4.55151835e+01] [-1.33955624e-01 6.73499048e-03 9.90964445e-01 -1.74541984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters 0.03506859604448619 Centerline is valid? [True, True] Translation: X:140.12, Y:-45.56, Z:-17.46 [[ 7.58388795e-01 6.44072067e-01 1.00088003e-01 1.40122242e+02] [-6.37441941e-01 7.64939145e-01 -9.23898085e-02 -4.55613739e+01] [-1.36066926e-01 6.26710493e-03 9.90679825e-01 -1.74615004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters 0.034604147267431926 Centerline is valid? [True, True] Translation: X:140.16, Y:-45.61, Z:-17.47 [[ 7.56221811e-01 6.46696234e-01 9.95618087e-02 1.40162646e+02] [-6.40154791e-01 7.62725711e-01 -9.19311343e-02 -4.56082980e+01] [-1.35389870e-01 5.78536004e-03 9.90775511e-01 -1.74686642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters 0.03437566750806234 Centerline is valid? [True, True] Translation: X:140.21, Y:-45.65, Z:-17.48 [[ 7.54810270e-01 6.48178412e-01 1.00629034e-01 1.40205835e+02] [-6.41497573e-01 7.61467622e-01 -9.29942156e-02 -4.56530823e+01] [-1.36902594e-01 5.63970811e-03 9.90568460e-01 -1.74769383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters 0.033984052863801927 Centerline is valid? [True, True] Translation: X:140.25, Y:-45.70, Z:-17.48 [[ 7.53286270e-01 6.49889072e-01 1.01014799e-01 1.40245575e+02] [-6.43160741e-01 7.60009809e-01 -9.34309989e-02 -4.57007893e+01] [-1.37492023e-01 5.41153544e-03 9.90488091e-01 -1.74847041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters 0.033251343099500806 Centerline is valid? [True, True] Translation: X:140.29, Y:-45.75, Z:-17.49 [[ 7.50738138e-01 6.53126346e-01 9.90869577e-02 1.40285009e+02] [-6.46672194e-01 7.57233876e-01 -9.17165713e-02 -4.57494783e+01] [-1.34934510e-01 4.77834759e-03 9.90842997e-01 -1.74918300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters 0.03270140476209535 Centerline is valid? [True, True] Translation: X:140.33, Y:-45.79, Z:-17.50 [[ 7.47756545e-01 6.56161469e-01 1.01549373e-01 1.40329095e+02] [-6.49403814e-01 7.54607894e-01 -9.40298496e-02 -4.57933526e+01] [-1.38328723e-01 4.36488535e-03 9.90376753e-01 -1.74990025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters 0.03246383332220196 Centerline is valid? [True, True] Translation: X:140.37, Y:-45.84, Z:-17.51 [[ 7.44136745e-01 6.60315599e-01 1.01211733e-01 1.40371261e+02] [-6.53629610e-01 7.50979379e-01 -9.37992845e-02 -4.58381102e+01] [-1.37945055e-01 3.64450856e-03 9.90433178e-01 -1.75076201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters 0.03203933057426952 Centerline is valid? [True, True] Translation: X:140.42, Y:-45.88, Z:-17.51 [[ 7.40168959e-01 6.64864923e-01 1.00521370e-01 1.40415238e+02] [-6.58301865e-01 7.46958236e-01 -9.32311542e-02 -4.58821862e+01] [-1.37071389e-01 2.83340121e-03 9.90557119e-01 -1.75132371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters 0.03179871815764411 Centerline is valid? [True, True] Translation: X:140.46, Y:-45.93, Z:-17.52 [[ 7.35430764e-01 6.69819128e-01 1.02391049e-01 1.40459184e+02] [-6.63051728e-01 7.42521683e-01 -9.49945025e-02 -4.59263754e+01] [-1.39656709e-01 1.97131743e-03 9.90198019e-01 -1.75206598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters 0.031420710862890076 Centerline is valid? [True, True] Translation: X:140.51, Y:-45.97, Z:-17.53 [[ 7.28725590e-01 6.77142863e-01 1.02159469e-01 1.40506790e+02] [-6.70471334e-01 7.35851329e-01 -9.48209467e-02 -4.59657634e+01] [-1.39381509e-01 6.03454694e-04 9.90238573e-01 -1.75266647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters 0.03149399379926645 Centerline is valid? [True, True] Translation: X:140.55, Y:-46.00, Z:-17.53 [[ 7.25097303e-01 6.81085364e-01 1.01767521e-01 1.40554266e+02] [-6.74491381e-01 7.32204015e-01 -9.45444748e-02 -4.60048854e+01] [-1.38907445e-01 -8.73717396e-05 9.90305364e-01 -1.75338995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters 0.03156351604459842 Centerline is valid? [True, True] Translation: X:140.61, Y:-46.04, Z:-17.54 [[ 7.22856375e-01 6.83375808e-01 1.02353144e-01 1.40605731e+02] [-6.76715420e-01 7.30066634e-01 -9.51785159e-02 -4.60406393e+01] [-1.39767311e-01 -4.63553815e-04 9.90184268e-01 -1.75414579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters 0.031211068867250915 Centerline is valid? [True, True] Translation: X:140.65, Y:-46.08, Z:-17.55 [[ 7.22804400e-01 6.83658203e-01 1.00822919e-01 1.40654424e+02] [-6.77188302e-01 7.29802204e-01 -9.38336173e-02 -4.60799179e+01] [-1.37730911e-01 -4.52750140e-04 9.90469581e-01 -1.75475104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters 0.03131056107458538 Centerline is valid? [True, True] Translation: X:140.70, Y:-46.12, Z:-17.55 [[ 7.21874390e-01 6.84693016e-01 1.00463116e-01 1.40703204e+02] [-6.78273376e-01 7.28831321e-01 -9.35421491e-02 -4.61198769e+01] [-1.37268322e-01 -6.15774979e-04 9.90533709e-01 -1.75541257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters 0.03156194897955545 Centerline is valid? [True, True] Translation: X:140.75, Y:-46.16, Z:-17.56 [[ 7.21286971e-01 6.85023509e-01 1.02410436e-01 1.40751616e+02] [-6.78340184e-01 7.28520701e-01 -9.54577545e-02 -4.61576797e+01] [-1.39998929e-01 -6.16679598e-04 9.90151463e-01 -1.75629803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters 0.03136511986249643 Centerline is valid? [True, True] Translation: X:140.80, Y:-46.20, Z:-17.57 [[ 7.22787644e-01 6.83656796e-01 1.00952500e-01 1.40797896e+02] [-6.77137827e-01 7.29803608e-01 -9.41862881e-02 -4.61979976e+01] [-1.38066595e-01 -2.82071280e-04 9.90422908e-01 -1.75705554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters 0.03156970032451775 Centerline is valid? [True, True] Translation: X:140.85, Y:-46.24, Z:-17.58 [[ 7.23376510e-01 6.82829906e-01 1.02321772e-01 1.40846674e+02] [-6.76110961e-01 7.30577386e-01 -9.55544486e-02 -4.62362248e+01] [-1.40001408e-01 -5.90283145e-05 9.90151303e-01 -1.75771355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters 0.03159470113002543 Centerline is valid? [True, True] Translation: X:140.90, Y:-46.27, Z:-17.58 [[ 7.23126774e-01 6.83036776e-01 1.02705562e-01 1.40897345e+02] [-6.76255912e-01 7.30383983e-01 -9.60061444e-02 -4.62738622e+01] [-1.40590225e-01 -3.06299650e-05 9.90067870e-01 -1.75847717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters 0.03157571932019758 Centerline is valid? [True, True] Translation: X:140.95, Y:-46.31, Z:-17.59 [[ 7.23334956e-01 6.82923456e-01 1.01990659e-01 1.40946538e+02] [-6.76223441e-01 7.30489938e-01 -9.54269756e-02 -4.63123602e+01] [-1.39672470e-01 5.71927415e-05 9.90197757e-01 -1.75923452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters 0.03152852323762996 Centerline is valid? [True, True] Translation: X:140.99, Y:-46.35, Z:-17.60 [[ 7.23366349e-01 6.83061692e-01 1.00835757e-01 1.40994201e+02] [-6.76508903e-01 7.30360679e-01 -9.43874086e-02 -4.63514028e+01] [-1.38118895e-01 6.03879547e-05 9.90415654e-01 -1.75988304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters 0.031650867299637814 Centerline is valid? [True, True] Translation: X:141.04, Y:-46.39, Z:-17.61 [[ 7.26940295e-01 6.79230261e-01 1.01015153e-01 1.41044692e+02] [-6.72604689e-01 7.33924736e-01 -9.46436164e-02 -4.63872506e+01] [-1.38422328e-01 8.56992888e-04 9.90372922e-01 -1.76058294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters 0.03151490511443176 Centerline is valid? [True, True] Translation: X:141.09, Y:-46.43, Z:-17.61 [[ 7.28494833e-01 6.77829294e-01 9.92105167e-02 1.41092213e+02] [-6.71414912e-01 7.35218396e-01 -9.30372264e-02 -4.64267480e+01] [-1.36004754e-01 1.16571835e-03 9.90707499e-01 -1.76121631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters 0.031737094948848715 Centerline is valid? [True, True] Translation: X:141.14, Y:-46.47, Z:-17.62 [[ 7.30640065e-01 6.75505877e-01 9.92819458e-02 1.41137481e+02] [-6.69049087e-01 7.37352726e-01 -9.31894685e-02 -4.64682549e+01] [-1.36155847e-01 1.66346421e-03 9.90686034e-01 -1.76193243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters 0.03154693829363114 Centerline is valid? [True, True] Translation: X:141.18, Y:-46.51, Z:-17.63 [[ 7.30846229e-01 6.75131758e-01 1.00304033e-01 1.41182740e+02] [-6.68525087e-01 7.37694930e-01 -9.42358606e-02 -4.65095902e+01] [-1.37615399e-01 1.81616108e-03 9.90484075e-01 -1.76284704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters 0.03134470965030017 Centerline is valid? [True, True] Translation: X:141.23, Y:-46.55, Z:-17.63 [[ 7.29480356e-01 6.76432992e-01 1.01473236e-01 1.41225972e+02] [-6.69670897e-01 7.36502322e-01 -9.54212682e-02 -4.65535284e+01] [-1.39281368e-01 1.65426746e-03 9.90251465e-01 -1.76349964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters 0.03095699036978983 Centerline is valid? [True, True] Translation: X:141.27, Y:-46.60, Z:-17.64 [[ 7.28026269e-01 6.78291249e-01 9.94923732e-02 1.41269781e+02] [-6.71797580e-01 7.34791943e-01 -9.36419372e-02 -4.65970097e+01] [-1.36622701e-01 1.33505464e-03 9.90622257e-01 -1.76406079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters 0.03056975275138655 Centerline is valid? [True, True] Translation: X:141.31, Y:-46.64, Z:-17.65 [[ 7.26795118e-01 6.79648427e-01 9.92314057e-02 1.41311329e+02] [-6.73189850e-01 7.33537127e-01 -9.34810694e-02 -4.66438284e+01] [-1.36324182e-01 1.14000979e-03 9.90663625e-01 -1.76462360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters 0.03052363793901362 Centerline is valid? [True, True] Translation: X:141.36, Y:-46.68, Z:-17.65 [[ 7.23686268e-01 6.83183531e-01 9.76649853e-02 1.41358093e+02] [-6.76948854e-01 7.30246523e-01 -9.20883552e-02 -4.66841873e+01] [-1.34232764e-01 5.28878164e-04 9.90949689e-01 -1.76541402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters 0.03055451462523539 Centerline is valid? [True, True] Translation: X:141.40, Y:-46.73, Z:-17.66 [[ 7.19760757e-01 6.87305475e-01 9.77529398e-02 1.41403053e+02] [-6.81085334e-01 7.26368470e-01 -9.22584045e-02 -4.67280258e+01] [-1.34414360e-01 -1.74114629e-04 9.90925199e-01 -1.76592262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters 0.03039165940590404 Centerline is valid? [True, True] Translation: X:141.45, Y:-46.77, Z:-17.67 [[ 7.18402473e-01 6.88785729e-01 9.73247494e-02 1.41451123e+02] [-6.82620456e-01 7.24964880e-01 -9.19523538e-02 -4.67683793e+01] [-1.33892494e-01 -3.77066354e-04 9.90995791e-01 -1.76658141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters 0.03045462016304576 Centerline is valid? [True, True] Translation: X:141.50, Y:-46.81, Z:-17.67 [[ 7.17719692e-01 6.89622628e-01 9.64317084e-02 1.41498523e+02] [-6.83565234e-01 7.24168779e-01 -9.12038947e-02 -4.68081181e+01] [-1.32729102e-01 -4.58532136e-04 9.91152246e-01 -1.76739084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters 0.030373305102184958 Centerline is valid? [True, True] Translation: X:141.55, Y:-46.85, Z:-17.68 [[ 7.16590932e-01 6.90670350e-01 9.73237066e-02 1.41545878e+02] [-6.84497641e-01 7.23169492e-01 -9.21350400e-02 -4.68485386e+01] [-1.34016476e-01 -5.94713425e-04 9.90978925e-01 -1.76800602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters 0.030293814489670005 Centerline is valid? [True, True] Translation: X:141.59, Y:-46.89, Z:-17.69 [[ 7.17021006e-01 6.90500727e-01 9.53395133e-02 1.41591795e+02] [-6.84565724e-01 7.23331532e-01 -9.03397177e-02 -4.68900829e+01] [-1.31341717e-01 -4.90687668e-04 9.91337033e-01 -1.76869702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters 0.030242034387388036 Centerline is valid? [True, True] Translation: X:141.64, Y:-46.93, Z:-17.69 [[ 7.17070865e-01 6.90488600e-01 9.50519209e-02 1.41638653e+02] [-6.84578015e-01 7.23343150e-01 -9.01533596e-02 -4.69319545e+01] [-1.31005023e-01 -4.24107826e-04 9.91381614e-01 -1.76945862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters 0.030466914713104743 Centerline is valid? [True, True] Translation: X:141.68, Y:-46.97, Z:-17.70 [[ 7.14040019e-01 6.93304252e-01 9.73450853e-02 1.41683676e+02] [-6.87116934e-01 7.20644444e-01 -9.24224224e-02 -4.69736939e+01] [-1.34228053e-01 -8.94148269e-04 9.90950064e-01 -1.77008190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters 0.030635662058757715 Centerline is valid? [True, True] Translation: X:141.73, Y:-47.01, Z:-17.71 [[ 7.10233327e-01 6.97253952e-01 9.69821993e-02 1.41729965e+02] [-6.91142311e-01 7.16822421e-01 -9.21299249e-02 -4.70146418e+01] [-1.33756969e-01 -1.59475818e-03 9.91012881e-01 -1.77085051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters 0.031136588537583137 Centerline is valid? [True, True] Translation: X:141.78, Y:-47.05, Z:-17.72 [[ 7.06190872e-01 7.01706665e-01 9.43515137e-02 1.41779564e+02] [-6.95951907e-01 7.12462226e-01 -8.97135420e-02 -4.70535760e+01] [-1.30174480e-01 -2.30923140e-03 9.91488413e-01 -1.77151003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters 0.031115371115620797 Centerline is valid? [True, True] Translation: X:141.83, Y:-47.09, Z:-17.72 [[ 7.06639624e-01 7.01113964e-01 9.53920967e-02 1.41830697e+02] [-6.95212650e-01 7.13045980e-01 -9.08008952e-02 -4.70906810e+01] [-1.31680727e-01 -2.15428192e-03 9.91289839e-01 -1.77222470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters 0.03127518489242091 Centerline is valid? [True, True] Translation: X:141.88, Y:-47.13, Z:-17.73 [[ 7.07264446e-01 7.00064928e-01 9.84179866e-02 1.41881759e+02] [-6.93757522e-01 7.14076535e-01 -9.37827467e-02 -4.71261379e+01] [-1.35931987e-01 -1.94901614e-03 9.90716254e-01 -1.77311331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters 0.031325273806517825 Centerline is valid? [True, True] Translation: X:141.93, Y:-47.16, Z:-17.74 [[ 7.07899092e-01 6.99347669e-01 9.89530852e-02 1.41934605e+02] [-6.92951672e-01 7.14779515e-01 -9.43833981e-02 -4.71617993e+01] [-1.36736448e-01 -1.75578405e-03 9.90605906e-01 -1.77390298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters 0.031469973186112714 Centerline is valid? [True, True] Translation: X:141.99, Y:-47.20, Z:-17.75 [[ 7.08722340e-01 6.98502407e-01 9.90304589e-02 1.41987783e+02] [-6.92074265e-01 7.15606087e-01 -9.45576000e-02 -4.71957209e+01] [-1.36915510e-01 -1.52134848e-03 9.90581561e-01 -1.77493252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters 0.031535100908732405 Centerline is valid? [True, True] Translation: X:142.04, Y:-47.23, Z:-17.76 [[ 7.09750670e-01 6.97194985e-01 1.00861987e-01 1.42039286e+02] [-6.90498103e-01 7.16880512e-01 -9.64090306e-02 -4.72308881e+01] [-1.39521885e-01 -1.21863644e-03 9.90218238e-01 -1.77572147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters 0.03158000039350892 Centerline is valid? [True, True] Translation: X:142.09, Y:-47.27, Z:-17.77 [[ 7.11259577e-01 6.95358797e-01 1.02888085e-01 1.42089174e+02] [-6.88356358e-01 7.18662292e-01 -9.84379780e-02 -4.72678353e+01] [-1.42391501e-01 -8.08712792e-04 9.89810086e-01 -1.77653125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters 0.031455977486213545 Centerline is valid? [True, True] Translation: X:142.14, Y:-47.31, Z:-17.77 [[ 7.12638670e-01 6.93769671e-01 1.04066179e-01 1.42138017e+02] [-6.86574745e-01 7.20196820e-01 -9.96577178e-02 -4.73057582e+01] [-1.44087633e-01 -4.29266703e-04 9.89564839e-01 -1.77728952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters 0.03145750250909561 Centerline is valid? [True, True] Translation: X:142.19, Y:-47.34, Z:-17.78 [[ 7.19061071e-01 6.87358241e-01 1.02419843e-01 1.42185605e+02] [-6.80312321e-01 7.26317985e-01 -9.81699038e-02 -4.73447409e+01] [-1.41867266e-01 9.12675045e-04 9.89885269e-01 -1.77805330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters 0.03146515686423781 Centerline is valid? [True, True] Translation: X:142.23, Y:-47.39, Z:-17.79 [[ 7.20718549e-01 6.85812785e-01 1.01121691e-01 1.42232077e+02] [-6.78917652e-01 7.27776903e-01 -9.70134091e-02 -4.73860194e+01] [-1.40127068e-01 1.26606214e-03 9.90132719e-01 -1.77873762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters 0.03149005841596763 Centerline is valid? [True, True] Translation: X:142.27, Y:-47.43, Z:-17.80 [[ 7.19733106e-01 6.86714305e-01 1.02018236e-01 1.42274612e+02] [-6.79692002e-01 7.26926478e-01 -9.79626352e-02 -4.74305946e+01] [-1.41432100e-01 1.16597272e-03 9.89947272e-01 -1.77954762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters 0.031266865373412375 Centerline is valid? [True, True] Translation: X:142.32, Y:-47.47, Z:-17.80 [[ 7.18168417e-01 6.88756821e-01 9.92379263e-02 1.42318768e+02] [-6.82121633e-01 7.24991997e-01 -9.53765277e-02 -4.74740037e+01] [-1.37637936e-01 8.04073540e-04 9.90482283e-01 -1.78002930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters 0.031406376373507114 Centerline is valid? [True, True] Translation: X:142.36, Y:-47.52, Z:-17.81 [[ 7.16305993e-01 6.90518476e-01 1.00448789e-01 1.42364142e+02] [-6.83724305e-01 7.23314556e-01 -9.66288159e-02 -4.75153922e+01] [-1.39380054e-01 5.36521806e-04 9.90238816e-01 -1.78076559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters 0.03133122562991343 Centerline is valid? [True, True] Translation: X:142.41, Y:-47.56, Z:-17.81 [[ 7.17068978e-01 6.90122269e-01 9.76899957e-02 1.42411348e+02] [-6.83682623e-01 7.23692490e-01 -9.40598258e-02 -4.75560393e+01] [-1.35610297e-01 6.58430657e-04 9.90762037e-01 -1.78145750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters 0.031315234106509486 Centerline is valid? [True, True] Translation: X:142.46, Y:-47.60, Z:-17.82 [[ 7.16984203e-01 6.90412932e-01 9.62477837e-02 1.42458038e+02] [-6.84155267e-01 7.23415206e-01 -9.27470220e-02 -4.75976307e+01] [-1.33660854e-01 6.49721494e-04 9.91026919e-01 -1.78200227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters 0.03141290624195112 Centerline is valid? [True, True] Translation: X:142.50, Y:-47.64, Z:-17.83 [[ 7.15389077e-01 6.92022640e-01 9.65563774e-02 1.42503581e+02] [-6.85733585e-01 7.21875696e-01 -9.30855998e-02 -4.76400689e+01] [-1.34119045e-01 3.80470444e-04 9.90965154e-01 -1.78285093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters 0.03151992532550422 Centerline is valid? [True, True] Translation: X:142.55, Y:-47.68, Z:-17.83 [[ 7.12976000e-01 6.94757481e-01 9.47484398e-02 1.42549217e+02] [-6.88714277e-01 7.19244075e-01 -9.14363479e-02 -4.76818782e+01] [-1.31673341e-01 -6.26815989e-05 9.91293159e-01 -1.78337453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters 0.03132762136105865 Centerline is valid? [True, True] Translation: X:142.59, Y:-47.73, Z:-17.84 [[ 7.10789926e-01 6.97024523e-01 9.45224657e-02 1.42594874e+02] [-6.91018703e-01 7.17047167e-01 -9.13045073e-02 -4.77256691e+01] [-1.31418547e-01 -4.18467665e-04 9.91326884e-01 -1.78390075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters 0.031250844616796454 Centerline is valid? [True, True] Translation: X:142.64, Y:-47.77, Z:-17.85 [[ 7.09872836e-01 6.97952886e-01 9.45638702e-02 1.42639576e+02] [-6.91937066e-01 7.16143490e-01 -9.14417751e-02 -4.77689995e+01] [-1.31543351e-01 -5.20214667e-04 9.91310283e-01 -1.78472978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters 0.0308974508002169 Centerline is valid? [True, True] Translation: X:142.68, Y:-47.81, Z:-17.85 [[ 7.08001804e-01 6.99992107e-01 9.35120043e-02 1.42684688e+02] [-6.94115195e-01 7.14150108e-01 -9.05191606e-02 -4.78119818e+01] [-1.30144306e-01 -8.20374091e-04 9.91494723e-01 -1.78544183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters 0.031008091663579415 Centerline is valid? [True, True] Translation: X:142.73, Y:-47.85, Z:-17.86 [[ 7.05353867e-01 7.02539093e-01 9.44179292e-02 1.42729020e+02] [-6.96557337e-01 7.11644082e-01 -9.14908579e-02 -4.78545960e+01] [-1.31467865e-01 -1.23407086e-03 9.91319665e-01 -1.78622828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters 0.031036372740745586 Centerline is valid? [True, True] Translation: X:142.78, Y:-47.90, Z:-17.87 [[ 7.02831786e-01 7.05039310e-01 9.45888589e-02 1.42775611e+02] [-6.99047126e-01 7.09166319e-01 -9.17401103e-02 -4.78958078e+01] [-1.31759617e-01 -1.64420438e-03 9.91280334e-01 -1.78703541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters 0.03074306472843496 Centerline is valid? [True, True] Translation: X:142.82, Y:-47.94, Z:-17.88 [[ 7.02362766e-01 7.05361415e-01 9.56651461e-02 1.42822613e+02] [-6.99222997e-01 7.08845898e-01 -9.28692234e-02 -4.79360550e+01] [-1.33318213e-01 -1.66338563e-03 9.91071888e-01 -1.78795827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters 0.030390938552113767 Centerline is valid? [True, True] Translation: X:142.87, Y:-47.98, Z:-17.89 [[ 7.05351979e-01 7.02333740e-01 9.59473977e-02 1.42870228e+02] [-6.96119406e-01 7.11847071e-01 -9.32283237e-02 -4.79758186e+01] [-1.33777271e-01 -1.03206281e-03 9.91010886e-01 -1.78861558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters 0.030272201382958136 Centerline is valid? [True, True] Translation: X:142.92, Y:-48.01, Z:-17.90 [[ 7.08548029e-01 6.98715762e-01 9.87723412e-02 1.42918826e+02] [-6.92080711e-01 7.15399328e-01 -9.60629535e-02 -4.80142795e+01] [-1.37782366e-01 -2.93215801e-04 9.90462485e-01 -1.78962594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters 0.03024359605114349 Centerline is valid? [True, True] Translation: X:142.96, Y:-48.06, Z:-17.90 [[ 7.11021721e-01 6.96058127e-01 9.97556851e-02 1.42964963e+02] [-6.89251029e-01 7.17985376e-01 -9.71082815e-02 -4.80556388e+01] [-1.39216132e-01 2.89388793e-04 9.90261978e-01 -1.79037967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters 0.030304878297437932 Centerline is valid? [True, True] Translation: X:143.01, Y:-48.10, Z:-17.91 [[ 7.13129603e-01 6.93706568e-01 1.01080991e-01 1.43010539e+02] [-6.86680159e-01 7.20257258e-01 -9.84877741e-02 -4.80978497e+01] [-1.41125933e-01 8.24236078e-04 9.89991309e-01 -1.79112793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters 0.030639548160691952 Centerline is valid? [True, True] Translation: X:143.06, Y:-48.14, Z:-17.92 [[ 7.17729125e-01 6.88823096e-01 1.01919800e-01 1.43055541e+02] [-6.81616807e-01 7.24927067e-01 -9.93945448e-02 -4.81397123e+01] [-1.42349680e-01 1.86811114e-03 9.89814669e-01 -1.79187767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters 0.03171221549053388 Centerline is valid? [True, True] Translation: X:143.10, Y:-48.18, Z:-17.93 [[ 7.22926381e-01 6.82919716e-01 1.04871869e-01 1.43098328e+02] [-6.75212787e-01 7.30486487e-01 -1.02358117e-01 -4.81828606e+01] [-1.46509859e-01 3.18655571e-03 9.89204078e-01 -1.79267331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters 0.03209434759117667 Centerline is valid? [True, True] Translation: X:143.14, Y:-48.23, Z:-17.94 [[ 7.24734136e-01 6.81240670e-01 1.03303352e-01 1.43138586e+02] [-6.73737806e-01 7.32051072e-01 -1.00889037e-01 -4.82310013e+01] [-1.44353044e-01 3.51835492e-03 9.89519995e-01 -1.79361492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters 0.03215363920594549 Centerline is valid? [True, True] Translation: X:143.18, Y:-48.28, Z:-17.94 [[ 7.24452230e-01 6.81417605e-01 1.04110589e-01 1.43181654e+02] [-6.73783826e-01 7.31886063e-01 -1.01774980e-01 -4.82760880e+01] [-1.45548352e-01 3.58308044e-03 9.89344651e-01 -1.79429649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters 0.031810808697463 Centerline is valid? [True, True] Translation: X:143.22, Y:-48.32, Z:-17.95 [[ 7.21917192e-01 6.83972083e-01 1.04965509e-01 1.43221783e+02] [-6.76225385e-01 7.29501341e-01 -1.02698696e-01 -4.83236569e+01] [-1.46815521e-01 3.15961283e-03 9.89158845e-01 -1.79498261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters 0.03174160742724157 Centerline is valid? [True, True] Translation: X:143.26, Y:-48.37, Z:-17.96 [[ 7.21491177e-01 6.84680359e-01 1.03263193e-01 1.43261080e+02] [-6.77179036e-01 7.28837180e-01 -1.01118335e-01 -4.83717990e+01] [-1.44495793e-01 3.02831659e-03 9.89500781e-01 -1.79557269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters 0.03156863868276377 Centerline is valid? [True, True] Translation: X:143.30, Y:-48.42, Z:-17.96 [[ 7.20810129e-01 6.85269099e-01 1.04110614e-01 1.43301077e+02] [-6.77636620e-01 7.28283781e-01 -1.02036003e-01 -4.84189862e+01] [-1.45744191e-01 2.99941961e-03 9.89317762e-01 -1.79635000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters 0.03174766806381855 Centerline is valid? [True, True] Translation: X:143.34, Y:-48.47, Z:-17.97 [[ 7.19745832e-01 6.86370968e-01 1.04215316e-01 1.43342668e+02] [-6.78721118e-01 7.27246034e-01 -1.02229401e-01 -4.84657616e+01] [-1.45957468e-01 2.84604907e-03 9.89286772e-01 -1.79711815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters 0.03145504077679284 Centerline is valid? [True, True] Translation: X:143.39, Y:-48.51, Z:-17.98 [[ 7.18406334e-01 6.87667248e-01 1.04909941e-01 1.43385168e+02] [-6.79912984e-01 7.26021072e-01 -1.03013288e-01 -4.85123147e+01] [-1.47005692e-01 2.67576709e-03 9.89132027e-01 -1.79796499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters 0.03122586672344843 Centerline is valid? [True, True] Translation: X:143.43, Y:-48.56, Z:-17.99 [[ 7.16862541e-01 6.89477045e-01 1.03583313e-01 1.43428258e+02] [-6.81923226e-01 7.24303735e-01 -1.01807730e-01 -4.85564090e+01] [-1.45219873e-01 2.34628129e-03 9.89396626e-01 -1.79857646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters 0.031207428993309208 Centerline is valid? [True, True] Translation: X:143.47, Y:-48.60, Z:-17.99 [[ 7.17070644e-01 6.89492150e-01 1.02030711e-01 1.43473279e+02] [-6.82151942e-01 7.24289276e-01 -1.00368190e-01 -4.85988960e+01] [-1.43102829e-01 2.37063468e-03 9.89704987e-01 -1.79915011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters 0.0317214875884356 Centerline is valid? [True, True] Translation: X:143.52, Y:-48.64, Z:-18.00 [[ 7.18962508e-01 6.87034396e-01 1.05245666e-01 1.43516317e+02] [-6.79181722e-01 7.26618621e-01 -1.03622237e-01 -4.86421310e+01] [-1.47665502e-01 3.01957073e-03 9.89032751e-01 -1.80000225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters 0.031790954987677526 Centerline is valid? [True, True] Translation: X:143.56, Y:-48.68, Z:-18.01 [[ 7.20253317e-01 6.85908622e-01 1.03752214e-01 1.43560788e+02] [-6.78254596e-01 7.27680359e-01 -1.02235015e-01 -4.86849039e+01] [-1.45622326e-01 3.26469277e-03 9.89334867e-01 -1.80063750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters 0.031372709746924306 Centerline is valid? [True, True] Translation: X:143.61, Y:-48.73, Z:-18.01 [[ 7.18592034e-01 6.87699144e-01 1.03418447e-01 1.43605169e+02] [-6.80099961e-01 7.25989765e-01 -1.01994629e-01 -4.87276709e+01] [-1.45222353e-01 2.95764662e-03 9.89394623e-01 -1.80130856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters 0.03103436134614602 Centerline is valid? [True, True] Translation: X:143.65, Y:-48.77, Z:-18.02 [[ 7.14972434e-01 6.91529988e-01 1.02959676e-01 1.43649680e+02] [-6.84026606e-01 7.22344319e-01 -1.01618341e-01 -4.87710742e+01] [-1.44644467e-01 2.22715538e-03 9.89481186e-01 -1.80203838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters 0.0309193888966477 Centerline is valid? [True, True] Translation: X:143.70, Y:-48.81, Z:-18.03 [[ 7.12043902e-01 6.94511325e-01 1.03186734e-01 1.43696131e+02] [-6.86999117e-01 7.19479860e-01 -1.01886920e-01 -4.88119686e+01] [-1.45002397e-01 1.65876441e-03 9.89429913e-01 -1.80271347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters 0.030824332938682118 Centerline is valid? [True, True] Translation: X:143.74, Y:-48.85, Z:-18.03 [[ 7.10767432e-01 6.95822929e-01 1.03150909e-01 1.43743046e+02] [-6.88316065e-01 7.18211894e-01 -1.01944445e-01 -4.88541837e+01] [-1.45019492e-01 1.45836345e-03 9.89427724e-01 -1.80344828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters 0.030742348427291823 Centerline is valid? [True, True] Translation: X:143.79, Y:-48.90, Z:-18.04 [[ 7.10464289e-01 6.96418967e-01 1.01198399e-01 1.43789701e+02] [-6.89187062e-01 7.17634108e-01 -1.00112338e-01 -4.88952676e+01] [-1.42343554e-01 1.38161419e-03 9.89816349e-01 -1.80407572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters 0.03121029088951869 Centerline is valid? [True, True] Translation: X:143.84, Y:-48.94, Z:-18.05 [[ 7.09580945e-01 6.97077093e-01 1.02851391e-01 1.43835669e+02] [-6.89599148e-01 7.16994936e-01 -1.01839462e-01 -4.89368471e+01] [-1.44733883e-01 1.33711019e-03 9.89469714e-01 -1.80483504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters 0.031307383504247506 Centerline is valid? [True, True] Translation: X:143.88, Y:-48.98, Z:-18.05 [[ 7.09127441e-01 6.97637299e-01 1.02178626e-01 1.43882805e+02] [-6.90250078e-01 7.16449971e-01 -1.01263362e-01 -4.89768421e+01] [-1.43850972e-01 1.27982371e-03 9.89598535e-01 -1.80548885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters 0.031324077065685026 Centerline is valid? [True, True] Translation: X:143.93, Y:-49.02, Z:-18.06 [[ 7.08288941e-01 6.98634380e-01 1.01176970e-01 1.43929079e+02] [-6.91389415e-01 7.15477969e-01 -1.00359117e-01 -4.90183286e+01] [-1.42504223e-01 1.13056689e-03 9.89793548e-01 -1.80622580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters 0.03162463149884055 Centerline is valid? [True, True] Translation: X:143.98, Y:-49.06, Z:-18.07 [[ 7.08258899e-01 6.98616039e-01 1.01513361e-01 1.43976471e+02] [-6.91309036e-01 7.15495757e-01 -1.00785111e-01 -4.90590644e+01] [-1.43042474e-01 1.20484793e-03 9.89715817e-01 -1.80702074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters 0.031824535447649974 Centerline is valid? [True, True] Translation: X:144.02, Y:-49.10, Z:-18.08 [[ 7.08194281e-01 6.98574121e-01 1.02249979e-01 1.44020029e+02] [-6.91144829e-01 7.15536525e-01 -1.01618435e-01 -4.91033609e+01] [-1.44151604e-01 1.29605077e-03 9.89554766e-01 -1.80765854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters 0.03184231888762901 Centerline is valid? [True, True] Translation: X:144.06, Y:-49.15, Z:-18.09 [[ 7.09561487e-01 6.97449255e-01 1.00434222e-01 1.44064901e+02] [-6.90259107e-01 7.16632473e-01 -9.99012730e-02 -4.91454877e+01] [-1.41650494e-01 1.56045919e-03 9.89915503e-01 -1.80850013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters 0.031921902030135695 Centerline is valid? [True, True] Translation: X:144.11, Y:-49.19, Z:-18.09 [[ 7.08702293e-01 6.98189679e-01 1.01352019e-01 1.44109225e+02] [-6.90861236e-01 7.15911271e-01 -1.00904930e-01 -4.91889781e+01] [-1.43009833e-01 1.49137468e-03 9.89720144e-01 -1.80927792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters 0.03190038474256251 Centerline is valid? [True, True] Translation: X:144.15, Y:-49.23, Z:-18.10 [[ 7.07780022e-01 6.99174433e-01 1.01007682e-01 1.44151911e+02] [-6.91894820e-01 7.14949863e-01 -1.00639218e-01 -4.92343781e+01] [-1.42579797e-01 1.34373597e-03 9.89782398e-01 -1.81000444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters 0.03194989480905042 Centerline is valid? [True, True] Translation: X:144.20, Y:-49.28, Z:-18.11 [[ 7.09061697e-01 6.98092807e-01 9.94884051e-02 1.44195830e+02] [-6.91015161e-01 7.16005570e-01 -9.91668844e-02 -4.92782911e+01] [-1.40461941e-01 1.56744307e-03 9.90084838e-01 -1.81064858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters 0.03200260629754329 Centerline is valid? [True, True] Translation: X:144.24, Y:-49.32, Z:-18.11 [[ 7.10046939e-01 6.97189446e-01 9.87938242e-02 1.44241853e+02] [-6.90189463e-01 7.16884678e-01 -9.85640129e-02 -4.93216345e+01] [-1.39541568e-01 1.79861924e-03 9.90214581e-01 -1.81128223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters 0.03205737341490734 Centerline is valid? [True, True] Translation: X:144.29, Y:-49.36, Z:-18.12 [[ 7.10265747e-01 6.96811962e-01 9.98782174e-02 1.44285886e+02] [-6.89638787e-01 7.17251159e-01 -9.97452666e-02 -4.93649286e+01] [-1.41141462e-01 1.96575353e-03 9.89987487e-01 -1.81209025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters 0.03221966866086647 Centerline is valid? [True, True] Translation: X:144.33, Y:-49.41, Z:-18.13 [[ 7.10454228e-01 6.96437888e-01 1.01138807e-01 1.44330515e+02] [-6.89064767e-01 7.17613910e-01 -1.01094129e-01 -4.94080836e+01] [-1.42984396e-01 2.13156305e-03 9.89722647e-01 -1.81283595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters 0.032252564548148385 Centerline is valid? [True, True] Translation: X:144.32, Y:-49.80, Z:-16.15 [[ 7.43882353e-01 -6.65620142e-01 -5.99071908e-02 1.44320224e+02] [-6.62687772e-01 -7.46257702e-01 6.28041301e-02 -4.98038108e+01] [-8.65098966e-02 -7.01912126e-03 -9.96226264e-01 -1.61461276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters 0.03207786629801313 Centerline is valid? [True, True] Translation: X:144.39, Y:-49.47, Z:-18.14 [[ 7.59994690e-01 6.41064022e-01 1.06981260e-01 1.44386328e+02] [-6.34393178e-01 7.67484093e-01 -9.22684264e-02 -4.94748593e+01] [-1.41256384e-01 2.25533255e-03 9.89970478e-01 -1.81385199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters 0.032006972780633164 Centerline is valid? [True, True] Translation: X:144.43, Y:-49.52, Z:-18.15 [[ 7.57515458e-01 6.43783609e-01 1.08226599e-01 1.44433502e+02] [-6.36969424e-01 7.65205375e-01 -9.34381501e-02 -4.95163480e+01] [-1.42969524e-01 1.84380892e-03 9.89725374e-01 -1.81455124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters 0.03193858693394582 Centerline is valid? [True, True] Translation: X:144.48, Y:-49.55, Z:-18.15 [[ 7.56471120e-01 6.45054191e-01 1.07965442e-01 1.44482009e+02] [-6.38272627e-01 7.64135001e-01 -9.33046327e-02 -4.95544184e+01] [-1.42686717e-01 1.67087388e-03 9.89766492e-01 -1.81523979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters 0.03175722893175068 Centerline is valid? [True, True] Translation: X:144.53, Y:-49.59, Z:-18.16 [[ 7.57019264e-01 6.44809702e-01 1.05557011e-01 1.44529101e+02] [-6.38315258e-01 7.64341169e-01 -9.13028399e-02 -4.95940275e+01] [-1.39554526e-01 1.73935782e-03 9.90212860e-01 -1.81597380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters 0.03195990294695451 Centerline is valid? [True, True] Translation: X:144.58, Y:-49.63, Z:-18.17 [[ 7.58345925e-01 6.43064694e-01 1.06673603e-01 1.44578981e+02] [-6.36402336e-01 7.65808845e-01 -9.23519325e-02 -4.96306895e+01] [-1.41079856e-01 2.14738128e-03 9.89995890e-01 -1.81661405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters 0.032416765987046424 Centerline is valid? [True, True] Translation: X:144.63, Y:-49.67, Z:-18.18 [[ 7.60126096e-01 6.40785952e-01 1.07711108e-01 1.44625449e+02] [-6.33957787e-01 7.67714974e-01 -9.33340358e-02 -4.96705701e+01] [-1.42498569e-01 2.66134069e-03 9.89791430e-01 -1.81754096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters 0.032396793270676696 Centerline is valid? [True, True] Translation: X:144.67, Y:-49.71, Z:-18.18 [[ 7.59559337e-01 6.41400829e-01 1.08049016e-01 1.44674565e+02] [-6.34523438e-01 7.67201481e-01 -9.37117635e-02 -4.97102772e+01] [-1.43002168e-01 2.62001158e-03 9.89718907e-01 -1.81817426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters 0.032425913238526616 Centerline is valid? [True, True] Translation: X:144.72, Y:-49.75, Z:-18.19 [[ 7.61015360e-01 6.39964628e-01 1.06305678e-01 1.44722175e+02] [-6.33281636e-01 7.68398847e-01 -9.22907447e-02 -4.97516185e+01] [-1.40747972e-01 2.91324062e-03 9.90041172e-01 -1.81884120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters 0.03280700904761734 Centerline is valid? [True, True] Translation: X:144.77, Y:-49.79, Z:-18.20 [[ 7.62333158e-01 6.38257254e-01 1.07125320e-01 1.44771065e+02] [-6.31440417e-01 7.69815967e-01 -9.30933752e-02 -4.97896812e+01] [-1.41884304e-01 3.32491010e-03 9.89877664e-01 -1.81950131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters 0.03295401016874439 Centerline is valid? [True, True] Translation: X:144.82, Y:-49.83, Z:-18.20 [[ 7.63822042e-01 6.36825556e-01 1.05019521e-01 1.44820695e+02] [-6.30250741e-01 7.70999601e-01 -9.13434109e-02 -4.98286782e+01] [-1.39139827e-01 3.58148004e-03 9.90266268e-01 -1.82010026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters 0.03306595424151789 Centerline is valid? [True, True] Translation: X:144.87, Y:-49.87, Z:-18.21 [[ 7.63883594e-01 6.36821727e-01 1.04594181e-01 1.44868222e+02] [-6.30287805e-01 7.71002504e-01 -9.10627348e-02 -4.98692022e+01] [-1.38633104e-01 3.63689224e-03 9.90337132e-01 -1.82092417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters 0.03262341186234129 Centerline is valid? [True, True] Translation: X:144.92, Y:-49.91, Z:-18.21 [[ 7.63103278e-01 6.38108777e-01 1.02423512e-01 1.44916658e+02] [-6.31844528e-01 7.69938732e-01 -8.92571613e-02 -4.99080769e+01] [-1.35815607e-01 3.39669660e-03 9.90728310e-01 -1.82142162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters 0.03214053752437513 Centerline is valid? [True, True] Translation: X:144.96, Y:-49.95, Z:-18.22 [[ 7.60849186e-01 6.40968377e-01 1.01331418e-01 1.44964298e+02] [-6.34852575e-01 7.67561756e-01 -8.83807648e-02 -4.99474227e+01] [-1.34427397e-01 2.91392098e-03 9.90919161e-01 -1.82207831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters 0.03164166627351802 Centerline is valid? [True, True] Translation: X:145.02, Y:-49.98, Z:-18.23 [[ 7.57660640e-01 6.44678403e-01 1.01686337e-01 1.45016372e+02] [-6.38542073e-01 7.64450360e-01 -8.87674933e-02 -4.99814488e+01] [-1.34960643e-01 2.32463149e-03 9.90848233e-01 -1.82279672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters 0.0315572873699132 Centerline is valid? [True, True] Translation: X:145.07, Y:-50.02, Z:-18.24 [[ 7.56799468e-01 6.45573363e-01 1.02418739e-01 1.45065943e+02] [-6.39345047e-01 7.63694967e-01 -8.94869162e-02 -5.00196747e+01] [-1.35987045e-01 2.24273749e-03 9.90708077e-01 -1.82356700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters 0.031684099358203176 Centerline is valid? [True, True] Translation: X:145.12, Y:-50.06, Z:-18.24 [[ 7.57788230e-01 6.44466990e-01 1.02074954e-01 1.45117005e+02] [-6.38258669e-01 7.64628044e-01 -8.92738778e-02 -5.00555338e+01] [-1.35583440e-01 2.50046930e-03 9.90762776e-01 -1.82411379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters 0.03195359214270619 Centerline is valid? [True, True] Translation: X:145.17, Y:-50.09, Z:-18.25 [[ 7.58623250e-01 6.43238265e-01 1.03611287e-01 1.45168926e+02] [-6.36818162e-01 7.65660865e-01 -9.06976695e-02 -5.00900617e+01] [-1.37671319e-01 2.82381154e-03 9.90473944e-01 -1.82478073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters 0.03214853600302194 Centerline is valid? [True, True] Translation: X:145.22, Y:-50.13, Z:-18.26 [[ 7.59141030e-01 6.42423567e-01 1.04865899e-01 1.45218329e+02] [-6.35827125e-01 7.66343611e-01 -9.18767475e-02 -5.01268764e+01] [-1.39387100e-01 3.07082563e-03 9.90233208e-01 -1.82572888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters 0.03272171763255252 Centerline is valid? [True, True] Translation: X:145.27, Y:-50.16, Z:-18.26 [[ 7.62116814e-01 6.38780254e-01 1.05535532e-01 1.45266938e+02] [-6.32054089e-01 7.69379762e-01 -9.25332992e-02 -5.01648026e+01] [-1.40305346e-01 3.81701901e-03 9.90100924e-01 -1.82640997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters 0.03337088493608194 Centerline is valid? [True, True] Translation: X:145.32, Y:-50.20, Z:-18.27 [[ 7.64946640e-01 6.35584249e-01 1.04351812e-01 1.45315503e+02] [-6.28974756e-01 7.72019098e-01 -9.15274272e-02 -5.02026304e+01] [-1.38734983e-01 4.37894216e-03 9.90319862e-01 -1.82725858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters 0.03417116766690539 Centerline is valid? [True, True] Translation: X:145.36, Y:-50.24, Z:-18.28 [[ 7.66425420e-01 6.33379771e-01 1.06874417e-01 1.45362170e+02] [-6.26412308e-01 7.73825226e-01 -9.38197235e-02 -5.02423508e+01] [-1.42125634e-01 4.95837103e-03 9.89836208e-01 -1.82802571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters 0.03479267332402436 Centerline is valid? [True, True] Translation: X:145.41, Y:-50.28, Z:-18.29 [[ 7.68696122e-01 6.30663748e-01 1.06627900e-01 1.45410941e+02] [-6.23693618e-01 7.76036737e-01 -9.36656503e-02 -5.02801879e+01] [-1.41818698e-01 5.49728124e-03 9.89877385e-01 -1.82879917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters 0.03439856773475738 Centerline is valid? [True, True] Translation: X:145.46, Y:-50.33, Z:-18.30 [[ 7.68266918e-01 6.31122253e-01 1.07007684e-01 1.45455238e+02] [-6.24101391e-01 7.75664159e-01 -9.40349188e-02 -5.03251081e+01] [-1.42349555e-01 5.46027303e-03 9.89801389e-01 -1.82959525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters 0.033701010819033886 Centerline is valid? [True, True] Translation: X:145.50, Y:-50.37, Z:-18.30 [[ 7.67169863e-01 6.32923529e-01 1.04202725e-01 1.45500857e+02] [-6.26274335e-01 7.74197879e-01 -9.16411573e-02 -5.03653836e+01] [-1.38675373e-01 5.04484176e-03 9.90325043e-01 -1.83012088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters 0.032619226226618815 Centerline is valid? [True, True] Translation: X:145.54, Y:-50.41, Z:-18.31 [[ 7.64160983e-01 6.36629117e-01 1.03736972e-01 1.45543157e+02] [-6.30071803e-01 7.71157791e-01 -9.12424485e-02 -5.04098952e+01] [-1.38085173e-01 4.36217845e-03 9.90410751e-01 -1.83061413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters 0.03176895059336234 Centerline is valid? [True, True] Translation: X:145.59, Y:-50.45, Z:-18.31 [[ 7.61061919e-01 6.40382403e-01 1.03417278e-01 1.45589112e+02] [-6.33898421e-01 7.68047420e-01 -9.09722591e-02 -5.04499288e+01] [-1.37686407e-01 3.67947303e-03 9.90469038e-01 -1.83126216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters 0.03118449428554101 Centerline is valid? [True, True] Translation: X:145.63, Y:-50.49, Z:-18.32 [[ 7.58949775e-01 6.43006787e-01 1.02652379e-01 1.45633971e+02] [-6.36639602e-01 7.65853806e-01 -9.03214529e-02 -5.04926178e+01] [-1.36694023e-01 3.19687650e-03 9.90608159e-01 -1.83187831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters 0.030794786948637565 Centerline is valid? [True, True] Translation: X:145.68, Y:-50.53, Z:-18.32 [[ 7.56473245e-01 6.45714825e-01 1.03925906e-01 1.45680938e+02] [-6.39202136e-01 7.63573509e-01 -9.15211750e-02 -5.05324197e+01] [-1.38451648e-01 2.80365913e-03 9.90365226e-01 -1.83245039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters 0.03045285734070384 Centerline is valid? [True, True] Translation: X:145.73, Y:-50.57, Z:-18.33 [[ 7.54941347e-01 6.47642307e-01 1.03067961e-01 1.45727750e+02] [-6.41244212e-01 7.61940445e-01 -9.08439300e-02 -5.05730277e+01] [-1.37366021e-01 2.49010534e-03 9.90517226e-01 -1.83311544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters 0.03018363432554267 Centerline is valid? [True, True] Translation: X:145.78, Y:-50.61, Z:-18.34 [[ 7.53557906e-01 6.49379604e-01 1.02257576e-01 1.45776527e+02] [-6.43087431e-01 7.60461189e-01 -9.02071842e-02 -5.06113021e+01] [-1.36341623e-01 2.21577491e-03 9.90659403e-01 -1.83406870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters 0.030569009525195 Centerline is valid? [True, True] Translation: X:145.82, Y:-50.65, Z:-18.35 [[ 7.54013381e-01 6.48570895e-01 1.04017379e-01 1.45824292e+02] [-6.42040101e-01 7.61150256e-01 -9.18411491e-02 -5.06500943e+01] [-1.38738351e-01 2.46612703e-03 9.90326001e-01 -1.83478973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters 0.030688319589724938 Centerline is valid? [True, True] Translation: X:145.88, Y:-50.69, Z:-18.36 [[ 7.54771495e-01 6.47737352e-01 1.03712648e-01 1.45875156e+02] [-6.41225758e-01 7.61859023e-01 -9.16534559e-02 -5.06872626e+01] [-1.38381783e-01 2.67419463e-03 9.90375348e-01 -1.83558974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters 0.030770924786299114 Centerline is valid? [True, True] Translation: X:145.92, Y:-50.73, Z:-18.36 [[ 7.55137625e-01 6.47338150e-01 1.03539786e-01 1.45923219e+02] [-6.40831930e-01 7.62197749e-01 -9.15916410e-02 -5.07280291e+01] [-1.38208555e-01 2.81269351e-03 9.90399154e-01 -1.83637903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters 0.031136999889958546 Centerline is valid? [True, True] Translation: X:145.97, Y:-50.77, Z:-18.37 [[ 7.57139857e-01 6.45106850e-01 1.02841572e-01 1.45973235e+02] [-6.38655868e-01 7.64085392e-01 -9.10615018e-02 -5.07658312e+01] [-1.37324142e-01 3.26591881e-03 9.90520779e-01 -1.83688071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters 0.031619352486881 Centerline is valid? [True, True] Translation: X:146.02, Y:-50.80, Z:-18.38 [[ 7.58203433e-01 6.43632721e-01 1.04232793e-01 1.46024271e+02] [-6.36980014e-01 7.65325842e-01 -9.23732435e-02 -5.08011036e+01] [-1.39226492e-01 3.64350411e-03 9.90253861e-01 -1.83759482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters 0.03179050471091506 Centerline is valid? [True, True] Translation: X:146.08, Y:-50.84, Z:-18.38 [[ 7.58931395e-01 6.42925156e-01 1.03297540e-01 1.46076295e+02] [-6.36374279e-01 7.65919578e-01 -9.16241075e-02 -5.08367513e+01] [-1.38025052e-01 3.80051431e-03 9.90421446e-01 -1.83826435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters 0.03269067351958669 Centerline is valid? [True, True] Translation: X:146.13, Y:-50.87, Z:-18.39 [[ 7.59859631e-01 6.41494705e-01 1.05346503e-01 1.46126685e+02] [-6.34655033e-01 7.67115944e-01 -9.35206807e-02 -5.08722024e+01] [-1.40806003e-01 4.20390180e-03 9.90028281e-01 -1.83924049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters 0.03345232244396403 Centerline is valid? [True, True] Translation: X:146.18, Y:-50.91, Z:-18.40 [[ 7.61751076e-01 6.39111206e-01 1.06170449e-01 1.46176931e+02] [-6.32137196e-01 7.69099979e-01 -9.42750678e-02 -5.09088487e+01] [-1.41907942e-01 4.69984471e-03 9.89868702e-01 -1.83999726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters 0.035878510209232606 Centerline is valid? [True, True] Translation: X:146.22, Y:-50.95, Z:-18.41 [[ 7.66862419e-01 6.32557718e-01 1.08594497e-01 1.46224658e+02] [-6.25191067e-01 7.74489437e-01 -9.64481359e-02 -5.09465977e+01] [-1.45114303e-01 6.07014152e-03 9.89396277e-01 -1.84082412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters 0.038157494251739504 Centerline is valid? [True, True] Translation: X:146.27, Y:-50.99, Z:-18.42 [[ 7.72250054e-01 6.26242153e-01 1.07007567e-01 1.46269987e+02] [-6.19028703e-01 7.79595734e-01 -9.50471260e-02 -5.09865833e+01] [-1.42945160e-01 7.15939261e-03 9.89704716e-01 -1.84159398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters 0.03928763395086488 Centerline is valid? [True, True] Translation: X:146.32, Y:-51.03, Z:-18.42 [[ 7.74867328e-01 6.23283979e-01 1.05345653e-01 1.46315112e+02] [-6.16265724e-01 7.81958735e-01 -9.35793438e-02 -5.10287712e+01] [-1.40702459e-01 7.59066123e-03 9.90022828e-01 -1.84222089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters 0.038910222320109426 Centerline is valid? [True, True] Translation: X:146.36, Y:-51.07, Z:-18.43 [[ 7.73663494e-01 6.24737100e-01 1.05585765e-01 1.46358138e+02] [-6.17696432e-01 7.80800445e-01 -9.38178198e-02 -5.10744386e+01] [-1.41052885e-01 7.36347230e-03 9.89974678e-01 -1.84284635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters 0.038531084005865274 Centerline is valid? [True, True] Translation: X:146.40, Y:-51.12, Z:-18.43 [[ 7.72187039e-01 6.26620364e-01 1.05233532e-01 1.46402890e+02] [-6.19637462e-01 7.79292921e-01 -9.35519065e-02 -5.11175105e+01] [-1.40629276e-01 7.03293079e-03 9.90037345e-01 -1.84344088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters 0.03832189885908375 Centerline is valid? [True, True] Translation: X:146.45, Y:-51.16, Z:-18.44 [[ 7.71185783e-01 6.27964140e-01 1.04563507e-01 1.46448539e+02] [-6.21072129e-01 7.78212548e-01 -9.30303242e-02 -5.11592243e+01] [-1.39792341e-01 6.80218320e-03 9.90157478e-01 -1.84409727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters 0.03831811117421074 Centerline is valid? [True, True] Translation: X:146.49, Y:-51.20, Z:-18.45 [[ 7.70349637e-01 6.28746535e-01 1.06015239e-01 1.46492965e+02] [-6.21657095e-01 7.77580448e-01 -9.43986455e-02 -5.12017735e+01] [-1.41788198e-01 6.81483705e-03 9.89873560e-01 -1.84489762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters 0.038461198098627226 Centerline is valid? [True, True] Translation: X:146.54, Y:-51.24, Z:-18.46 [[ 7.70531814e-01 6.28538185e-01 1.05926738e-01 1.46539483e+02] [-6.21447800e-01 7.77748058e-01 -9.43959169e-02 -5.12423543e+01] [-1.41715753e-01 6.90711867e-03 9.89883295e-01 -1.84557778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters 0.039055280837047075 Centerline is valid? [True, True] Translation: X:146.59, Y:-51.28, Z:-18.46 [[ 7.72489620e-01 6.26492158e-01 1.03765904e-01 1.46585486e+02] [-6.19660995e-01 7.79394565e-01 -9.25438476e-02 -5.12840846e+01] [-1.38852576e-01 7.18947832e-03 9.90286965e-01 -1.84613412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters 0.03978432927482612 Centerline is valid? [True, True] Translation: X:146.63, Y:-51.33, Z:-18.47 [[ 7.74842481e-01 6.23810963e-01 1.02367045e-01 1.46627434e+02] [-6.17131560e-01 7.81538148e-01 -9.13606043e-02 -5.13303273e+01] [-1.36995498e-01 7.61614288e-03 9.90542391e-01 -1.84678034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters 0.040870866946837996 Centerline is valid? [True, True] Translation: X:146.67, Y:-51.38, Z:-18.48 [[ 7.76309594e-01 6.21963177e-01 1.02494984e-01 1.46669303e+02] [-6.15248066e-01 7.83005936e-01 -9.14960215e-02 -5.13765383e+01] [-1.37161337e-01 7.96939882e-03 9.90516661e-01 -1.84753082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters 0.039919011273806745 Centerline is valid? [True, True] Translation: X:146.71, Y:-51.43, Z:-18.48 [[ 7.74488971e-01 6.24365576e-01 1.01658548e-01 1.46707445e+02] [-6.17778005e-01 7.81096297e-01 -9.07684417e-02 -5.14252677e+01] [-1.36077806e-01 7.49674191e-03 9.90669788e-01 -1.84824878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters 0.03854263362207325 Centerline is valid? [True, True] Translation: X:146.75, Y:-51.47, Z:-18.49 [[ 7.72217512e-01 6.27333092e-01 1.00664328e-01 1.46747095e+02] [-6.20897801e-01 7.78720356e-01 -8.98917609e-02 -5.14734654e+01] [-1.34781438e-01 6.91373209e-03 9.90851232e-01 -1.84877149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters 0.036950398376910734 Centerline is valid? [True, True] Translation: X:146.78, Y:-51.53, Z:-18.49 [[ 7.68602558e-01 6.31563425e-01 1.01871235e-01 1.46781935e+02] [-6.25006693e-01 7.75298938e-01 -9.09845583e-02 -5.15261662e+01] [-1.36443179e-01 6.26076063e-03 9.90628115e-01 -1.84942230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters 0.036420274111022014 Centerline is valid? [True, True] Translation: X:146.82, Y:-51.58, Z:-18.50 [[ 7.67363229e-01 6.33168037e-01 1.01251723e-01 1.46821082e+02] [-6.26702191e-01 7.73991457e-01 -9.04521348e-02 -5.15751322e+01] [-1.35639369e-01 5.95496582e-03 9.90740380e-01 -1.85013755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters 0.0352608137959375 Centerline is valid? [True, True] Translation: X:146.86, Y:-51.62, Z:-18.51 [[ 7.63766021e-01 6.37539491e-01 1.01019120e-01 1.46859817e+02] [-6.31132332e-01 7.70400000e-01 -9.03095810e-02 -5.16244004e+01] [-1.35401055e-01 5.21895632e-03 9.90777128e-01 -1.85067762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters 0.033510559876444135 Centerline is valid? [True, True] Translation: X:146.90, Y:-51.67, Z:-18.51 [[ 7.58341783e-01 6.44051095e-01 1.00577970e-01 1.46900368e+02] [-6.37754547e-01 7.64971736e-01 -8.99298732e-02 -5.16697924e+01] [-1.34858738e-01 4.05352247e-03 9.90856543e-01 -1.85141354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters 0.032826688734936826 Centerline is valid? [True, True] Translation: X:146.94, Y:-51.71, Z:-18.52 [[ 7.55716898e-01 6.47192822e-01 1.00166966e-01 1.46943703e+02] [-6.40972902e-01 7.62318342e-01 -8.95794850e-02 -5.17140377e+01] [-1.34334315e-01 3.49241978e-03 9.90929914e-01 -1.85201079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters 0.03240507978833134 Centerline is valid? [True, True] Translation: X:146.99, Y:-51.76, Z:-18.53 [[ 7.54613843e-01 6.48329623e-01 1.01126889e-01 1.46990515e+02] [-6.41988492e-01 7.61352250e-01 -9.05181027e-02 -5.17551972e+01] [-1.35678752e-01 3.38391448e-03 9.90747105e-01 -1.85286650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters 0.03260677778830169 Centerline is valid? [True, True] Translation: X:147.04, Y:-51.80, Z:-18.54 [[ 7.57612018e-01 6.44628414e-01 1.02363264e-01 1.47035961e+02] [-6.38084520e-01 7.64484694e-01 -9.17131292e-02 -5.17965213e+01] [-1.37376038e-01 4.16655446e-03 9.90510204e-01 -1.85359368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters 0.03332172176819197 Centerline is valid? [True, True] Translation: X:147.08, Y:-51.84, Z:-18.54 [[ 7.60387710e-01 6.41662710e-01 1.00396698e-01 1.47082441e+02] [-6.35333564e-01 7.66972743e-01 -9.00226306e-02 -5.18374522e+01] [-1.34765696e-01 4.66671009e-03 9.90866504e-01 -1.85420348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters 0.032982066844584455 Centerline is valid? [True, True] Translation: X:147.13, Y:-51.88, Z:-18.55 [[ 7.60647885e-01 6.41333658e-01 1.00528274e-01 1.47127652e+02] [-6.34974486e-01 7.67247148e-01 -9.02176019e-02 -5.18798430e+01] [-1.34989617e-01 4.79093876e-03 9.90835431e-01 -1.85485367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters 0.03285132430448709 Centerline is valid? [True, True] Translation: X:147.17, Y:-51.92, Z:-18.56 [[ 7.59829236e-01 6.42020333e-01 1.02320205e-01 1.47170733e+02] [-6.35426522e-01 7.66672492e-01 -9.19044302e-02 -5.19236074e+01] [-1.37450600e-01 4.81470061e-03 9.90496921e-01 -1.85585169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters 0.032934957889029885 Centerline is valid? [True, True] Translation: X:147.21, Y:-51.97, Z:-18.56 [[ 7.59509510e-01 6.42289116e-01 1.03004833e-01 1.47214535e+02] [-6.35597785e-01 7.66447049e-01 -9.25979369e-02 -5.19677995e+01] [-1.38422397e-01 4.85937012e-03 9.90361362e-01 -1.85649649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters 0.0331592095722591 Centerline is valid? [True, True] Translation: X:147.26, Y:-52.01, Z:-18.57 [[ 7.60183669e-01 6.41390017e-01 1.03632213e-01 1.47259121e+02] [-6.34597075e-01 7.67197939e-01 -9.32409502e-02 -5.20109318e+01] [-1.39310235e-01 5.11554857e-03 9.90235573e-01 -1.85711656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters 0.03315993380612317 Centerline is valid? [True, True] Translation: X:147.30, Y:-52.05, Z:-18.58 [[ 7.60182372e-01 6.41294261e-01 1.04232586e-01 1.47303861e+02] [-6.34409834e-01 7.67277246e-01 -9.38604863e-02 -5.20542524e+01] [-1.40167483e-01 5.22490946e-03 9.90114022e-01 -1.85787342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters 0.033377752334001115 Centerline is valid? [True, True] Translation: X:147.34, Y:-52.10, Z:-18.59 [[ 7.60479044e-01 6.41049775e-01 1.03570307e-01 1.47344580e+02] [-6.34239437e-01 7.67481018e-01 -9.33446488e-02 -5.21018014e+01] [-1.39326811e-01 5.29827601e-03 9.90232280e-01 -1.85879236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters 0.03331546535109181 Centerline is valid? [True, True] Translation: X:147.39, Y:-52.15, Z:-18.60 [[ 7.59614894e-01 6.41654065e-01 1.06137993e-01 1.47386813e+02] [-6.34492529e-01 7.66975233e-01 -9.57508340e-02 -5.21476646e+01] [-1.42844124e-01 5.38999589e-03 9.89730521e-01 -1.85959793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters 0.03316196623495313 Centerline is valid? [True, True] Translation: X:147.43, Y:-52.19, Z:-18.60 [[ 7.59199280e-01 6.42179052e-01 1.05936387e-01 1.47429156e+02] [-6.35038393e-01 7.66536052e-01 -9.56489500e-02 -5.21935030e+01] [-1.42627812e-01 5.34294088e-03 9.89761972e-01 -1.86019628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters 0.03266129738867396 Centerline is valid? [True, True] Translation: X:147.47, Y:-52.24, Z:-18.61 [[ 7.57192079e-01 6.44823234e-01 1.04226447e-01 1.47467334e+02] [-6.37927844e-01 7.64316554e-01 -9.41715037e-02 -5.22423315e+01] [-1.40385972e-01 4.81696408e-03 9.90085136e-01 -1.86102814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters 0.03152620504434244 Centerline is valid? [True, True] Translation: X:147.51, Y:-52.29, Z:-18.62 [[ 7.54185816e-01 6.48343270e-01 1.04186175e-01 1.47507188e+02] [-6.41484023e-01 7.61336704e-01 -9.41523865e-02 -5.22887789e+01] [-1.40363826e-01 4.17462746e-03 9.90091192e-01 -1.86163961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters 0.03117315874736901 Centerline is valid? [True, True] Translation: X:147.55, Y:-52.33, Z:-18.62 [[ 7.51233077e-01 6.52068114e-01 1.02254768e-01 1.47548286e+02] [-6.45492846e-01 7.58152616e-01 -9.24315806e-02 -5.23340346e+01] [-1.37796406e-01 3.43293960e-03 9.90454626e-01 -1.86224823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters 0.03088411340237125 Centerline is valid? [True, True] Translation: X:147.59, Y:-52.38, Z:-18.63 [[ 7.48838735e-01 6.54622509e-01 1.03488738e-01 1.47590940e+02] [-6.47901460e-01 7.55949773e-01 -9.36143111e-02 -5.23784859e+01] [-1.39514323e-01 3.05151773e-03 9.90215351e-01 -1.86307211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters 0.03078680869875068 Centerline is valid? [True, True] Translation: X:147.63, Y:-52.42, Z:-18.64 [[ 7.45497204e-01 6.58329609e-01 1.04096326e-01 1.47634507e+02] [-6.51552909e-01 7.52725838e-01 -9.42476540e-02 -5.24224576e+01] [-1.40402015e-01 2.43709845e-03 9.90091579e-01 -1.86391233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters 0.03057672246429905 Centerline is valid? [True, True] Translation: X:147.68, Y:-52.46, Z:-18.64 [[ 7.44619445e-01 6.59380584e-01 1.03726215e-01 1.47680219e+02] [-6.52650614e-01 7.51805815e-01 -9.39957067e-02 -5.24643903e+01] [-1.39960915e-01 2.29405334e-03 9.90154372e-01 -1.86446076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters 0.03082465280558726 Centerline is valid? [True, True] Translation: X:147.72, Y:-52.51, Z:-18.65 [[ 7.44835553e-01 6.59071747e-01 1.04136599e-01 1.47723525e+02] [-6.52273188e-01 7.52076159e-01 -9.44517821e-02 -5.25081827e+01] [-1.40569154e-01 2.42553420e-03 9.90067891e-01 -1.86539947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters 0.031009937906849583 Centerline is valid? [True, True] Translation: X:147.77, Y:-52.55, Z:-18.66 [[ 7.44108599e-01 6.59747504e-01 1.05050580e-01 1.47768331e+02] [-6.52822812e-01 7.51483565e-01 -9.53668087e-02 -5.25506504e+01] [-1.41861798e-01 2.38384758e-03 9.89883603e-01 -1.86608734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters 0.030546849695079828 Centerline is valid? [True, True] Translation: X:147.81, Y:-52.59, Z:-18.67 [[ 7.41554174e-01 6.62837904e-01 1.03649989e-01 1.47814256e+02] [-6.56115685e-01 7.48760680e-01 -9.41788370e-02 -5.25921253e+01] [-1.40034339e-01 1.83232634e-03 9.90144952e-01 -1.86675364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters 0.03030101713973809 Centerline is valid? [True, True] Translation: X:147.86, Y:-52.64, Z:-18.67 [[ 7.37410887e-01 6.67490122e-01 1.03354345e-01 1.47858231e+02] [-6.60841165e-01 7.44617975e-01 -9.39841780e-02 -5.26362827e+01] [-1.39693013e-01 1.00415064e-03 9.90194352e-01 -1.86749338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters 0.03068091514125659 Centerline is valid? [True, True] Translation: X:147.91, Y:-52.68, Z:-18.68 [[ 7.34837492e-01 6.70505724e-01 1.02156422e-01 1.47905485e+02] [-6.64034123e-01 7.41904216e-01 -9.29344839e-02 -5.26761895e+01] [-1.38103383e-01 4.56393011e-04 9.90417713e-01 -1.86823280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters 0.030495544878415378 Centerline is valid? [True, True] Translation: X:147.95, Y:-52.72, Z:-18.69 [[ 7.34236680e-01 6.71169828e-01 1.02115425e-01 1.47954463e+02] [-6.64697506e-01 7.41303517e-01 -9.29855982e-02 -5.27156255e+01] [-1.38107652e-01 3.97568328e-04 9.90417144e-01 -1.86885816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters 0.030844957838004314 Centerline is valid? [True, True] Translation: X:148.00, Y:-52.75, Z:-18.70 [[ 7.35047224e-01 6.70161360e-01 1.02904469e-01 1.48002443e+02] [-6.63564503e-01 7.42215137e-01 -9.38021428e-02 -5.27548475e+01] [-1.39239826e-01 6.65252060e-04 9.90258465e-01 -1.86967382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters 0.03119030552658067 Centerline is valid? [True, True] Translation: X:148.05, Y:-52.79, Z:-18.70 [[ 7.38265481e-01 6.66426321e-01 1.04115503e-01 1.48050210e+02] [-6.59622770e-01 7.45569476e-01 -9.49945107e-02 -5.27943504e+01] [-1.40932184e-01 1.45421144e-03 9.90018184e-01 -1.87031913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters 0.03159183598022472 Centerline is valid? [True, True] Translation: X:148.10, Y:-52.83, Z:-18.71 [[ 7.40761980e-01 6.63835914e-01 1.02925064e-01 1.48099760e+02] [-6.57150501e-01 7.47875600e-01 -9.39963055e-02 -5.28326631e+01] [-1.39373267e-01 1.99163193e-03 9.90237914e-01 -1.87104637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters 0.03185145419158897 Centerline is valid? [True, True] Translation: X:148.15, Y:-52.87, Z:-18.72 [[ 7.42689467e-01 6.61698333e-01 1.02799179e-01 1.48146332e+02] [-6.54995521e-01 7.49766132e-01 -9.39766719e-02 -5.28728638e+01] [-1.39259550e-01 2.46248227e-03 9.90252853e-01 -1.87188899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters 0.032586127287128674 Centerline is valid? [True, True] Translation: X:148.19, Y:-52.91, Z:-18.73 [[ 7.45053858e-01 6.58802420e-01 1.04279049e-01 1.48192382e+02] [-6.51865305e-01 7.52309597e-01 -9.54038470e-02 -5.29144071e+01] [-1.41302415e-01 3.10511013e-03 9.89961608e-01 -1.87253740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters 0.03296126050181088 Centerline is valid? [True, True] Translation: X:148.24, Y:-52.95, Z:-18.73 [[ 7.47951965e-01 6.55670411e-01 1.03267468e-01 1.48238876e+02] [-6.48833209e-01 7.55038218e-01 -9.45132660e-02 -5.29546448e+01] [-1.39940437e-01 3.68802006e-03 9.90153055e-01 -1.87326298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters 0.03316296591111569 Centerline is valid? [True, True] Translation: X:148.29, Y:-53.00, Z:-18.74 [[ 7.47994182e-01 6.55604468e-01 1.03380296e-01 1.48285942e+02] [-6.48739741e-01 7.55095080e-01 -9.47004129e-02 -5.29951795e+01] [-1.40147967e-01 3.76845166e-03 9.90123400e-01 -1.87402062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters 0.033205226939940685 Centerline is valid? [True, True] Translation: X:148.33, Y:-53.04, Z:-18.75 [[ 7.46791893e-01 6.56863463e-01 1.04078143e-01 1.48331827e+02] [-6.49906231e-01 7.54000871e-01 -9.54179091e-02 -5.30372153e+01] [-1.41151549e-01 3.61628705e-03 9.89981395e-01 -1.87477408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters 0.03336967024803894 Centerline is valid? [True, True] Translation: X:148.38, Y:-53.08, Z:-18.75 [[ 7.45967690e-01 6.57825356e-01 1.03913458e-01 1.48377504e+02] [-6.50893831e-01 7.53162555e-01 -9.53067975e-02 -5.30788375e+01] [-1.40958953e-01 3.45916291e-03 9.90009398e-01 -1.87540893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters 0.03299264421848197 Centerline is valid? [True, True] Translation: X:148.42, Y:-53.12, Z:-18.76 [[ 7.46394407e-01 6.57840676e-01 1.00702702e-01 1.48423040e+02] [-6.51322266e-01 7.53149411e-01 -9.24406333e-02 -5.31211335e+01] [-1.36655389e-01 3.40725956e-03 9.90612788e-01 -1.87599799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters 0.03300092771333522 Centerline is valid? [True, True] Translation: X:148.47, Y:-53.16, Z:-18.77 [[ 7.44172343e-01 6.60182461e-01 1.01816709e-01 1.48469190e+02] [-6.53528431e-01 7.51098972e-01 -9.35463741e-02 -5.31626257e+01] [-1.38232101e-01 3.07451061e-03 9.90395090e-01 -1.87671654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters 0.032723876858925395 Centerline is valid? [True, True] Translation: X:148.51, Y:-53.21, Z:-18.77 [[ 7.41352110e-01 6.63289290e-01 1.02197686e-01 1.48514014e+02] [-6.56602662e-01 7.48358683e-01 -9.39799269e-02 -5.32056997e+01] [-1.38816404e-01 2.56894469e-03 9.90314802e-01 -1.87733117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters 0.03263002505394248 Centerline is valid? [True, True] Translation: X:148.56, Y:-53.25, Z:-18.78 [[ 7.38556346e-01 6.66322235e-01 1.02709311e-01 1.48560074e+02] [-6.59585352e-01 7.45661036e-01 -9.45345646e-02 -5.32468650e+01] [-1.39576813e-01 2.07354574e-03 9.90209076e-01 -1.87818366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters 0.03271792924661473 Centerline is valid? [True, True] Translation: X:148.61, Y:-53.29, Z:-18.79 [[ 7.36688170e-01 6.68284870e-01 1.03372494e-01 1.48605729e+02] [-6.61466970e-01 7.43903331e-01 -9.52327750e-02 -5.32895644e+01] [-1.40541765e-01 1.77936865e-03 9.90073152e-01 -1.87868857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters 0.032495813767502324 Centerline is valid? [True, True] Translation: X:148.65, Y:-53.33, Z:-18.79 [[ 7.32992365e-01 6.72418455e-01 1.02837805e-01 1.48653411e+02] [-6.65698080e-01 7.40170459e-01 -9.48354245e-02 -5.33289893e+01] [-1.39886595e-01 1.05471312e-03 9.90166970e-01 -1.87923994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters 0.03249404391464301 Centerline is valid? [True, True] Translation: X:148.70, Y:-53.37, Z:-18.80 [[ 7.29111961e-01 6.76533038e-01 1.03434988e-01 1.48701969e+02] [-6.69762257e-01 7.36412205e-01 -9.54755650e-02 -5.33691614e+01] [-1.40763161e-01 3.35525626e-04 9.90043241e-01 -1.88007509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters 0.0325404984336821 Centerline is valid? [True, True] Translation: X:148.75, Y:-53.41, Z:-18.81 [[ 7.28138170e-01 6.77549696e-01 1.03639833e-01 1.48750052e+02] [-6.70747747e-01 7.35476963e-01 -9.57658424e-02 -5.34093384e+01] [-1.41110827e-01 2.14580776e-04 9.89993782e-01 -1.88072610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters 0.03251735749522589 Centerline is valid? [True, True] Translation: X:148.80, Y:-53.45, Z:-18.82 [[ 7.26845400e-01 6.79003384e-01 1.03199658e-01 1.48801248e+02] [-6.72259710e-01 7.34135141e-01 -9.54592997e-02 -5.34462342e+01] [-1.40579683e-01 7.18073758e-06 9.90069368e-01 -1.88157748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters 0.03244214336978845 Centerline is valid? [True, True] Translation: X:148.85, Y:-53.48, Z:-18.82 [[ 7.26964209e-01 6.79214509e-01 1.00948943e-01 1.48851998e+02] [-6.72752051e-01 7.33939813e-01 -9.34720734e-02 -5.34821642e+01] [-1.37578037e-01 3.72431546e-05 9.90490930e-01 -1.88228478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters 0.03282171213611755 Centerline is valid? [True, True] Translation: X:148.90, Y:-53.52, Z:-18.83 [[ 7.26280499e-01 6.79405984e-01 1.04518639e-01 1.48902542e+02] [-6.72464778e-01 7.33762567e-01 -9.68690731e-02 -5.35183444e+01] [-1.42505293e-01 6.90152219e-05 9.89794038e-01 -1.88319312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters 0.03267592382523684 Centerline is valid? [True, True] Translation: X:148.95, Y:-53.55, Z:-18.84 [[ 7.26636139e-01 6.79144608e-01 1.03742577e-01 1.48954809e+02] [-6.72291452e-01 7.34004473e-01 -9.62373967e-02 -5.35530620e+01] [-1.41506625e-01 1.84322743e-04 9.89937292e-01 -1.88381973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters 0.03265112336312838 Centerline is valid? [True, True] Translation: X:149.01, Y:-53.59, Z:-18.85 [[ 7.25939367e-01 6.80035087e-01 1.02782854e-01 1.49005778e+02] [-6.73305402e-01 7.33179565e-01 -9.54335450e-02 -5.35888033e+01] [-1.40256447e-01 7.47165244e-05 9.90115207e-01 -1.88455583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters 0.032803630269257214 Centerline is valid? [True, True] Translation: X:149.06, Y:-53.62, Z:-18.85 [[ 7.26414343e-01 6.79440890e-01 1.03355114e-01 1.49056058e+02] [-6.72617369e-01 7.33730204e-01 -9.60513549e-02 -5.36248866e+01] [-1.41095987e-01 2.54636911e-04 9.89995888e-01 -1.88519684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters 0.032824831982397336 Centerline is valid? [True, True] Translation: X:149.11, Y:-53.66, Z:-18.86 [[ 7.26543471e-01 6.79193245e-01 1.04072672e-01 1.49105740e+02] [-6.72259712e-01 7.33959400e-01 -9.68012287e-02 -5.36622143e+01] [-1.42131856e-01 3.66436235e-04 9.89847666e-01 -1.88588920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters 0.03285943039764893 Centerline is valid? [True, True] Translation: X:149.16, Y:-53.70, Z:-18.87 [[ 7.27464044e-01 6.78407535e-01 1.02758363e-01 1.49157567e+02] [-6.71629004e-01 7.34685568e-01 -9.56639769e-02 -5.36973082e+01] [-1.40394249e-01 5.76606175e-04 9.90095512e-01 -1.88674599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters 0.03290858847203047 Centerline is valid? [True, True] Translation: X:149.21, Y:-53.73, Z:-18.87 [[ 7.29645060e-01 6.76135565e-01 1.02268201e-01 1.49209393e+02] [-6.69387291e-01 7.36776454e-01 -9.52948590e-02 -5.37340874e+01] [-1.39781045e-01 1.07438934e-03 9.90181855e-01 -1.88725966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters 0.0327972635333688 Centerline is valid? [True, True] Translation: X:149.26, Y:-53.77, Z:-18.88 [[ 7.31781428e-01 6.73915090e-01 1.01658211e-01 1.49259923e+02] [-6.67212502e-01 7.38807154e-01 -9.48233497e-02 -5.37717372e+01] [-1.39008700e-01 1.56233686e-03 9.90289927e-01 -1.88791448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters 0.03307905009939237 Centerline is valid? [True, True] Translation: X:149.31, Y:-53.81, Z:-18.89 [[ 7.35144461e-01 6.70513772e-01 9.98694321e-02 1.49311960e+02] [-6.64001945e-01 7.41893710e-01 -9.32477295e-02 -5.38086130e+01] [-1.36616390e-01 2.23705464e-03 9.90621501e-01 -1.88852504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters 0.03362550764052435 Centerline is valid? [True, True] Translation: X:149.36, Y:-53.85, Z:-18.89 [[ 7.38585707e-01 6.66530102e-01 1.01137418e-01 1.49359668e+02] [-6.59802049e-01 7.45471768e-01 -9.45150786e-02 -5.38479639e+01] [-1.38392235e-01 3.07681047e-03 9.90372719e-01 -1.88922078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters 0.034255149704273 Centerline is valid? [True, True] Translation: X:149.41, Y:-53.89, Z:-18.90 [[ 7.40526771e-01 6.64215697e-01 1.02164613e-01 1.49405988e+02] [-6.57322663e-01 7.47532436e-01 -9.55100661e-02 -5.38890522e+01] [-1.39810647e-01 3.57264524e-03 9.90171813e-01 -1.89000457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters 0.03519635316583711 Centerline is valid? [True, True] Translation: X:149.45, Y:-53.93, Z:-18.91 [[ 7.44912164e-01 6.59621560e-01 1.00026324e-01 1.49453954e+02] [-6.52963116e-01 7.51584999e-01 -9.35903779e-02 -5.39283263e+01] [-1.36912516e-01 4.40311061e-03 9.90573357e-01 -1.89067451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters 0.035562057869834164 Centerline is valid? [True, True] Translation: X:149.50, Y:-53.97, Z:-18.91 [[ 7.44549801e-01 6.59649248e-01 1.02510798e-01 1.49498471e+02] [-6.52642617e-01 7.51559686e-01 -9.59981921e-02 -5.39713248e+01] [-1.40368119e-01 4.57251910e-03 9.90088826e-01 -1.89141340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters 0.035456624355522 Centerline is valid? [True, True] Translation: X:149.54, Y:-54.01, Z:-18.92 [[ 7.44671902e-01 6.59648969e-01 1.01621830e-01 1.49543112e+02] [-6.52752813e-01 7.51559810e-01 -9.52450372e-02 -5.40138075e+01] [-1.39203173e-01 4.59236782e-03 9.90253193e-01 -1.89203221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters 0.0350745674494893 Centerline is valid? [True, True] Translation: X:149.59, Y:-54.06, Z:-18.93 [[ 7.42380906e-01 6.62029124e-01 1.02898155e-01 1.49586663e+02] [-6.54968780e-01 7.49465996e-01 -9.65226285e-02 -5.40575441e+01] [-1.41019460e-01 4.26147712e-03 9.89997652e-01 -1.89267442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters 0.03459105102416522 Centerline is valid? [True, True] Translation: X:149.63, Y:-54.10, Z:-18.93 [[ 7.39991955e-01 6.64609498e-01 1.03470390e-01 1.49629561e+02] [-6.57483231e-01 7.47180944e-01 -9.71413280e-02 -5.41020639e+01] [-1.41872153e-01 3.85375461e-03 9.89877488e-01 -1.89347041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters 0.034572677624679395 Centerline is valid? [True, True] Translation: X:149.67, Y:-54.15, Z:-18.94 [[ 7.37342148e-01 6.67401779e-01 1.04409880e-01 1.49671505e+02] [-6.60160454e-01 7.44690023e-01 -9.81067998e-02 -5.41474970e+01] [-1.43229649e-01 3.41100467e-03 9.89683602e-01 -1.89421664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters 0.03349538679484552 Centerline is valid? [True, True] Translation: X:149.71, Y:-54.19, Z:-18.95 [[ 7.33008473e-01 6.72422363e-01 1.02697343e-01 1.49712554e+02] [-6.65456870e-01 7.40163629e-01 -9.65658138e-02 -5.41934181e+01] [-1.40945851e-01 2.44290750e-03 9.90014293e-01 -1.89474926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters 0.03270370571207122 Centerline is valid? [True, True] Translation: X:149.75, Y:-54.24, Z:-18.96 [[ 7.26823964e-01 6.79143017e-01 1.02428939e-01 1.49754018e+02] [-6.72277716e-01 7.34005063e-01 -9.63288146e-02 -5.42400933e+01] [-1.40604402e-01 1.15339734e-03 9.90065186e-01 -1.89554910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters 0.03239636660922383 Centerline is valid? [True, True] Translation: X:149.80, Y:-54.28, Z:-18.96 [[ 7.20819882e-01 6.85497206e-01 1.02529397e-01 1.49800388e+02] [-6.78675976e-01 7.28075255e-01 -9.64641994e-02 -5.42808021e+01] [-1.40775056e-01 -5.09258033e-05 9.90041606e-01 -1.89617862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters 0.03227325504740018 Centerline is valid? [True, True] Translation: X:149.85, Y:-54.32, Z:-18.97 [[ 7.18255775e-01 6.88384367e-01 1.01171160e-01 1.49846544e+02] [-6.81760173e-01 7.25345893e-01 -9.52701516e-02 -5.43226219e+01] [-1.38966569e-01 -5.46131033e-04 9.90296922e-01 -1.89687655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters 0.03218759563494827 Centerline is valid? [True, True] Translation: X:149.89, Y:-54.36, Z:-18.97 [[ 7.19008415e-01 6.87342704e-01 1.02892694e-01 1.49894973e+02] [-6.80466791e-01 7.26333206e-01 -9.69794847e-02 -5.43618362e+01] [-1.41392521e-01 -2.85995502e-04 9.89953571e-01 -1.89742479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters 0.03192751871446767 Centerline is valid? [True, True] Translation: X:149.94, Y:-54.40, Z:-18.98 [[ 7.18672866e-01 6.87852541e-01 1.01824330e-01 1.49942784e+02] [-6.81112306e-01 7.25850384e-01 -9.60585612e-02 -5.44018454e+01] [-1.39983355e-01 -3.19122750e-04 9.90153806e-01 -1.89804911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters 0.03185011757279433 Centerline is valid? [True, True] Translation: X:149.99, Y:-54.44, Z:-18.99 [[ 7.16528775e-01 6.90160405e-01 1.01316976e-01 1.49991963e+02] [-6.83498013e-01 7.23656081e-01 -9.56678778e-02 -5.44411708e+01] [-1.39344827e-01 -7.01164657e-04 9.90243671e-01 -1.89878494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters 0.03195608954325164 Centerline is valid? [True, True] Translation: X:150.04, Y:-54.48, Z:-18.99 [[ 7.14837165e-01 6.92009014e-01 1.00654621e-01 1.50039676e+02] [-6.85438448e-01 7.21888190e-01 -9.51397667e-02 -5.44817161e+01] [-1.38498958e-01 -9.83106278e-04 9.90362091e-01 -1.89924759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters 0.03204500237415962 Centerline is valid? [True, True] Translation: X:150.09, Y:-54.52, Z:-19.00 [[ 7.15817494e-01 6.91119941e-01 9.97925017e-02 1.50091954e+02] [-6.84640256e-01 7.22739709e-01 -9.44194486e-02 -5.45165367e+01] [-1.37379167e-01 -7.34870817e-04 9.90518260e-01 -1.90016831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters 0.03207753409946843 Centerline is valid? [True, True] Translation: X:150.14, Y:-54.55, Z:-19.01 [[ 7.19420944e-01 6.87244998e-01 1.00637063e-01 1.50144396e+02] [-6.80604176e-01 7.26425707e-01 -9.53081709e-02 -5.45527546e+01] [-1.38605413e-01 7.26887217e-05 9.90347683e-01 -1.90101013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters 0.03236758222994788 Centerline is valid? [True, True] Translation: X:150.20, Y:-54.59, Z:-19.02 [[ 7.22060858e-01 6.84329067e-01 1.01596485e-01 1.50195040e+02] [-6.77517620e-01 7.29172970e-01 -9.63153881e-02 -5.45894149e+01] [-1.39992830e-01 7.12163215e-04 9.90152261e-01 -1.90186690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters 0.03232750577969081 Centerline is valid? [True, True] Translation: X:150.24, Y:-54.63, Z:-19.03 [[ 7.23683863e-01 6.82727208e-01 1.00822747e-01 1.50243656e+02] [-6.75991940e-01 7.30672565e-01 -9.56687004e-02 -5.46288598e+01] [-1.38984040e-01 1.07853062e-03 9.90294034e-01 -1.90252254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters 0.032495253654346475 Centerline is valid? [True, True] Translation: X:150.29, Y:-54.67, Z:-19.03 [[ 7.24037637e-01 6.82287009e-01 1.01261729e-01 1.50292446e+02] [-6.75474972e-01 7.31083377e-01 -9.61803438e-02 -5.46671554e+01] [-1.39653366e-01 1.23842554e-03 9.90199679e-01 -1.90320866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters 0.032641816859053985 Centerline is valid? [True, True] Translation: X:150.34, Y:-54.71, Z:-19.04 [[ 7.25117178e-01 6.81135676e-01 1.01288055e-01 1.50339676e+02] [-6.74296984e-01 7.32155633e-01 -9.62896988e-02 -5.47069990e+01] [-1.39744969e-01 1.52308488e-03 9.90186358e-01 -1.90379554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters 0.03316854632800588 Centerline is valid? [True, True] Translation: X:150.39, Y:-54.74, Z:-19.05 [[ 7.27896606e-01 6.77871452e-01 1.03231902e-01 1.50390210e+02] [-6.70721185e-01 7.35176987e-01 -9.82236761e-02 -5.47429788e+01] [-1.42476744e-01 2.25685721e-03 9.89795577e-01 -1.90460812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters 0.03344375329206795 Centerline is valid? [True, True] Translation: X:150.44, Y:-54.78, Z:-19.05 [[ 7.31093667e-01 6.74548719e-01 1.02401542e-01 1.50440403e+02] [-6.67469766e-01 7.38224476e-01 -9.75127422e-02 -5.47798024e+01] [-1.41372420e-01 2.94101511e-03 9.89952115e-01 -1.90526607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters 0.03395266587299262 Centerline is valid? [True, True] Translation: X:150.49, Y:-54.82, Z:-19.06 [[ 7.33926231e-01 6.71266087e-01 1.03702107e-01 1.50488761e+02] [-6.63961933e-01 7.41207347e-01 -9.88241911e-02 -5.48188645e+01] [-1.43202091e-01 3.67541507e-03 9.89686644e-01 -1.90608775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters 0.03437917941791542 Centerline is valid? [True, True] Translation: X:150.54, Y:-54.86, Z:-19.07 [[ 7.36659888e-01 6.68320055e-01 1.03346570e-01 1.50538266e+02] [-6.61032102e-01 7.43861645e-01 -9.85211305e-02 -5.48563171e+01] [-1.42719197e-01 4.26116466e-03 9.89754047e-01 -1.90684092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters 0.03432109329079699 Centerline is valid? [True, True] Translation: X:150.58, Y:-54.90, Z:-19.08 [[ 7.37066887e-01 6.67406061e-01 1.06308765e-01 1.50583301e+02] [-6.59671567e-01 7.44679647e-01 -1.01418184e-01 -5.48984383e+01] [-1.46853084e-01 4.62311560e-03 9.89147511e-01 -1.90768706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters 0.035139600821142335 Centerline is valid? [True, True] Translation: X:150.63, Y:-54.94, Z:-19.08 [[ 7.37985784e-01 6.66409227e-01 1.06187211e-01 1.50632008e+02] [-6.58676698e-01 7.45570436e-01 -1.01339683e-01 -5.49366470e+01] [-1.46703745e-01 4.84420371e-03 9.89168613e-01 -1.90843565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters 0.03562194666685238 Centerline is valid? [True, True] Translation: X:150.68, Y:-54.98, Z:-19.09 [[ 7.40015924e-01 6.64208155e-01 1.05848757e-01 1.50677504e+02] [-6.56490369e-01 7.47528695e-01 -1.01100181e-01 -5.49785015e+01] [-1.46276547e-01 5.32705451e-03 9.89229394e-01 -1.90925401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters 0.036651693585742696 Centerline is valid? [True, True] Translation: X:150.72, Y:-55.02, Z:-19.10 [[ 7.41640494e-01 6.62016492e-01 1.08182907e-01 1.50723371e+02] [-6.53918886e-01 7.49465717e-01 -1.03398402e-01 -5.50193736e+01] [-1.49530828e-01 5.94159573e-03 9.88739212e-01 -1.90980686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters 0.03799456013320577 Centerline is valid? [True, True] Translation: X:150.77, Y:-55.06, Z:-19.11 [[ 7.43456225e-01 6.59891565e-01 1.08701262e-01 1.50766778e+02] [-6.51690209e-01 7.51333460e-01 -1.03912959e-01 -5.50621660e+01] [-1.50242180e-01 6.41518858e-03 9.88628410e-01 -1.91079914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters 0.03846476685063712 Centerline is valid? [True, True] Translation: X:150.81, Y:-55.11, Z:-19.12 [[ 7.45195023e-01 6.58039567e-01 1.08019933e-01 1.50810265e+02] [-6.49914387e-01 7.52952792e-01 -1.03312064e-01 -5.51061154e+01] [-1.49317336e-01 6.78392752e-03 9.88766055e-01 -1.91156701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters 0.03889786923504253 Centerline is valid? [True, True] Translation: X:150.85, Y:-55.15, Z:-19.12 [[ 7.44487458e-01 6.58612574e-01 1.09397909e-01 1.50853054e+02] [-6.50270685e-01 7.52451302e-01 -1.04714250e-01 -5.51507922e+01] [-1.51282721e-01 6.82019213e-03 9.88467007e-01 -1.91242590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters 0.038577642975973804 Centerline is valid? [True, True] Translation: X:150.90, Y:-55.20, Z:-19.13 [[ 7.43518026e-01 6.59764008e-01 1.09052274e-01 1.50896417e+02] [-6.51476618e-01 7.51443713e-01 -1.04453636e-01 -5.51952145e+01] [-1.50861396e-01 6.61815461e-03 9.88532771e-01 -1.91332041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters 0.03879445877452197 Centerline is valid? [True, True] Translation: X:150.94, Y:-55.24, Z:-19.14 [[ 7.43964426e-01 6.59420372e-01 1.08081944e-01 1.50940458e+02] [-6.51270323e-01 7.51744905e-01 -1.03569126e-01 -5.52394255e+01] [-1.49545643e-01 6.66118248e-03 9.88732385e-01 -1.91402338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters 0.03848924699357555 Centerline is valid? [True, True] Translation: X:150.98, Y:-55.29, Z:-19.15 [[ 7.43829505e-01 6.59723329e-01 1.07157815e-01 1.50980866e+02] [-6.51702443e-01 7.51479487e-01 -1.02774055e-01 -5.52863561e+01] [-1.48329342e-01 6.61136519e-03 9.88915920e-01 -1.91472588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters 0.03797570112123254 Centerline is valid? [True, True] Translation: X:151.02, Y:-55.33, Z:-19.15 [[ 7.41735639e-01 6.62202697e-01 1.06375893e-01 1.51023680e+02] [-6.54314649e-01 7.49299763e-01 -1.02089201e-01 -5.53296453e+01] [-1.47311175e-01 6.11989343e-03 9.89071264e-01 -1.91539782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters 0.03656902992665076 Centerline is valid? [True, True] Translation: X:151.06, Y:-55.37, Z:-19.16 [[ 7.38857691e-01 6.65739263e-01 1.04309861e-01 1.51064469e+02] [-6.58189687e-01 7.46165511e-01 -1.00116762e-01 -5.53744615e+01] [-1.44484080e-01 5.31636455e-03 9.89492843e-01 -1.91599248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters 0.035663092165491336 Centerline is valid? [True, True] Translation: X:151.11, Y:-55.42, Z:-19.17 [[ 7.35440746e-01 6.69389217e-01 1.05095125e-01 1.51110962e+02] [-6.61760043e-01 7.42897370e-01 -1.00881832e-01 -5.54160978e+01] [-1.45604102e-01 4.64485477e-03 9.89332033e-01 -1.91655506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters 0.03529241793798901 Centerline is valid? [True, True] Translation: X:151.15, Y:-55.46, Z:-19.17 [[ 7.33838373e-01 6.71130382e-01 1.05191507e-01 1.51154703e+02] [-6.63500449e-01 7.41326712e-01 -1.01004256e-01 -5.54604548e+01] [-1.45768299e-01 4.32618724e-03 9.89309298e-01 -1.91725528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters 0.03488554258249547 Centerline is valid? [True, True] Translation: X:151.20, Y:-55.50, Z:-19.18 [[ 7.33265285e-01 6.72054080e-01 1.03273110e-01 1.51199967e+02] [-6.64704754e-01 7.40490744e-01 -9.92020602e-02 -5.55026292e+01] [-1.43141931e-01 4.09529990e-03 9.89693698e-01 -1.91776124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters 0.034472005560594036 Centerline is valid? [True, True] Translation: X:151.25, Y:-55.54, Z:-19.18 [[ 7.31379505e-01 6.74235070e-01 1.02426025e-01 1.51247352e+02] [-6.67015973e-01 7.38507541e-01 -9.84698129e-02 -5.55422934e+01] [-1.42034193e-01 3.69900856e-03 9.89854841e-01 -1.91844076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters 0.03421687666942435 Centerline is valid? [True, True] Translation: X:151.30, Y:-55.58, Z:-19.19 [[ 7.30107811e-01 6.75616517e-01 1.02395836e-01 1.51295100e+02] [-6.68403323e-01 7.37244963e-01 -9.85234070e-02 -5.55819606e+01] [-1.42054855e-01 3.49099209e-03 9.89852631e-01 -1.91900888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters 0.03460151051670827 Centerline is valid? [True, True] Translation: X:151.34, Y:-55.62, Z:-19.20 [[ 7.30902079e-01 6.74798448e-01 1.02123478e-01 1.51341582e+02] [-6.67604011e-01 7.37992785e-01 -9.83439559e-02 -5.56226264e+01] [-1.41728739e-01 3.70175836e-03 9.89898612e-01 -1.91969634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters 0.03431851585548445 Centerline is valid? [True, True] Translation: X:151.39, Y:-55.66, Z:-19.20 [[ 7.31880832e-01 6.74028392e-01 1.00180708e-01 1.51388071e+02] [-6.67088074e-01 7.38695480e-01 -9.65530428e-02 -5.56635316e+01] [-1.39082528e-01 3.83596574e-03 9.90273364e-01 -1.92024778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters 0.03431205275639904 Centerline is valid? [True, True] Translation: X:151.44, Y:-55.70, Z:-19.21 [[ 7.32168933e-01 6.73680975e-01 1.00412143e-01 1.51435360e+02] [-6.66693794e-01 7.39011619e-01 -9.68566569e-02 -5.57043101e+01] [-1.39456227e-01 3.97128271e-03 9.90220273e-01 -1.92089763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters 0.03392488416781595 Centerline is valid? [True, True] Translation: X:151.48, Y:-55.75, Z:-19.22 [[ 7.30006427e-01 6.75832012e-01 1.01694189e-01 1.51481972e+02] [-6.68673225e-01 7.37046560e-01 -9.81757930e-02 -5.57457167e+01] [-1.41303696e-01 3.66877890e-03 9.89959497e-01 -1.92151109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters 0.033599041140931284 Centerline is valid? [True, True] Translation: X:151.53, Y:-55.79, Z:-19.22 [[ 7.30055637e-01 6.75859109e-01 1.01159434e-01 1.51529002e+02] [-6.68765973e-01 7.37021572e-01 -9.77306267e-02 -5.57867134e+01] [-1.40608819e-01 3.69680771e-03 9.90058328e-01 -1.92220457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters 0.03368006191805612 Centerline is valid? [True, True] Translation: X:151.57, Y:-55.83, Z:-19.23 [[ 7.30602565e-01 6.75260192e-01 1.01210494e-01 1.51574160e+02] [-6.68148576e-01 7.37569591e-01 -9.78191099e-02 -5.58284421e+01] [-1.40703134e-01 3.84324533e-03 9.90044372e-01 -1.92288875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters 0.03370901389234592 Centerline is valid? [True, True] Translation: X:151.62, Y:-55.87, Z:-19.24 [[ 7.30979815e-01 6.74579409e-01 1.03010348e-01 1.51619041e+02] [-6.67192448e-01 7.38190857e-01 -9.96418346e-02 -5.58703997e+01] [-1.43257627e-01 4.10844360e-03 9.89676903e-01 -1.92356135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters 0.0335073065267946 Centerline is valid? [True, True] Translation: X:151.66, Y:-55.91, Z:-19.24 [[ 7.30852276e-01 6.74706305e-01 1.03084204e-01 1.51663862e+02] [-6.67298209e-01 7.38074661e-01 -9.97942624e-02 -5.59145359e+01] [-1.43415657e-01 4.14695905e-03 9.89653855e-01 -1.92429773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters 0.033787575855207544 Centerline is valid? [True, True] Translation: X:151.71, Y:-55.96, Z:-19.25 [[ 7.30398723e-01 6.75073740e-01 1.03890097e-01 1.51707767e+02] [-6.67538676e-01 7.37738433e-01 -1.00668367e-01 -5.59576925e+01] [-1.44602289e-01 4.17738899e-03 9.89481039e-01 -1.92509643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters 0.03406239561539921 Centerline is valid? [True, True] Translation: X:151.75, Y:-56.00, Z:-19.26 [[ 7.31162021e-01 6.74076530e-01 1.04990145e-01 1.51752175e+02] [-6.66357310e-01 7.38647893e-01 -1.01819569e-01 -5.60010968e+01] [-1.46184931e-01 4.48565082e-03 9.89247110e-01 -1.92587469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters 0.034214528612168345 Centerline is valid? [True, True] Translation: X:151.80, Y:-56.04, Z:-19.27 [[ 7.32121918e-01 6.73038278e-01 1.04961769e-01 1.51796170e+02] [-6.65300234e-01 7.39592367e-01 -1.01876046e-01 -5.60439264e+01] [-1.46195402e-01 4.75459633e-03 9.89244307e-01 -1.92673582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters 0.03476586368604866 Centerline is valid? [True, True] Translation: X:151.84, Y:-56.09, Z:-19.27 [[ 7.33791209e-01 6.71024919e-01 1.06188603e-01 1.51839496e+02] [-6.63070306e-01 7.41415991e-01 -1.03150846e-01 -5.60874217e+01] [-1.47946716e-01 5.28067468e-03 9.88981235e-01 -1.92748245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters 0.03535608120029022 Centerline is valid? [True, True] Translation: X:151.88, Y:-56.13, Z:-19.29 [[ 7.34373085e-01 6.70133244e-01 1.07785008e-01 1.51883939e+02] [-6.61916419e-01 7.42219734e-01 -1.04768887e-01 -5.61302066e+01] [-1.50209274e-01 5.59478369e-03 9.88638393e-01 -1.92851656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters 0.03508911810271818 Centerline is valid? [True, True] Translation: X:151.93, Y:-56.17, Z:-19.29 [[ 7.32890402e-01 6.71808782e-01 1.07445891e-01 1.51927318e+02] [-6.63655821e-01 7.40705914e-01 -1.04478225e-01 -5.61741779e+01] [-1.49775195e-01 5.26399735e-03 9.88706064e-01 -1.92925442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters 0.03480365434166118 Centerline is valid? [True, True] Translation: X:151.97, Y:-56.22, Z:-19.30 [[ 7.32105785e-01 6.72435624e-01 1.08864371e-01 1.51972153e+02] [-6.64058124e-01 7.40136849e-01 -1.05944576e-01 -5.62170035e+01] [-1.51815439e-01 5.27036719e-03 9.88394808e-01 -1.92993904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters 0.034731331765691306 Centerline is valid? [True, True] Translation: X:152.01, Y:-56.26, Z:-19.31 [[ 7.32870003e-01 6.71855734e-01 1.07291333e-01 1.52014905e+02] [-6.63701157e-01 7.40662537e-01 -1.04497754e-01 -5.62615348e+01] [-1.49674087e-01 5.37388744e-03 9.88720784e-01 -1.93065130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters 0.03531561266727706 Centerline is valid? [True, True] Translation: X:152.06, Y:-56.30, Z:-19.31 [[ 7.32578667e-01 6.71966657e-01 1.08578583e-01 1.52059356e+02] [-6.63601891e-01 7.40561111e-01 -1.05838417e-01 -5.63047285e+01] [-1.51528963e-01 5.48201313e-03 9.88437616e-01 -1.93136148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters 0.03484028122475115 Centerline is valid? [True, True] Translation: X:152.10, Y:-56.35, Z:-19.32 [[ 7.31717760e-01 6.73023085e-01 1.07838060e-01 1.52102386e+02] [-6.64771112e-01 7.39602555e-01 -1.05201853e-01 -5.63492302e+01] [-1.50560580e-01 5.29043709e-03 9.88586629e-01 -1.93200172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters 0.03481101942161815 Centerline is valid? [True, True] Translation: X:152.15, Y:-56.39, Z:-19.33 [[ 7.32583786e-01 6.72243089e-01 1.06818656e-01 1.52146124e+02] [-6.64125920e-01 7.40310326e-01 -1.04294699e-01 -5.63940927e+01] [-1.49190344e-01 5.46356738e-03 9.88793401e-01 -1.93265205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters 0.03480797759297125 Centerline is valid? [True, True] Translation: X:152.19, Y:-56.44, Z:-19.33 [[ 7.32257049e-01 6.72670885e-01 1.06364909e-01 1.52189338e+02] [-6.64613292e-01 7.39921933e-01 -1.03945686e-01 -5.64380249e+01] [-1.48622966e-01 5.42342958e-03 9.88879063e-01 -1.93335038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters 0.0340242513971256 Centerline is valid? [True, True] Translation: X:152.23, Y:-56.48, Z:-19.34 [[ 7.29817353e-01 6.75468536e-01 1.05398710e-01 1.52231141e+02] [-6.67576303e-01 7.37372795e-01 -1.03069109e-01 -5.64828583e+01] [-1.47338082e-01 4.85994322e-03 9.89074249e-01 -1.93398661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters 0.03354652625580524 Centerline is valid? [True, True] Translation: X:152.27, Y:-56.53, Z:-19.35 [[ 7.27678942e-01 6.77832245e-01 1.05008594e-01 1.52271462e+02] [-6.70018819e-01 7.35203513e-01 -1.02715996e-01 -5.65301793e+01] [-1.46826901e-01 4.38653349e-03 9.89152475e-01 -1.93479207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters 0.03309127567102861 Centerline is valid? [True, True] Translation: X:152.32, Y:-56.57, Z:-19.35 [[ 7.26942551e-01 6.78979781e-01 1.02669295e-01 1.52315395e+02] [-6.71512045e-01 7.34145406e-01 -1.00509190e-01 -5.65735628e+01] [-1.43617899e-01 4.12073856e-03 9.89624635e-01 -1.93545408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters 0.032961488080255515 Centerline is valid? [True, True] Translation: X:152.36, Y:-56.62, Z:-19.36 [[ 7.27166545e-01 6.78855826e-01 1.01899871e-01 1.52358776e+02] [-6.71486841e-01 7.34259714e-01 -9.98403449e-02 -5.66188523e+01] [-1.42598170e-01 4.17613611e-03 9.89771853e-01 -1.93607235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters 0.03322383011903458 Centerline is valid? [True, True] Translation: X:152.40, Y:-56.66, Z:-19.37 [[ 7.26770894e-01 6.79257029e-01 1.02048795e-01 1.52402591e+02] [-6.71856707e-01 7.33888596e-01 -1.00080440e-01 -5.66629568e+01] [-1.42872789e-01 4.17338310e-03 9.89732261e-01 -1.93683523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters 0.03389136944037734 Centerline is valid? [True, True] Translation: X:152.44, Y:-56.71, Z:-19.38 [[ 7.28277511e-01 6.77635554e-01 1.02087821e-01 1.52442964e+02] [-6.70201017e-01 7.35383760e-01 -1.00206398e-01 -5.67093379e+01] [-1.42977143e-01 4.55870429e-03 9.89715492e-01 -1.93764170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters 0.03392173061030242 Centerline is valid? [True, True] Translation: X:152.49, Y:-56.75, Z:-19.38 [[ 7.28817641e-01 6.77308598e-01 1.00388793e-01 1.52485369e+02] [-6.70106913e-01 7.35684644e-01 -9.86145512e-02 -5.67545746e+01] [-1.40646977e-01 4.60080026e-03 9.90049120e-01 -1.93821355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters 0.03381036865242045 Centerline is valid? [True, True] Translation: X:152.53, Y:-56.80, Z:-19.39 [[ 7.28055192e-01 6.77933932e-01 1.01691796e-01 1.52526023e+02] [-6.70537093e-01 7.35108436e-01 -9.99779719e-02 -5.68021101e+01] [-1.42532956e-01 4.60136053e-03 9.89779361e-01 -1.93892208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters 0.03308300593500406 Centerline is valid? [True, True] Translation: X:152.57, Y:-56.85, Z:-19.40 [[ 7.26250588e-01 6.79792125e-01 1.02189774e-01 1.52565919e+02] [-6.72328414e-01 7.33392121e-01 -1.00550986e-01 -5.68496806e+01] [-1.43298944e-01 4.32012423e-03 9.89670020e-01 -1.93950764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters 0.03249797705050799 Centerline is valid? [True, True] Translation: X:152.60, Y:-56.90, Z:-19.40 [[ 7.23557710e-01 6.82829814e-01 1.01033095e-01 1.52602192e+02] [-6.75554611e-01 7.30567969e-01 -9.94807035e-02 -5.68994663e+01] [-1.41739933e-01 3.72665707e-03 9.89896916e-01 -1.94027229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters 0.03152280066036935 Centerline is valid? [True, True] Translation: X:152.64, Y:-56.95, Z:-19.41 [[ 7.19500373e-01 6.86971211e-01 1.01930213e-01 1.52643439e+02] [-6.79604301e-01 7.26678640e-01 -1.00380024e-01 -5.69466756e+01] [-1.43028696e-01 2.95125378e-03 9.89714142e-01 -1.94070160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters 0.03084081378464745 Centerline is valid? [True, True] Translation: X:152.68, Y:-56.99, Z:-19.42 [[ 7.15023660e-01 6.91790777e-01 1.00829990e-01 1.52683084e+02] [-6.84626299e-01 7.22095262e-01 -9.93240322e-02 -5.69937515e+01] [-1.41520307e-01 1.98817031e-03 9.89933356e-01 -1.94156373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters 0.030922552713715266 Centerline is valid? [True, True] Translation: X:152.73, Y:-57.04, Z:-19.42 [[ 7.13688773e-01 6.92906621e-01 1.02609696e-01 1.52726709e+02] [-6.85492199e-01 7.21025028e-01 -1.01110608e-01 -5.70376487e+01] [-1.44044369e-01 1.82335978e-03 9.89569550e-01 -1.94239158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters 0.03107424889910616 Centerline is valid? [True, True] Translation: X:152.77, Y:-57.08, Z:-19.43 [[ 7.13844883e-01 6.92919281e-01 1.01431520e-01 1.52771622e+02] [-6.85664384e-01 7.21012783e-01 -1.00024597e-01 -5.70810296e+01] [-1.42442394e-01 1.85406567e-03 9.89801357e-01 -1.94300803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters 0.03150538799807166 Centerline is valid? [True, True] Translation: X:152.82, Y:-57.12, Z:-19.44 [[ 7.14051570e-01 6.92363791e-01 1.03743606e-01 1.52816657e+02] [-6.84760288e-01 7.21545708e-01 -1.02348127e-01 -5.71224081e+01] [-1.45717891e-01 2.04233949e-03 9.89324075e-01 -1.94397657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters 0.03135695994565944 Centerline is valid? [True, True] Translation: X:152.86, Y:-57.17, Z:-19.45 [[ 7.13269654e-01 6.93164167e-01 1.03777831e-01 1.52861571e+02] [-6.85551187e-01 7.20777124e-01 -1.02469060e-01 -5.71664854e+01] [-1.45828567e-01 1.94305570e-03 9.89307967e-01 -1.94451572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters 0.03164242535421016 Centerline is valid? [True, True] Translation: X:152.90, Y:-57.21, Z:-19.45 [[ 7.15970166e-01 6.90597934e-01 1.02280084e-01 1.52904975e+02] [-6.83163822e-01 7.23234561e-01 -1.01088879e-01 -5.72111763e+01] [-1.43784263e-01 2.50256808e-03 9.89605893e-01 -1.94543065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters 0.03206705739176863 Centerline is valid? [True, True] Translation: X:152.95, Y:-57.25, Z:-19.46 [[ 7.18172628e-01 6.88261305e-01 1.02588752e-01 1.52949273e+02] [-6.80743913e-01 7.25456449e-01 -1.01492196e-01 -5.72543881e+01] [-1.44276823e-01 3.05224868e-03 9.89532658e-01 -1.94603363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters 0.03276162859926457 Centerline is valid? [True, True] Translation: X:152.99, Y:-57.30, Z:-19.47 [[ 7.19875611e-01 6.86147911e-01 1.04786205e-01 1.52990610e+02] [-6.78268926e-01 7.27453094e-01 -1.03746127e-01 -5.72994750e+01] [-1.47412237e-01 3.61108031e-03 9.89068548e-01 -1.94678500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters 0.033359627754184905 Centerline is valid? [True, True] Translation: X:153.03, Y:-57.35, Z:-19.48 [[ 7.23011644e-01 6.83231811e-01 1.02217687e-01 1.53032762e+02] [-6.75699832e-01 7.30189806e-01 -1.01255047e-01 -5.73452358e+01] [-1.43818982e-01 4.14010408e-03 9.89595352e-01 -1.94767479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters 0.03366690445067428 Centerline is valid? [True, True] Translation: X:153.07, Y:-57.39, Z:-19.48 [[ 7.24264885e-01 6.81932201e-01 1.02023768e-01 1.53073550e+02] [-6.74402479e-01 7.31401796e-01 -1.01156852e-01 -5.73910972e+01] [-1.43602482e-01 4.45927429e-03 9.89625405e-01 -1.94842017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters 0.03407996682375053 Centerline is valid? [True, True] Translation: X:153.11, Y:-57.44, Z:-19.49 [[ 7.25033309e-01 6.80965281e-01 1.03019349e-01 1.53113210e+02] [-6.73265586e-01 7.32300253e-01 -1.02224215e-01 -5.74384637e+01] [-1.45052237e-01 4.75657880e-03 9.89412565e-01 -1.94906566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters 0.03489075148977383 Centerline is valid? [True, True] Translation: X:153.15, Y:-57.49, Z:-19.50 [[ 7.28047417e-01 6.77656913e-01 1.03576383e-01 1.53151027e+02] [-6.69828129e-01 7.35357594e-01 -1.02856633e-01 -5.74870824e+01] [-1.45867188e-01 5.50613133e-03 9.89288859e-01 -1.94987595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters 0.03510656953466486 Centerline is valid? [True, True] Translation: X:153.19, Y:-57.54, Z:-19.50 [[ 7.28456196e-01 6.77382839e-01 1.02489316e-01 1.53187385e+02] [-6.69704223e-01 7.35609661e-01 -1.01856178e-01 -5.75378029e+01] [-1.44387758e-01 5.56023679e-03 9.89505563e-01 -1.95045255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters 0.034716633922669535 Centerline is valid? [True, True] Translation: X:153.22, Y:-57.59, Z:-19.51 [[ 7.26307895e-01 6.79784147e-01 1.01834937e-01 1.53223388e+02] [-6.72214970e-01 7.33394418e-01 -1.01289987e-01 -5.75888693e+01] [-1.43540502e-01 5.11274821e-03 9.89631236e-01 -1.95111682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters 0.03325302356955156 Centerline is valid? [True, True] Translation: X:153.26, Y:-57.64, Z:-19.52 [[ 7.22231586e-01 6.84304357e-01 1.00543941e-01 1.53260252e+02] [-6.76960160e-01 7.29184334e-01 -1.00075717e-01 -5.76391755e+01] [-1.41797316e-01 4.21360178e-03 9.89886744e-01 -1.95156878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters 0.0330244118995824 Centerline is valid? [True, True] Translation: X:153.30, Y:-57.69, Z:-19.52 [[ 7.21198544e-01 6.85514788e-01 9.97102568e-02 1.53300915e+02] [-6.78299694e-01 7.28047910e-01 -9.92762150e-02 -5.76859084e+01] [-1.40649158e-01 3.96442502e-03 9.90051563e-01 -1.95228096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters 0.03279902486351637 Centerline is valid? [True, True] Translation: X:153.34, Y:-57.73, Z:-19.53 [[ 7.21078248e-01 6.85661549e-01 9.95710824e-02 1.53341483e+02] [-6.78455840e-01 7.27909535e-01 -9.92238990e-02 -5.77336751e+01] [-1.40512753e-01 3.99361299e-03 9.90070814e-01 -1.95293772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters 0.03288663760289563 Centerline is valid? [True, True] Translation: X:153.38, Y:-57.78, Z:-19.54 [[ 7.19558892e-01 6.87249050e-01 9.96179913e-02 1.53382151e+02] [-6.80038162e-01 7.26412171e-01 -9.93652632e-02 -5.77795942e+01] [-1.40652404e-01 3.75512296e-03 9.90051918e-01 -1.95388878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters 0.03248771735142624 Centerline is valid? [True, True] Translation: X:153.42, Y:-57.83, Z:-19.55 [[ 7.16196623e-01 6.90526357e-01 1.01171874e-01 1.53423677e+02] [-6.83108412e-01 7.23300061e-01 -1.00994651e-01 -5.78261464e+01] [-1.42917090e-01 3.22066990e-03 9.89729424e-01 -1.95462416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters 0.03214469701454115 Centerline is valid? [True, True] Translation: X:153.46, Y:-57.87, Z:-19.55 [[ 7.14058630e-01 6.92903256e-01 1.00026747e-01 1.53464970e+02] [-6.85668549e-01 7.21025309e-01 -9.99056776e-02 -5.78718969e+01] [-1.41346785e-01 2.75331682e-03 9.89956315e-01 -1.95531820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters 0.03196669018906733 Centerline is valid? [True, True] Translation: X:153.51, Y:-57.92, Z:-19.56 [[ 7.13869107e-01 6.93286286e-01 9.87168868e-02 1.53508822e+02] [-6.86232500e-01 7.20657213e-01 -9.86820032e-02 -5.79156141e+01] [-1.39555916e-01 2.70329751e-03 9.90210502e-01 -1.95590407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters 0.032253766302342286 Centerline is valid? [True, True] Translation: X:153.54, Y:-58.27, Z:-17.59 [[ 7.41932010e-01 -6.67769982e-01 -6.01676366e-02 1.53537468e+02] [-6.64823333e-01 -7.44336982e-01 6.30269253e-02 -5.82705428e+01] [-8.68724857e-02 -6.76084467e-03 -9.96196498e-01 -1.75878148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters 0.032468502638793445 Centerline is valid? [True, True] Translation: X:153.57, Y:-57.98, Z:-19.57 [[ 7.63702129e-01 6.36509156e-01 1.07773617e-01 1.53567034e+02] [-6.29709601e-01 7.71263175e-01 -9.28382095e-02 -5.79849179e+01] [-1.42214192e-01 3.03465702e-03 9.89831256e-01 -1.95712449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters 0.03257473167946951 Centerline is valid? [True, True] Translation: X:153.62, Y:-58.02, Z:-19.58 [[ 7.64493222e-01 6.35403677e-01 1.08684316e-01 1.53616229e+02] [-6.28464911e-01 7.72172944e-01 -9.37059208e-02 -5.80228217e+01] [-1.43464175e-01 3.33326248e-03 9.89649898e-01 -1.95764943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters 0.03247437758411008 Centerline is valid? [True, True] Translation: X:153.66, Y:-58.06, Z:-19.58 [[ 7.64679701e-01 6.35532502e-01 1.06599218e-01 1.53664181e+02] [-6.28850139e-01 7.72067068e-01 -9.19779644e-02 -5.80627149e+01] [-1.40756732e-01 3.29874908e-03 9.90038717e-01 -1.95833144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters 0.03248887527378541 Centerline is valid? [True, True] Translation: X:153.71, Y:-58.10, Z:-19.59 [[ 7.62890325e-01 6.37513275e-01 1.07587997e-01 1.53713424e+02] [-6.30719214e-01 7.70433553e-01 -9.28731044e-02 -5.81011603e+01] [-1.42097240e-01 2.99417601e-03 9.89848175e-01 -1.95916748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters 0.0324522306666664 Centerline is valid? [True, True] Translation: X:153.76, Y:-58.14, Z:-19.60 [[ 7.61302186e-01 6.39391872e-01 1.07689442e-01 1.53761402e+02] [-6.32590535e-01 7.68876227e-01 -9.30514007e-02 -5.81404829e+01] [-1.42296161e-01 2.71691335e-03 9.89820398e-01 -1.95983651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters 0.032081810985384776 Centerline is valid? [True, True] Translation: X:153.81, Y:-58.18, Z:-19.60 [[ 7.60337833e-01 6.40794618e-01 1.06153836e-01 1.53811215e+02] [-6.34189199e-01 7.67708346e-01 -9.18038911e-02 -5.81778665e+01] [-1.40322625e-01 2.48035563e-03 9.90102726e-01 -1.96046384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters 0.03209448224353842 Centerline is valid? [True, True] Translation: X:153.86, Y:-58.21, Z:-19.61 [[ 7.57780812e-01 6.43595478e-01 1.07485351e-01 1.53862837e+02] [-6.36838119e-01 7.65363079e-01 -9.30406765e-02 -5.82139337e+01] [-1.42145878e-01 2.05367060e-03 9.89843590e-01 -1.96125885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters 0.032158426019372195 Centerline is valid? [True, True] Translation: X:153.91, Y:-58.25, Z:-19.62 [[ 7.56078273e-01 6.45607197e-01 1.07410398e-01 1.53912079e+02] [-6.38866075e-01 7.63667661e-01 -9.30690160e-02 -5.82506666e+01] [-1.42111874e-01 1.74660177e-03 9.89849062e-01 -1.96213399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters 0.032050051270855 Centerline is valid? [True, True] Translation: X:153.96, Y:-58.29, Z:-19.63 [[ 7.53716350e-01 6.48321341e-01 1.07661981e-01 1.53962670e+02] [-6.41563927e-01 7.61365709e-01 -9.33701538e-02 -5.82867964e+01] [-1.42504003e-01 1.30256854e-03 9.89793368e-01 -1.96266343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters 0.0322140276650984 Centerline is valid? [True, True] Translation: X:154.01, Y:-58.32, Z:-19.64 [[ 7.52316400e-01 6.49887409e-01 1.08011062e-01 1.54013156e+02] [-6.43089460e-01 7.60029735e-01 -9.37589940e-02 -5.83235157e+01] [-1.43024409e-01 1.07565323e-03 9.89718577e-01 -1.96357112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters 0.032253578943111615 Centerline is valid? [True, True] Translation: X:154.06, Y:-58.36, Z:-19.64 [[ 7.52594870e-01 6.49562973e-01 1.08022710e-01 1.54062762e+02] [-6.42746312e-01 7.60306831e-01 -9.38653351e-02 -5.83616550e+01] [-1.43101851e-01 1.21137098e-03 9.89707226e-01 -1.96431633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters 0.03264890431024803 Centerline is valid? [True, True] Translation: X:154.11, Y:-58.40, Z:-19.65 [[ 7.53559805e-01 6.48182391e-01 1.09577410e-01 1.54114316e+02] [-6.41138386e-01 7.61483503e-01 -9.53123550e-02 -5.83966198e+01] [-1.45221180e-01 1.56927559e-03 9.89397972e-01 -1.96483225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters 0.03293045588958055 Centerline is valid? [True, True] Translation: X:154.16, Y:-58.43, Z:-19.66 [[ 7.56036851e-01 6.45412391e-01 1.08862874e-01 1.54163852e+02] [-6.38419611e-01 7.63831271e-01 -9.47744163e-02 -5.84343660e+01] [-1.44321450e-01 2.15275773e-03 9.89528516e-01 -1.96564354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters 0.03315346067438983 Centerline is valid? [True, True] Translation: X:154.21, Y:-58.47, Z:-19.66 [[ 7.57976476e-01 6.43352433e-01 1.07560727e-01 1.54212742e+02] [-6.36494001e-01 7.65565799e-01 -9.37250952e-02 -5.84730410e+01] [-1.42643082e-01 2.57965967e-03 9.89770830e-01 -1.96640691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters 0.033512435058787815 Centerline is valid? [True, True] Translation: X:154.26, Y:-58.51, Z:-19.67 [[ 7.58679530e-01 6.42416003e-01 1.08199119e-01 1.54261535e+02] [-6.35452472e-01 7.66350825e-01 -9.43746219e-02 -5.85111667e+01] [-1.43546252e-01 2.84469595e-03 9.89639521e-01 -1.96722213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters 0.03353729414440578 Centerline is valid? [True, True] Translation: X:154.31, Y:-58.55, Z:-19.68 [[ 7.59563511e-01 6.41499537e-01 1.07431918e-01 1.54308705e+02] [-6.34613804e-01 7.67117316e-01 -9.37888260e-02 -5.85531164e+01] [-1.42578373e-01 3.06079165e-03 9.89778783e-01 -1.96790193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters 0.033369907200241654 Centerline is valid? [True, True] Translation: X:154.36, Y:-58.59, Z:-19.69 [[ 7.59368367e-01 6.41879176e-01 1.06540164e-01 1.54356615e+02] [-6.35098883e-01 7.66799794e-01 -9.30993267e-02 -5.85921854e+01] [-1.41453495e-01 3.03314449e-03 9.89940255e-01 -1.96862659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters 0.03339228335825932 Centerline is valid? [True, True] Translation: X:154.40, Y:-58.64, Z:-19.70 [[ 7.59307361e-01 6.41934227e-01 1.06643233e-01 1.54402365e+02] [-6.35129409e-01 7.66753480e-01 -9.32723647e-02 -5.86350197e+01] [-1.41643793e-01 3.09013969e-03 9.89912868e-01 -1.96952914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters 0.03350661979271222 Centerline is valid? [True, True] Translation: X:154.45, Y:-58.68, Z:-19.70 [[ 7.58142500e-01 6.43071386e-01 1.08070080e-01 1.54448246e+02] [-6.36080302e-01 7.65800405e-01 -9.46128348e-02 -5.86775133e+01] [-1.43602918e-01 2.98876226e-03 9.89630875e-01 -1.97006178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters 0.033468965879669896 Centerline is valid? [True, True] Translation: X:154.49, Y:-58.72, Z:-19.71 [[ 7.57467858e-01 6.43828996e-01 1.08289739e-01 1.54493761e+02] [-6.36804607e-01 7.65163849e-01 -9.48903437e-02 -5.87203109e+01] [-1.43952548e-01 2.91698080e-03 9.89580292e-01 -1.97082643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters 0.033120152020600147 Centerline is valid? [True, True] Translation: X:154.54, Y:-58.77, Z:-19.71 [[ 7.55768783e-01 6.46077051e-01 1.06761374e-01 1.54537283e+02] [-6.39260036e-01 7.63268028e-01 -9.36403989e-02 -5.87650802e+01] [-1.41986456e-01 2.52221051e-03 9.89865387e-01 -1.97149732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters 0.03291549810169045 Centerline is valid? [True, True] Translation: X:154.58, Y:-58.81, Z:-19.72 [[ 7.53384004e-01 6.48878494e-01 1.06626649e-01 1.54579027e+02] [-6.42096466e-01 7.60889290e-01 -9.35928268e-02 -5.88117685e+01] [-1.41861448e-01 2.04674392e-03 9.89884408e-01 -1.97225229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters 0.03264740271857915 Centerline is valid? [True, True] Translation: X:154.62, Y:-58.86, Z:-19.73 [[ 7.48976780e-01 6.53752918e-01 1.07893028e-01 1.54622767e+02] [-6.46851963e-01 7.56707176e-01 -9.47459176e-02 -5.88560938e+01] [-1.43583849e-01 1.17167524e-03 9.89637462e-01 -1.97285373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters 0.03227837895437916 Centerline is valid? [True, True] Translation: X:154.67, Y:-58.90, Z:-19.73 [[ 7.44724840e-01 6.58979867e-01 1.05500936e-01 1.54668218e+02] [-6.52423426e-01 7.52160545e-01 -9.27264165e-02 -5.88984072e+01] [-1.40458483e-01 2.24383348e-04 9.90086544e-01 -1.97348591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters 0.0321369145125869 Centerline is valid? [True, True] Translation: X:154.72, Y:-58.94, Z:-19.74 [[ 7.40965790e-01 6.63561016e-01 1.03230210e-01 1.54715165e+02] [-6.57317930e-01 7.48121953e-01 -9.08112404e-02 -5.89389627e+01] [-1.37487586e-01 -5.67045781e-04 9.90503328e-01 -1.97402078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters 0.03205606793899237 Centerline is valid? [True, True] Translation: X:154.76, Y:-58.98, Z:-19.75 [[ 7.39625351e-01 6.65103215e-01 1.02917704e-01 1.54763048e+02] [-6.58901227e-01 7.46751025e-01 -9.06205249e-02 -5.89789111e+01] [-1.37125904e-01 -7.87364046e-04 9.90553313e-01 -1.97467306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters 0.03179226660219253 Centerline is valid? [True, True] Translation: X:154.81, Y:-59.02, Z:-19.75 [[ 7.40234275e-01 6.64582637e-01 1.01897680e-01 1.54812403e+02] [-6.58487306e-01 7.47214515e-01 -8.98049863e-02 -5.90172369e+01] [-1.35822261e-01 -6.21600254e-04 9.90733025e-01 -1.97532048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters 0.031724656544783375 Centerline is valid? [True, True] Translation: X:154.86, Y:-59.06, Z:-19.76 [[ 7.43555854e-01 6.60649476e-01 1.03280981e-01 1.54861060e+02] [-6.54343271e-01 7.50694514e-01 -9.10638806e-02 -5.90551496e+01] [-1.37693771e-01 1.29866410e-04 9.90474840e-01 -1.97616423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters 0.03150696133655618 Centerline is valid? [True, True] Translation: X:154.91, Y:-59.10, Z:-19.77 [[ 7.48444368e-01 6.55457720e-01 1.01025766e-01 1.54908192e+02] [-6.49366820e-01 7.55231031e-01 -8.91561694e-02 -5.90952610e+01] [-1.34735893e-01 1.12565243e-03 9.90880907e-01 -1.97683716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters 0.03204891713920119 Centerline is valid? [True, True] Translation: X:154.95, Y:-59.14, Z:-19.78 [[ 7.52655384e-01 6.50258154e-01 1.03316051e-01 1.54952184e+02] [-6.43827273e-01 7.59710244e-01 -9.12512331e-02 -5.91381898e+01] [-1.37827120e-01 2.16304073e-03 9.90453939e-01 -1.97771084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters 0.03271638457739813 Centerline is valid? [True, True] Translation: X:155.00, Y:-59.18, Z:-19.78 [[ 7.55709813e-01 6.46428319e-01 1.05038598e-01 1.54996378e+02] [-6.39739296e-01 7.62969088e-01 -9.27998067e-02 -5.91804875e+01] [-1.40129627e-01 2.93240555e-03 9.90128824e-01 -1.97848256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters 0.03270303936678213 Centerline is valid? [True, True] Translation: X:155.04, Y:-59.22, Z:-19.79 [[ 7.57219494e-01 6.44820759e-01 1.04042428e-01 1.55041574e+02] [-6.38237046e-01 7.64326976e-01 -9.19660144e-02 -5.92230782e+01] [-1.38824029e-01 3.23472707e-03 9.90311782e-01 -1.97909590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters 0.03317310322549241 Centerline is valid? [True, True] Translation: X:155.08, Y:-59.27, Z:-19.80 [[ 7.58970896e-01 6.42455888e-01 1.05894337e-01 1.55083652e+02] [-6.35601431e-01 7.66313301e-01 -9.36736115e-02 -5.92684329e+01] [-1.41329402e-01 3.78895288e-03 9.89955375e-01 -1.97991240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters 0.033715413139801136 Centerline is valid? [True, True] Translation: X:155.12, Y:-59.32, Z:-19.81 [[ 7.61915413e-01 6.38709231e-01 1.07403079e-01 1.55123798e+02] [-6.31614942e-01 7.69434580e-01 -9.50420527e-02 -5.93150960e+01] [-1.43343880e-01 4.57661502e-03 9.89662360e-01 -1.98051031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters 0.03427069070662432 Centerline is valid? [True, True] Translation: X:155.17, Y:-59.36, Z:-19.81 [[ 7.63904692e-01 6.36425424e-01 1.06828373e-01 1.55165206e+02] [-6.29374557e-01 7.71321806e-01 -9.46062359e-02 -5.93612919e+01] [-1.42608867e-01 5.03508777e-03 9.89766315e-01 -1.98119483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters 0.03391016401682564 Centerline is valid? [True, True] Translation: X:155.20, Y:-59.41, Z:-19.82 [[ 7.62718746e-01 6.37895105e-01 1.06536148e-01 1.55204028e+02] [-6.30885663e-01 7.70108241e-01 -9.44276297e-02 -5.94099747e+01] [-1.42279288e-01 4.80959521e-03 9.89814868e-01 -1.98214989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters 0.03355733313376959 Centerline is valid? [True, True] Translation: X:155.25, Y:-59.46, Z:-19.83 [[ 7.60735476e-01 6.40109989e-01 1.07427822e-01 1.55245158e+02] [-6.32992200e-01 7.68270125e-01 -9.52989540e-02 -5.94570824e+01] [-1.43535399e-01 4.49632186e-03 9.89634969e-01 -1.98291347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters 0.03289617700549721 Centerline is valid? [True, True] Translation: X:155.29, Y:-59.50, Z:-19.84 [[ 7.58645274e-01 6.42549274e-01 1.07646550e-01 1.55286168e+02] [-6.35414814e-01 7.66233362e-01 -9.55743092e-02 -5.95032974e+01] [-1.43893581e-01 4.10678559e-03 9.89584646e-01 -1.98368536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters 0.032656759914516345 Centerline is valid? [True, True] Translation: X:155.33, Y:-59.55, Z:-19.84 [[ 7.57793472e-01 6.43662797e-01 1.06991857e-01 1.55328660e+02] [-6.36614595e-01 7.65299109e-01 -9.50743471e-02 -5.95482010e+01] [-1.43076593e-01 3.93414165e-03 9.89703800e-01 -1.98439903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters 0.031858663834743964 Centerline is valid? [True, True] Translation: X:155.37, Y:-59.59, Z:-19.85 [[ 7.55241782e-01 6.46891475e-01 1.05552216e-01 1.55369854e+02] [-6.40054230e-01 7.62574803e-01 -9.38629414e-02 -5.95941492e+01] [-1.41210597e-01 3.33007287e-03 9.89973978e-01 -1.98515792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters 0.03176489945655451 Centerline is valid? [True, True] Translation: X:155.41, Y:-59.64, Z:-19.86 [[ 7.52901323e-01 6.49120171e-01 1.08547687e-01 1.55413698e+02] [-6.41905242e-01 7.60679871e-01 -9.65597926e-02 -5.96378901e+01] [-1.45248950e-01 3.02266624e-03 9.89390523e-01 -1.98576626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters 0.03137566127084994 Centerline is valid? [True, True] Translation: X:155.46, Y:-59.68, Z:-19.86 [[ 7.50693355e-01 6.51690496e-01 1.08438851e-01 1.55457336e+02] [-6.44504209e-01 7.58480584e-01 -9.65480611e-02 -5.96822854e+01] [-1.45168217e-01 2.58869194e-03 9.89403602e-01 -1.98635207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters 0.03138908872861126 Centerline is valid? [True, True] Translation: X:155.50, Y:-59.72, Z:-19.87 [[ 7.50112523e-01 6.52342884e-01 1.08535548e-01 1.55503845e+02] [-6.45137478e-01 7.57919750e-01 -9.67227282e-02 -5.97237754e+01] [-1.45357619e-01 2.53257974e-03 9.89375939e-01 -1.98709056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters 0.031872873325299235 Centerline is valid? [True, True] Translation: X:155.55, Y:-59.77, Z:-19.88 [[ 7.51114924e-01 6.50985053e-01 1.09748950e-01 1.55549723e+02] [-6.43587698e-01 7.59084998e-01 -9.79022006e-02 -5.97655490e+01] [-1.47041651e-01 2.90272982e-03 9.89126042e-01 -1.98789133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters 0.031585579162391554 Centerline is valid? [True, True] Translation: X:155.60, Y:-59.81, Z:-19.88 [[ 7.51389050e-01 6.50882117e-01 1.08475642e-01 1.55597091e+02] [-6.43642753e-01 7.59173067e-01 -9.68517479e-02 -5.98051598e+01] [-1.45390857e-01 2.95378176e-03 9.89369887e-01 -1.98840937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters 0.031879543561496373 Centerline is valid? [True, True] Translation: X:155.64, Y:-59.85, Z:-19.89 [[ 7.52897168e-01 6.49349208e-01 1.07198234e-01 1.55643868e+02] [-6.42252246e-01 7.60483310e-01 -9.57976396e-02 -5.98471179e+01] [-1.43728589e-01 3.27746486e-03 9.89611717e-01 -1.98912489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters 0.03246460857136868 Centerline is valid? [True, True] Translation: X:155.69, Y:-59.89, Z:-19.90 [[ 7.55997290e-01 6.45865728e-01 1.06421608e-01 1.55688569e+02] [-6.38824009e-01 7.63440629e-01 -9.51960663e-02 -5.98888755e+01] [-1.42730456e-01 3.98328963e-03 9.89753581e-01 -1.98992964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters 0.03310539881107191 Centerline is valid? [True, True] Translation: X:155.73, Y:-59.93, Z:-19.91 [[ 7.58216422e-01 6.43396685e-01 1.05586755e-01 1.55730558e+02] [-6.36430571e-01 7.65519884e-01 -9.45274329e-02 -5.99343966e+01] [-1.41647397e-01 4.47361310e-03 9.89907067e-01 -1.99080024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters 0.03255275880330997 Centerline is valid? [True, True] Translation: X:155.77, Y:-59.98, Z:-19.91 [[ 7.56327149e-01 6.45395237e-01 1.06930964e-01 1.55771174e+02] [-6.38256891e-01 7.63837143e-01 -9.58173252e-02 -5.99823066e+01] [-1.43517887e-01 4.21981990e-03 9.89638727e-01 -1.99145950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters 0.0322203164058366 Centerline is valid? [True, True] Translation: X:155.81, Y:-60.03, Z:-19.92 [[ 7.53747127e-01 6.48684606e-01 1.05230941e-01 1.55812522e+02] [-6.41791721e-01 7.61048810e-01 -9.43827106e-02 -6.00278587e+01] [-1.41310494e-01 3.60435047e-03 9.89958763e-01 -1.99213150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters 0.03138764053146766 Centerline is valid? [True, True] Translation: X:155.85, Y:-60.08, Z:-19.93 [[ 7.46965320e-01 6.56295992e-01 1.06387880e-01 1.55850746e+02] [-6.49316594e-01 7.54500187e-01 -9.54852292e-02 -6.00776810e+01] [-1.42936248e-01 2.24473917e-03 9.89729352e-01 -1.99284113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters 0.031189709064139034 Centerline is valid? [True, True] Translation: X:155.90, Y:-60.12, Z:-19.93 [[ 7.45767873e-01 6.57859916e-01 1.05121889e-01 1.55895808e+02] [-6.51056844e-01 7.53137792e-01 -9.43845940e-02 -6.01201306e+01] [-1.41263109e-01 1.94867245e-03 9.89970170e-01 -1.99349906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters 0.031215778315797974 Centerline is valid? [True, True] Translation: X:155.94, Y:-60.16, Z:-19.94 [[ 7.43914982e-01 6.59987430e-01 1.04914691e-01 1.55939767e+02] [-6.53220186e-01 7.51274924e-01 -9.42834912e-02 -6.01638147e+01] [-1.41045696e-01 1.60650745e-03 9.90001783e-01 -1.99420038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters 0.031238313520289978 Centerline is valid? [True, True] Translation: X:155.99, Y:-60.21, Z:-19.95 [[ 7.41720481e-01 6.62031070e-01 1.07543430e-01 1.55985202e+02] [-6.54926793e-01 7.49475233e-01 -9.67355680e-02 -6.02053209e+01] [-1.44643089e-01 1.31767818e-03 9.89483017e-01 -1.99495274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters 0.031331331829000074 Centerline is valid? [True, True] Translation: X:156.03, Y:-60.25, Z:-19.96 [[ 7.40978819e-01 6.62925902e-01 1.07143071e-01 1.56028906e+02] [-6.55871161e-01 7.48684042e-01 -9.64635923e-02 -6.02494774e+01] [-1.44164521e-01 1.20542833e-03 9.89552999e-01 -1.99564100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters 0.03170478039259479 Centerline is valid? [True, True] Translation: X:156.07, Y:-60.29, Z:-19.97 [[ 7.42734525e-01 6.60882387e-01 1.07609922e-01 1.56074715e+02] [-6.53731217e-01 7.50487612e-01 -9.69733985e-02 -6.02903110e+01] [-1.44847924e-01 1.67752615e-03 9.89452508e-01 -1.99660955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters 0.03180400228713218 Centerline is valid? [True, True] Translation: X:156.12, Y:-60.34, Z:-19.97 [[ 7.43721831e-01 6.59793162e-01 1.07474750e-01 1.56118456e+02] [-6.52635330e-01 7.51444711e-01 -9.69431398e-02 -6.03351280e+01] [-1.44723753e-01 1.95691084e-03 9.89470164e-01 -1.99745442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters 0.03163055050839612 Centerline is valid? [True, True] Translation: X:156.16, Y:-60.38, Z:-19.98 [[ 7.43796693e-01 6.59931335e-01 1.06099538e-01 1.56161907e+02] [-6.52943977e-01 7.51323313e-01 -9.57989638e-02 -6.03794148e+01] [-1.42935795e-01 1.97789793e-03 9.89729987e-01 -1.99808703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters 0.031786767769050685 Centerline is valid? [True, True] Translation: X:156.20, Y:-60.43, Z:-19.99 [[ 7.43070628e-01 6.60471530e-01 1.07811876e-01 1.56202672e+02] [-6.53248256e-01 7.50848500e-01 -9.74332857e-02 -6.04259618e+01] [-1.45302297e-01 1.97189273e-03 9.89385342e-01 -1.99869997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters 0.031495432809370935 Centerline is valid? [True, True] Translation: X:156.25, Y:-60.47, Z:-19.99 [[ 7.40662892e-01 6.63232392e-01 1.07430325e-01 1.56246052e+02] [-6.56076998e-01 7.48412036e-01 -9.71719934e-02 -6.04699705e+01] [-1.44849762e-01 1.48912462e-03 9.89452540e-01 -1.99940180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters 0.031200416379955825 Centerline is valid? [True, True] Translation: X:156.29, Y:-60.51, Z:-20.00 [[ 7.38373659e-01 6.66246353e-01 1.04499454e-01 1.56289845e+02] [-6.59497437e-01 7.45731140e-01 -9.45949143e-02 -6.05144389e+01] [-1.40952014e-01 9.29271130e-04 9.90015993e-01 -1.99995636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters 0.031136615944427286 Centerline is valid? [True, True] Translation: X:156.34, Y:-60.56, Z:-20.01 [[ 7.35841782e-01 6.69215865e-01 1.03377936e-01 1.56336365e+02] [-6.62635029e-01 7.43067948e-01 -9.36207417e-02 -6.05553175e+01] [-1.39469316e-01 3.88211770e-04 9.90226317e-01 -2.00062359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters 0.030984247947766278 Centerline is valid? [True, True] Translation: X:156.38, Y:-60.60, Z:-20.01 [[ 7.31941315e-01 6.73719508e-01 1.01803413e-01 1.56382813e+02] [-6.67369880e-01 7.38987054e-01 -9.22798829e-02 -6.05965156e+01] [-1.37402162e-01 -3.97072532e-04 9.90515264e-01 -2.00133092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters 0.031351264446133266 Centerline is valid? [True, True] Translation: X:156.43, Y:-60.63, Z:-20.02 [[ 7.27117931e-01 6.79135005e-01 1.00375092e-01 1.56434317e+02] [-6.73002242e-01 7.34012172e-01 -9.10720199e-02 -6.06340512e+01] [-1.35526736e-01 -1.33256337e-03 9.90772793e-01 -2.00177907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters 0.03161579508239591 Centerline is valid? [True, True] Translation: X:156.48, Y:-60.67, Z:-20.03 [[ 7.23283494e-01 6.83411207e-01 9.90459958e-02 1.56483478e+02] [-6.77467409e-01 7.30030813e-01 -8.99606726e-02 -6.06713815e+01] [-1.33786761e-01 -2.03336457e-03 9.91008057e-01 -2.00262947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters 0.031698721958734216 Centerline is valid? [True, True] Translation: X:156.54, Y:-60.71, Z:-20.03 [[ 7.22151477e-01 6.84546803e-01 9.94631545e-02 1.56535884e+02] [-6.78551696e-01 7.28965621e-01 -9.04252098e-02 -6.07061894e+01] [-1.34405509e-01 -2.19019341e-03 9.90923994e-01 -2.00335665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters 0.03186158680219962 Centerline is valid? [True, True] Translation: X:156.59, Y:-60.74, Z:-20.04 [[ 7.21850268e-01 6.84663630e-01 1.00836030e-01 1.56585451e+02] [-6.78490320e-01 7.28855929e-01 -9.17601269e-02 -6.07426927e+01] [-1.36319760e-01 -2.17919827e-03 9.90662493e-01 -2.00411321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters 0.0320083585051049 Centerline is valid? [True, True] Translation: X:156.64, Y:-60.78, Z:-20.05 [[ 7.22994282e-01 6.83351793e-01 1.01536177e-01 1.56635452e+02] [-6.77067356e-01 7.30086833e-01 -9.24824952e-02 -6.07804280e+01] [-1.37328305e-01 -1.88251577e-03 9.90523797e-01 -2.00493323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters 0.03155055791811875 Centerline is valid? [True, True] Translation: X:156.69, Y:-60.82, Z:-20.06 [[ 7.28999505e-01 6.76854996e-01 1.02112858e-01 1.56686067e+02] [-6.70420818e-01 7.36116141e-01 -9.31072113e-02 -6.08168620e+01] [-1.38187004e-01 -5.83474836e-04 9.90405983e-01 -2.00575995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters 0.031368284370364354 Centerline is valid? [True, True] Translation: X:156.73, Y:-60.86, Z:-20.06 [[ 7.31917961e-01 6.73918527e-01 1.00647491e-01 1.56733696e+02] [-6.67630281e-01 7.38805670e-01 -9.18476448e-02 -6.08571398e+01] [-1.36256766e-01 2.96284716e-05 9.90673555e-01 -2.00636633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters 0.031443492380992845 Centerline is valid? [True, True] Translation: X:156.78, Y:-60.89, Z:-20.07 [[ 7.34612113e-01 6.70975251e-01 1.00683942e-01 1.56784636e+02] [-6.64649031e-01 7.41479496e-01 -9.19229145e-02 -6.08948883e+01] [-1.36333079e-01 6.08201876e-04 9.90662870e-01 -2.00710795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters 0.031244644652725848 Centerline is valid? [True, True] Translation: X:156.83, Y:-60.94, Z:-20.08 [[ 7.34333729e-01 6.71271006e-01 1.00743296e-01 1.56831714e+02] [-6.64926517e-01 7.41211740e-01 -9.20754255e-02 -6.09367638e+01] [-1.36479677e-01 6.27201678e-04 9.90642672e-01 -2.00794360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters 0.03138561329025074 Centerline is valid? [True, True] Translation: X:156.88, Y:-60.98, Z:-20.09 [[ 7.35075605e-01 6.70551636e-01 1.00121716e-01 1.56880633e+02] [-6.64265578e-01 7.41862397e-01 -9.16047243e-02 -6.09761183e+01] [-1.35702234e-01 8.28988453e-04 9.90749321e-01 -2.00873219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters 0.03145369683974307 Centerline is valid? [True, True] Translation: X:156.93, Y:-61.02, Z:-20.09 [[ 7.36732060e-01 6.68703918e-01 1.00304243e-01 1.56927797e+02] [-6.62364646e-01 7.43527756e-01 -9.18670339e-02 -6.10158541e+01] [-1.36010835e-01 1.24340451e-03 9.90706569e-01 -2.00936892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters 0.031329095862608784 Centerline is valid? [True, True] Translation: X:156.98, Y:-61.06, Z:-20.10 [[ 7.37945168e-01 6.67306220e-01 1.00694277e-01 1.56975058e+02] [-6.60892622e-01 7.44781808e-01 -9.23092683e-02 -6.10556104e+01] [-1.36593814e-01 1.57107375e-03 9.90625894e-01 -2.01002483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters 0.03176237405709417 Centerline is valid? [True, True] Translation: X:157.02, Y:-61.10, Z:-20.11 [[ 7.38300619e-01 6.66551647e-01 1.03058710e-01 1.57019838e+02] [-6.59812161e-01 7.45456638e-01 -9.45638012e-02 -6.10971292e+01] [-1.39857457e-01 1.81712288e-03 9.90169980e-01 -2.01093298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters 0.031371250496390224 Centerline is valid? [True, True] Translation: X:157.07, Y:-61.14, Z:-20.11 [[ 7.35496375e-01 6.69835266e-01 1.01812573e-01 1.57066053e+02] [-6.63278675e-01 7.42508709e-01 -9.34998192e-02 -6.11385683e+01] [-1.38226198e-01 1.23866931e-03 9.90399911e-01 -2.01140016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters 0.031231586084088887 Centerline is valid? [True, True] Translation: X:157.11, Y:-61.18, Z:-20.12 [[ 7.31810820e-01 6.73923521e-01 1.01390393e-01 1.57112311e+02] [-6.67448575e-01 7.38800925e-01 -9.31965273e-02 -6.11801615e+01] [-1.37714648e-01 5.29353598e-04 9.90471804e-01 -2.01195692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters 0.031311298026065665 Centerline is valid? [True, True] Translation: X:157.16, Y:-61.22, Z:-20.13 [[ 7.30542693e-01 6.75175594e-01 1.02202206e-01 1.57158005e+02] [-6.68595954e-01 7.37656958e-01 -9.40301144e-02 -6.12220110e+01] [-1.38877007e-01 3.61031446e-04 9.90309571e-01 -2.01270219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters 0.03156796141760421 Centerline is valid? [True, True] Translation: X:157.21, Y:-61.26, Z:-20.14 [[ 7.33559548e-01 6.72129843e-01 1.00657161e-01 1.57206128e+02] [-6.65708172e-01 7.40432643e-01 -9.26937517e-02 -6.12611013e+01] [-1.36832085e-01 9.88091867e-04 9.90593764e-01 -2.01353553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters 0.03141824050485467 Centerline is valid? [True, True] Translation: X:157.25, Y:-61.30, Z:-20.14 [[ 7.32929494e-01 6.72830724e-01 1.00564276e-01 1.57252170e+02] [-6.66415464e-01 7.39795896e-01 -9.26955320e-02 -6.13041201e+01] [-1.36765441e-01 9.21700486e-04 9.90603031e-01 -2.01414722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters 0.031454657560488604 Centerline is valid? [True, True] Translation: X:157.30, Y:-61.35, Z:-20.15 [[ 7.31848023e-01 6.74121012e-01 9.97964552e-02 1.57295545e+02] [-6.67802854e-01 7.38620542e-01 -9.20817181e-02 -6.13475882e+01] [-1.35785933e-01 7.45465750e-04 9.90737919e-01 -2.01490730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters 0.03168739486724396 Centerline is valid? [True, True] Translation: X:157.34, Y:-61.39, Z:-20.16 [[ 7.31094695e-01 6.74842256e-01 1.00441405e-01 1.57341222e+02] [-6.68436364e-01 7.37961696e-01 -9.27650930e-02 -6.13909191e+01] [-1.36723714e-01 6.81379936e-04 9.90608985e-01 -2.01572407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters 0.031402342107696275 Centerline is valid? [True, True] Translation: X:157.39, Y:-61.43, Z:-20.16 [[ 7.30164401e-01 6.75886106e-01 1.00189417e-01 1.57386436e+02] [-6.69508753e-01 7.37005876e-01 -9.26302785e-02 -6.14336515e+01] [-1.36447707e-01 5.57640335e-04 9.90647118e-01 -2.01640742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters 0.03142522726682024 Centerline is valid? [True, True] Translation: X:157.43, Y:-61.48, Z:-20.17 [[ 7.30647420e-01 6.75415143e-01 9.98435421e-02 1.57431611e+02] [-6.69064229e-01 7.37437368e-01 -9.24077132e-02 -6.14771866e+01] [-1.36041928e-01 7.15714690e-04 9.90702822e-01 -2.01698519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters 0.03142423613716023 Centerline is valid? [True, True] Translation: X:157.48, Y:-61.52, Z:-20.18 [[ 7.29472716e-01 6.76446041e-01 1.01441166e-01 1.57476933e+02] [-6.69885388e-01 7.36491946e-01 -9.39849969e-02 -6.15193755e+01] [-1.38286381e-01 6.05536250e-04 9.90392099e-01 -2.01772701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters 0.03132490097295686 Centerline is valid? [True, True] Translation: X:157.52, Y:-61.56, Z:-20.18 [[ 7.27997844e-01 6.78109194e-01 1.00930963e-01 1.57522305e+02] [-6.71618528e-01 7.34961085e-01 -9.35989154e-02 -6.15618324e+01] [-1.37650615e-01 3.52704106e-04 9.90480784e-01 -2.01836060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters 0.031069630610402337 Centerline is valid? [True, True] Translation: X:157.57, Y:-61.60, Z:-20.19 [[ 7.28096947e-01 6.78077061e-01 1.00430743e-01 1.57570462e+02] [-6.71638388e-01 7.34990694e-01 -9.32231479e-02 -6.16024951e+01] [-1.37028140e-01 4.22346860e-04 9.90567065e-01 -2.01903535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters 0.031189316416540144 Centerline is valid? [True, True] Translation: X:157.62, Y:-61.65, Z:-20.20 [[ 7.28073408e-01 6.78031085e-01 1.00910658e-01 1.57616235e+02] [-6.71516007e-01 7.35033054e-01 -9.37691961e-02 -6.16452786e+01] [-1.37751099e-01 5.07735743e-04 9.90466747e-01 -2.01977390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters 0.030995916574116954 Centerline is valid? [True, True] Translation: X:157.67, Y:-61.68, Z:-20.20 [[ 7.28041512e-01 6.78228922e-01 9.98052394e-02 1.57665453e+02] [-6.71846373e-01 7.34850494e-01 -9.28288843e-02 -6.16838206e+01] [-1.36301164e-01 5.29493254e-04 9.90667307e-01 -2.02044698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters 0.030954783582985784 Centerline is valid? [True, True] Translation: X:157.71, Y:-61.73, Z:-20.21 [[ 7.26813366e-01 6.79552872e-01 9.97508123e-02 1.57712122e+02] [-6.73183964e-01 7.33626469e-01 -9.28200112e-02 -6.17258309e+01] [-1.36255941e-01 3.12177598e-04 9.90673620e-01 -2.02117596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters 0.030779351591695155 Centerline is valid? [True, True] Translation: X:157.76, Y:-61.77, Z:-20.22 [[ 7.25224259e-01 6.81237372e-01 9.98269370e-02 1.57760814e+02] [-6.74860999e-01 7.32062591e-01 -9.29892126e-02 -6.17660222e+01] [-1.36427293e-01 6.87262702e-05 9.90650084e-01 -2.02173975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters 0.030690809514711672 Centerline is valid? [True, True] Translation: X:157.81, Y:-61.81, Z:-20.22 [[ 7.26386551e-01 6.79919451e-01 1.00359945e-01 1.57809026e+02] [-6.73448049e-01 7.33286701e-01 -9.35859980e-02 -6.18056624e+01] [-1.37223553e-01 3.92401372e-04 9.90540026e-01 -2.02244674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters 0.030812074949187175 Centerline is valid? [True, True] Translation: X:157.86, Y:-61.85, Z:-20.23 [[ 7.27880746e-01 6.78500962e-01 9.91265052e-02 1.57856340e+02] [-6.72162297e-01 7.34599158e-01 -9.25306597e-02 -6.18461380e+01] [-1.35600389e-01 7.22186115e-04 9.90763349e-01 -2.02313091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters 0.030779394839773745 Centerline is valid? [True, True] Translation: X:157.90, Y:-61.89, Z:-20.24 [[ 7.30104073e-01 6.76063965e-01 9.94261401e-02 1.57902797e+02] [-6.69652431e-01 7.36841890e-01 -9.28959158e-02 -6.18870583e+01] [-1.36064926e-01 1.24273012e-03 9.90699143e-01 -2.02369370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters 0.030508568906480713 Centerline is valid? [True, True] Translation: X:157.95, Y:-61.93, Z:-20.24 [[ 7.28210742e-01 6.78266841e-01 9.83016148e-02 1.57948080e+02] [-6.72008810e-01 7.34815155e-01 -9.19284936e-02 -6.19294882e+01] [-1.34585565e-01 8.83765442e-04 9.90901582e-01 -2.02430597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters 0.030430368456924803 Centerline is valid? [True, True] Translation: X:157.99, Y:-61.97, Z:-20.25 [[ 7.25777709e-01 6.80938691e-01 9.78223752e-02 1.57990996e+02] [-6.74754631e-01 7.32340289e-01 -9.15635864e-02 -6.19731229e+01] [-1.33988455e-01 4.48709283e-04 9.90982791e-01 -2.02526006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters 0.030433444302188438 Centerline is valid? [True, True] Translation: X:158.04, Y:-62.01, Z:-20.26 [[ 7.25085427e-01 6.81417638e-01 9.96048479e-02 1.58036714e+02] [-6.74997527e-01 7.31894675e-01 -9.33194671e-02 -6.20149356e+01] [-1.36489789e-01 4.31559621e-04 9.90641384e-01 -2.02580760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters 0.030301137723111 Centerline is valid? [True, True] Translation: X:158.09, Y:-62.05, Z:-20.26 [[ 7.22685194e-01 6.84096793e-01 9.86797278e-02 1.58085025e+02] [-6.77809126e-01 7.29391238e-01 -9.25376144e-02 -6.20534545e+01] [-1.35280814e-01 -1.04562582e-05 9.90807298e-01 -2.02645907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters 0.03033052928580592 Centerline is valid? [True, True] Translation: X:158.13, Y:-62.09, Z:-20.27 [[ 7.20924862e-01 6.85980278e-01 9.84804597e-02 1.58133478e+02] [-6.79723660e-01 7.27620072e-01 -9.24379638e-02 -6.20933810e+01] [-1.35066979e-01 -2.98672245e-04 9.90836425e-01 -2.02727754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters 0.030775657850710028 Centerline is valid? [True, True] Translation: X:158.18, Y:-62.13, Z:-20.28 [[ 7.18015309e-01 6.88911954e-01 9.92690039e-02 1.58184625e+02] [-6.82568586e-01 7.24844607e-01 -9.32760493e-02 -6.21294894e+01] [-1.36213588e-01 -7.84272192e-04 9.90679183e-01 -2.02789991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters 0.030438143468957454 Centerline is valid? [True, True] Translation: X:158.23, Y:-62.17, Z:-20.29 [[ 7.19332059e-01 6.87623521e-01 9.86675329e-02 1.58233141e+02] [-6.81333283e-01 7.26067262e-01 -9.27970316e-02 -6.21678346e+01] [-1.35448687e-01 -4.73594296e-04 9.90784249e-01 -2.02864622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters 0.030548329977599865 Centerline is valid? [True, True] Translation: X:158.28, Y:-62.21, Z:-20.29 [[ 7.23217829e-01 6.83512240e-01 9.88280808e-02 1.58283120e+02] [-6.77150829e-01 7.29938960e-01 -9.30369268e-02 -6.22067226e+01] [-1.35730345e-01 3.64447354e-04 9.90745750e-01 -2.02937153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters 0.030903397300326926 Centerline is valid? [True, True] Translation: X:158.33, Y:-62.25, Z:-20.30 [[ 7.28389194e-01 6.77986380e-01 9.89123328e-02 1.58331095e+02] [-6.71549611e-01 7.35072992e-01 -9.32138227e-02 -6.22457790e+01] [-1.35905487e-01 1.47140261e-03 9.90720714e-01 -2.03001007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters 0.031393658042304144 Centerline is valid? [True, True] Translation: X:158.38, Y:-62.29, Z:-20.31 [[ 7.31496338e-01 6.74214196e-01 1.01726720e-01 1.58376141e+02] [-6.67355136e-01 7.38532272e-01 -9.59541829e-02 -6.22870187e+01] [-1.39822138e-01 2.30228422e-03 9.90173959e-01 -2.03100565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters 0.0319324426013078 Centerline is valid? [True, True] Translation: X:158.42, Y:-62.33, Z:-20.32 [[ 7.34171194e-01 6.71139038e-01 1.02786432e-01 1.58419585e+02] [-6.64093748e-01 7.41325505e-01 -9.70360214e-02 -6.23313824e+01] [-1.41322865e-01 2.98122502e-03 9.89959070e-01 -2.03174993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters 0.032466686865056535 Centerline is valid? [True, True] Translation: X:158.46, Y:-62.38, Z:-20.32 [[ 7.37400818e-01 6.67782391e-01 1.01521975e-01 1.58460315e+02] [-6.60866789e-01 7.44347638e-01 -9.59253880e-02 -6.23780275e+01] [-1.39624927e-01 3.64295795e-03 9.90197762e-01 -2.03238787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters 0.03295214669093302 Centerline is valid? [True, True] Translation: X:158.50, Y:-62.42, Z:-20.33 [[ 7.37652487e-01 6.67324260e-01 1.02699271e-01 1.58503249e+02] [-6.60229865e-01 7.44757411e-01 -9.71232448e-02 -6.24232140e+01] [-1.41298741e-01 3.83807694e-03 9.89959562e-01 -2.03304054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters 0.03201258109401673 Centerline is valid? [True, True] Translation: X:158.54, Y:-62.47, Z:-20.34 [[ 7.34443457e-01 6.70959326e-01 1.02011722e-01 1.58542464e+02] [-6.63983966e-01 7.41487354e-01 -9.65494491e-02 -6.24721950e+01] [-1.40421155e-01 3.17596327e-03 9.90086770e-01 -2.03385880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters 0.03105887369274978 Centerline is valid? [True, True] Translation: X:158.58, Y:-62.52, Z:-20.34 [[ 7.28584737e-01 6.77313390e-01 1.02033587e-01 1.58583434e+02] [-6.70388887e-01 7.35691910e-01 -9.66237786e-02 -6.25188285e+01] [-1.40509864e-01 1.99642722e-03 9.90077266e-01 -2.03449055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters 0.030816909690962586 Centerline is valid? [True, True] Translation: X:158.63, Y:-62.56, Z:-20.35 [[ 7.25749462e-01 6.80568424e-01 1.00570065e-01 1.58626541e+02] [-6.73861358e-01 7.32683174e-01 -9.53217542e-02 -6.25637685e+01] [-1.38558971e-01 1.40943127e-03 9.90353182e-01 -2.03512051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters 0.03089753365074946 Centerline is valid? [True, True] Translation: X:158.67, Y:-62.61, Z:-20.36 [[ 7.25969198e-01 6.80309145e-01 1.00738228e-01 1.58672871e+02] [-6.73564598e-01 7.32923690e-01 -9.55698560e-02 -6.26064092e+01] [-1.38850481e-01 1.52706755e-03 9.90312179e-01 -2.03588741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters 0.0311708672614633 Centerline is valid? [True, True] Translation: X:158.72, Y:-62.65, Z:-20.37 [[ 7.25662490e-01 6.80421229e-01 1.02180735e-01 1.58718072e+02] [-6.73468131e-01 7.32819479e-01 -9.70375619e-02 -6.26477101e+01] [-1.40906450e-01 1.60105012e-03 9.90021620e-01 -2.03683202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters 0.03135819664149268 Centerline is valid? [True, True] Translation: X:158.77, Y:-62.69, Z:-20.38 [[ 7.27084839e-01 6.78971246e-01 1.01713737e-01 1.58766651e+02] [-6.72055072e-01 7.34162301e-01 -9.66834856e-02 -6.26875087e+01] [-1.40319698e-01 1.93986386e-03 9.90104348e-01 -2.03758268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters 0.03151645813086333 Centerline is valid? [True, True] Translation: X:158.81, Y:-62.73, Z:-20.38 [[ 7.27738278e-01 6.78296370e-01 1.01543257e-01 1.58811384e+02] [-6.71382862e-01 7.34785311e-01 -9.66209039e-02 -6.27318504e+01] [-1.40150102e-01 2.14032800e-03 9.90127955e-01 -2.03824304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters 0.031776126519711935 Centerline is valid? [True, True] Translation: X:158.86, Y:-62.77, Z:-20.39 [[ 7.28352305e-01 6.77480053e-01 1.02585071e-01 1.58856175e+02] [-6.70401113e-01 7.35537249e-01 -9.77103009e-02 -6.27739516e+01] [-1.41651921e-01 2.39437683e-03 9.89913633e-01 -2.03895116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters 0.032419792279600367 Centerline is valid? [True, True] Translation: X:158.90, Y:-62.82, Z:-20.40 [[ 7.33208948e-01 6.72501210e-01 1.00731135e-01 1.58899096e+02] [-6.65618244e-01 7.40088392e-01 -9.60287724e-02 -6.28179296e+01] [-1.39129409e-01 3.36067399e-03 9.90268506e-01 -2.03987302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters 0.032594169312355634 Centerline is valid? [True, True] Translation: X:158.94, Y:-62.86, Z:-20.40 [[ 7.33032114e-01 6.72440422e-01 1.02409953e-01 1.58941680e+02] [-6.65311900e-01 7.40143005e-01 -9.77159519e-02 -6.28631561e+01] [-1.41506166e-01 3.49437054e-03 9.89931207e-01 -2.04046700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters 0.032190743704091036 Centerline is valid? [True, True] Translation: X:158.98, Y:-62.91, Z:-20.41 [[ 7.31948108e-01 6.73670305e-01 1.02079810e-01 1.58982284e+02] [-6.66587735e-01 7.39024607e-01 -9.74854945e-02 -6.29106183e+01] [-1.41112574e-01 3.30917377e-03 9.89988026e-01 -2.04103647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters 0.03185834774325395 Centerline is valid? [True, True] Translation: X:159.02, Y:-62.96, Z:-20.42 [[ 7.30083992e-01 6.75789365e-01 1.01420405e-01 1.59021916e+02] [-6.68806798e-01 7.37088915e-01 -9.69401791e-02 -6.29581988e+01] [-1.40266998e-01 2.94381652e-03 9.90109339e-01 -2.04184131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters 0.031220219521736002 Centerline is valid? [True, True] Translation: X:159.06, Y:-63.01, Z:-20.43 [[ 7.25578448e-01 6.80639688e-01 1.01318954e-01 1.59061807e+02] [-6.73706819e-01 7.32615418e-01 -9.69214698e-02 -6.30067668e+01] [-1.40196427e-01 2.06485930e-03 9.90121557e-01 -2.04250222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters 0.031000862468709887 Centerline is valid? [True, True] Translation: X:159.10, Y:-63.05, Z:-20.43 [[ 7.20994577e-01 6.85705145e-01 9.98762987e-02 1.59104909e+02] [-6.79011246e-01 7.27878593e-01 -9.55849436e-02 -6.30516558e+01] [-1.38240907e-01 1.09909598e-03 9.90398023e-01 -2.04323043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters 0.031016816995278272 Centerline is valid? [True, True] Translation: X:159.15, Y:-63.10, Z:-20.44 [[ 7.14293345e-01 6.92582952e-01 1.00567742e-01 1.59147971e+02] [-6.85856581e-01 7.21338212e-01 -9.62908822e-02 -6.30976998e+01] [-1.39232779e-01 -1.95111668e-04 9.90259660e-01 -2.04396572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters 0.031056205388990198 Centerline is valid? [True, True] Translation: X:159.20, Y:-63.14, Z:-20.45 [[ 7.08738046e-01 6.98315791e-01 1.00226928e-01 1.59198005e+02] [-6.91677952e-01 7.15788736e-01 -9.60629767e-02 -6.31352802e+01] [-1.38823600e-01 -1.24127011e-03 9.90316347e-01 -2.04450064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters 0.03155726347631447 Centerline is valid? [True, True] Translation: X:159.25, Y:-63.17, Z:-20.45 [[ 7.03901287e-01 7.03260120e-01 9.97405691e-02 1.59247150e+02] [-6.96723456e-01 7.10929414e-01 -9.56859152e-02 -6.31730372e+01] [-1.38200593e-01 -2.13815509e-03 9.90401951e-01 -2.04535845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters 0.03195689049259222 Centerline is valid? [True, True] Translation: X:159.30, Y:-63.21, Z:-20.46 [[ 7.01363546e-01 7.05743078e-01 1.00079388e-01 1.59301145e+02] [-6.99174151e-01 7.08463194e-01 -9.61010361e-02 -6.32061162e+01] [-1.38725204e-01 -2.57115782e-03 9.90327576e-01 -2.04602855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters 0.03222335837515665 Centerline is valid? [True, True] Translation: X:159.36, Y:-63.24, Z:-20.47 [[ 7.01955712e-01 7.04977390e-01 1.01316622e-01 1.59355619e+02] [-6.98222953e-01 7.09225776e-01 -9.73832984e-02 -6.32396705e+01] [-1.40509383e-01 -2.38282826e-03 9.90076480e-01 -2.04686423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters 0.031837148701272355 Centerline is valid? [True, True] Translation: X:159.41, Y:-63.27, Z:-20.48 [[ 7.07008221e-01 7.00163710e-01 9.95497628e-02 1.59409525e+02] [-6.93582387e-01 7.13981107e-01 -9.57833563e-02 -6.32721595e+01] [-1.38140680e-01 -1.32634186e-03 9.90411729e-01 -2.04767271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters 0.0317342924024951 Centerline is valid? [True, True] Translation: X:159.46, Y:-63.31, Z:-20.49 [[ 7.11779976e-01 6.95302542e-01 9.96174717e-02 1.59462522e+02] [-6.88652020e-01 7.18717104e-01 -9.59381078e-02 -6.33066671e+01] [-1.38302791e-01 -3.14949007e-04 9.90389943e-01 -2.04850334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters 0.03180340814035178 Centerline is valid? [True, True] Translation: X:159.52, Y:-63.34, Z:-20.49 [[ 7.16257484e-01 6.90692991e-01 9.95912106e-02 1.59516110e+02] [-6.83988570e-01 7.23147825e-01 -9.60044743e-02 -6.33420060e+01] [-1.38328785e-01 6.44673426e-04 9.90386153e-01 -2.04920173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters 0.03200265551870491 Centerline is valid? [True, True] Translation: X:159.56, Y:-63.38, Z:-20.50 [[ 7.20009693e-01 6.86711511e-01 1.00066694e-01 1.59564023e+02] [-6.79890261e-01 7.26928523e-01 -9.65616645e-02 -6.33819668e+01] [-1.39051340e-01 1.49096397e-03 9.90284051e-01 -2.04994053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters 0.03292255329273685 Centerline is valid? [True, True] Translation: X:159.61, Y:-63.42, Z:-20.51 [[ 7.28043113e-01 6.78307133e-01 9.92605650e-02 1.59613597e+02] [-6.71506862e-01 7.34771804e-01 -9.58589122e-02 -6.34194643e+01] [-1.37955648e-01 3.13527035e-03 9.90433445e-01 -2.05062648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters 0.03399140843009812 Centerline is valid? [True, True] Translation: X:159.66, Y:-63.46, Z:-20.51 [[ 7.33231912e-01 6.72768281e-01 9.87613488e-02 1.59657848e+02] [-6.65982965e-01 7.39841462e-01 -9.54007404e-02 -6.34626461e+01] [-1.37250333e-01 4.17749133e-03 9.90527584e-01 -2.05130471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters 0.03500577465611102 Centerline is valid? [True, True] Translation: X:159.70, Y:-63.51, Z:-20.52 [[ 7.37862615e-01 6.67528137e-01 9.98245868e-02 1.59699554e+02] [-6.60544079e-01 7.44566215e-01 -9.64503609e-02 -6.35077917e+01] [-1.38709344e-01 5.22857572e-03 9.90319332e-01 -2.05201956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters 0.034733914930442755 Centerline is valid? [True, True] Translation: X:159.74, Y:-63.56, Z:-20.53 [[ 7.37395776e-01 6.68218551e-01 9.86480503e-02 1.59736674e+02] [-6.61401423e-01 7.43947840e-01 -9.53402775e-02 -6.35589194e+01] [-1.37097146e-01 5.05755704e-03 9.90544695e-01 -2.05263391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters 0.03425481534125625 Centerline is valid? [True, True] Translation: X:159.77, Y:-63.61, Z:-20.54 [[ 7.34880623e-01 6.70807406e-01 9.98393443e-02 1.59771881e+02] [-6.63835933e-01 7.41616747e-01 -9.65735707e-02 -6.36112233e+01] [-1.38824796e-01 4.69310147e-03 9.90305837e-01 -2.05352099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters 0.033481521281899684 Centerline is valid? [True, True] Translation: X:159.81, Y:-63.66, Z:-20.54 [[ 7.31673539e-01 6.74162085e-01 1.00793436e-01 1.59807361e+02] [-6.67075732e-01 7.38571717e-01 -9.75796388e-02 -6.36635129e+01] [-1.40227674e-01 4.15958445e-03 9.90110548e-01 -2.05414850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters 0.032776331531395524 Centerline is valid? [True, True] Translation: X:159.84, Y:-63.72, Z:-20.55 [[ 7.29037134e-01 6.77149985e-01 9.98636848e-02 1.59841984e+02] [-6.70210692e-01 7.35836153e-01 -9.67614813e-02 -6.37166481e+01] [-1.39005345e-01 3.61300374e-03 9.90285040e-01 -2.05477307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters 0.03258365172765906 Centerline is valid? [True, True] Translation: X:159.88, Y:-63.76, Z:-20.56 [[ 7.23679604e-01 6.82686033e-01 1.01131657e-01 1.59881008e+02] [-6.75609599e-01 7.30707026e-01 -9.80760558e-02 -6.37648748e+01] [-1.40852766e-01 2.65012271e-03 9.90027007e-01 -2.05560581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters 0.03220577609789234 Centerline is valid? [True, True] Translation: X:159.92, Y:-63.81, Z:-20.56 [[ 7.18250742e-01 6.88296808e-01 1.01800669e-01 1.59921238e+02] [-6.81168875e-01 7.25427356e-01 -9.88135328e-02 -6.38125116e+01] [-1.41862029e-01 1.62944624e-03 9.89885099e-01 -2.05617009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters 0.032032237171998476 Centerline is valid? [True, True] Translation: X:159.96, Y:-63.86, Z:-20.57 [[ 7.12844515e-01 6.93978876e-01 1.01222613e-01 1.59964660e+02] [-6.86976121e-01 7.19995140e-01 -9.83402598e-02 -6.38561811e+01] [-1.41125853e-01 5.63796498e-04 9.89991503e-01 -2.05699215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters 0.032064278859078615 Centerline is valid? [True, True] Translation: X:160.01, Y:-63.90, Z:-20.58 [[ 7.09365443e-01 6.97714415e-01 9.99763130e-02 1.60007674e+02] [-6.90908207e-01 7.16376007e-01 -9.72176226e-02 -6.39003246e+01] [-1.39450769e-01 -1.11633238e-04 9.90228999e-01 -2.05770928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters 0.032273226113277466 Centerline is valid? [True, True] Translation: X:160.06, Y:-63.94, Z:-20.58 [[ 7.06346659e-01 7.00907693e-01 9.90091021e-02 1.60057127e+02] [-6.94251853e-01 7.13251679e-01 -9.63660058e-02 -6.39388813e+01] [-1.38162083e-01 -6.69446354e-04 9.90409406e-01 -2.05821663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters 0.03251302620108186 Centerline is valid? [True, True] Translation: X:160.10, Y:-63.98, Z:-20.59 [[ 7.04069188e-01 7.03075714e-01 9.98554900e-02 1.60103776e+02] [-6.96313820e-01 7.11114240e-01 -9.72810482e-02 -6.39792768e+01] [-1.39404603e-01 -1.03816911e-03 9.90234961e-01 -2.05897440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters 0.032388014260894916 Centerline is valid? [True, True] Translation: X:160.15, Y:-64.02, Z:-20.60 [[ 7.05848051e-01 7.01553138e-01 9.79883829e-02 1.60154665e+02] [-6.95016196e-01 7.12616839e-01 -9.55496075e-02 -6.40157389e+01] [-1.36861299e-01 -6.60008937e-04 9.90590001e-01 -2.05973058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters 0.03229437912001981 Centerline is valid? [True, True] Translation: X:160.20, Y:-64.06, Z:-20.60 [[ 7.07372801e-01 6.99967299e-01 9.83336256e-02 1.60203394e+02] [-6.93355935e-01 7.14174837e-01 -9.59783803e-02 -6.40553600e+01] [-1.37409129e-01 -2.87707227e-04 9.90514335e-01 -2.06036602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters 0.03249192847117655 Centerline is valid? [True, True] Translation: X:160.25, Y:-64.09, Z:-20.61 [[ 7.08544887e-01 6.98681270e-01 9.90385060e-02 1.60252441e+02] [-6.91947662e-01 7.15433073e-01 -9.67675098e-02 -6.40938351e+01] [-1.38465069e-01 3.46615619e-05 9.90367317e-01 -2.06110946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters 0.03226343088917447 Centerline is valid? [True, True] Translation: X:160.30, Y:-64.13, Z:-20.62 [[ 7.10430387e-01 6.96883015e-01 9.81973961e-02 1.60300960e+02] [-6.90234358e-01 7.17184679e-01 -9.60347165e-02 -6.41335632e+01] [-1.37350631e-01 4.46764215e-04 9.90522390e-01 -2.06165292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters 0.03237904312275096 Centerline is valid? [True, True] Translation: X:160.35, Y:-64.17, Z:-20.62 [[ 7.12808171e-01 6.94465045e-01 9.80959370e-02 1.60349496e+02] [-6.87794848e-01 7.19525778e-01 -9.60255294e-02 -6.41735777e+01] [-1.37268929e-01 9.77901821e-04 9.90533334e-01 -2.06224728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters 0.03263904476224244 Centerline is valid? [True, True] Translation: X:160.40, Y:-64.21, Z:-20.63 [[ 7.15535528e-01 6.91517830e-01 9.90555360e-02 1.60398490e+02] [-6.84673532e-01 7.22357545e-01 -9.70656043e-02 -6.42119231e+01] [-1.38676110e-01 1.63318477e-03 9.90336442e-01 -2.06296597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters 0.03261962363626846 Centerline is valid? [True, True] Translation: X:160.45, Y:-64.25, Z:-20.64 [[ 7.17329733e-01 6.89921686e-01 9.71911626e-02 1.60446671e+02] [-6.83308769e-01 7.23881360e-01 -9.53147565e-02 -6.42517599e+01] [-1.36114588e-01 1.96053516e-03 9.90691160e-01 -2.06366864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters 0.0331031557985231 Centerline is valid? [True, True] Translation: X:160.50, Y:-64.29, Z:-20.64 [[ 7.19351368e-01 6.87625601e-01 9.85121400e-02 1.60496884e+02] [-6.80803620e-01 7.26061284e-01 -9.66511452e-02 -6.42892455e+01] [-1.37985653e-01 2.45871204e-03 9.90431176e-01 -2.06440413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters 0.03370907376945939 Centerline is valid? [True, True] Translation: X:160.54, Y:-64.33, Z:-20.65 [[ 7.22217970e-01 6.84688043e-01 9.79973836e-02 1.60544951e+02] [-6.77898718e-01 7.28829797e-01 -9.62312622e-02 -6.43283519e+01] [-1.37311808e-01 3.06764609e-03 9.90523123e-01 -2.06510515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters 0.03475114204025861 Centerline is valid? [True, True] Translation: X:160.60, Y:-64.36, Z:-20.66 [[ 7.27177081e-01 6.79729384e-01 9.58199254e-02 1.60597045e+02] [-6.73185734e-01 7.33452214e-01 -9.41744014e-02 -6.43632114e+01] [-1.34292444e-01 3.97685953e-03 9.90933764e-01 -2.06587700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters 0.0350381272395691 Centerline is valid? [True, True] Translation: X:160.65, Y:-64.40, Z:-20.66 [[ 7.29105792e-01 6.77658795e-01 9.58295492e-02 1.60646076e+02] [-6.71084983e-01 7.35363193e-01 -9.42651562e-02 -6.44020135e+01] [-1.34349135e-01 4.41949995e-03 9.90924204e-01 -2.06633799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters 0.03616057060043593 Centerline is valid? [True, True] Translation: X:160.69, Y:-64.44, Z:-20.67 [[ 7.32931584e-01 6.73640814e-01 9.49702423e-02 1.60691929e+02] [-6.67141787e-01 7.39040860e-01 -9.34903377e-02 -6.44436210e+01] [-1.33165797e-01 5.16340410e-03 9.91080325e-01 -2.06700094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters 0.037718682768710626 Centerline is valid? [True, True] Translation: X:160.74, Y:-64.48, Z:-20.68 [[ 7.36544638e-01 6.69524056e-01 9.61225010e-02 1.60736709e+02] [-6.62827695e-01 7.42766153e-01 -9.46461248e-02 -6.44847133e+01] [-1.34764398e-01 5.99843990e-03 9.90859514e-01 -2.06781375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters 0.03939169749835819 Centerline is valid? [True, True] Translation: X:160.78, Y:-64.53, Z:-20.69 [[ 7.41966730e-01 6.63714961e-01 9.46985830e-02 1.60777212e+02] [-6.57167821e-01 7.47953222e-01 -9.32546626e-02 -6.45303901e+01] [-1.32724625e-01 6.95899562e-03 9.91128522e-01 -2.06851361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters 0.04106248626098554 Centerline is valid? [True, True] Translation: X:160.82, Y:-64.58, Z:-20.69 [[ 7.45589982e-01 6.59494382e-01 9.57221934e-02 1.60817000e+02] [-6.52768588e-01 7.51668996e-01 -9.42703092e-02 -6.45767262e+01] [-1.34122144e-01 7.80255717e-03 9.90934090e-01 -2.06910155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters 0.04158677067117469 Centerline is valid? [True, True] Translation: X:160.85, Y:-64.63, Z:-20.70 [[ 7.46435830e-01 6.58533390e-01 9.57461507e-02 1.60852650e+02] [-6.51793937e-01 7.52509081e-01 -9.43119682e-02 -6.46281553e+01] [-1.34157428e-01 7.99107187e-03 9.90927811e-01 -2.06989975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters 0.041063699899031116 Centerline is valid? [True, True] Translation: X:160.89, Y:-64.68, Z:-20.71 [[ 7.46367540e-01 6.58373592e-01 9.73637986e-02 1.60887887e+02] [-6.51391197e-01 7.52646461e-01 -9.59833982e-02 -6.46803491e+01] [-1.36473453e-01 8.21697140e-03 9.90609650e-01 -2.07055074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters 0.0414146395421087 Centerline is valid? [True, True] Translation: X:160.92, Y:-64.73, Z:-20.71 [[ 7.45920017e-01 6.58957896e-01 9.68391358e-02 1.60922015e+02] [-6.52045372e-01 7.52135959e-01 -9.55423062e-02 -6.47331594e+01] [-1.35794553e-01 8.12340845e-03 9.90703714e-01 -2.07129414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters 0.03976880011066767 Centerline is valid? [True, True] Translation: X:160.96, Y:-64.79, Z:-20.72 [[ 7.42059393e-01 6.63358402e-01 9.64545917e-02 1.60956051e+02] [-6.56527716e-01 7.48265785e-01 -9.52348289e-02 -6.47861438e+01] [-1.35348495e-01 7.34478651e-03 9.90770831e-01 -2.07206191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters 0.03689124171217579 Centerline is valid? [True, True] Translation: X:160.99, Y:-64.84, Z:-20.73 [[ 7.34050145e-01 6.71994002e-01 9.79512454e-02 1.60991664e+02] [-6.65016754e-01 7.40533160e-01 -9.67644336e-02 -6.48378711e+01] [-1.37561264e-01 5.89072720e-03 9.90475743e-01 -2.07260190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters 0.03450964591852691 Centerline is valid? [True, True] Translation: X:161.03, Y:-64.89, Z:-20.73 [[ 7.25977021e-01 6.80930142e-01 9.63924627e-02 1.61027392e+02] [-6.74243067e-01 7.32336420e-01 -9.52872171e-02 -6.48881404e+01] [-1.35475649e-01 4.18438025e-03 9.90771840e-01 -2.07341407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters 0.0330856300298198 Centerline is valid? [True, True] Translation: X:161.07, Y:-64.93, Z:-20.74 [[ 7.17665069e-01 6.89575662e-01 9.71712675e-02 1.61068045e+02] [-6.82852081e-01 7.24208940e-01 -9.60960305e-02 -6.49337850e+01] [-1.36637784e-01 2.61116212e-03 9.90617634e-01 -2.07415478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters 0.032493849173649454 Centerline is valid? [True, True] Translation: X:161.11, Y:-64.98, Z:-20.75 [[ 7.11328393e-01 6.96052910e-01 9.75820874e-02 1.61112813e+02] [-6.89321752e-01 7.17989063e-01 -9.65775779e-02 -6.49765920e+01] [-1.37285976e-01 1.43291793e-03 9.90530417e-01 -2.07487856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters 0.03259037891418524 Centerline is valid? [True, True] Translation: X:161.16, Y:-65.02, Z:-20.76 [[ 7.08894133e-01 6.98332149e-01 9.90015999e-02 1.61156668e+02] [-6.91412286e-01 7.15773052e-01 -9.80713468e-02 -6.50204579e+01] [-1.39349052e-01 1.07127988e-03 9.90242745e-01 -2.07563545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters 0.03278406067103743 Centerline is valid? [True, True] Translation: X:161.20, Y:-65.06, Z:-20.76 [[ 7.10930619e-01 6.96358351e-01 9.82990435e-02 1.61202931e+02] [-6.89505571e-01 7.17692663e-01 -9.74643959e-02 -6.50620506e+01] [-1.38418648e-01 1.51268519e-03 9.90372652e-01 -2.07635099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters 0.03323163674540319 Centerline is valid? [True, True] Translation: X:161.25, Y:-65.10, Z:-20.77 [[ 7.14065499e-01 6.93115197e-01 9.84976441e-02 1.61247649e+02] [-6.86190404e-01 7.20823426e-01 -9.77564248e-02 -6.51046374e+01] [-1.38755873e-01 2.21635206e-03 9.90324137e-01 -2.07702550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters 0.03324255712369046 Centerline is valid? [True, True] Translation: X:161.29, Y:-65.15, Z:-20.78 [[ 7.14809956e-01 6.92506741e-01 9.73711436e-02 1.61291242e+02] [-6.85722272e-01 7.21407504e-01 -9.67273472e-02 -6.51496008e+01] [-1.37228614e-01 2.37210902e-03 9.90536562e-01 -2.07769413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters 0.03336033943637387 Centerline is valid? [True, True] Translation: X:161.33, Y:-65.19, Z:-20.78 [[ 7.17402396e-01 6.89936263e-01 9.65492407e-02 1.61333383e+02] [-6.83229971e-01 7.23864271e-01 -9.60068933e-02 -6.51947237e+01] [-1.36127183e-01 2.91024035e-03 9.90687095e-01 -2.07825673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters 0.033490431772739776 Centerline is valid? [True, True] Translation: X:161.37, Y:-65.24, Z:-20.79 [[ 7.16903707e-01 6.90308876e-01 9.75844767e-02 1.61373039e+02] [-6.83448637e-01 7.23508844e-01 -9.71231837e-02 -6.52417503e+01] [-1.37648228e-01 2.93399287e-03 9.90476833e-01 -2.07908872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters 0.03301074355073125 Centerline is valid? [True, True] Translation: X:161.41, Y:-65.29, Z:-20.80 [[ 7.16480411e-01 6.90951310e-01 9.61358870e-02 1.61413967e+02] [-6.84288528e-01 7.22895763e-01 -9.57649517e-02 -6.52885290e+01] [-1.35665144e-01 2.82902728e-03 9.90750708e-01 -2.07969220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters 0.03280150142508845 Centerline is valid? [True, True] Translation: X:161.46, Y:-65.34, Z:-20.80 [[ 7.14781555e-01 6.92554541e-01 9.72395821e-02 1.61456139e+02] [-6.85739590e-01 7.21360761e-01 -9.69529083e-02 -6.53354774e+01] [-1.37289996e-01 2.61911936e-03 9.90527434e-01 -2.08043357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters 0.03246965218277516 Centerline is valid? [True, True] Translation: X:161.50, Y:-65.38, Z:-20.81 [[ 7.12889159e-01 6.94707434e-01 9.57633965e-02 1.61498300e+02] [-6.88105173e-01 7.19288931e-01 -9.55756539e-02 -6.53806639e+01] [-1.35278668e-01 2.23955912e-03 9.90805060e-01 -2.08098272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters 0.032373335237064524 Centerline is valid? [True, True] Translation: X:161.54, Y:-65.43, Z:-20.82 [[ 7.11790000e-01 6.95938668e-01 9.49966608e-02 1.61541365e+02] [-6.89441614e-01 7.18098297e-01 -9.48951904e-02 -6.54251672e+01] [-1.34258173e-01 2.05079648e-03 9.90944265e-01 -2.08162813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters 0.0321416358083932 Centerline is valid? [True, True] Translation: X:161.59, Y:-65.47, Z:-20.82 [[ 7.10965350e-01 6.96870069e-01 9.43418180e-02 1.61585607e+02] [-6.90459405e-01 7.17194819e-01 -9.43260424e-02 -6.54679648e+01] [-1.33394459e-01 1.92335222e-03 9.91061158e-01 -2.08244865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters 0.03213916209361998 Centerline is valid? [True, True] Translation: X:161.73, Y:-65.72, Z:-18.86 [[ 7.46155622e-01 -6.62510058e-01 -6.58195254e-02 1.61727380e+02] [-6.59058516e-01 -7.49017351e-01 6.79329129e-02 -6.57205615e+01] [-9.43062047e-02 -7.30960615e-03 -9.95516403e-01 -1.88569486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters 0.032325827767393976 Centerline is valid? [True, True] Translation: X:161.66, Y:-65.55, Z:-20.84 [[ 7.60105143e-01 6.41725892e-01 1.02117833e-01 1.61660056e+02] [-6.35717169e-01 7.66932219e-01 -8.76279162e-02 -6.55497811e+01] [-1.34550559e-01 1.68836985e-03 9.90905291e-01 -2.08373489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters 0.032739733014338815 Centerline is valid? [True, True] Translation: X:161.71, Y:-65.59, Z:-20.85 [[ 7.62100992e-01 6.39302155e-01 1.02444288e-01 1.61711374e+02] [-6.33220496e-01 7.68952495e-01 -8.79992287e-02 -6.55851835e+01] [-1.35032888e-01 2.19447645e-03 9.90838687e-01 -2.08460382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters 0.033229442852083714 Centerline is valid? [True, True] Translation: X:161.76, Y:-65.62, Z:-20.85 [[ 7.64445781e-01 6.36659201e-01 1.01428352e-01 1.61761758e+02] [-6.30664254e-01 7.71140577e-01 -8.72055554e-02 -6.56212127e+01] [-1.33735737e-01 2.69668317e-03 9.91013360e-01 -2.08548621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters 0.03389757159011106 Centerline is valid? [True, True] Translation: X:161.81, Y:-65.66, Z:-20.86 [[ 7.67231851e-01 6.33310261e-01 1.01357781e-01 1.61812249e+02] [-6.27283859e-01 7.73890788e-01 -8.72239036e-02 -6.56578649e+01] [-1.33679646e-01 3.34085701e-03 9.91018966e-01 -2.08612257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters 0.034616168153941265 Centerline is valid? [True, True] Translation: X:161.86, Y:-65.70, Z:-20.87 [[ 7.69723225e-01 6.30156491e-01 1.02122249e-01 1.61860787e+02] [-6.24000887e-01 7.76457976e-01 -8.79539897e-02 -6.56958546e+01] [-1.34718412e-01 3.97585453e-03 9.90875947e-01 -2.08692076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters 0.035398819570734694 Centerline is valid? [True, True] Translation: X:161.91, Y:-65.73, Z:-20.88 [[ 7.72592815e-01 6.26796951e-01 1.01123312e-01 1.61911236e+02] [-6.20727967e-01 7.79169370e-01 -8.71314188e-02 -6.57319113e+01] [-1.33405895e-01 4.54703998e-03 9.91051054e-01 -2.08769384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters 0.03634863145817724 Centerline is valid? [True, True] Translation: X:161.96, Y:-65.77, Z:-20.88 [[ 7.77290010e-01 6.21028085e-01 1.00719204e-01 1.61956062e+02] [-6.14949387e-01 7.83768475e-01 -8.68575248e-02 -6.57736339e+01] [-1.32881500e-01 5.57627333e-03 9.91116246e-01 -2.08833860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters 0.03781287830405315 Centerline is valid? [True, True] Translation: X:162.00, Y:-65.82, Z:-20.89 [[ 7.81729553e-01 6.15300337e-01 1.01510596e-01 1.61999360e+02] [-6.09068009e-01 7.88264653e-01 -8.76070566e-02 -6.58175599e+01] [-1.33921866e-01 6.65816859e-03 9.90969527e-01 -2.08896313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters 0.03975067384837292 Centerline is valid? [True, True] Translation: X:162.04, Y:-65.86, Z:-20.90 [[ 7.84832995e-01 6.11146101e-01 1.02652875e-01 1.62040430e+02] [-6.04727416e-01 7.91482214e-01 -8.86603512e-02 -6.58636791e+01] [-1.35432353e-01 7.50656093e-03 9.90758159e-01 -2.08978091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters 0.03968062418537522 Centerline is valid? [True, True] Translation: X:162.08, Y:-65.91, Z:-20.91 [[ 7.85353435e-01 6.10273017e-01 1.03859653e-01 1.62080427e+02] [-6.03684526e-01 7.92152722e-01 -8.97722563e-02 -6.59119838e+01] [-1.37058292e-01 7.80448468e-03 9.90532238e-01 -2.09053819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters 0.0393176831533588 Centerline is valid? [True, True] Translation: X:162.11, Y:-65.97, Z:-20.91 [[ 7.85446277e-01 6.10522196e-01 1.01670026e-01 1.62113033e+02] [-6.04202669e-01 7.91962201e-01 -8.79488831e-02 -6.59689557e+01] [-1.34213563e-01 7.64982149e-03 9.90922903e-01 -2.09096817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters 0.03947156212272289 Centerline is valid? [True, True] Translation: X:162.15, Y:-66.02, Z:-20.92 [[ 7.84300278e-01 6.11832972e-01 1.02632781e-01 1.62151745e+02] [-6.05393475e-01 7.90950889e-01 -8.88562384e-02 -6.60177225e+01] [-1.35542666e-01 7.55675691e-03 9.90742692e-01 -2.09185198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters 0.03663113854945157 Centerline is valid? [True, True] Translation: X:162.18, Y:-66.08, Z:-20.93 [[ 7.77719570e-01 6.20155515e-01 1.02758982e-01 1.62182358e+02] [-6.13761291e-01 7.84454563e-01 -8.90399667e-02 -6.60759373e+01] [-1.35828379e-01 6.17863925e-03 9.90713115e-01 -2.09256281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters 0.03571415191660755 Centerline is valid? [True, True] Translation: X:162.22, Y:-66.13, Z:-20.93 [[ 7.73955868e-01 6.25132514e-01 1.01003240e-01 1.62221905e+02] [-6.18988293e-01 7.80500839e-01 -8.75895704e-02 -6.61251212e+01] [-1.33588202e-01 5.27063899e-03 9.91022912e-01 -2.09319418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters 0.034056247433343866 Centerline is valid? [True, True] Translation: X:162.26, Y:-66.17, Z:-20.94 [[ 7.66859342e-01 6.33742174e-01 1.01477118e-01 1.62261304e+02] [-6.27603733e-01 7.73534740e-01 -8.80770160e-02 -6.61744305e+01] [-1.34314195e-01 3.85526456e-03 9.90931296e-01 -2.09386980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters 0.03258693211166077 Centerline is valid? [True, True] Translation: X:162.30, Y:-66.22, Z:-20.95 [[ 7.57321020e-01 6.45312260e-01 1.00184627e-01 1.62303415e+02] [-6.39418746e-01 7.63916653e-01 -8.70345625e-02 -6.62202647e+01] [-1.32697175e-01 1.85317517e-03 9.91154895e-01 -2.09454335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters 0.0324034386958222 Centerline is valid? [True, True] Translation: X:162.35, Y:-66.26, Z:-20.95 [[ 7.49170496e-01 6.54652889e-01 1.00862099e-01 1.62348163e+02] [-6.48751075e-01 7.55929574e-01 -8.77070240e-02 -6.62625895e+01] [-1.33662300e-01 2.73119231e-04 9.91026899e-01 -2.09532236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters 0.03234662739884698 Centerline is valid? [True, True] Translation: X:162.40, Y:-66.30, Z:-20.96 [[ 7.44314200e-01 6.60234577e-01 1.00432440e-01 1.62396912e+02] [-6.54422122e-01 7.51059165e-01 -8.74174890e-02 -6.63016871e+01] [-1.33146753e-01 -6.59131972e-04 9.91096114e-01 -2.09580206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters 0.032428738539425975 Centerline is valid? [True, True] Translation: X:162.45, Y:-66.34, Z:-20.97 [[ 7.40619199e-01 6.64627628e-01 9.87588904e-02 1.62448732e+02] [-6.59034404e-01 7.47173533e-01 -8.60544371e-02 -6.63367930e+01] [-1.30984185e-01 -1.35193822e-03 9.91383536e-01 -2.09650944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters 0.03278839083676747 Centerline is valid? [True, True] Translation: X:162.50, Y:-66.37, Z:-20.97 [[ 7.39233360e-01 6.65823436e-01 1.01060337e-01 1.62500718e+02] [-6.59963306e-01 7.46107780e-01 -8.81567668e-02 -6.63715884e+01] [-1.34098745e-01 -1.52769099e-03 9.90966797e-01 -2.09732570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters 0.032501108435624385 Centerline is valid? [True, True] Translation: X:162.56, Y:-66.40, Z:-20.98 [[ 7.39174854e-01 6.66049091e-01 9.99957198e-02 1.62555847e+02] [-6.60303283e-01 7.45906422e-01 -8.73108539e-02 -6.64025139e+01] [-1.32740764e-01 -1.48951436e-03 9.91149671e-01 -2.09797367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters 0.03232084599804892 Centerline is valid? [True, True] Translation: X:162.61, Y:-66.43, Z:-20.99 [[ 7.41583901e-01 6.63240273e-01 1.00824890e-01 1.62612534e+02] [-6.57360784e-01 7.48405957e-01 -8.81210664e-02 -6.64334924e+01] [-1.33903389e-01 -9.29164820e-04 9.90993955e-01 -2.09861678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters 0.03234587215321168 Centerline is valid? [True, True] Translation: X:162.67, Y:-66.46, Z:-20.99 [[ 7.45427116e-01 6.58625419e-01 1.02717923e-01 1.62666693e+02] [-6.52464697e-01 7.52470967e-01 -8.98735965e-02 -6.64647798e+01] [-1.36485290e-01 -2.56023766e-05 9.90642097e-01 -2.09948900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters 0.0321995852986884 Centerline is valid? [True, True] Translation: X:162.72, Y:-66.50, Z:-21.00 [[ 7.49318898e-01 6.54222322e-01 1.02539468e-01 1.62723389e+02] [-6.48029727e-01 7.56301819e-01 -8.98055216e-02 -6.64952181e+01] [-1.36303563e-01 8.44351185e-04 9.90666758e-01 -2.10010816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters 0.0324191097331258 Centerline is valid? [True, True] Translation: X:162.78, Y:-66.53, Z:-21.01 [[ 7.52105916e-01 6.50887531e-01 1.03354310e-01 1.62776598e+02] [-6.44550886e-01 7.59172619e-01 -9.06150622e-02 -6.65287019e+01] [-1.37443976e-01 1.53501237e-03 9.90508353e-01 -2.10073502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters 0.033111287266575 Centerline is valid? [True, True] Translation: X:162.83, Y:-66.57, Z:-21.01 [[ 7.56393530e-01 6.45889187e-01 1.03421403e-01 1.62826664e+02] [-6.39485911e-01 7.63427043e-01 -9.07574794e-02 -6.65657951e+01] [-1.37573971e-01 2.51183991e-03 9.90488311e-01 -2.10146259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters 0.03361694585956461 Centerline is valid? [True, True] Translation: X:162.88, Y:-66.60, Z:-21.02 [[ 7.59149815e-01 6.42174541e-01 1.06317530e-01 1.62877579e+02] [-6.35357127e-01 7.66551161e-01 -9.33843592e-02 -6.66007254e+01] [-1.41466884e-01 3.34311853e-03 9.89937344e-01 -2.10216525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters 0.034257962550334704 Centerline is valid? [True, True] Translation: X:162.92, Y:-66.64, Z:-21.03 [[ 7.62597714e-01 6.38090561e-01 1.06231646e-01 1.62923704e+02] [-6.31233628e-01 7.69950088e-01 -9.33861252e-02 -6.66413104e+01] [-1.41381870e-01 4.15905829e-03 9.89946397e-01 -2.10290031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters 0.03475858724094227 Centerline is valid? [True, True] Translation: X:162.97, Y:-66.68, Z:-21.04 [[ 7.65327490e-01 6.34999666e-01 1.05115445e-01 1.62968548e+02] [-6.28247007e-01 7.72497869e-01 -9.24810289e-02 -6.66837960e+01] [-1.39926880e-01 4.73981001e-03 9.90150495e-01 -2.10358062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters 0.034566049697201374 Centerline is valid? [True, True] Translation: X:163.01, Y:-66.73, Z:-21.04 [[ 7.64833857e-01 6.35568325e-01 1.05271433e-01 1.63013742e+02] [-6.28789046e-01 7.72030271e-01 -9.27016515e-02 -6.67272888e+01] [-1.40190966e-01 4.70783800e-03 9.90113291e-01 -2.10422112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters 0.0343593064948505 Centerline is valid? [True, True] Translation: X:163.06, Y:-66.77, Z:-21.05 [[ 7.63496546e-01 6.37045629e-01 1.06046640e-01 1.63058828e+02] [-6.30166660e-01 7.70812715e-01 -9.34758746e-02 -6.67689140e+01] [-1.41290496e-01 4.54145053e-03 9.89957762e-01 -2.10502819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters 0.03337311204121991 Centerline is valid? [True, True] Translation: X:163.10, Y:-66.82, Z:-21.06 [[ 7.58044951e-01 6.43163435e-01 1.08206511e-01 1.63100374e+02] [-6.36048927e-01 7.65720740e-01 -9.54647111e-02 -6.68154402e+01] [-1.44255381e-01 3.54190678e-03 9.89534153e-01 -2.10578200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters 0.032820734137614695 Centerline is valid? [True, True] Translation: X:163.15, Y:-66.86, Z:-21.06 [[ 7.54749415e-01 6.47271743e-01 1.06736175e-01 1.63145367e+02] [-6.40380975e-01 7.62254287e-01 -9.42369859e-02 -6.68574510e+01] [-1.42357045e-01 2.77349414e-03 9.89811487e-01 -2.10648480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters 0.03257685977871751 Centerline is valid? [True, True] Translation: X:163.19, Y:-66.90, Z:-21.07 [[ 7.52272794e-01 6.49797519e-01 1.08852320e-01 1.63189467e+02] [-6.42650213e-01 7.60103654e-01 -9.61412443e-02 -6.69004028e+01] [-1.45211388e-01 2.37047581e-03 9.89397814e-01 -2.10716488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters 0.032340410446127156 Centerline is valid? [True, True] Translation: X:163.23, Y:-66.94, Z:-21.08 [[ 7.48493125e-01 6.53766945e-01 1.11116258e-01 1.63234939e+02] [-6.46347307e-01 7.56694042e-01 -9.82307773e-02 -6.69425791e+01] [-1.48301046e-01 1.70536717e-03 9.88940793e-01 -2.10798540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters 0.0321054660345846 Centerline is valid? [True, True] Translation: X:163.28, Y:-66.98, Z:-21.09 [[ 7.43763285e-01 6.59063279e-01 1.11587498e-01 1.63282139e+02] [-6.51625561e-01 7.52087142e-01 -9.87373201e-02 -6.69823075e+01] [-1.48997664e-01 7.23927638e-04 9.88837283e-01 -2.10865752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters 0.03208139625143522 Centerline is valid? [True, True] Translation: X:163.33, Y:-67.02, Z:-21.09 [[ 7.39593979e-01 6.63563882e-01 1.12622022e-01 1.63331160e+02] [-6.56024373e-01 7.48119617e-01 -9.97449773e-02 -6.70199194e+01] [-1.50441909e-01 -1.12006983e-04 9.88618844e-01 -2.10939512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters 0.031871301746724 Centerline is valid? [True, True] Translation: X:163.38, Y:-67.06, Z:-21.10 [[ 7.38396525e-01 6.65054074e-01 1.11685495e-01 1.63381747e+02] [-6.57643196e-01 7.46795126e-01 -9.90074013e-02 -6.70557175e+01] [-1.49251459e-01 -3.42484741e-04 9.88799214e-01 -2.11005300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters 0.03183118397429337 Centerline is valid? [True, True] Translation: X:163.44, Y:-67.09, Z:-21.11 [[ 7.37732843e-01 6.65710988e-01 1.12156737e-01 1.63435372e+02] [-6.58230431e-01 7.46209565e-01 -9.95187641e-02 -6.70888988e+01] [-1.49943165e-01 -4.06716630e-04 9.88694534e-01 -2.11077541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters 0.03185330751936755 Centerline is valid? [True, True] Translation: X:163.49, Y:-67.12, Z:-21.12 [[ 7.39931391e-01 6.63382688e-01 1.11467243e-01 1.63488174e+02] [-6.55954149e-01 7.48280290e-01 -9.89987994e-02 -6.71222185e+01] [-1.49082831e-01 1.34918585e-04 9.88824702e-01 -2.11166504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters 0.031734863428146 Centerline is valid? [True, True] Translation: X:163.54, Y:-67.16, Z:-21.12 [[ 7.42960068e-01 6.60448614e-01 1.08710468e-01 1.63540157e+02] [-6.53340642e-01 7.50870848e-01 -9.66383720e-02 -6.71568221e+01] [-1.45452200e-01 7.73484685e-04 9.89364978e-01 -2.11239928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters 0.03191646442496517 Centerline is valid? [True, True] Translation: X:163.59, Y:-67.19, Z:-21.13 [[ 7.45506866e-01 6.57589789e-01 1.08605624e-01 1.63592434e+02] [-6.50452333e-01 7.53374883e-01 -9.66335782e-02 -6.71911157e+01] [-1.45366004e-01 1.39821440e-03 9.89376960e-01 -2.11304778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters 0.03209879414951007 Centerline is valid? [True, True] Translation: X:163.64, Y:-67.23, Z:-21.14 [[ 7.47207021e-01 6.55809949e-01 1.07679979e-01 1.63642895e+02] [-6.48762909e-01 7.54923889e-01 -9.58989503e-02 -6.72278530e+01] [-1.44181674e-01 1.79759240e-03 9.89549601e-01 -2.11379939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters 0.03211162660083555 Centerline is valid? [True, True] Translation: X:163.69, Y:-67.27, Z:-21.15 [[ 7.47724435e-01 6.55354853e-01 1.06855915e-01 1.63693068e+02] [-6.48397024e-01 7.55318629e-01 -9.52631521e-02 -6.72653434e+01] [-1.43141433e-01 1.94552904e-03 9.89700331e-01 -2.11472528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters 0.03219009838543449 Centerline is valid? [True, True] Translation: X:163.74, Y:-67.30, Z:-21.15 [[ 7.46842251e-01 6.56497056e-01 1.06010694e-01 1.63741614e+02] [-6.49647245e-01 7.54326473e-01 -9.46045899e-02 -6.73042336e+01] [-1.42074307e-01 1.78514978e-03 9.89854385e-01 -2.11540302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters 0.03192293320118416 Centerline is valid? [True, True] Translation: X:163.79, Y:-67.34, Z:-21.16 [[ 7.43015524e-01 6.60894447e-01 1.05576801e-01 1.63791818e+02] [-6.54134236e-01 7.50478202e-01 -9.42914056e-02 -6.73417112e+01] [-1.41549754e-01 9.98578132e-04 9.89930639e-01 -2.11597207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters 0.03194084626097772 Centerline is valid? [True, True] Translation: X:163.84, Y:-67.38, Z:-21.17 [[ 7.38950368e-01 6.65257737e-01 1.06698160e-01 1.63840927e+02] [-6.58390850e-01 7.46613757e-01 -9.53382724e-02 -6.73804846e+01] [-1.43086838e-01 2.01158985e-04 9.89710117e-01 -2.11679821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters 0.031945666942402216 Centerline is valid? [True, True] Translation: X:163.89, Y:-67.42, Z:-21.17 [[ 7.37842190e-01 6.66772461e-01 1.04897032e-01 1.63891807e+02] [-6.60138377e-01 7.45261353e-01 -9.38234429e-02 -6.74161696e+01] [-1.40734592e-01 -1.96619308e-05 9.90047360e-01 -2.11749886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters 0.032149594999681876 Centerline is valid? [True, True] Translation: X:163.94, Y:-67.45, Z:-21.18 [[ 7.38272612e-01 6.66204534e-01 1.05475444e-01 1.63942668e+02] [-6.59478484e-01 7.45769063e-01 -9.44279298e-02 -6.74519829e+01] [-1.41568638e-01 1.54768351e-04 9.89928430e-01 -2.11822383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters 0.032257235117737176 Centerline is valid? [True, True] Translation: X:163.99, Y:-67.49, Z:-21.19 [[ 7.40447957e-01 6.63979809e-01 1.04247954e-01 1.63991813e+02] [-6.57376093e-01 7.47750230e-01 -9.34144913e-02 -6.74894448e+01] [-1.39976767e-01 6.38456722e-04 9.90154582e-01 -2.11903543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters 0.03224455611209222 Centerline is valid? [True, True] Translation: X:164.04, Y:-67.53, Z:-21.20 [[ 7.42238131e-01 6.62412776e-01 1.01448855e-01 1.64041688e+02] [-6.56134832e-01 7.49138420e-01 -9.09874168e-02 -6.75266144e+01] [-1.36270462e-01 9.70202811e-04 9.90671197e-01 -2.11974391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters 0.03231887723933037 Centerline is valid? [True, True] Translation: X:164.09, Y:-67.57, Z:-21.20 [[ 7.40217695e-01 6.64677598e-01 1.01397509e-01 1.64088215e+02] [-6.58415517e-01 7.47130048e-01 -9.10258060e-02 -6.75686920e+01] [-1.36259940e-01 6.17218776e-04 9.90672927e-01 -2.12044878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters 0.03233751598381274 Centerline is valid? [True, True] Translation: X:164.14, Y:-67.61, Z:-21.21 [[ 7.35202415e-01 6.70010863e-01 1.02775742e-01 1.64137569e+02] [-6.63614805e-01 7.42351233e-01 -9.23582071e-02 -6.76067555e+01] [-1.38176701e-01 -3.01527090e-04 9.90407547e-01 -2.12113476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters 0.03232922174850961 Centerline is valid? [True, True] Translation: X:164.19, Y:-67.65, Z:-21.22 [[ 7.32124097e-01 6.73423362e-01 1.02446483e-01 1.64185420e+02] [-6.67089470e-01 7.39256523e-01 -9.21489672e-02 -6.76473968e+01] [-1.37789498e-01 -8.76490616e-04 9.90461148e-01 -2.12187160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters 0.03212148549894554 Centerline is valid? [True, True] Translation: X:164.24, Y:-67.68, Z:-21.22 [[ 7.31312942e-01 6.74716042e-01 9.96977561e-02 1.64235498e+02] [-6.68718712e-01 7.38076702e-01 -8.97667367e-02 -6.76838361e+01] [-1.34151648e-01 -1.02217871e-03 9.90960287e-01 -2.12248940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters 0.032172019721243776 Centerline is valid? [True, True] Translation: X:164.28, Y:-67.72, Z:-21.23 [[ 7.33539355e-01 6.72054245e-01 1.01306992e-01 1.64284024e+02] [-6.65823587e-01 7.40501764e-01 -9.13021788e-02 -6.77227386e+01] [-1.36378023e-01 -4.78843597e-04 9.90656755e-01 -2.12314714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters 0.03223711807598158 Centerline is valid? [True, True] Translation: X:164.33, Y:-67.76, Z:-21.24 [[ 7.35571778e-01 6.70048281e-01 9.98471898e-02 1.64334596e+02] [-6.63967149e-01 7.42317519e-01 -9.00684498e-02 -6.77589350e+01] [-1.34468528e-01 -4.34441951e-05 9.90917864e-01 -2.12387519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters 0.03239901069355745 Centerline is valid? [True, True] Translation: X:164.38, Y:-67.80, Z:-21.25 [[ 7.36174599e-01 6.69248141e-01 1.00766489e-01 1.64382446e+02] [-6.63035193e-01 7.43038962e-01 -9.09804049e-02 -6.77974648e+01] [-1.35761894e-01 1.65734775e-04 9.90741480e-01 -2.12456155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters 0.03244688472865193 Centerline is valid? [True, True] Translation: X:164.43, Y:-67.84, Z:-21.25 [[ 7.37885260e-01 6.67670182e-01 9.87009210e-02 1.64431349e+02] [-6.61686283e-01 7.44457033e-01 -8.91907426e-02 -6.78361611e+01] [-1.33028594e-01 5.03488750e-04 9.91112072e-01 -2.12521931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters 0.03276238581374676 Centerline is valid? [True, True] Translation: X:164.48, Y:-67.88, Z:-21.26 [[ 7.39719007e-01 6.65610394e-01 9.88867725e-02 1.64478168e+02] [-6.59574436e-01 7.46298817e-01 -8.94406985e-02 -6.78763648e+01] [-1.33331740e-01 9.37797482e-04 9.91071020e-01 -2.12590801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters 0.03282317958784167 Centerline is valid? [True, True] Translation: X:164.53, Y:-67.92, Z:-21.27 [[ 7.40485050e-01 6.64906402e-01 9.78844622e-02 1.64525576e+02] [-6.58975769e-01 7.46925856e-01 -8.86154705e-02 -6.79175776e+01] [-1.32033429e-01 1.11494231e-03 9.91244637e-01 -2.12670005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters 0.03307182976088508 Centerline is valid? [True, True] Translation: X:164.57, Y:-67.96, Z:-21.28 [[ 7.41147707e-01 6.64144291e-01 9.80430408e-02 1.64569804e+02] [-6.58175507e-01 7.47603246e-01 -8.88503675e-02 -6.79621158e+01] [-1.32306760e-01 1.32171798e-03 9.91207937e-01 -2.12754975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters 0.03323049900696963 Centerline is valid? [True, True] Translation: X:164.61, Y:-68.00, Z:-21.28 [[ 7.41732290e-01 6.63369801e-01 9.88621105e-02 1.64614729e+02] [-6.57281368e-01 7.48290140e-01 -8.96831639e-02 -6.80048930e+01] [-1.33470645e-01 1.54067532e-03 9.91051569e-01 -2.12823708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters 0.033206401873816266 Centerline is valid? [True, True] Translation: X:164.66, Y:-68.05, Z:-21.29 [[ 7.41822637e-01 6.63148209e-01 9.96675905e-02 1.64658743e+02] [-6.56946636e-01 7.48486281e-01 -9.04953290e-02 -6.80485311e+01] [-1.34611640e-01 1.65519528e-03 9.90897052e-01 -2.12899403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters 0.033710868370276474 Centerline is valid? [True, True] Translation: X:164.70, Y:-68.10, Z:-21.30 [[ 7.42406014e-01 6.62353544e-01 1.00603648e-01 1.64700134e+02] [-6.56015890e-01 7.49189065e-01 -9.14270068e-02 -6.80952121e+01] [-1.35928155e-01 1.87836784e-03 9.90716916e-01 -2.12961361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters 0.0336199374490084 Centerline is valid? [True, True] Translation: X:164.74, Y:-68.14, Z:-21.30 [[ 7.41403981e-01 6.63402798e-01 1.01078503e-01 1.64742259e+02] [-6.57002947e-01 7.48260407e-01 -9.19428698e-02 -6.81420597e+01] [-1.36628199e-01 1.75793510e-03 9.90620838e-01 -2.13046234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters 0.0333119981075785 Centerline is valid? [True, True] Translation: X:164.79, Y:-68.19, Z:-21.31 [[ 7.39387885e-01 6.65603108e-01 1.01380756e-01 1.64786035e+02] [-6.59172560e-01 7.46304543e-01 -9.23096121e-02 -6.81854350e+01] [-1.37102483e-01 1.42519664e-03 9.90555843e-01 -2.13106723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters 0.03324552781329462 Centerline is valid? [True, True] Translation: X:164.83, Y:-68.23, Z:-21.32 [[ 7.36059900e-01 6.69337834e-01 1.01008352e-01 1.64830693e+02] [-6.62978260e-01 7.42957765e-01 -9.20520842e-02 -6.82287453e+01] [-1.36658882e-01 7.89506285e-04 9.90617851e-01 -2.13184154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters 0.03287062839245745 Centerline is valid? [True, True] Translation: X:164.88, Y:-68.27, Z:-21.32 [[ 7.32708418e-01 6.73141311e-01 1.00095701e-01 1.64876622e+02] [-6.66920689e-01 7.39513864e-01 -9.13019126e-02 -6.82705195e+01] [-1.35481248e-01 1.41786172e-04 9.90779901e-01 -2.13243289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters 0.033170929020456215 Centerline is valid? [True, True] Translation: X:164.92, Y:-68.31, Z:-21.33 [[ 7.29312845e-01 6.76680553e-01 1.01025757e-01 1.64924065e+02] [-6.70365293e-01 7.36276593e-01 -9.22342264e-02 -6.83106245e+01] [-1.36796007e-01 -4.56555097e-04 9.90599134e-01 -2.13319653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters 0.032827743563345335 Centerline is valid? [True, True] Translation: X:164.97, Y:-68.35, Z:-21.34 [[ 7.28212294e-01 6.78268293e-01 9.82800985e-02 1.64971347e+02] [-6.72296724e-01 7.34814037e-01 -8.98078286e-02 -6.83505803e+01] [-1.33131398e-01 -6.74223354e-04 9.91098167e-01 -2.13369591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters 0.03300729983017817 Centerline is valid? [True, True] Translation: X:165.02, Y:-68.39, Z:-21.34 [[ 7.27098690e-01 6.79443824e-01 9.84052031e-02 1.65018887e+02] [-6.73456307e-01 7.33727064e-01 -9.00066604e-02 -6.83908867e+01] [-1.33357030e-01 -8.27879732e-04 9.91067716e-01 -2.13440704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters 0.03289538304059184 Centerline is valid? [True, True] Translation: X:165.07, Y:-68.43, Z:-21.35 [[ 7.27323047e-01 6.79312276e-01 9.76525309e-02 1.65069847e+02] [-6.73402941e-01 7.33848962e-01 -8.94101738e-02 -6.84269852e+01] [-1.32399637e-01 -7.29421459e-04 9.91196148e-01 -2.13499223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters 0.033008886646864306 Centerline is valid? [True, True] Translation: X:165.12, Y:-68.47, Z:-21.36 [[ 7.26735677e-01 6.79881451e-01 9.80635913e-02 1.65118912e+02] [-6.73915762e-01 7.33321630e-01 -8.98717533e-02 -6.84669397e+01] [-1.33014291e-01 -7.73590422e-04 9.91113818e-01 -2.13570310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters 0.03267448590535448 Centerline is valid? [True, True] Translation: X:165.17, Y:-68.50, Z:-21.36 [[ 7.30404049e-01 6.76297382e-01 9.55603302e-02 1.65170490e+02] [-6.70591353e-01 7.36628705e-01 -8.76663426e-02 -6.85029434e+01] [-1.29681000e-01 -5.00795215e-05 9.91555765e-01 -2.13618218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters 0.0327492867084931 Centerline is valid? [True, True] Translation: X:165.22, Y:-68.54, Z:-21.37 [[ 7.33143433e-01 6.73120390e-01 9.70033360e-02 1.65218849e+02] [-6.67201158e-01 7.39532691e-01 -8.90730761e-02 -6.85410522e+01] [-1.31694042e-01 5.82602626e-04 9.91290240e-01 -2.13697504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters 0.03260448973238761 Centerline is valid? [True, True] Translation: X:165.27, Y:-68.58, Z:-21.38 [[ 7.36096178e-01 6.70078561e-01 9.56929406e-02 1.65268112e+02] [-6.64282557e-01 7.42289260e-01 -8.79507726e-02 -6.85799958e+01] [-1.29965769e-01 1.17307627e-03 9.91517787e-01 -2.13765100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters 0.03316813251407535 Centerline is valid? [True, True] Translation: X:165.31, Y:-68.62, Z:-21.38 [[ 7.39475685e-01 6.66107364e-01 9.73482914e-02 1.65314136e+02] [-6.60061465e-01 7.45853256e-01 -8.95644084e-02 -6.86211451e+01] [-1.32267052e-01 1.97484644e-03 9.91212150e-01 -2.13836726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters 0.033847851100166026 Centerline is valid? [True, True] Translation: X:165.36, Y:-68.66, Z:-21.39 [[ 7.42390553e-01 6.62742026e-01 9.81288643e-02 1.65360222e+02] [-6.56557986e-01 7.48843068e-01 -9.03640999e-02 -6.86621128e+01] [-1.33371206e-01 2.65816460e-03 9.91062589e-01 -2.13925203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters 0.034572291593221297 Centerline is valid? [True, True] Translation: X:165.41, Y:-68.70, Z:-21.40 [[ 7.46936877e-01 6.57684210e-01 9.76564498e-02 1.65407215e+02] [-6.51507106e-01 7.53285150e-01 -8.99998490e-02 -6.87024332e+01] [-1.32754633e-01 3.60033516e-03 9.91142394e-01 -2.13995296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters 0.035095750624479276 Centerline is valid? [True, True] Translation: X:165.45, Y:-68.75, Z:-21.41 [[ 7.48320025e-01 6.55922798e-01 9.89061369e-02 1.65450916e+02] [-6.49566185e-01 7.54817446e-01 -9.11833003e-02 -6.87456599e+01] [-1.34465283e-01 3.98820753e-03 9.90910279e-01 -2.14079986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters 0.035432771295525176 Centerline is valid? [True, True] Translation: X:165.50, Y:-68.79, Z:-21.42 [[ 7.49258088e-01 6.54740900e-01 9.96326838e-02 1.65496283e+02] [-6.48268930e-01 7.55841209e-01 -9.19318266e-02 -6.87869297e+01] [-1.35498015e-01 4.29189125e-03 9.90768322e-01 -2.14152208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters 0.03598226989637138 Centerline is valid? [True, True] Translation: X:165.54, Y:-68.83, Z:-21.42 [[ 7.51962231e-01 6.51630404e-01 9.96524945e-02 1.65540304e+02] [-6.45119777e-01 7.58520777e-01 -9.20146971e-02 -6.88304067e+01] [-1.35548062e-01 4.90378195e-03 9.90758637e-01 -2.14216549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters 0.0363777434049418 Centerline is valid? [True, True] Translation: X:165.59, Y:-68.87, Z:-21.43 [[ 7.53612418e-01 6.49922796e-01 9.83294574e-02 1.65586373e+02] [-6.43566208e-01 7.59982692e-01 -9.08231408e-02 -6.88714535e+01] [-1.33756715e-01 5.16393065e-03 9.91000744e-01 -2.14297203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters 0.036016301493022866 Centerline is valid? [True, True] Translation: X:165.63, Y:-68.92, Z:-21.44 [[ 7.53125376e-01 6.50408832e-01 9.88459395e-02 1.65629268e+02] [-6.43978428e-01 7.59566766e-01 -9.13789425e-02 -6.89168776e+01] [-1.34513762e-01 5.16514764e-03 9.90898264e-01 -2.14356881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters 0.036067501960447085 Centerline is valid? [True, True] Translation: X:165.67, Y:-68.96, Z:-21.44 [[ 7.51899462e-01 6.51624383e-01 1.00164174e-01 1.65673030e+02] [-6.45018805e-01 7.58524765e-01 -9.26872249e-02 -6.89615447e+01] [-1.36374263e-01 5.08369845e-03 9.90644344e-01 -2.14436641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters 0.03558157019389726 Centerline is valid? [True, True] Translation: X:165.72, Y:-69.01, Z:-21.45 [[ 7.50485088e-01 6.53118704e-01 1.01035098e-01 1.65716379e+02] [-6.46398304e-01 7.57239543e-01 -9.35815513e-02 -6.90051109e+01] [-1.37627633e-01 4.92264248e-03 9.90471808e-01 -2.14510644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters 0.034368823668838866 Centerline is valid? [True, True] Translation: X:165.76, Y:-69.05, Z:-21.46 [[ 7.47520963e-01 6.56626213e-01 1.00271759e-01 1.65759940e+02] [-6.50029651e-01 7.54203930e-01 -9.29402198e-02 -6.90477674e+01] [-1.36652339e-01 4.29514599e-03 9.90609757e-01 -2.14570441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters 0.033439380007528566 Centerline is valid? [True, True] Translation: X:165.80, Y:-69.09, Z:-21.46 [[ 7.44094717e-01 6.60464595e-01 1.00546362e-01 1.65803067e+02] [-6.53863128e-01 7.50848465e-01 -9.32179830e-02 -6.90920169e+01] [-1.37062259e-01 3.61945017e-03 9.90555822e-01 -2.14644330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters 0.03289593021357012 Centerline is valid? [True, True] Translation: X:165.85, Y:-69.13, Z:-21.47 [[ 7.40529274e-01 6.64335602e-01 1.01363716e-01 1.65849025e+02] [-6.57650370e-01 7.47428436e-01 -9.40570246e-02 -6.91335919e+01] [-1.38247554e-01 2.99009472e-03 9.90393191e-01 -2.14718428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters 0.03196109885681275 Centerline is valid? [True, True] Translation: X:165.90, Y:-69.17, Z:-21.48 [[ 7.34545572e-01 6.71160868e-01 9.99294388e-02 1.65895036e+02] [-6.64717196e-01 7.41309699e-01 -9.27953598e-02 -6.91741850e+01] [-1.36359276e-01 1.73760424e-03 9.90657927e-01 -2.14793189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters 0.03143958510187632 Centerline is valid? [True, True] Translation: X:165.94, Y:-69.22, Z:-21.49 [[ 7.31422013e-01 6.74632704e-01 9.94613167e-02 1.65940935e+02] [-6.68278704e-01 7.38152763e-01 -9.23800400e-02 -6.92163616e+01] [-1.35740242e-01 1.10091503e-03 9.90743849e-01 -2.14860475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters 0.031444878217156955 Centerline is valid? [True, True] Translation: X:165.99, Y:-69.26, Z:-21.49 [[ 7.29871301e-01 6.76284465e-01 9.96353707e-02 1.65989523e+02] [-6.69917848e-01 7.36640103e-01 -9.25820501e-02 -6.92556097e+01] [-1.36007212e-01 8.25468240e-04 9.90707503e-01 -2.14926855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters 0.03165796001633621 Centerline is valid? [True, True] Translation: X:166.04, Y:-69.30, Z:-21.50 [[ 7.27929720e-01 6.78251937e-01 1.00462096e-01 1.66038049e+02] [-6.71783866e-01 7.34829248e-01 -9.34473818e-02 -6.92953931e+01] [-1.37203354e-01 5.34311375e-04 9.90542757e-01 -2.15000834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters 0.03164162821254417 Centerline is valid? [True, True] Translation: X:166.08, Y:-69.34, Z:-21.51 [[ 7.27291484e-01 6.78963169e-01 1.00280167e-01 1.66084787e+02] [-6.72513581e-01 7.34172188e-01 -9.33631718e-02 -6.93366161e+01] [-1.37013064e-01 4.62465816e-04 9.90569133e-01 -2.15070581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters 0.031633056447193095 Centerline is valid? [True, True] Translation: X:166.14, Y:-69.37, Z:-21.51 [[ 7.28198112e-01 6.78036279e-01 9.99715666e-02 1.66138036e+02] [-6.71612113e-01 7.35028136e-01 -9.31171805e-02 -6.93709601e+01] [-1.36618741e-01 6.65639978e-04 9.90623479e-01 -2.15144232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters 0.03155130416574039 Centerline is valid? [True, True] Translation: X:166.19, Y:-69.40, Z:-21.52 [[ 7.30293022e-01 6.75803566e-01 9.98080218e-02 1.66191598e+02] [-6.69366466e-01 7.37080870e-01 -9.30608692e-02 -6.94047921e+01] [-1.36457451e-01 1.15356057e-03 9.90645261e-01 -2.15217849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters 0.03170447049286743 Centerline is valid? [True, True] Translation: X:166.24, Y:-69.44, Z:-21.53 [[ 7.34827789e-01 6.70959768e-01 9.92023677e-02 1.66242745e+02] [-6.64544053e-01 7.41490747e-01 -9.25887348e-02 -6.94404266e+01] [-1.35680954e-01 2.11243177e-03 9.90750330e-01 -2.15284030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters 0.03238408632760776 Centerline is valid? [True, True] Translation: X:166.29, Y:-69.48, Z:-21.54 [[ 7.37758360e-01 6.67825357e-01 9.85996716e-02 1.66293541e+02] [-6.61448764e-01 7.44312983e-01 -9.21070893e-02 -6.94770477e+01] [-1.34900465e-01 2.73414430e-03 9.90855382e-01 -2.15352821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters 0.03284409055993408 Centerline is valid? [True, True] Translation: X:166.34, Y:-69.52, Z:-21.54 [[ 7.39406813e-01 6.65849866e-01 9.96068273e-02 1.66341372e+02] [-6.59312593e-01 7.46078943e-01 -9.31295625e-02 -6.95161212e+01] [-1.36324863e-01 3.18859741e-03 9.90659056e-01 -2.15442592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters 0.033743174180206816 Centerline is valid? [True, True] Translation: X:166.39, Y:-69.56, Z:-21.55 [[ 7.42175158e-01 6.62757079e-01 9.96448196e-02 1.66387214e+02] [-6.56175985e-01 7.48824723e-01 -9.32448965e-02 -6.95573139e+01] [-1.36415220e-01 3.81950812e-03 9.90644386e-01 -2.15522730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters 0.03417397763438276 Centerline is valid? [True, True] Translation: X:166.43, Y:-69.60, Z:-21.56 [[ 7.43917188e-01 6.61032628e-01 9.80973124e-02 1.66432340e+02] [-6.54629964e-01 7.50345797e-01 -9.18737984e-02 -6.96000873e+01] [-1.34338484e-01 4.12905770e-03 9.90926901e-01 -2.15585058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters 0.03390654377212046 Centerline is valid? [True, True] Translation: X:166.48, Y:-69.64, Z:-21.57 [[ 7.42184228e-01 6.62669724e-01 1.00156925e-01 1.66476472e+02] [-6.55997332e-01 7.48901206e-01 -9.38854855e-02 -6.96441660e+01] [-1.37222710e-01 3.97765102e-03 9.90532234e-01 -2.15650986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters 0.03327423206688985 Centerline is valid? [True, True] Translation: X:166.52, Y:-69.69, Z:-21.57 [[ 7.39660548e-01 6.65658459e-01 9.90004510e-02 1.66517506e+02] [-6.59156032e-01 7.46248599e-01 -9.28781650e-02 -6.96899131e+01] [-1.35704084e-01 3.44157000e-03 9.90743437e-01 -2.15729991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters 0.032726370487024814 Centerline is valid? [True, True] Translation: X:166.56, Y:-69.74, Z:-21.58 [[ 7.38187308e-01 6.67352688e-01 9.85894940e-02 1.66559236e+02] [-6.60916828e-01 7.44735245e-01 -9.25114151e-02 -6.97369574e+01] [-1.35160813e-01 3.13129683e-03 9.90818727e-01 -2.15774308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters 0.03254402866876488 Centerline is valid? [True, True] Translation: X:166.60, Y:-69.78, Z:-21.59 [[ 7.36350461e-01 6.69240361e-01 9.95255611e-02 1.66601358e+02] [-6.62692749e-01 7.43040552e-01 -9.34294289e-02 -6.97832865e+01] [-1.36478273e-01 2.84193536e-03 9.90638988e-01 -2.15854427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters 0.0324383770983393 Centerline is valid? [True, True] Translation: X:166.65, Y:-69.83, Z:-21.59 [[ 7.34060673e-01 6.71689137e-01 9.99431433e-02 1.66645714e+02] [-6.65096098e-01 7.40829011e-01 -9.39124961e-02 -6.98269083e+01] [-1.37120783e-01 2.46567545e-03 9.90551266e-01 -2.15933517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters 0.0315124898577828 Centerline is valid? [True, True] Translation: X:166.69, Y:-69.87, Z:-21.60 [[ 7.29768822e-01 6.76445094e-01 9.92950210e-02 1.66689073e+02] [-6.69970226e-01 7.36491275e-01 -9.33836085e-02 -6.98715275e+01] [-1.36298800e-01 1.62373826e-03 9.90666443e-01 -2.15988967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters 0.03132407598595957 Centerline is valid? [True, True] Translation: X:166.73, Y:-69.91, Z:-21.61 [[ 7.27492275e-01 6.78983024e-01 9.86764572e-02 1.66733548e+02] [-6.72601144e-01 7.34152988e-01 -9.28821357e-02 -6.99146157e+01] [-1.35509009e-01 1.20113823e-03 9.90775386e-01 -2.16052579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters 0.03151037067942438 Centerline is valid? [True, True] Translation: X:166.78, Y:-69.96, Z:-21.61 [[ 7.27488822e-01 6.78852271e-01 9.95972312e-02 1.66779995e+02] [-6.72337344e-01 7.34273727e-01 -9.38327797e-02 -6.99556265e+01] [-1.36830226e-01 1.29936049e-03 9.90593661e-01 -2.16133111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters 0.031452646705279086 Centerline is valid? [True, True] Translation: X:166.83, Y:-70.00, Z:-21.62 [[ 7.27480464e-01 6.78841718e-01 9.97301165e-02 1.66827135e+02] [-6.72297300e-01 7.34283360e-01 -9.40440719e-02 -6.99967254e+01] [-1.37071204e-01 1.36693711e-03 9.90560254e-01 -2.16203361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters 0.031608502868924394 Centerline is valid? [True, True] Translation: X:166.87, Y:-70.04, Z:-21.63 [[ 7.26593849e-01 6.79612957e-01 1.00933681e-01 1.66869644e+02] [-6.72902845e-01 7.33569710e-01 -9.52745577e-02 -7.00415164e+01] [-1.38791715e-01 1.30734667e-03 9.90320731e-01 -2.16279303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters 0.03143433745035833 Centerline is valid? [True, True] Translation: X:166.91, Y:-70.09, Z:-21.63 [[ 7.27402898e-01 6.79014415e-01 9.91183549e-02 1.66912954e+02] [-6.72527914e-01 7.34123494e-01 -9.36424108e-02 -7.00855709e+01] [-1.36349660e-01 1.45590052e-03 9.90659705e-01 -2.16342228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters 0.031369250686183875 Centerline is valid? [True, True] Translation: X:166.95, Y:-70.13, Z:-21.64 [[ 7.28695235e-01 6.77579384e-01 9.94456288e-02 1.66954120e+02] [-6.71025125e-01 7.35447462e-01 -9.40335721e-02 -7.01311943e+01] [-1.36852245e-01 1.79130045e-03 9.90589852e-01 -2.16423206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters 0.03132488259406753 Centerline is valid? [True, True] Translation: X:167.00, Y:-70.18, Z:-21.65 [[ 7.29479941e-01 6.76903056e-01 9.82917515e-02 1.66996564e+02] [-6.70483967e-01 7.36069587e-01 -9.30205017e-02 -7.01776235e+01] [-1.35315431e-01 1.95354670e-03 9.90800645e-01 -2.16488242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters 0.031329536811162476 Centerline is valid? [True, True] Translation: X:167.04, Y:-70.22, Z:-21.66 [[ 7.27904294e-01 6.78534559e-01 9.87227984e-02 1.67038439e+02] [-6.72060698e-01 7.34566448e-01 -9.35230040e-02 -7.02245138e+01] [-1.35977046e-01 1.72808341e-03 9.90710481e-01 -2.16560054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters 0.031292169281838964 Centerline is valid? [True, True] Translation: X:167.08, Y:-70.27, Z:-21.66 [[ 7.26651777e-01 6.80097276e-01 9.71848251e-02 1.67083316e+02] [-6.73827235e-01 7.33120401e-01 -9.21484377e-02 -7.02676569e+01] [-1.33918079e-01 1.47404399e-03 9.90991309e-01 -2.16631668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters 0.031061866273140806 Centerline is valid? [True, True] Translation: X:167.13, Y:-70.31, Z:-21.67 [[ 7.24223254e-01 6.82667937e-01 9.72890855e-02 1.67128042e+02] [-6.76402333e-01 7.30728014e-01 -9.22846309e-02 -7.03107512e+01] [-1.34091619e-01 1.02811127e-03 9.90968406e-01 -2.16702374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters 0.03099745588321799 Centerline is valid? [True, True] Translation: X:167.18, Y:-70.35, Z:-21.68 [[ 7.19447942e-01 6.87721191e-01 9.71299205e-02 1.67176038e+02] [-6.81510613e-01 7.25974890e-01 -9.22157482e-02 -7.03502390e+01] [-1.33932608e-01 1.49358680e-04 9.90990431e-01 -2.16770710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters 0.031010514517905395 Centerline is valid? [True, True] Translation: X:167.23, Y:-70.39, Z:-21.68 [[ 7.17666358e-01 6.89560159e-01 9.72717108e-02 1.67225117e+02] [-6.83336546e-01 7.24228396e-01 -9.24358924e-02 -7.03901871e+01] [-1.34187044e-01 -1.31184692e-04 9.90956013e-01 -2.16836906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters 0.03102227290011839 Centerline is valid? [True, True] Translation: X:167.28, Y:-70.43, Z:-21.69 [[ 7.18863851e-01 6.88316060e-01 9.72407577e-02 1.67276172e+02] [-6.82071924e-01 7.25410899e-01 -9.25036148e-02 -7.04274818e+01] [-1.34211229e-01 1.72314120e-04 9.90952732e-01 -2.16915227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters 0.030908937004983088 Centerline is valid? [True, True] Translation: X:167.32, Y:-70.47, Z:-21.70 [[ 7.20230205e-01 6.87069188e-01 9.59394766e-02 1.67324270e+02] [-6.80968351e-01 7.26591847e-01 -9.13585942e-02 -7.04664960e+01] [-1.32478517e-01 4.67471828e-04 9.91185767e-01 -2.16980738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters 0.031167115393964908 Centerline is valid? [True, True] Translation: X:167.38, Y:-70.50, Z:-21.71 [[ 7.23322340e-01 6.83595971e-01 9.74748210e-02 1.67376257e+02] [-6.77254359e-01 7.29859674e-01 -9.29052697e-02 -7.05018464e+01] [-1.34652609e-01 1.18520974e-03 9.90892159e-01 -2.17058611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters 0.03183830710743315 Centerline is valid? [True, True] Translation: X:167.43, Y:-70.54, Z:-21.71 [[ 7.27894491e-01 6.78649995e-01 9.79989520e-02 1.67425113e+02] [-6.72183340e-01 7.34458608e-01 -9.34885587e-02 -7.05396905e+01] [-1.35422184e-01 2.17654404e-03 9.90785595e-01 -2.17141074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters 0.032928572333223 Centerline is valid? [True, True] Translation: X:167.47, Y:-70.58, Z:-21.72 [[ 7.32963238e-01 6.73109119e-01 9.84327488e-02 1.67471024e+02] [-6.66523571e-01 7.39535910e-01 -9.39838664e-02 -7.05803052e+01] [-1.36055950e-01 3.27897184e-03 9.90695729e-01 -2.17223915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters 0.033475980106906326 Centerline is valid? [True, True] Translation: X:167.52, Y:-70.62, Z:-21.73 [[ 7.36403894e-01 6.69705612e-01 9.59359109e-02 1.67516712e+02] [-6.63412916e-01 7.42616639e-01 -9.16724094e-02 -7.06223380e+01] [-1.32637131e-01 3.86279683e-03 9.91157137e-01 -2.17288841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters 0.033907014312729064 Centerline is valid? [True, True] Translation: X:167.56, Y:-70.66, Z:-21.74 [[ 7.36913426e-01 6.68995048e-01 9.69753952e-02 1.67560747e+02] [-6.62548476e-01 7.43255606e-01 -9.27395324e-02 -7.06648934e+01] [-1.34119794e-01 4.09010630e-03 9.90956685e-01 -2.17363096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters 0.03345116658903837 Centerline is valid? [True, True] Translation: X:167.61, Y:-70.71, Z:-21.74 [[ 7.34840066e-01 6.71245407e-01 9.71580187e-02 1.67605568e+02] [-6.64787390e-01 7.41225838e-01 -9.29622692e-02 -7.07072360e+01] [-1.34416530e-01 3.72297439e-03 9.90917926e-01 -2.17438926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters 0.0333858453574904 Centerline is valid? [True, True] Translation: X:167.65, Y:-70.75, Z:-21.75 [[ 7.34124875e-01 6.72101023e-01 9.66482424e-02 1.67649307e+02] [-6.65708515e-01 7.40450704e-01 -9.25468968e-02 -7.07513496e+01] [-1.33764123e-01 3.60142113e-03 9.91006654e-01 -2.17528954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters 0.032860573524322624 Centerline is valid? [True, True] Translation: X:167.69, Y:-70.79, Z:-21.76 [[ 7.30703553e-01 6.75814548e-01 9.66799566e-02 1.67694751e+02] [-6.69444176e-01 7.37065775e-01 -9.26203977e-02 -7.07944382e+01] [-1.33853699e-01 2.95621976e-03 9.90996694e-01 -2.17576805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters 0.03274313239712203 Centerline is valid? [True, True] Translation: X:167.74, Y:-70.84, Z:-21.77 [[ 7.27273466e-01 6.79322546e-01 9.79499050e-02 1.67739832e+02] [-6.72807444e-01 7.33835956e-01 -9.38878775e-02 -7.08369599e+01] [-1.35659314e-01 2.38073686e-03 9.90752685e-01 -2.17666153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters 0.03297575824443983 Centerline is valid? [True, True] Translation: X:167.78, Y:-70.88, Z:-21.77 [[ 7.26766795e-01 6.79665155e-01 9.93242316e-02 1.67784926e+02] [-6.72956598e-01 7.33518548e-01 -9.52888042e-02 -7.08791308e+01] [-1.37620646e-01 2.41184188e-03 9.90482075e-01 -2.17739934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters 0.03306908293136148 Centerline is valid? [True, True] Translation: X:167.83, Y:-70.92, Z:-21.78 [[ 7.28109317e-01 6.78279107e-01 9.89660283e-02 1.67829667e+02] [-6.71595040e-01 7.34799312e-01 -9.50266973e-02 -7.09223050e+01] [-1.37174793e-01 2.72472997e-03 9.90543110e-01 -2.17802690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters 0.03297573003215658 Centerline is valid? [True, True] Translation: X:167.88, Y:-70.96, Z:-21.79 [[ 7.27422573e-01 6.78929992e-01 9.95513226e-02 1.67875944e+02] [-6.72160489e-01 7.34198121e-01 -9.56733804e-02 -7.09649010e+01] [-1.38045921e-01 2.68051086e-03 9.90422202e-01 -2.17879507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters 0.03280158751872288 Centerline is valid? [True, True] Translation: X:167.92, Y:-71.01, Z:-21.79 [[ 7.26400105e-01 6.80226883e-01 9.81543390e-02 1.67920241e+02] [-6.73647098e-01 7.32997494e-01 -9.44153625e-02 -7.10089327e+01] [-1.36170752e-01 2.46194363e-03 9.90682323e-01 -2.17942214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters 0.03260466360221068 Centerline is valid? [True, True] Translation: X:167.96, Y:-71.05, Z:-21.80 [[ 7.24671187e-01 6.82120825e-01 9.77898358e-02 1.67963002e+02] [-6.75600240e-01 7.31236363e-01 -9.41153381e-02 -7.10538682e+01] [-1.35705516e-01 2.13583717e-03 9.90746916e-01 -2.18026582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters 0.032600844238706364 Centerline is valid? [True, True] Translation: X:168.01, Y:-71.10, Z:-21.81 [[ 7.24537047e-01 6.82206241e-01 9.81871349e-02 1.68009137e+02] [-6.75621516e-01 7.31156513e-01 -9.45818200e-02 -7.10973156e+01] [-1.36314471e-01 2.19069164e-03 9.90663195e-01 -2.18077500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters 0.03282444467941887 Centerline is valid? [True, True] Translation: X:168.05, Y:-71.14, Z:-21.82 [[ 7.23952677e-01 6.82619602e-01 9.96142534e-02 1.68050261e+02] [-6.75831785e-01 7.30770536e-01 -9.60511429e-02 -7.11436841e+01] [-1.38361554e-01 2.21400348e-03 9.90379310e-01 -2.18163611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters 0.032778620883853506 Centerline is valid? [True, True] Translation: X:168.09, Y:-71.19, Z:-21.82 [[ 7.23247585e-01 6.83439015e-01 9.91163092e-02 1.68093475e+02] [-6.76715333e-01 7.30004568e-01 -9.56540088e-02 -7.11886930e+01] [-1.37729040e-01 2.10800473e-03 9.90467702e-01 -2.18227585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters 0.03280264213332919 Centerline is valid? [True, True] Translation: X:168.14, Y:-71.23, Z:-21.83 [[ 7.25138130e-01 6.81649859e-01 9.76123018e-02 1.68138122e+02] [-6.75102113e-01 7.31674353e-01 -9.42856214e-02 -7.12322664e+01] [-1.35690198e-01 2.47182802e-03 9.90748232e-01 -2.18286006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters 0.03348042188845403 Centerline is valid? [True, True] Translation: X:168.18, Y:-71.28, Z:-21.84 [[ 7.27655154e-01 6.78942670e-01 9.77487981e-02 1.68182042e+02] [-6.72339554e-01 7.34184957e-01 -9.45091222e-02 -7.12752407e+01] [-1.35931973e-01 3.04966661e-03 9.90713479e-01 -2.18359244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters 0.03362689013122226 Centerline is valid? [True, True] Translation: X:168.22, Y:-71.32, Z:-21.84 [[ 7.29402140e-01 6.77088711e-01 9.75878871e-02 1.68223546e+02] [-6.70479781e-01 7.35893317e-01 -9.44345788e-02 -7.13208031e+01] [-1.35754861e-01 3.45007872e-03 9.90736451e-01 -2.18429509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters 0.034281384533265596 Centerline is valid? [True, True] Translation: X:168.27, Y:-71.37, Z:-21.85 [[ 7.31156374e-01 6.75343315e-01 9.65492830e-02 1.68265859e+02] [-6.68849152e-01 7.37493747e-01 -9.35082092e-02 -7.13655846e+01] [-1.34354636e-01 3.79221709e-03 9.90926057e-01 -2.18487988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters 0.0345210195636558 Centerline is valid? [True, True] Translation: X:168.30, Y:-71.41, Z:-21.86 [[ 7.32791288e-01 6.73534751e-01 9.67877439e-02 1.68304640e+02] [-6.66982553e-01 7.39143685e-01 -9.38130443e-02 -7.14136748e+01] [-1.34726395e-01 4.18964508e-03 9.90873981e-01 -2.18553422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters 0.03498593249393825 Centerline is valid? [True, True] Translation: X:168.34, Y:-71.46, Z:-21.86 [[ 7.32334071e-01 6.73811757e-01 9.83083204e-02 1.68344053e+02] [-6.67046620e-01 7.38890873e-01 -9.53366948e-02 -7.14613556e+01] [-1.36878106e-01 4.24207694e-03 9.90578815e-01 -2.18632278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters 0.034443639410797054 Centerline is valid? [True, True] Translation: X:168.38, Y:-71.51, Z:-21.87 [[ 7.31330807e-01 6.75272223e-01 9.57218667e-02 1.68384817e+02] [-6.68863058e-01 7.37558201e-01 -9.28983831e-02 -7.15091703e+01] [-1.33332146e-01 3.91462895e-03 9.91063678e-01 -2.18689701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters 0.03436789418753102 Centerline is valid? [True, True] Translation: X:168.43, Y:-71.55, Z:-21.87 [[ 7.28815745e-01 6.77795502e-01 9.70611572e-02 1.68426471e+02] [-6.71221919e-01 7.35241995e-01 -9.42355754e-02 -7.15549438e+01] [-1.35235888e-01 3.53079483e-03 9.90807140e-01 -2.18738556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters 0.03411451985112352 Centerline is valid? [True, True] Translation: X:168.47, Y:-71.60, Z:-21.88 [[ 7.27566557e-01 6.79201355e-01 9.66044749e-02 1.68468464e+02] [-6.72691250e-01 7.33944509e-01 -9.38719331e-02 -7.16004153e+01] [-1.34660268e-01 3.31309422e-03 9.90886288e-01 -2.18810752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters 0.033966785916102055 Centerline is valid? [True, True] Translation: X:168.51, Y:-71.64, Z:-21.89 [[ 7.26708602e-01 6.80196693e-01 9.60576224e-02 1.68511230e+02] [-6.73758320e-01 7.33022791e-01 -9.34200909e-02 -7.16447245e+01] [-1.33956463e-01 3.16956125e-03 9.90982149e-01 -2.18882625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters 0.033810228422080445 Centerline is valid? [True, True] Translation: X:168.55, Y:-71.69, Z:-21.90 [[ 7.24874252e-01 6.82132663e-01 9.61891364e-02 1.68552360e+02] [-6.75682504e-01 7.31222784e-01 -9.36290219e-02 -7.16904014e+01] [-1.34203102e-01 2.87595067e-03 9.90949674e-01 -2.18960274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters 0.033397989388639755 Centerline is valid? [True, True] Translation: X:168.59, Y:-71.74, Z:-21.90 [[ 7.21328086e-01 6.85886032e-01 9.61568723e-02 1.68593481e+02] [-6.79463254e-01 7.27705549e-01 -9.36713381e-02 -7.17375002e+01] [-1.34221752e-01 2.23270560e-03 9.90948806e-01 -2.19022445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters 0.032876383208315374 Centerline is valid? [True, True] Translation: X:168.64, Y:-71.78, Z:-21.91 [[ 7.16384696e-01 6.91072121e-01 9.59806791e-02 1.68636827e+02] [-6.84713896e-01 7.22784657e-01 -9.35372675e-02 -7.17820198e+01] [-1.34014360e-01 1.28936226e-03 9.90978551e-01 -2.19084014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters 0.03252984828986666 Centerline is valid? [True, True] Translation: X:168.68, Y:-71.83, Z:-21.91 [[ 7.08788915e-01 6.98911542e-01 9.56082165e-02 1.68681518e+02] [-6.92663033e-01 7.15208109e-01 -9.32485049e-02 -7.18256947e+01] [-1.33552228e-01 -1.30770658e-04 9.91041768e-01 -2.19135511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters 0.032407691486919014 Centerline is valid? [True, True] Translation: X:168.73, Y:-71.87, Z:-21.92 [[ 7.04319799e-01 7.03506657e-01 9.49315771e-02 1.68729718e+02] [-6.97382646e-01 7.10688015e-01 -9.26282399e-02 -7.18665886e+01] [-1.32631317e-01 -9.63731213e-04 9.91164974e-01 -2.19209528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters 0.03287349777166711 Centerline is valid? [True, True] Translation: X:168.78, Y:-71.90, Z:-21.93 [[ 7.00075712e-01 7.07564380e-01 9.61594796e-02 1.68780930e+02] [-7.01304763e-01 7.06646882e-01 -9.39245109e-02 -7.19027159e+01] [-1.34408435e-01 -1.68283219e-03 9.90924589e-01 -2.19270441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters 0.0326847823180059 Centerline is valid? [True, True] Translation: X:168.83, Y:-71.94, Z:-21.93 [[ 6.98613186e-01 7.09140303e-01 9.51821720e-02 1.68834768e+02] [-7.03010760e-01 7.05064824e-01 -9.30562508e-02 -7.19368583e+01] [-1.33099539e-01 -1.90376719e-03 9.91100847e-01 -2.19345221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters 0.03283609955095989 Centerline is valid? [True, True] Translation: X:168.89, Y:-71.97, Z:-21.94 [[ 6.96451818e-01 7.11412158e-01 9.40617178e-02 1.68887530e+02] [-7.05434504e-01 7.02771455e-01 -9.20567352e-02 -7.19730261e+01] [-1.31594171e-01 -2.24130078e-03 9.91301140e-01 -2.19417403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters 0.0328314847632908 Centerline is valid? [True, True] Translation: X:168.94, Y:-72.01, Z:-21.95 [[ 6.95318018e-01 7.12379899e-01 9.51195778e-02 1.68935493e+02] [-7.06262393e-01 7.01789997e-01 -9.31892300e-02 -7.20121898e+01] [-1.33140103e-01 -2.38322992e-03 9.91094361e-01 -2.19494950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters 0.032622695886926935 Centerline is valid? [True, True] Translation: X:168.99, Y:-72.05, Z:-21.96 [[ 6.97921607e-01 7.09768079e-01 9.55756487e-02 1.68987822e+02] [-7.03556059e-01 7.04433038e-01 -9.37174857e-02 -7.20477049e+01] [-1.33844324e-01 -1.83536851e-03 9.91000670e-01 -2.19576393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters 0.0323997321949854 Centerline is valid? [True, True] Translation: X:169.04, Y:-72.08, Z:-21.97 [[ 7.01900268e-01 7.05790887e-01 9.58918011e-02 1.69040386e+02] [-6.99493068e-01 7.08419468e-01 -9.40813749e-02 -7.20827642e+01] [-1.34333396e-01 -1.03990790e-03 9.90935647e-01 -2.19661100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters 0.03210970104006569 Centerline is valid? [True, True] Translation: X:169.09, Y:-72.12, Z:-21.97 [[ 7.05648749e-01 7.02185388e-01 9.48447339e-02 1.69091342e+02] [-6.95980965e-01 7.11994100e-01 -9.31391325e-02 -7.21190171e+01] [-1.32929829e-01 -2.86617131e-04 9.91125410e-01 -2.19729645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters 0.032116486033073204 Centerline is valid? [True, True] Translation: X:169.14, Y:-72.16, Z:-21.98 [[ 7.05831604e-01 7.01956385e-01 9.51786778e-02 1.69143760e+02] [-6.95694097e-01 7.12219910e-01 -9.35549180e-02 -7.21554771e+01] [-1.33459621e-01 -1.81226554e-04 9.91054235e-01 -2.19807184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters 0.031997293960684695 Centerline is valid? [True, True] Translation: X:169.19, Y:-72.20, Z:-21.99 [[ 7.05978058e-01 7.02040199e-01 9.34587634e-02 1.69191507e+02] [-6.95991588e-01 7.12137306e-01 -9.19574148e-02 -7.21954138e+01] [-1.31113274e-01 -1.26596012e-04 9.91367386e-01 -2.19869383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters 0.03208508003079333 Centerline is valid? [True, True] Translation: X:169.24, Y:-72.23, Z:-21.99 [[ 7.07232700e-01 7.00740397e-01 9.37272854e-02 1.69242899e+02] [-6.94634163e-01 7.13416333e-01 -9.23066391e-02 -7.22333608e+01] [-1.31549567e-01 1.76099155e-04 9.91309578e-01 -2.19936745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters 0.031914897272992425 Centerline is valid? [True, True] Translation: X:169.29, Y:-72.27, Z:-22.00 [[ 7.09647201e-01 6.98239823e-01 9.41381955e-02 1.69290738e+02] [-6.92045075e-01 7.15863564e-01 -9.28060978e-02 -7.22722114e+01] [-1.32191017e-01 7.11712990e-04 9.91224005e-01 -2.20018612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters 0.03222279482870126 Centerline is valid? [True, True] Translation: X:169.34, Y:-72.31, Z:-22.01 [[ 7.11898989e-01 6.95695030e-01 9.59596567e-02 1.69337498e+02] [-6.89222411e-01 7.18336142e-01 -9.46871449e-02 -7.23126339e+01] [-1.34804666e-01 1.27013674e-03 9.90871379e-01 -2.20095508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters 0.03216175959815647 Centerline is valid? [True, True] Translation: X:169.39, Y:-72.35, Z:-22.02 [[ 7.12376754e-01 6.95263534e-01 9.55404530e-02 1.69385010e+02] [-6.88832251e-01 7.18753530e-01 -9.43583176e-02 -7.23536772e+01] [-1.34273935e-01 1.40732667e-03 9.90943253e-01 -2.20169731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters 0.03178709767012298 Centerline is valid? [True, True] Translation: X:169.43, Y:-72.39, Z:-22.02 [[ 7.10660089e-01 6.97120435e-01 9.47910178e-02 1.69431432e+02] [-6.90794117e-01 7.16953175e-01 -9.37103657e-02 -7.23949111e+01] [-1.33288132e-01 1.11513937e-03 9.91076703e-01 -2.20216627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters 0.03164660174250847 Centerline is valid? [True, True] Translation: X:169.48, Y:-72.44, Z:-22.03 [[ 7.10654375e-01 6.97246166e-01 9.39049676e-02 1.69478364e+02] [-6.91028359e-01 7.16830862e-01 -9.29156762e-02 -7.24350920e+01] [-1.32099078e-01 1.13993614e-03 9.91235862e-01 -2.20286867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters 0.03172867839831254 Centerline is valid? [True, True] Translation: X:169.53, Y:-72.48, Z:-22.03 [[ 7.13369209e-01 6.94351622e-01 9.47638972e-02 1.69526640e+02] [-6.87982342e-01 7.19633763e-01 -9.38485179e-02 -7.24750009e+01] [-1.33359171e-01 1.75275510e-03 9.91066224e-01 -2.20339809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters 0.03202641466877684 Centerline is valid? [True, True] Translation: X:169.57, Y:-72.52, Z:-22.04 [[ 7.15533893e-01 6.92158512e-01 9.44872599e-02 1.69573281e+02] [-6.85796523e-01 7.21742120e-01 -9.36559686e-02 -7.25156263e+01] [-1.33020211e-01 2.21498550e-03 9.91110850e-01 -2.20398121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters 0.032518684141318685 Centerline is valid? [True, True] Translation: X:169.62, Y:-72.56, Z:-22.05 [[ 7.17261237e-01 6.90038880e-01 9.68641448e-02 1.69618040e+02] [-6.83321597e-01 7.23767152e-01 -9.60869633e-02 -7.25582030e+01] [-1.36410827e-01 2.73009204e-03 9.90648592e-01 -2.20479283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters 0.03273310022464835 Centerline is valid? [True, True] Translation: X:169.66, Y:-72.60, Z:-22.05 [[ 7.18979279e-01 6.88398925e-01 9.57899617e-02 1.69660520e+02] [-6.81811567e-01 7.25325949e-01 -9.50539583e-02 -7.26038929e+01] [-1.34913988e-01 3.03112246e-03 9.90852677e-01 -2.20528362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters 0.03334129008050248 Centerline is valid? [True, True] Translation: X:169.70, Y:-72.65, Z:-22.06 [[ 7.21685537e-01 6.85618683e-01 9.53782334e-02 1.69703617e+02] [-6.79052896e-01 7.27951985e-01 -9.47263012e-02 -7.26488066e+01] [-1.34376896e-01 3.59573594e-03 9.90923771e-01 -2.20596023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters 0.03404334661546342 Centerline is valid? [True, True] Translation: X:169.74, Y:-72.70, Z:-22.07 [[ 7.23475240e-01 6.83670151e-01 9.58055391e-02 1.69741745e+02] [-6.77017046e-01 7.29779992e-01 -9.52317373e-02 -7.26981958e+01] [-1.35024062e-01 4.03582094e-03 9.90834101e-01 -2.20664375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters 0.03381382075434047 Centerline is valid? [True, True] Translation: X:169.78, Y:-72.75, Z:-22.07 [[ 7.23522597e-01 6.83737153e-01 9.49660839e-02 1.69781882e+02] [-6.77190429e-01 7.29717159e-01 -9.44774571e-02 -7.27473308e+01] [-1.33896128e-01 4.04645204e-03 9.90987110e-01 -2.20734532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters 0.03386087356565714 Centerline is valid? [True, True] Translation: X:169.82, Y:-72.79, Z:-22.08 [[ 7.22591831e-01 6.84788150e-01 9.44787594e-02 1.69824056e+02] [-6.78306921e-01 7.28731812e-01 -9.40726696e-02 -7.27930129e+01] [-1.33269527e-01 3.89054616e-03 9.91072196e-01 -2.20817039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters 0.032498347821915984 Centerline is valid? [True, True] Translation: X:169.86, Y:-72.84, Z:-22.09 [[ 7.17549331e-01 6.90200453e-01 9.35216072e-02 1.69862403e+02] [-6.83892353e-01 7.23612500e-01 -9.31461196e-02 -7.28416047e+01] [-1.31962898e-01 2.87822382e-03 9.91250478e-01 -2.20873979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters 0.03169770632304542 Centerline is valid? [True, True] Translation: X:169.91, Y:-72.88, Z:-22.09 [[ 7.12595735e-01 6.95224551e-01 9.41814330e-02 1.69906260e+02] [-6.88866513e-01 7.18789876e-01 -9.38298507e-02 -7.28849196e+01] [-1.32929476e-01 1.98431611e-03 9.91123512e-01 -2.20949691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters 0.03133759101943217 Centerline is valid? [True, True] Translation: X:169.95, Y:-72.93, Z:-22.10 [[ 7.10319265e-01 6.97679498e-01 9.32194119e-02 1.69950650e+02] [-6.91461714e-01 7.16408307e-01 -9.29507218e-02 -7.29279518e+01] [-1.31632974e-01 1.56703412e-03 9.91297284e-01 -2.21006360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters 0.031590755538664424 Centerline is valid? [True, True] Translation: X:170.00, Y:-72.97, Z:-22.11 [[ 7.10844464e-01 6.97099836e-01 9.35519477e-02 1.69995422e+02] [-6.90821434e-01 7.16971960e-01 -9.33646369e-02 -7.29703026e+01] [-1.32158596e-01 1.74004464e-03 9.91227057e-01 -2.21079917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters 0.03219711268939064 Centerline is valid? [True, True] Translation: X:170.04, Y:-73.01, Z:-22.11 [[ 7.14505396e-01 6.93215982e-01 9.45179481e-02 1.70043666e+02] [-6.86761454e-01 7.20725411e-01 -9.44117942e-02 -7.30093864e+01] [-1.33569252e-01 2.54645289e-03 9.91036211e-01 -2.21147734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters 0.032251658281213694 Centerline is valid? [True, True] Translation: X:170.09, Y:-73.05, Z:-22.12 [[ 7.15202796e-01 6.92437035e-01 9.49521647e-02 1.70088602e+02] [-6.85904819e-01 7.21473015e-01 -9.49277031e-02 -7.30515940e+01] [-1.34236882e-01 2.76441141e-03 9.90945416e-01 -2.21222081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters 0.032901816932301334 Centerline is valid? [True, True] Translation: X:169.96, Y:-73.55, Z:-20.15 [[ 7.35329669e-01 -6.74790832e-01 -6.28300172e-02 1.69956090e+02] [-6.71660514e-01 -7.37986839e-01 6.51734575e-02 -7.35512388e+01] [-9.03461774e-02 -5.72353526e-03 -9.95893975e-01 -2.01547644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters 0.0338131830651789 Centerline is valid? [True, True] Translation: X:170.13, Y:-73.11, Z:-22.13 [[ 7.68125563e-01 6.31901530e-01 1.03361383e-01 1.70125868e+02] [-6.25533113e-01 7.75037542e-01 -8.95831071e-02 -7.31072096e+01] [-1.36716655e-01 4.15510689e-03 9.90601480e-01 -2.21325007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters 0.03430334050975535 Centerline is valid? [True, True] Translation: X:170.17, Y:-73.15, Z:-22.14 [[ 7.70197387e-01 6.29766702e-01 1.00944966e-01 1.70172273e+02] [-6.23667036e-01 7.76771430e-01 -8.75532604e-02 -7.31485672e+01] [-1.33549294e-01 4.47724458e-03 9.91032058e-01 -2.21386433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters 0.03553507401890145 Centerline is valid? [True, True] Translation: X:170.22, Y:-73.19, Z:-22.15 [[ 7.73692982e-01 6.25192025e-01 1.02635772e-01 1.70218737e+02] [-6.18836138e-01 7.80452219e-01 -8.90851766e-02 -7.31882418e+01] [-1.35797658e-01 5.40985102e-03 9.90721822e-01 -2.21450250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters 0.037451324553195504 Centerline is valid? [True, True] Translation: X:170.26, Y:-73.23, Z:-22.15 [[ 7.78952732e-01 6.18664285e-01 1.02406753e-01 1.70260829e+02] [-6.12279083e-01 7.85628198e-01 -8.88968998e-02 -7.32330549e+01] [-1.35450970e-01 6.54497021e-03 9.90762433e-01 -2.21507402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters 0.03872086078137809 Centerline is valid? [True, True] Translation: X:170.30, Y:-73.28, Z:-22.16 [[ 7.82018393e-01 6.14770859e-01 1.02489135e-01 1.70301928e+02] [-6.08340757e-01 7.88672593e-01 -8.89778866e-02 -7.32777710e+01] [-1.35531384e-01 7.23402599e-03 9.90746644e-01 -2.21585915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters 0.038641503087910686 Centerline is valid? [True, True] Translation: X:170.35, Y:-73.32, Z:-22.16 [[ 7.81845444e-01 6.15011066e-01 1.02367428e-01 1.70345314e+02] [-6.08595888e-01 7.88485623e-01 -8.88902034e-02 -7.33234019e+01] [-1.35383704e-01 7.19800464e-03 9.90767097e-01 -2.21645239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters 0.038057852590105745 Centerline is valid? [True, True] Translation: X:170.39, Y:-73.37, Z:-22.17 [[ 7.80646002e-01 6.16542373e-01 1.02309926e-01 1.70389899e+02] [-6.10136442e-01 7.87290673e-01 -8.89208492e-02 -7.33664338e+01] [-1.35371122e-01 6.99269121e-03 9.90770287e-01 -2.21718490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters 0.03769172069758782 Centerline is valid? [True, True] Translation: X:170.43, Y:-73.41, Z:-22.18 [[ 7.78921046e-01 6.18524433e-01 1.03486859e-01 1.70433810e+02] [-6.11976595e-01 7.85736272e-01 -9.00175417e-02 -7.34104394e+01] [-1.36991428e-01 6.78502222e-03 9.90548995e-01 -2.21798648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters 0.03665290689593431 Centerline is valid? [True, True] Translation: X:170.48, Y:-73.45, Z:-22.19 [[ 7.76701185e-01 6.21343836e-01 1.03281687e-01 1.70477414e+02] [-6.14837957e-01 7.83512489e-01 -8.99025413e-02 -7.34536741e+01] [-1.36782882e-01 6.32590872e-03 9.90580853e-01 -2.21865049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters 0.036522663244628634 Centerline is valid? [True, True] Translation: X:170.52, Y:-73.50, Z:-22.19 [[ 7.75831275e-01 6.22611761e-01 1.02178410e-01 1.70519013e+02] [-6.16252294e-01 7.82507457e-01 -8.89673523e-02 -7.34998033e+01] [-1.35347488e-01 6.05597493e-03 9.90779684e-01 -2.21946007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters 0.0362424507411812 Centerline is valid? [True, True] Translation: X:170.56, Y:-73.54, Z:-22.20 [[ 7.74484286e-01 6.23887331e-01 1.04588187e-01 1.70563177e+02] [-6.17223496e-01 7.81491002e-01 -9.11425788e-02 -7.35434241e+01] [-1.38597427e-01 6.03420864e-03 9.90330420e-01 -2.22020162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters 0.03494101348579481 Centerline is valid? [True, True] Translation: X:170.60, Y:-73.59, Z:-22.21 [[ 7.70297863e-01 6.29042551e-01 1.04626340e-01 1.70604763e+02] [-6.22411724e-01 7.77353733e-01 -9.12404473e-02 -7.35893214e+01] [-1.38725800e-01 5.16166080e-03 9.90317378e-01 -2.22092844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters 0.03291538614294196 Centerline is valid? [True, True] Translation: X:170.65, Y:-73.63, Z:-22.22 [[ 7.64028833e-01 6.36709707e-01 1.04214639e-01 1.70648717e+02] [-6.30199436e-01 7.71094369e-01 -9.08963458e-02 -7.36312295e+01] [-1.38233907e-01 3.77142253e-03 9.90392429e-01 -2.22152328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters 0.03170396559933811 Centerline is valid? [True, True] Translation: X:170.70, Y:-73.67, Z:-22.22 [[ 7.58592550e-01 6.43552536e-01 1.01869894e-01 1.70695516e+02] [-6.37392806e-01 7.65397928e-01 -8.88618195e-02 -7.36706375e+01] [-1.35158255e-01 2.47877648e-03 9.90820923e-01 -2.22224826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters 0.031636912219238665 Centerline is valid? [True, True] Translation: X:170.74, Y:-73.71, Z:-22.23 [[ 7.57134667e-01 6.45268241e-01 1.01862620e-01 1.70743701e+02] [-6.39122296e-01 7.63952953e-01 -8.88739298e-02 -7.37101123e+01] [-1.35165774e-01 2.18686163e-03 9.90820585e-01 -2.22296835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters 0.031702018658527516 Centerline is valid? [True, True] Translation: X:170.79, Y:-73.75, Z:-22.24 [[ 7.56425935e-01 6.45916439e-01 1.03013389e-01 1.70792997e+02] [-6.39630992e-01 7.63405164e-01 -8.99152372e-02 -7.37482326e+01] [-1.36718683e-01 2.12366151e-03 9.90607638e-01 -2.22357578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters 0.031579093022739986 Centerline is valid? [True, True] Translation: X:170.84, Y:-73.79, Z:-22.24 [[ 7.57486160e-01 6.45068043e-01 1.00508388e-01 1.70840197e+02] [-6.39068388e-01 7.64121736e-01 -8.78041468e-02 -7.37887827e+01] [-1.33440293e-01 2.27869221e-03 9.91054234e-01 -2.22415561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters 0.03218818457645899 Centerline is valid? [True, True] Translation: X:170.89, Y:-73.83, Z:-22.25 [[ 7.58040340e-01 6.43936476e-01 1.03540609e-01 1.70885377e+02] [-6.37545755e-01 7.65074485e-01 -9.05342049e-02 -7.38308250e+01] [-1.37514555e-01 2.61670371e-03 9.90496290e-01 -2.22504167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters 0.03205657013542798 Centerline is valid? [True, True] Translation: X:170.93, Y:-73.87, Z:-22.26 [[ 7.57609593e-01 6.44465840e-01 1.03399639e-01 1.70931983e+02] [-6.38086376e-01 7.64628753e-01 -9.04911485e-02 -7.38724809e+01] [-1.37380791e-01 2.57906126e-03 9.90514950e-01 -2.22550067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters 0.031780708302345154 Centerline is valid? [True, True] Translation: X:170.98, Y:-73.92, Z:-22.26 [[ 7.53820305e-01 6.48792945e-01 1.04032028e-01 1.70976255e+02] [-6.42363175e-01 7.60962687e-01 -9.11336415e-02 -7.39163326e+01] [-1.38291355e-01 1.87204551e-03 9.90389820e-01 -2.22620668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters 0.031226119950010338 Centerline is valid? [True, True] Translation: X:171.02, Y:-73.96, Z:-22.27 [[ 7.48190665e-01 6.55363535e-01 1.03486068e-01 1.71023204e+02] [-6.49052398e-01 7.55313259e-01 -9.07351335e-02 -7.39574270e+01] [-1.37628897e-01 7.19299046e-04 9.90483604e-01 -2.22677295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters 0.031110356583180777 Centerline is valid? [True, True] Translation: X:171.07, Y:-74.00, Z:-22.27 [[ 7.42264519e-01 6.62249808e-01 1.02316060e-01 1.71070578e+02] [-6.56134946e-01 7.49282961e-01 -8.97885165e-02 -7.39967387e+01] [-1.36126108e-01 -4.86312659e-04 9.90691398e-01 -2.22744232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters 0.031198148426413615 Centerline is valid? [True, True] Translation: X:171.12, Y:-74.03, Z:-22.28 [[ 7.39417930e-01 6.65395483e-01 1.02518173e-01 1.71121071e+02] [-6.59275152e-01 7.46490349e-01 -9.00468392e-02 -7.40326892e+01] [-1.36445587e-01 -1.00543682e-03 9.90647057e-01 -2.22802233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters 0.031195487616254382 Centerline is valid? [True, True] Translation: X:171.17, Y:-74.07, Z:-22.29 [[ 7.37191542e-01 6.68017582e-01 1.01494535e-01 1.71171653e+02] [-6.62032861e-01 7.44144148e-01 -8.92299157e-02 -7.40698453e+01] [-1.35133717e-01 -1.41317816e-03 9.90826363e-01 -2.22884777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters 0.03142372580800277 Centerline is valid? [True, True] Translation: X:171.23, Y:-74.10, Z:-22.29 [[ 7.36369376e-01 6.68969430e-01 1.01193105e-01 1.71226644e+02] [-6.63016619e-01 7.43288378e-01 -8.90581235e-02 -7.41027673e+01] [-1.34792821e-01 -1.51303587e-03 9.90872649e-01 -2.22943370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters 0.03129128464293866 Centerline is valid? [True, True] Translation: X:171.28, Y:-74.13, Z:-22.30 [[ 7.37570181e-01 6.67500969e-01 1.02140510e-01 1.71281473e+02] [-6.61408595e-01 7.44607985e-01 -8.99867708e-02 -7.41340838e+01] [-1.36120896e-01 -1.18505255e-03 9.90691525e-01 -2.23048171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters 0.03128434485962345 Centerline is valid? [True, True] Translation: X:171.34, Y:-74.16, Z:-22.31 [[ 7.42444177e-01 6.61735743e-01 1.04318981e-01 1.71336874e+02] [-6.55309034e-01 7.49737156e-01 -9.20014476e-02 -7.41647368e+01] [-1.39092462e-01 -5.52313884e-05 9.90279397e-01 -2.23128534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters 0.03169843554582667 Centerline is valid? [True, True] Translation: X:171.39, Y:-74.20, Z:-22.32 [[ 7.49109314e-01 6.53997785e-01 1.05461522e-01 1.71389292e+02] [-6.47339636e-01 7.56495036e-01 -9.30948716e-02 -7.41981699e+01] [-1.40664958e-01 1.46881205e-03 9.90056166e-01 -2.23210946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters 0.032711861126261725 Centerline is valid? [True, True] Translation: X:171.44, Y:-74.23, Z:-22.33 [[ 7.55652789e-01 6.46386235e-01 1.05705714e-01 1.71441845e+02] [-6.39612047e-01 7.63004658e-01 -9.33826646e-02 -7.42319398e+01] [-1.41015221e-01 2.95422264e-03 9.90003020e-01 -2.23296162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters 0.033824788254631824 Centerline is valid? [True, True] Translation: X:171.49, Y:-74.27, Z:-22.34 [[ 7.61070184e-01 6.40063145e-01 1.05315458e-01 1.71487797e+02] [-6.33273878e-01 7.68311156e-01 -9.30707457e-02 -7.42728267e+01] [-1.40486196e-01 4.13984090e-03 9.90073982e-01 -2.23366488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters 0.035144060896300414 Centerline is valid? [True, True] Translation: X:171.53, Y:-74.31, Z:-22.34 [[ 7.64586083e-01 6.35595170e-01 1.06896683e-01 1.71533183e+02] [-6.28547092e-01 7.72005775e-01 -9.45284951e-02 -7.43128224e+01] [-1.42606711e-01 5.08557281e-03 9.89766368e-01 -2.23428366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters 0.03554122421419402 Centerline is valid? [True, True] Translation: X:171.58, Y:-74.36, Z:-22.35 [[ 7.66209705e-01 6.33993404e-01 1.04761881e-01 1.71577923e+02] [-6.27207768e-01 7.73320359e-01 -9.26608806e-02 -7.43561657e+01] [-1.39760883e-01 5.29020045e-03 9.90171152e-01 -2.23498736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters 0.03509295099697128 Centerline is valid? [True, True] Translation: X:171.62, Y:-74.40, Z:-22.36 [[ 7.65744764e-01 6.34617665e-01 1.04380915e-01 1.71624277e+02] [-6.27877256e-01 7.72808673e-01 -9.23953743e-02 -7.43981253e+01] [-1.39302213e-01 5.21287148e-03 9.90236194e-01 -2.23550033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters 0.035014407604559254 Centerline is valid? [True, True] Translation: X:171.67, Y:-74.44, Z:-22.36 [[ 7.64413538e-01 6.36248427e-01 1.04210756e-01 1.71672112e+02] [-6.29540001e-01 7.71468453e-01 -9.22811662e-02 -7.44375951e+01] [-1.39109058e-01 4.93613304e-03 9.90264765e-01 -2.23627768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters 0.034679343612299046 Centerline is valid? [True, True] Translation: X:171.72, Y:-74.48, Z:-22.37 [[ 7.62899399e-01 6.37753660e-01 1.06088527e-01 1.71719060e+02] [-6.30802720e-01 7.70225371e-01 -9.40255622e-02 -7.44787643e+01] [-1.41677222e-01 4.81111323e-03 9.89901216e-01 -2.23708721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters 0.03434943743843358 Centerline is valid? [True, True] Translation: X:171.77, Y:-74.52, Z:-22.38 [[ 7.62467355e-01 6.38441489e-01 1.05052358e-01 1.71765361e+02] [-6.31620671e-01 7.69655989e-01 -9.31932720e-02 -7.45195948e+01] [-1.40352628e-01 4.70358690e-03 9.90090408e-01 -2.23776384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters 0.03450642486361674 Centerline is valid? [True, True] Translation: X:171.81, Y:-74.56, Z:-22.38 [[ 7.61582095e-01 6.39572575e-01 1.04592704e-01 1.71807870e+02] [-6.32811239e-01 7.68717341e-01 -9.28632627e-02 -7.45645437e+01] [-1.39795021e-01 4.53555969e-03 9.90170077e-01 -2.23847373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters 0.0342543366283046 Centerline is valid? [True, True] Translation: X:171.85, Y:-74.61, Z:-22.39 [[ 7.61378477e-01 6.39931795e-01 1.03875467e-01 1.71853630e+02] [-6.33255866e-01 7.68418548e-01 -9.23035401e-02 -7.46064111e+01] [-1.38887806e-01 4.49817994e-03 9.90297907e-01 -2.23917055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters 0.034022132142590145 Centerline is valid? [True, True] Translation: X:171.89, Y:-74.65, Z:-22.40 [[ 7.60585514e-01 6.41007134e-01 1.03051101e-01 1.71894716e+02] [-6.34436499e-01 7.67522729e-01 -9.16470898e-02 -7.46534314e+01] [-1.37840500e-01 4.32606930e-03 9.90444992e-01 -2.23983693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters 0.03372582053717966 Centerline is valid? [True, True] Translation: X:171.94, Y:-74.70, Z:-22.40 [[ 7.59788682e-01 6.42227851e-01 1.01314098e-01 1.71936748e+02] [-6.35878539e-01 7.66502867e-01 -9.01767061e-02 -7.46989468e+01] [-1.35571539e-01 4.09178024e-03 9.90759111e-01 -2.24038431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters 0.03352127637491019 Centerline is valid? [True, True] Translation: X:171.98, Y:-74.74, Z:-22.41 [[ 7.57381956e-01 6.44796266e-01 1.03006550e-01 1.71979531e+02] [-6.38244572e-01 7.64345259e-01 -9.17616021e-02 -7.47436770e+01] [-1.37900107e-01 3.75521010e-03 9.90439023e-01 -2.24130274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters 0.03230060584665786 Centerline is valid? [True, True] Translation: X:172.02, Y:-74.79, Z:-22.42 [[ 7.52598282e-01 6.50564946e-01 1.01789378e-01 1.72023678e+02] [-6.44211137e-01 7.59445759e-01 -9.07422201e-02 -7.47859753e+01] [-1.36337219e-01 2.71858816e-03 9.90658757e-01 -2.24172097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters 0.03196280928812791 Centerline is valid? [True, True] Translation: X:172.07, Y:-74.83, Z:-22.43 [[ 7.48073094e-01 6.55439661e-01 1.03853249e-01 1.72068927e+02] [-6.48867265e-01 7.55245179e-01 -9.26066498e-02 -7.48277946e+01] [-1.39132737e-01 1.88956946e-03 9.90271938e-01 -2.24251578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters 0.03175456439707946 Centerline is valid? [True, True] Translation: X:172.11, Y:-74.87, Z:-22.43 [[ 7.45504276e-01 6.58356198e-01 1.03877295e-01 1.72113581e+02] [-6.51797489e-01 7.52705211e-01 -9.27086726e-02 -7.48701260e+01] [-1.39224310e-01 1.40775185e-03 9.90259870e-01 -2.24316688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters 0.03193534810109419 Centerline is valid? [True, True] Translation: X:172.16, Y:-74.91, Z:-22.44 [[ 7.46102031e-01 6.57612598e-01 1.04294921e-01 1.72161109e+02] [-6.50982062e-01 7.53354541e-01 -9.31627129e-02 -7.49089533e+01] [-1.39836026e-01 1.61476653e-03 9.90173358e-01 -2.24389167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters 0.03194969495347733 Centerline is valid? [True, True] Translation: X:172.21, Y:-74.95, Z:-22.45 [[ 7.47565323e-01 6.55936567e-01 1.04371014e-01 1.72208367e+02] [-6.49268987e-01 7.54813395e-01 -9.33087389e-02 -7.49489452e+01] [-1.39985253e-01 1.98951488e-03 9.90151590e-01 -2.24472513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters 0.032170635734061204 Centerline is valid? [True, True] Translation: X:172.25, Y:-74.99, Z:-22.45 [[ 7.48867915e-01 6.54379102e-01 1.04808572e-01 1.72253751e+02] [-6.47628507e-01 7.56162983e-01 -9.37809158e-02 -7.49902408e+01] [-1.40620634e-01 2.35250006e-03 9.90060757e-01 -2.24539197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters 0.03234630601544324 Centerline is valid? [True, True] Translation: X:172.30, Y:-75.03, Z:-22.46 [[ 7.50215879e-01 6.52947698e-01 1.04093407e-01 1.72300818e+02] [-6.46264562e-01 7.57398318e-01 -9.32196568e-02 -7.50320886e+01] [-1.39707731e-01 2.66298695e-03 9.90189203e-01 -2.24611618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters 0.032602960764228826 Centerline is valid? [True, True] Translation: X:172.35, Y:-75.07, Z:-22.47 [[ 7.51082034e-01 6.52008101e-01 1.03736268e-01 1.72347801e+02] [-6.45349385e-01 7.58206465e-01 -9.29899330e-02 -7.50726635e+01] [-1.39283699e-01 2.89693117e-03 9.90248282e-01 -2.24683674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters 0.03261052071339754 Centerline is valid? [True, True] Translation: X:172.39, Y:-75.12, Z:-22.48 [[ 7.51349291e-01 6.51712015e-01 1.03661433e-01 1.72392665e+02] [-6.45048556e-01 7.58460528e-01 -9.30053171e-02 -7.51161324e+01] [-1.39235788e-01 3.01282121e-03 9.90254673e-01 -2.24753399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters 0.03291149254478334 Centerline is valid? [True, True] Translation: X:172.44, Y:-75.16, Z:-22.48 [[ 7.53023417e-01 6.49947580e-01 1.02585948e-01 1.72438934e+02] [-6.43393827e-01 7.59971563e-01 -9.21282123e-02 -7.51577252e+01] [-1.37840912e-01 3.37153569e-03 9.90448644e-01 -2.24819631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters 0.03314354677389814 Centerline is valid? [True, True] Translation: X:172.48, Y:-75.20, Z:-22.49 [[ 7.54382463e-01 6.48427639e-01 1.02218863e-01 1.72483762e+02] [-6.41896146e-01 7.61267319e-01 -9.18771248e-02 -7.52007164e+01] [-1.37391547e-01 3.69659748e-03 9.90509918e-01 -2.24882962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters 0.03346277486705419 Centerline is valid? [True, True] Translation: X:172.53, Y:-75.24, Z:-22.50 [[ 7.54831065e-01 6.47777742e-01 1.03024560e-01 1.72528479e+02] [-6.41125154e-01 7.61819357e-01 -9.26811999e-02 -7.52438001e+01] [-1.38522923e-01 3.90701176e-03 9.90351521e-01 -2.24963113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters 0.0333338319378154 Centerline is valid? [True, True] Translation: X:172.57, Y:-75.29, Z:-22.50 [[ 7.53598636e-01 6.49114848e-01 1.03629190e-01 1.72571035e+02] [-6.42384541e-01 7.60681194e-01 -9.33071400e-02 -7.52896110e+01] [-1.39395826e-01 3.74634359e-03 9.90229654e-01 -2.25037253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters 0.03263907139645448 Centerline is valid? [True, True] Translation: X:172.62, Y:-75.33, Z:-22.51 [[ 7.49873977e-01 6.53305045e-01 1.04314603e-01 1.72615339e+02] [-6.46512285e-01 7.57088611e-01 -9.40143658e-02 -7.53330453e+01] [-1.40395458e-01 3.05825403e-03 9.90090785e-01 -2.25108484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters 0.03185108194898621 Centerline is valid? [True, True] Translation: X:172.66, Y:-75.37, Z:-22.52 [[ 7.46029053e-01 6.57901528e-01 1.02986562e-01 1.72659884e+02] [-6.51315590e-01 7.53100700e-01 -9.28834621e-02 -7.53747117e+01] [-1.38667424e-01 2.21700760e-03 9.90336524e-01 -2.25163920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters 0.032087148762879714 Centerline is valid? [True, True] Translation: X:172.71, Y:-75.41, Z:-22.53 [[ 7.44339399e-01 6.59526856e-01 1.04800697e-01 1.72705945e+02] [-6.52718062e-01 7.51678424e-01 -9.45445853e-02 -7.54148817e+01] [-1.41131116e-01 1.96795202e-03 9.89988957e-01 -2.25252902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters 0.031688920599340635 Centerline is valid? [True, True] Translation: X:172.75, Y:-75.45, Z:-22.53 [[ 7.42336909e-01 6.61921857e-01 1.03900767e-01 1.72753382e+02] [-6.55242525e-01 7.49571229e-01 -9.38094131e-02 -7.54549711e+01] [-1.39975527e-01 1.55798883e-03 9.90153738e-01 -2.25304376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters 0.03152820822180797 Centerline is valid? [True, True] Translation: X:172.80, Y:-75.49, Z:-22.54 [[ 7.40516852e-01 6.63900286e-01 1.04265062e-01 1.72801308e+02] [-6.57181146e-01 7.47820059e-01 -9.42236754e-02 -7.54948952e+01] [-1.40526630e-01 1.25318634e-03 9.90076106e-01 -2.25376764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters 0.03147960841709498 Centerline is valid? [True, True] Translation: X:172.85, Y:-75.54, Z:-22.55 [[ 7.39005840e-01 6.65621540e-01 1.04011218e-01 1.72847534e+02] [-6.58938964e-01 7.46288802e-01 -9.40875389e-02 -7.55356898e+01] [-1.40249100e-01 9.94196432e-04 9.90115752e-01 -2.25473897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters 0.031191037811318174 Centerline is valid? [True, True] Translation: X:172.89, Y:-75.58, Z:-22.55 [[ 7.35839814e-01 6.69381724e-01 1.02312637e-01 1.72894812e+02] [-6.62941336e-01 7.42918565e-01 -9.26325573e-02 -7.55759211e+01] [-1.38016499e-01 3.35447252e-04 9.90429873e-01 -2.25532587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters 0.03129490890345775 Centerline is valid? [True, True] Translation: X:172.94, Y:-75.62, Z:-22.56 [[ 7.31844334e-01 6.73834649e-01 1.01738567e-01 1.72942792e+02] [-6.67499170e-01 7.38882039e-01 -9.21856316e-02 -7.56160205e+01] [-1.37290673e-01 -4.44876893e-04 9.90530703e-01 -2.25587582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters 0.03131579945873808 Centerline is valid? [True, True] Translation: X:172.99, Y:-75.65, Z:-22.57 [[ 7.29700299e-01 6.76178756e-01 1.01586238e-01 1.72993397e+02] [-6.69879167e-01 7.36737105e-01 -9.20887665e-02 -7.56531147e+01] [-1.37110818e-01 -8.53303928e-04 9.90555347e-01 -2.25667014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters 0.03137973291041231 Centerline is valid? [True, True] Translation: X:173.04, Y:-75.69, Z:-22.57 [[ 7.29988849e-01 6.75897620e-01 1.01383860e-01 1.73043549e+02] [-6.69607379e-01 7.36995167e-01 -9.20004398e-02 -7.56907990e+01] [-1.36902293e-01 -7.28085401e-04 9.90584288e-01 -2.25744002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters 0.03101096062183826 Centerline is valid? [True, True] Translation: X:173.09, Y:-75.73, Z:-22.58 [[ 7.32173155e-01 6.73585454e-01 1.01020331e-01 1.73093622e+02] [-6.67305636e-01 7.39109319e-01 -9.17638384e-02 -7.57276642e+01] [-1.36475855e-01 -2.24417378e-04 9.90643372e-01 -2.25828542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters 0.03103296444493958 Centerline is valid? [True, True] Translation: X:173.14, Y:-75.77, Z:-22.59 [[ 7.32505512e-01 6.73444328e-01 9.95410116e-02 1.73144034e+02] [-6.67336734e-01 7.39237931e-01 -9.04929058e-02 -7.57650183e+01] [-1.34526425e-01 -1.40821266e-04 9.90909996e-01 -2.25888717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters 0.031066152804221637 Centerline is valid? [True, True] Translation: X:173.19, Y:-75.80, Z:-22.60 [[ 7.32163930e-01 6.73627718e-01 1.00805141e-01 1.73192980e+02] [-6.67359672e-01 7.39070819e-01 -9.16809330e-02 -7.58034332e+01] [-1.36260955e-01 -1.47813282e-04 9.90672968e-01 -2.25962077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters 0.030896777063366358 Centerline is valid? [True, True] Translation: X:173.24, Y:-75.84, Z:-22.60 [[ 7.34077644e-01 6.71383530e-01 1.01853663e-01 1.73243018e+02] [-6.64950523e-01 7.41110008e-01 -9.27187090e-02 -7.58405918e+01] [-1.37734583e-01 3.35084962e-04 9.90469117e-01 -2.26028063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters 0.031171050711147046 Centerline is valid? [True, True] Translation: X:173.29, Y:-75.88, Z:-22.61 [[ 7.39150582e-01 6.65710940e-01 1.02398055e-01 1.73292776e+02] [-6.59142334e-01 7.46208278e-01 -9.32983887e-02 -7.58783624e+01] [-1.38520034e-01 1.46666552e-03 9.90358546e-01 -2.26101048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters 0.03185551697097643 Centerline is valid? [True, True] Translation: X:173.34, Y:-75.92, Z:-22.62 [[ 7.42261730e-01 6.62006578e-01 1.03898098e-01 1.73339449e+02] [-6.55194962e-01 7.49494634e-01 -9.47489059e-02 -7.59178503e+01] [-1.40595466e-01 2.25497668e-03 9.90064559e-01 -2.26189426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters 0.031790261435985394 Centerline is valid? [True, True] Translation: X:173.38, Y:-75.96, Z:-22.62 [[ 7.44029785e-01 6.60320632e-01 1.01962457e-01 1.73384805e+02] [-6.53735452e-01 7.50979358e-01 -9.30589220e-02 -7.59598308e+01] [-1.38020426e-01 2.58213713e-03 9.90426017e-01 -2.26241113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters 0.03168213614373205 Centerline is valid? [True, True] Translation: X:173.43, Y:-76.00, Z:-22.63 [[ 7.44132132e-01 6.60365352e-01 1.00920622e-01 1.73431288e+02] [-6.53904293e-01 7.50939949e-01 -9.21865937e-02 -7.60012669e+01] [-1.36662159e-01 2.60657853e-03 9.90614284e-01 -2.26313894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters 0.03175809425533591 Centerline is valid? [True, True] Translation: X:173.47, Y:-76.04, Z:-22.64 [[ 7.44738257e-01 6.59351634e-01 1.03055088e-01 1.73474874e+02] [-6.52591726e-01 7.51829053e-01 -9.42184393e-02 -7.60446086e+01] [-1.39602891e-01 2.91517842e-03 9.90203279e-01 -2.26402086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters 0.03168876837312885 Centerline is valid? [True, True] Translation: X:173.52, Y:-76.08, Z:-22.65 [[ 7.45181019e-01 6.59155262e-01 1.01091986e-01 1.73521787e+02] [-6.52639190e-01 7.52001075e-01 -9.25011944e-02 -7.60845937e+01] [-1.36993931e-01 2.95354273e-03 9.90567484e-01 -2.26462471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters 0.03133762689479365 Centerline is valid? [True, True] Translation: X:173.57, Y:-76.13, Z:-22.65 [[ 7.44817990e-01 6.59533065e-01 1.01302999e-01 1.73570090e+02] [-6.52981815e-01 7.51669756e-01 -9.27756803e-02 -7.61250826e+01] [-1.37335029e-01 2.95197958e-03 9.90520255e-01 -2.26517372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters 0.03186597421043563 Centerline is valid? [True, True] Translation: X:173.62, Y:-76.16, Z:-22.66 [[ 7.46686481e-01 6.57340701e-01 1.01796374e-01 1.73617226e+02] [-6.50692372e-01 7.53585672e-01 -9.33170500e-02 -7.61647425e+01] [-1.38053384e-01 3.44045545e-03 9.90418814e-01 -2.26587299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters 0.03209755497567658 Centerline is valid? [True, True] Translation: X:173.66, Y:-76.21, Z:-22.67 [[ 7.48099636e-01 6.55867176e-01 1.00921662e-01 1.73663423e+02] [-6.49309021e-01 7.54867049e-01 -9.25933832e-02 -7.62059154e+01] [-1.36911398e-01 3.73973098e-03 9.90576238e-01 -2.26655632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters 0.03282609560440862 Centerline is valid? [True, True] Translation: X:173.71, Y:-76.25, Z:-22.67 [[ 7.50439551e-01 6.53268955e-01 1.00399962e-01 1.73706348e+02] [-6.46744938e-01 7.57113992e-01 -9.21921240e-02 -7.62509857e+01] [-1.36240469e-01 4.25144882e-03 9.90666674e-01 -2.26709138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters 0.03237794864319649 Centerline is valid? [True, True] Translation: X:173.75, Y:-76.30, Z:-22.68 [[ 7.49350450e-01 6.54566611e-01 1.00082239e-01 1.73749733e+02] [-6.48084974e-01 7.55993424e-01 -9.19772220e-02 -7.62954064e+01] [-1.35866733e-01 4.06137734e-03 9.90718798e-01 -2.26779334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters 0.03161760818069207 Centerline is valid? [True, True] Translation: X:173.79, Y:-76.34, Z:-22.68 [[ 7.47577085e-01 6.56822745e-01 9.85514316e-02 1.73790695e+02] [-6.50548172e-01 7.54036171e-01 -9.06450687e-02 -7.63424912e+01] [-1.33849087e-01 3.65172247e-03 9.90994998e-01 -2.26844962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters 0.03131302536163951 Centerline is valid? [True, True] Translation: X:173.84, Y:-76.39, Z:-22.69 [[ 7.45446883e-01 6.58971225e-01 1.00328806e-01 1.73835348e+02] [-6.52475315e-01 7.52160519e-01 -9.23607992e-02 -7.63866920e+01] [-1.36326476e-01 3.38800054e-03 9.90658172e-01 -2.26927732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters 0.0303527066374533 Centerline is valid? [True, True] Translation: X:173.88, Y:-76.43, Z:-22.70 [[ 7.42419590e-01 6.62454736e-01 9.98342401e-02 1.73878247e+02] [-6.56043348e-01 7.49096727e-01 -9.19848867e-02 -7.64323855e+01] [-1.35721326e-01 2.79579272e-03 9.90743108e-01 -2.26989646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters 0.030415807954131083 Centerline is valid? [True, True] Translation: X:173.92, Y:-76.48, Z:-22.71 [[ 7.40844123e-01 6.64062551e-01 1.00850953e-01 1.73923940e+02] [-6.57528530e-01 7.47672647e-01 -9.29615217e-02 -7.64756590e+01] [-1.37135764e-01 2.55761812e-03 9.90548959e-01 -2.27051801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters 0.03030226234725477 Centerline is valid? [True, True] Translation: X:173.97, Y:-76.52, Z:-22.71 [[ 7.39865604e-01 6.65138118e-01 1.00946377e-01 1.73968077e+02] [-6.58588870e-01 7.46716398e-01 -9.31414048e-02 -7.65206053e+01] [-1.37330214e-01 2.42996146e-03 9.90522341e-01 -2.27138640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters 0.030465601676657947 Centerline is valid? [True, True] Translation: X:174.01, Y:-76.56, Z:-22.72 [[ 7.39267794e-01 6.65648256e-01 1.01958462e-01 1.74011908e+02] [-6.58958388e-01 7.46261687e-01 -9.41665407e-02 -7.65641840e+01] [-1.38769488e-01 2.42790682e-03 9.90321733e-01 -2.27226408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters 0.030519530696411907 Centerline is valid? [True, True] Translation: X:174.06, Y:-76.61, Z:-22.73 [[ 7.38916679e-01 6.66052767e-01 1.01861932e-01 1.74055633e+02] [-6.59367889e-01 7.45900727e-01 -9.41599329e-02 -7.66091804e+01] [-1.38694373e-01 2.41185764e-03 9.90332295e-01 -2.27285518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters 0.030444079648740865 Centerline is valid? [True, True] Translation: X:174.10, Y:-76.65, Z:-22.74 [[ 7.37749142e-01 6.67169918e-01 1.03007302e-01 1.74097942e+02] [-6.60330816e-01 7.44902025e-01 -9.53110047e-02 -7.66539997e+01] [-1.40318983e-01 2.29671621e-03 9.90103686e-01 -2.27350618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters 0.029955170605725303 Centerline is valid? [True, True] Translation: X:174.14, Y:-76.70, Z:-22.74 [[ 7.34361734e-01 6.71106714e-01 1.01629830e-01 1.74141774e+02] [-6.64476236e-01 7.41359066e-01 -9.41173010e-02 -7.66981208e+01] [-1.38506949e-01 1.58553724e-03 9.90360193e-01 -2.27425760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters 0.029590007325214825 Centerline is valid? [True, True] Translation: X:174.19, Y:-76.74, Z:-22.75 [[ 7.29626502e-01 6.76357131e-01 1.00926700e-01 1.74186589e+02] [-6.69856888e-01 7.36573561e-01 -9.35475233e-02 -7.67402602e+01] [-1.37611473e-01 6.48307052e-04 9.90486074e-01 -2.27511866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters 0.02986789984946457 Centerline is valid? [True, True] Translation: X:174.23, Y:-76.78, Z:-22.76 [[ 7.27276686e-01 6.78714569e-01 1.02054668e-01 1.74233068e+02] [-6.72078624e-01 7.34402112e-01 -9.46776681e-02 -7.67814272e+01] [-1.39208276e-01 2.68100007e-04 9.90263088e-01 -2.27581799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters 0.03006743478757208 Centerline is valid? [True, True] Translation: X:174.28, Y:-76.82, Z:-22.77 [[ 7.24763182e-01 6.81344904e-01 1.02408266e-01 1.74283609e+02] [-6.74676258e-01 7.31962494e-01 -9.50939198e-02 -7.68188221e+01] [-1.39750767e-01 -1.71853694e-04 9.90186696e-01 -2.27654096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters 0.030002601812539758 Centerline is valid? [True, True] Translation: X:174.33, Y:-76.86, Z:-22.77 [[ 7.22395670e-01 6.84059033e-01 1.01033336e-01 1.74332898e+02] [-6.77582440e-01 7.29426389e-01 -9.39104869e-02 -7.68562832e+01] [-1.37936698e-01 -6.17885089e-04 9.90440854e-01 -2.27727431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters 0.030072146985487814 Centerline is valid? [True, True] Translation: X:174.38, Y:-76.89, Z:-22.78 [[ 7.22180758e-01 6.84082004e-01 1.02404908e-01 1.74383385e+02] [-6.77415450e-01 7.29404888e-01 -9.52723346e-02 -7.68920810e+01] [-1.39868730e-01 -5.66820210e-04 9.90169893e-01 -2.27807155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters 0.029823838515223924 Centerline is valid? [True, True] Translation: X:174.43, Y:-76.93, Z:-22.78 [[ 7.23297390e-01 6.82962021e-01 1.01998841e-01 1.74433068e+02] [-6.76325479e-01 7.30453829e-01 -9.49792081e-02 -7.69296713e+01] [-1.39372636e-01 -2.86202055e-04 9.90239964e-01 -2.27846705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters 0.030331251802778784 Centerline is valid? [True, True] Translation: X:174.48, Y:-76.97, Z:-22.79 [[ 7.24614220e-01 6.81243852e-01 1.04120344e-01 1.74482375e+02] [-6.74296550e-01 7.32056556e-01 -9.70430912e-02 -7.69669180e+01] [-1.42331990e-01 1.10815090e-04 9.89818970e-01 -2.27935989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters 0.030265031652812798 Centerline is valid? [True, True] Translation: X:174.53, Y:-77.01, Z:-22.80 [[ 7.25614011e-01 6.80360193e-01 1.02928692e-01 1.74530289e+02] [-6.73550811e-01 7.32877814e-01 -9.60177884e-02 -7.70055117e+01] [-1.40760836e-01 3.44148755e-04 9.90043569e-01 -2.28018329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters 0.030246732509925434 Centerline is valid? [True, True] Translation: X:174.58, Y:-77.05, Z:-22.81 [[ 7.26485120e-01 6.79409204e-01 1.03065533e-01 1.74579025e+02] [-6.72559544e-01 7.33759348e-01 -9.62334609e-02 -7.70453299e+01] [-1.41007197e-01 5.94469644e-04 9.90008392e-01 -2.28092246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters 0.030657133870944975 Centerline is valid? [True, True] Translation: X:174.63, Y:-77.08, Z:-22.82 [[ 7.29845971e-01 6.75723576e-01 1.03549545e-01 1.74630638e+02] [-6.68758265e-01 7.37153802e-01 -9.67814842e-02 -7.70811948e+01] [-1.41729471e-01 1.38596238e-03 9.89904458e-01 -2.28155708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters 0.030878293189272755 Centerline is valid? [True, True] Translation: X:174.68, Y:-77.12, Z:-22.82 [[ 7.31140602e-01 6.74480913e-01 1.02513015e-01 1.74678066e+02] [-6.67630666e-01 7.38290385e-01 -9.58989074e-02 -7.71223018e+01] [-1.40366356e-01 1.67475234e-03 9.90098218e-01 -2.28239276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters 0.030883693600707366 Centerline is valid? [True, True] Translation: X:174.73, Y:-77.16, Z:-22.83 [[ 7.33803585e-01 6.71899263e-01 1.00417523e-01 1.74727922e+02] [-6.65290993e-01 7.40639303e-01 -9.40282782e-02 -7.71592956e+01] [-1.37550695e-01 2.19141379e-03 9.90492304e-01 -2.28301222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters 0.031154242528861925 Centerline is valid? [True, True] Translation: X:174.77, Y:-77.20, Z:-22.84 [[ 7.34776690e-01 6.70848614e-01 1.00326236e-01 1.74774605e+02] [-6.64231425e-01 7.41590285e-01 -9.40237365e-02 -7.72005815e+01] [-1.37476655e-01 2.44661144e-03 9.90501986e-01 -2.28373591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters 0.031370273354577226 Centerline is valid? [True, True] Translation: X:174.82, Y:-77.24, Z:-22.84 [[ 7.35307857e-01 6.70379928e-01 9.95645884e-02 1.74823795e+02] [-6.63847764e-01 7.42013555e-01 -9.33918136e-02 -7.72395299e+01] [-1.36486272e-01 2.57600500e-03 9.90638613e-01 -2.28431643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters 0.031184812486111862 Centerline is valid? [True, True] Translation: X:174.87, Y:-77.28, Z:-22.85 [[ 7.35224952e-01 6.70567007e-01 9.89149044e-02 1.74871007e+02] [-6.64109545e-01 7.41844438e-01 -9.28727200e-02 -7.72802687e+01] [-1.35656854e-01 2.59200902e-03 9.90752492e-01 -2.28500776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters 0.031418213239255706 Centerline is valid? [True, True] Translation: X:174.92, Y:-77.32, Z:-22.86 [[ 7.36055194e-01 6.69618440e-01 9.91660048e-02 1.74918145e+02] [-6.63108553e-01 7.42699883e-01 -9.31876046e-02 -7.73205835e+01] [-1.36050719e-01 2.83339434e-03 9.90697822e-01 -2.28560391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters 0.03151625251028397 Centerline is valid? [True, True] Translation: X:174.97, Y:-77.36, Z:-22.86 [[ 7.36613994e-01 6.69109543e-01 9.84491856e-02 1.74965901e+02] [-6.62686042e-01 7.43158037e-01 -9.25383217e-02 -7.73617806e+01] [-1.35081578e-01 2.92412156e-03 9.90830166e-01 -2.28632124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters 0.03159857893646081 Centerline is valid? [True, True] Translation: X:175.01, Y:-77.40, Z:-22.87 [[ 7.37554469e-01 6.68134089e-01 9.80318562e-02 1.75011727e+02] [-6.61752262e-01 7.44034371e-01 -9.21780829e-02 -7.74038601e+01] [-1.34526390e-01 3.11355449e-03 9.90905120e-01 -2.28694494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters 0.031341150487637096 Centerline is valid? [True, True] Translation: X:175.06, Y:-77.45, Z:-22.88 [[ 7.36401649e-01 6.69338757e-01 9.84796480e-02 1.75058148e+02] [-6.62905825e-01 7.42951599e-01 -9.26217508e-02 -7.74450204e+01] [-1.35160939e-01 2.92407773e-03 9.90819343e-01 -2.28753671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters 0.03081966719109445 Centerline is valid? [True, True] Translation: X:175.10, Y:-77.49, Z:-22.88 [[ 7.35408039e-01 6.70622648e-01 9.71611060e-02 1.75102587e+02] [-6.64369775e-01 7.41793869e-01 -9.14038164e-02 -7.74873907e+01] [-1.33370982e-01 2.66819926e-03 9.91062592e-01 -2.28834013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters 0.030526934847529757 Centerline is valid? [True, True] Translation: X:175.15, Y:-77.53, Z:-22.89 [[ 7.33370818e-01 6.72816015e-01 9.73953486e-02 1.75151689e+02] [-6.66548850e-01 7.39806294e-01 -9.16475759e-02 -7.75260890e+01] [-1.33715649e-01 2.29290009e-03 9.91017088e-01 -2.28905210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters 0.030435197247009344 Centerline is valid? [True, True] Translation: X:175.20, Y:-77.57, Z:-22.90 [[ 7.31794111e-01 6.74429115e-01 9.80956079e-02 1.75199285e+02] [-6.68081676e-01 7.38336802e-01 -9.23344022e-02 -7.75661030e+01] [-1.34700606e-01 2.03389369e-03 9.90884257e-01 -2.28978955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters 0.030368669330775415 Centerline is valid? [True, True] Translation: X:175.25, Y:-77.60, Z:-22.90 [[ 7.31263275e-01 6.74834440e-01 9.92597669e-02 1.75247961e+02] [-6.68335214e-01 7.37966447e-01 -9.34535441e-02 -7.76042126e+01] [-1.36316048e-01 2.00034706e-03 9.90663381e-01 -2.29045661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters 0.02999580121186522 Centerline is valid? [True, True] Translation: X:175.30, Y:-77.64, Z:-22.91 [[ 7.29687560e-01 6.76677005e-01 9.83071507e-02 1.75296894e+02] [-6.70315904e-01 7.36278129e-01 -9.25802656e-02 -7.76433227e+01] [-1.35028342e-01 1.65782149e-03 9.90840350e-01 -2.29106445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters 0.03016619691472009 Centerline is valid? [True, True] Translation: X:175.34, Y:-77.68, Z:-22.92 [[ 7.29693340e-01 6.76500446e-01 9.94724911e-02 1.75344980e+02] [-6.69981674e-01 7.36440189e-01 -9.37038111e-02 -7.76815016e+01] [-1.36646210e-01 1.73030078e-03 9.90618402e-01 -2.29179538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters 0.030465292083886434 Centerline is valid? [True, True] Translation: X:175.40, Y:-77.71, Z:-22.92 [[ 7.30940799e-01 6.75019582e-01 1.00369874e-01 1.75395530e+02] [-6.68367108e-01 7.37797016e-01 -9.45567137e-02 -7.77148688e+01] [-1.37880227e-01 2.03143732e-03 9.90446827e-01 -2.29248689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters 0.030998752768626348 Centerline is valid? [True, True] Translation: X:175.44, Y:-77.75, Z:-22.93 [[ 7.34801872e-01 6.70875973e-01 9.99581797e-02 1.75443839e+02] [-6.64243175e-01 7.41564354e-01 -9.41451667e-02 -7.77484320e+01] [-1.37285153e-01 2.78150604e-03 9.90527662e-01 -2.29315957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters 0.0313316291128843 Centerline is valid? [True, True] Translation: X:175.49, Y:-77.78, Z:-22.94 [[ 7.35882270e-01 6.69555325e-01 1.00861051e-01 1.75490258e+02] [-6.62800624e-01 7.42756150e-01 -9.49138280e-02 -7.77841243e+01] [-1.38465225e-01 2.99463594e-03 9.90362769e-01 -2.29380883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters 0.03112711411349828 Centerline is valid? [True, True] Translation: X:175.54, Y:-77.82, Z:-22.95 [[ 7.35120552e-01 6.70476313e-01 1.00296002e-01 1.75536108e+02] [-6.63817101e-01 7.41925857e-01 -9.43020620e-02 -7.78207484e+01] [-1.37639496e-01 2.74518251e-03 9.90478588e-01 -2.29458111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters 0.030505674663458923 Centerline is valid? [True, True] Translation: X:175.58, Y:-77.85, Z:-22.95 [[ 7.32833950e-01 6.72929727e-01 1.00598134e-01 1.75584440e+02] [-6.66264245e-01 7.39703049e-01 -9.45058528e-02 -7.78547096e+01] [-1.38008544e-01 2.23215777e-03 9.90428523e-01 -2.29531653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters 0.030608113255278464 Centerline is valid? [True, True] Translation: X:175.63, Y:-77.89, Z:-22.96 [[ 7.32769924e-01 6.72912519e-01 1.01177961e-01 1.75630583e+02] [-6.66180973e-01 7.39718838e-01 -9.49681662e-02 -7.78889594e+01] [-1.38748512e-01 2.18698366e-03 9.90325233e-01 -2.29593014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters 0.03087740482182879 Centerline is valid? [True, True] Translation: X:175.68, Y:-77.92, Z:-22.96 [[ 7.35515849e-01 6.69928575e-01 1.01055128e-01 1.75678448e+02] [-6.63196486e-01 7.42420689e-01 -9.47731040e-02 -7.79227447e+01] [-1.38516629e-01 2.68771417e-03 9.90356461e-01 -2.29647301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters 0.031765372857187404 Centerline is valid? [True, True] Translation: X:175.73, Y:-77.96, Z:-22.97 [[ 7.38961920e-01 6.66312702e-01 9.98131493e-02 1.75725926e+02] [-6.59718000e-01 7.45665147e-01 -9.35716309e-02 -7.79571316e+01] [-1.36775153e-01 3.29734081e-03 9.90596631e-01 -2.29719360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters 0.03291836483254285 Centerline is valid? [True, True] Translation: X:175.77, Y:-77.99, Z:-22.98 [[ 7.40885328e-01 6.63858830e-01 1.01884176e-01 1.75773310e+02] [-6.56972765e-01 7.47848367e-01 -9.54442588e-02 -7.79931808e+01] [-1.39555429e-01 3.77812207e-03 9.90207053e-01 -2.29782086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters 0.03289085329306838 Centerline is valid? [True, True] Translation: X:175.82, Y:-78.03, Z:-22.98 [[ 7.43732995e-01 6.61066005e-01 9.92621204e-02 1.75817773e+02] [-6.54509954e-01 7.50316150e-01 -9.29644807e-02 -7.80300937e+01] [-1.35933630e-01 4.17270586e-03 9.90709159e-01 -2.29823827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters 0.03436003351122114 Centerline is valid? [True, True] Translation: X:175.86, Y:-78.07, Z:-22.99 [[ 7.47182694e-01 6.57239931e-01 9.87607981e-02 1.75863627e+02] [-6.50726878e-01 7.53666194e-01 -9.24218471e-02 -7.80673681e+01] [-1.35176003e-01 4.78969889e-03 9.90810026e-01 -2.29899848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters 0.035902418933241705 Centerline is valid? [True, True] Translation: X:175.91, Y:-78.11, Z:-23.00 [[ 7.49555535e-01 6.54212885e-01 1.00856338e-01 1.75907771e+02] [-6.47393638e-01 7.56290878e-01 -9.43694052e-02 -7.81064171e+01] [-1.38014410e-01 5.44135818e-03 9.90415274e-01 -2.29967184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters 0.03574983755345975 Centerline is valid? [True, True] Translation: X:175.95, Y:-78.15, Z:-23.00 [[ 7.51631503e-01 6.52207865e-01 9.83614964e-02 1.75947413e+02] [-6.45710732e-01 7.58019194e-01 -9.20029965e-02 -7.81474240e+01] [-1.34564980e-01 5.63927667e-03 9.90888725e-01 -2.30039681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters 0.036272713949683795 Centerline is valid? [True, True] Translation: X:175.99, Y:-78.19, Z:-23.01 [[ 7.52232277e-01 6.51260874e-01 1.00029373e-01 1.75985997e+02] [-6.44543710e-01 7.58831415e-01 -9.34788197e-02 -7.81917036e+01] [-1.36784528e-01 5.84448250e-03 9.90583583e-01 -2.30122768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters 0.03511808640762343 Centerline is valid? [True, True] Translation: X:176.02, Y:-78.24, Z:-23.02 [[ 7.50959354e-01 6.52511113e-01 1.01436168e-01 1.76024565e+02] [-6.45624708e-01 7.57758175e-01 -9.47168655e-02 -7.82354459e+01] [-1.38667893e-01 5.63881980e-03 9.90322886e-01 -2.30173894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters 0.034633657249234694 Centerline is valid? [True, True] Translation: X:176.06, Y:-78.28, Z:-23.03 [[ 7.48571766e-01 6.55203761e-01 1.01726802e-01 1.76063231e+02] [-6.48311449e-01 7.55434949e-01 -9.49226104e-02 -7.82796222e+01] [-1.39041633e-01 5.10573581e-03 9.90273374e-01 -2.30259224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters 0.033228123062695694 Centerline is valid? [True, True] Translation: X:176.10, Y:-78.32, Z:-23.03 [[ 7.44053462e-01 6.60134273e-01 1.02991205e-01 1.76102940e+02] [-6.53119888e-01 7.51135787e-01 -9.60699835e-02 -7.83229674e+01] [-1.40779468e-01 4.21559974e-03 9.90032005e-01 -2.30328881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters 0.03232852689009432 Centerline is valid? [True, True] Translation: X:176.14, Y:-78.36, Z:-23.04 [[ 7.41116221e-01 6.63441072e-01 1.02920802e-01 1.76143879e+02] [-6.56476755e-01 7.48220168e-01 -9.59419140e-02 -7.83647777e+01] [-1.40659226e-01 3.53899469e-03 9.90051745e-01 -2.30394883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters 0.0314938410289385 Centerline is valid? [True, True] Translation: X:176.18, Y:-78.41, Z:-23.05 [[ 7.35049981e-01 6.69831690e-01 1.05009679e-01 1.76184626e+02] [-6.62649763e-01 7.42509272e-01 -9.78533201e-02 -7.84067419e+01] [-1.43515915e-01 2.34244212e-03 9.89645237e-01 -2.30477738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters 0.03147284015118146 Centerline is valid? [True, True] Translation: X:176.23, Y:-78.45, Z:-23.05 [[ 7.34608234e-01 6.70289631e-01 1.05178672e-01 1.76225894e+02] [-6.63101407e-01 7.42096355e-01 -9.79261108e-02 -7.84465328e+01] [-1.43691566e-01 2.19320185e-03 9.89620091e-01 -2.30545463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters 0.03128582531074521 Centerline is valid? [True, True] Translation: X:176.27, Y:-78.49, Z:-23.06 [[ 7.34404719e-01 6.70405670e-01 1.05858138e-01 1.76268723e+02] [-6.63138466e-01 7.41991753e-01 -9.84663065e-02 -7.84860562e+01] [-1.44558236e-01 2.11551710e-03 9.89494033e-01 -2.30612180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters 0.03127329017786368 Centerline is valid? [True, True] Translation: X:176.31, Y:-78.52, Z:-23.07 [[ 7.35123607e-01 6.69903058e-01 1.04034493e-01 1.76313154e+02] [-6.62891728e-01 7.42445563e-01 -9.66909669e-02 -7.85246022e+01] [-1.42013522e-01 2.11620766e-03 9.89862456e-01 -2.30681875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters 0.03174952036802035 Centerline is valid? [True, True] Translation: X:176.36, Y:-78.56, Z:-23.08 [[ 7.36064357e-01 6.68630965e-01 1.05555174e-01 1.76357190e+02] [-6.61410563e-01 7.43590727e-01 -9.80249855e-02 -7.85630244e+01] [-1.44032389e-01 2.33739099e-03 9.89570214e-01 -2.30760708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters 0.03232074728588169 Centerline is valid? [True, True] Translation: X:176.40, Y:-78.60, Z:-23.08 [[ 7.39836014e-01 6.64549927e-01 1.04957452e-01 1.76402141e+02] [-6.57382300e-01 7.47237624e-01 -9.73881145e-02 -7.86006262e+01] [-1.43147421e-01 3.05406322e-03 9.89696665e-01 -2.30816682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters 0.03346467491061143 Centerline is valid? [True, True] Translation: X:176.44, Y:-78.64, Z:-23.09 [[ 7.45135163e-01 6.58831788e-01 1.03509729e-01 1.76444841e+02] [-6.51816174e-01 7.52279408e-01 -9.59758713e-02 -7.86399832e+01] [-1.41100193e-01 4.04568091e-03 9.89987055e-01 -2.30881180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters 0.03415706252241147 Centerline is valid? [True, True] Translation: X:176.49, Y:-78.68, Z:-23.09 [[ 7.47678166e-01 6.56042702e-01 1.02885049e-01 1.76486733e+02] [-6.49090955e-01 7.54710261e-01 -9.53590831e-02 -7.86813283e+01] [-1.40208032e-01 4.51614988e-03 9.90111767e-01 -2.30937707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters 0.033144425545458975 Centerline is valid? [True, True] Translation: X:176.53, Y:-78.72, Z:-23.10 [[ 7.46374485e-01 6.57817596e-01 1.01000687e-01 1.76527478e+02] [-6.51145922e-01 7.53166398e-01 -9.35380424e-02 -7.87244404e+01] [-1.37601294e-01 4.04822259e-03 9.90479427e-01 -2.30971047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters 0.03253256306950045 Centerline is valid? [True, True] Translation: X:176.57, Y:-78.77, Z:-23.10 [[ 7.45464863e-01 6.59032372e-01 9.97921326e-02 1.76566959e+02] [-6.52540488e-01 7.52105349e-01 -9.23496346e-02 -7.87686550e+01] [-1.35915596e-01 3.72500080e-03 9.90713417e-01 -2.31027879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters 0.03227861781677549 Centerline is valid? [True, True] Translation: X:176.61, Y:-78.81, Z:-23.11 [[ 7.44693356e-01 6.59762786e-01 1.00721754e-01 1.76606983e+02] [-6.53165744e-01 7.51465452e-01 -9.31353055e-02 -7.88095696e+01] [-1.37136127e-01 3.56924356e-03 9.90545780e-01 -2.31081472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters 0.03221993839903726 Centerline is valid? [True, True] Translation: X:176.65, Y:-78.85, Z:-23.11 [[ 7.44962292e-01 6.59642622e-01 9.95127884e-02 1.76645867e+02] [-6.53214215e-01 7.51571338e-01 -9.19332003e-02 -7.88539313e+01] [-1.35434017e-01 3.48359970e-03 9.90780244e-01 -2.31141528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters 0.03213768716214116 Centerline is valid? [True, True] Translation: X:176.69, Y:-78.90, Z:-23.12 [[ 7.44957230e-01 6.59756976e-01 9.87899664e-02 1.76686198e+02] [-6.53433230e-01 7.51471427e-01 -9.11905068e-02 -7.88957351e+01] [-1.34401410e-01 3.38038056e-03 9.90921205e-01 -2.31199795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters 0.03192255667131519 Centerline is valid? [True, True] Translation: X:176.73, Y:-78.94, Z:-23.12 [[ 7.44307390e-01 6.60439843e-01 9.91247877e-02 1.76725715e+02] [-6.54089322e-01 7.50872096e-01 -9.14234833e-02 -7.89393189e+01] [-1.34809748e-01 3.21070897e-03 9.90866299e-01 -2.31249484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters 0.032225029537093844 Centerline is valid? [True, True] Translation: X:176.76, Y:-78.98, Z:-23.13 [[ 7.45109471e-01 6.59649411e-01 9.83591938e-02 1.76763847e+02] [-6.53400577e-01 7.51566342e-01 -9.06406042e-02 -7.89830525e+01] [-1.33714481e-01 3.26921862e-03 9.91014505e-01 -2.31319471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters 0.03274365153393263 Centerline is valid? [True, True] Translation: X:176.80, Y:-79.03, Z:-23.14 [[ 7.47629143e-01 6.56827833e-01 9.81216733e-02 1.76801056e+02] [-6.50596355e-01 7.54031497e-01 -9.03376161e-02 -7.90282197e+01] [-1.33323093e-01 3.70143153e-03 9.91065715e-01 -2.31387584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters 0.03245743313791541 Centerline is valid? [True, True] Translation: X:176.84, Y:-79.08, Z:-23.14 [[ 7.48148695e-01 6.56205273e-01 9.83268556e-02 1.76840144e+02] [-6.49950780e-01 7.54572999e-01 -9.04631076e-02 -7.90753368e+01] [-1.33557158e-01 3.77223945e-03 9.91033933e-01 -2.31439876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters 0.03189180028005757 Centerline is valid? [True, True] Translation: X:176.88, Y:-79.12, Z:-23.15 [[ 7.47400807e-01 6.56899436e-01 9.93738618e-02 1.76880072e+02] [-6.50516234e-01 7.53969178e-01 -9.14281558e-02 -7.91227793e+01] [-1.34983933e-01 3.68916708e-03 9.90840920e-01 -2.31502078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters 0.031042611879963516 Centerline is valid? [True, True] Translation: X:176.92, Y:-79.17, Z:-23.16 [[ 7.44608525e-01 6.59838842e-01 1.00850619e-01 1.76918535e+02] [-6.53288440e-01 7.51400270e-01 -9.28000478e-02 -7.91718230e+01] [-1.37012258e-01 3.21516309e-03 9.90564134e-01 -2.31573457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters 0.030646594398903958 Centerline is valid? [True, True] Translation: X:176.96, Y:-79.22, Z:-23.16 [[ 7.42943147e-01 6.61609319e-01 1.01531225e-01 1.76959547e+02] [-6.54982993e-01 7.49843015e-01 -9.34490842e-02 -7.92186130e+01] [-1.37959265e-01 2.92613112e-03 9.90433581e-01 -2.31647300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters 0.030719607373807155 Centerline is valid? [True, True] Translation: X:177.00, Y:-79.26, Z:-23.17 [[ 7.41960256e-01 6.62668321e-01 1.01811962e-01 1.77001946e+02] [-6.56011840e-01 7.48907945e-01 -9.37302235e-02 -7.92640457e+01] [-1.38359837e-01 2.75424819e-03 9.90378195e-01 -2.31702246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters 0.03031840874960032 Centerline is valid? [True, True] Translation: X:177.04, Y:-79.31, Z:-23.18 [[ 7.40398861e-01 6.64187064e-01 1.03271826e-01 1.77044763e+02] [-6.57348639e-01 7.47562151e-01 -9.50978260e-02 -7.93092406e+01] [-1.40364854e-01 2.52472777e-03 9.90096628e-01 -2.31775291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters 0.0300265164749391 Centerline is valid? [True, True] Translation: X:177.09, Y:-79.35, Z:-23.18 [[ 7.40143083e-01 6.64530456e-01 1.02895527e-01 1.77089118e+02] [-6.57742082e-01 7.47257106e-01 -9.47743142e-02 -7.93520340e+01] [-1.39869832e-01 2.46783485e-03 9.90166824e-01 -2.31830986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters 0.030437019561115414 Centerline is valid? [True, True] Translation: X:177.14, Y:-79.40, Z:-23.19 [[ 7.40934858e-01 6.63755091e-01 1.02199389e-01 1.77135069e+02] [-6.57047847e-01 7.47945412e-01 -9.41583114e-02 -7.93952169e+01] [-1.38937623e-01 2.61528632e-03 9.90297681e-01 -2.31899702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters 0.030205582559999895 Centerline is valid? [True, True] Translation: X:177.18, Y:-79.44, Z:-23.20 [[ 7.41103538e-01 6.63496028e-01 1.02657521e-01 1.77182310e+02] [-6.56721088e-01 7.48174930e-01 -9.46133528e-02 -7.94353718e+01] [-1.39581367e-01 2.70093171e-03 9.90206921e-01 -2.31968650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters 0.030741822018138194 Centerline is valid? [True, True] Translation: X:177.23, Y:-79.48, Z:-23.20 [[ 7.41239283e-01 6.63098509e-01 1.04233836e-01 1.77228950e+02] [-6.56103983e-01 7.48526735e-01 -9.61004193e-02 -7.94752949e+01] [-1.41745857e-01 2.84517124e-03 9.89898993e-01 -2.32049475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters 0.03085005199584591 Centerline is valid? [True, True] Translation: X:177.28, Y:-79.52, Z:-23.21 [[ 7.41064163e-01 6.63178193e-01 1.04969473e-01 1.77275050e+02] [-6.56073759e-01 7.48455894e-01 -9.68555483e-02 -7.95159926e+01] [-1.42797508e-01 2.90845922e-03 9.89747651e-01 -2.32113096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters 0.030604226923496826 Centerline is valid? [True, True] Translation: X:177.32, Y:-79.56, Z:-23.22 [[ 7.41100237e-01 6.63284421e-01 1.04039490e-01 1.77321905e+02] [-6.56297835e-01 7.48361748e-01 -9.60616778e-02 -7.95567107e+01] [-1.41575389e-01 2.91043996e-03 9.89923198e-01 -2.32193851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters 0.030967527418534882 Centerline is valid? [True, True] Translation: X:177.37, Y:-79.60, Z:-23.23 [[ 7.41537983e-01 6.62543798e-01 1.05627343e-01 1.77368120e+02] [-6.55328585e-01 7.49016652e-01 -9.75628069e-02 -7.95971306e+01] [-1.43756272e-01 3.12590977e-03 9.89608187e-01 -2.32275243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters 0.03223988952941194 Centerline is valid? [True, True] Translation: X:177.41, Y:-79.64, Z:-23.24 [[ 7.44624174e-01 6.58787080e-01 1.07398433e-01 1.77411424e+02] [-6.51278098e-01 7.52318980e-01 -9.92622353e-02 -7.96398553e+01] [-1.46190558e-01 3.96681291e-03 9.89248495e-01 -2.32360115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters 0.03275829655636305 Centerline is valid? [True, True] Translation: X:177.46, Y:-79.68, Z:-23.24 [[ 7.46802517e-01 6.56361214e-01 1.07125893e-01 1.77455944e+02] [-6.48861603e-01 7.54433654e-01 -9.90377767e-02 -7.96829515e+01] [-1.45823934e-01 4.45178254e-03 9.89300542e-01 -2.32435601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters 0.032701284257800174 Centerline is valid? [True, True] Translation: X:177.50, Y:-79.73, Z:-23.25 [[ 7.47895267e-01 6.55415850e-01 1.05274557e-01 1.77496067e+02] [-6.48153899e-01 7.55254108e-01 -9.74051107e-02 -7.97307853e+01] [-1.43349895e-01 4.61470665e-03 9.89661312e-01 -2.32483088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters 0.03273228197628674 Centerline is valid? [True, True] Translation: X:177.54, Y:-79.78, Z:-23.26 [[ 7.47458241e-01 6.56005086e-01 1.04706757e-01 1.77538215e+02] [-6.48815932e-01 7.54742827e-01 -9.69595364e-02 -7.97761681e+01] [-1.42632623e-01 4.53779255e-03 9.89765297e-01 -2.32564797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters 0.03222068376264427 Centerline is valid? [True, True] Translation: X:177.58, Y:-79.82, Z:-23.26 [[ 7.44788541e-01 6.58774275e-01 1.06331954e-01 1.77579289e+02] [-6.51374711e-01 7.52329286e-01 -9.85476045e-02 -7.98227182e+01] [-1.44917270e-01 4.13518038e-03 9.89435134e-01 -2.32644285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters 0.031151398854999963 Centerline is valid? [True, True] Translation: X:177.62, Y:-79.87, Z:-23.27 [[ 7.41110224e-01 6.63091187e-01 1.05193693e-01 1.77618530e+02] [-6.55883601e-01 7.48531326e-01 -9.75579624e-02 -7.98696116e+01] [-1.43430600e-01 3.30638523e-03 9.89654854e-01 -2.32717047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters 0.0305160907084805 Centerline is valid? [True, True] Translation: X:177.66, Y:-79.91, Z:-23.28 [[ 7.38533345e-01 6.66037433e-01 1.04702613e-01 1.77661606e+02] [-6.58924457e-01 7.45913309e-01 -9.71179455e-02 -7.99148691e+01] [-1.42783260e-01 2.73372883e-03 9.89750205e-01 -2.32788260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters 0.03001593313751365 Centerline is valid? [True, True] Translation: X:177.71, Y:-79.96, Z:-23.29 [[ 7.34772609e-01 6.70070745e-01 1.05424903e-01 1.77705207e+02] [-6.62893826e-01 7.42294557e-01 -9.78292716e-02 -7.99588362e+01] [-1.43808865e-01 1.99675169e-03 9.89603468e-01 -2.32861740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters 0.02968364606382162 Centerline is valid? [True, True] Translation: X:177.75, Y:-80.00, Z:-23.29 [[ 7.33340607e-01 6.71685823e-01 1.05117598e-01 1.77750152e+02] [-6.64555332e-01 7.40834081e-01 -9.76272250e-02 -8.00019766e+01] [-1.43449522e-01 1.73754842e-03 9.89656110e-01 -2.32936714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters 0.02978886693401573 Centerline is valid? [True, True] Translation: X:177.80, Y:-80.04, Z:-23.30 [[ 7.33435350e-01 6.71767630e-01 1.03927089e-01 1.77796404e+02] [-6.64787591e-01 7.40759842e-01 -9.66039155e-02 -8.00435826e+01] [-1.41880397e-01 1.76328729e-03 9.89882237e-01 -2.33000608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters 0.029610883368355084 Centerline is valid? [True, True] Translation: X:177.84, Y:-80.08, Z:-23.31 [[ 7.34305408e-01 6.71078005e-01 1.02224651e-01 1.77843414e+02] [-6.64307805e-01 7.41384247e-01 -9.51027764e-02 -8.00837776e+01] [-1.39609127e-01 1.92584966e-03 9.90204819e-01 -2.33058066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters 0.029895951210293033 Centerline is valid? [True, True] Translation: X:177.89, Y:-80.12, Z:-23.31 [[ 7.35157380e-01 6.70313330e-01 1.01112145e-01 1.77891545e+02] [-6.63671692e-01 7.42075190e-01 -9.41503997e-02 -8.01246457e+01] [-1.38143082e-01 2.11009280e-03 9.90410034e-01 -2.33116948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters 0.03035405971468935 Centerline is valid? [True, True] Translation: X:177.94, Y:-80.17, Z:-23.32 [[ 7.37499085e-01 6.67809553e-01 1.00625548e-01 1.77937510e+02] [-6.61196213e-01 7.44327520e-01 -9.37875834e-02 -8.01657447e+01] [-1.37530609e-01 2.63502589e-03 9.90494012e-01 -2.33196359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters 0.03090709018827617 Centerline is valid? [True, True] Translation: X:177.98, Y:-80.21, Z:-23.33 [[ 7.38650353e-01 6.66315955e-01 1.02072053e-01 1.77982629e+02] [-6.59484195e-01 7.45663420e-01 -9.52190189e-02 -8.02080539e+01] [-1.39557348e-01 3.01865620e-03 9.90209389e-01 -2.33279281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters 0.03126657581673786 Centerline is valid? [True, True] Translation: X:178.03, Y:-80.25, Z:-23.33 [[ 7.39396058e-01 6.65457323e-01 1.02274243e-01 1.78028913e+02] [-6.58578654e-01 7.46428830e-01 -9.54890479e-02 -8.02487299e+01] [-1.39884330e-01 3.24859189e-03 9.90162522e-01 -2.33342232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters 0.031317852494331416 Centerline is valid? [True, True] Translation: X:178.07, Y:-80.29, Z:-23.34 [[ 7.39242636e-01 6.65700181e-01 1.01801738e-01 1.78073963e+02] [-6.58875937e-01 7.46212241e-01 -9.51303915e-02 -8.02919268e+01] [-1.39294022e-01 3.24972583e-03 9.90245735e-01 -2.33428534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters 0.0311822914823272 Centerline is valid? [True, True] Translation: X:178.12, Y:-80.34, Z:-23.35 [[ 7.39363848e-01 6.65528296e-01 1.02045027e-01 1.78118573e+02] [-6.58656822e-01 7.46365064e-01 -9.54483216e-02 -8.03353424e+01] [-1.39686402e-01 3.35838484e-03 9.90190098e-01 -2.33486723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters 0.03142127434634569 Centerline is valid? [True, True] Translation: X:178.16, Y:-80.38, Z:-23.36 [[ 7.38604435e-01 6.66276008e-01 1.02663382e-01 1.78164754e+02] [-6.59315873e-01 7.45697923e-01 -9.61102901e-02 -8.03779068e+01] [-1.40591851e-01 3.29988943e-03 9.90062141e-01 -2.33558910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters 0.031212238395854068 Centerline is valid? [True, True] Translation: X:178.21, Y:-80.42, Z:-23.36 [[ 7.37704207e-01 6.67476054e-01 1.01332230e-01 1.78209662e+02] [-6.60694949e-01 7.44624820e-01 -9.49529426e-02 -8.04207492e+01] [-1.38833309e-01 3.09749295e-03 9.90310920e-01 -2.33632654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters 0.030846357460530105 Centerline is valid? [True, True] Translation: X:178.26, Y:-80.46, Z:-23.37 [[ 7.35033147e-01 6.70175368e-01 1.02913793e-01 1.78255566e+02] [-6.63193958e-01 7.42197899e-01 -9.65197039e-02 -8.04634027e+01] [-1.41067529e-01 2.69337629e-03 9.89996312e-01 -2.33708281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters 0.030660162462533426 Centerline is valid? [True, True] Translation: X:178.30, Y:-80.51, Z:-23.38 [[ 7.33051788e-01 6.72087845e-01 1.04561006e-01 1.78299985e+02] [-6.64885563e-01 7.40467421e-01 -9.81589866e-02 -8.05056204e+01] [-1.43395480e-01 2.43451714e-03 9.89662472e-01 -2.33797876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters 0.030071748790297365 Centerline is valid? [True, True] Translation: X:178.35, Y:-80.55, Z:-23.39 [[ 7.29002879e-01 6.76417890e-01 1.04945895e-01 1.78345879e+02] [-6.69194153e-01 7.36516191e-01 -9.86057106e-02 -8.05470175e+01] [-1.43993018e-01 1.65466739e-03 9.89577320e-01 -2.33860939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters 0.029410732549244676 Centerline is valid? [True, True] Translation: X:178.39, Y:-80.59, Z:-23.39 [[ 7.25740443e-01 6.80062586e-01 1.03998499e-01 1.78392891e+02] [-6.72994405e-01 7.33153399e-01 -9.77988981e-02 -8.05879526e+01] [-1.42756225e-01 9.86207327e-04 9.89757388e-01 -2.33917135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters 0.02975823662269691 Centerline is valid? [True, True] Translation: X:178.44, Y:-80.63, Z:-23.40 [[ 7.25465777e-01 6.79960334e-01 1.06552103e-01 1.78440770e+02] [-6.72524686e-01 7.33248076e-01 -1.00288618e-01 -8.06269369e+01] [-1.46321406e-01 1.09704087e-03 9.89236495e-01 -2.34002762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters 0.02971026125267714 Centerline is valid? [True, True] Translation: X:178.49, Y:-80.67, Z:-23.41 [[ 7.28731573e-01 6.76855594e-01 1.04003840e-01 1.78488414e+02] [-6.69729525e-01 7.36113761e-01 -9.79739481e-02 -8.06672598e+01] [-1.42872873e-01 1.74226687e-03 9.89739515e-01 -2.34059656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters 0.03065008329092217 Centerline is valid? [True, True] Translation: X:178.53, Y:-80.71, Z:-23.41 [[ 7.33136850e-01 6.72101218e-01 1.03876421e-01 1.78533541e+02] [-6.64932943e-01 7.40454250e-01 -9.79371457e-02 -8.07085086e+01] [-1.42739413e-01 2.73047613e-03 9.89756538e-01 -2.34144288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters 0.03203217135408782 Centerline is valid? [True, True] Translation: X:178.58, Y:-80.75, Z:-23.42 [[ 7.38577871e-01 6.65970238e-01 1.04815888e-01 1.78577808e+02] [-6.58599746e-01 7.45967563e-01 -9.88876585e-02 -8.07503416e+01] [-1.44045490e-01 4.00451907e-03 9.89562964e-01 -2.34222056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters 0.03285611225247423 Centerline is valid? [True, True] Translation: X:178.62, Y:-80.79, Z:-23.43 [[ 7.40887642e-01 6.63479519e-01 1.04309295e-01 1.78620588e+02] [-6.56152212e-01 7.48180993e-01 -9.84351411e-02 -8.07945647e+01] [-1.43351932e-01 4.48660523e-03 9.89661606e-01 -2.34289399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters 0.03445262889184772 Centerline is valid? [True, True] Translation: X:178.66, Y:-80.84, Z:-23.44 [[ 7.45669780e-01 6.58059385e-01 1.04567796e-01 1.78662800e+02] [-6.50633340e-01 7.52945263e-01 -9.87405082e-02 -8.08376771e+01] [-1.43710945e-01 5.59251852e-03 9.89603905e-01 -2.34356455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters 0.03581686316000894 Centerline is valid? [True, True] Translation: X:178.70, Y:-80.88, Z:-23.44 [[ 7.50351816e-01 6.53000914e-01 1.02771388e-01 1.78702089e+02] [-6.45780904e-01 7.57329615e-01 -9.70509043e-02 -8.08845918e+01] [-1.41206145e-01 6.45452226e-03 9.89959173e-01 -2.34425138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters 0.03712724289372527 Centerline is valid? [True, True] Translation: X:178.74, Y:-80.93, Z:-23.45 [[ 7.53849961e-01 6.49054531e-01 1.02168741e-01 1.78740571e+02] [-6.41881760e-01 7.60708182e-01 -9.64928405e-02 -8.09324148e+01] [-1.40349713e-01 7.16087259e-03 9.90076098e-01 -2.34491559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters 0.03722610683973695 Centerline is valid? [True, True] Translation: X:178.78, Y:-80.98, Z:-23.46 [[ 7.53948785e-01 6.48902890e-01 1.02402483e-01 1.78778163e+02] [-6.41692252e-01 7.60836938e-01 -9.67378312e-02 -8.09823894e+01] [-1.40685050e-01 7.22449057e-03 9.90028042e-01 -2.34557174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters 0.03697560060063754 Centerline is valid? [True, True] Translation: X:178.82, Y:-81.03, Z:-23.46 [[ 7.52932623e-01 6.50127127e-01 1.02113582e-01 1.78815677e+02] [-6.42958912e-01 7.59792953e-01 -9.65324042e-02 -8.10335707e+01] [-1.40343515e-01 7.02755850e-03 9.90077932e-01 -2.34622800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters 0.036254132762268555 Centerline is valid? [True, True] Translation: X:178.86, Y:-81.08, Z:-23.47 [[ 7.51714554e-01 6.51537986e-01 1.02095460e-01 1.78855559e+02] [-6.44379907e-01 7.58585608e-01 -9.65526280e-02 -8.10817754e+01] [-1.40355851e-01 6.79175279e-03 9.90077829e-01 -2.34697228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters 0.035177015637820136 Centerline is valid? [True, True] Translation: X:178.89, Y:-81.13, Z:-23.48 [[ 7.48692532e-01 6.55093741e-01 1.01546464e-01 1.78891126e+02] [-6.48035979e-01 7.55522641e-01 -9.60984289e-02 -8.11340632e+01] [-1.39674132e-01 6.14241394e-03 9.90178473e-01 -2.34756101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters 0.03454861845865095 Centerline is valid? [True, True] Translation: X:178.93, Y:-81.18, Z:-23.48 [[ 7.47504645e-01 6.56466429e-01 1.01432901e-01 1.78932369e+02] [-6.49433028e-01 7.54332158e-01 -9.60194629e-02 -8.11807615e+01] [-1.39547653e-01 5.90111850e-03 9.90197773e-01 -2.34817509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters 0.03363385698570856 Centerline is valid? [True, True] Translation: X:178.97, Y:-81.23, Z:-23.49 [[ 7.45812773e-01 6.58559994e-01 1.00309730e-01 1.78972890e+02] [-6.51692021e-01 7.52508152e-01 -9.50210005e-02 -8.12266570e+01] [-1.38060919e-01 5.49682530e-03 9.90408485e-01 -2.34879773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters 0.032984712231312156 Centerline is valid? [True, True] Translation: X:179.01, Y:-81.28, Z:-23.50 [[ 7.43089487e-01 6.61595620e-01 1.00544764e-01 1.79011328e+02] [-6.54719397e-01 7.49844382e-01 -9.52675932e-02 -8.12759020e+01] [-1.38421549e-01 4.96373954e-03 9.90360963e-01 -2.34957527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters 0.03203951828683867 Centerline is valid? [True, True] Translation: X:179.05, Y:-81.32, Z:-23.50 [[ 7.41046524e-01 6.64026868e-01 9.95910061e-02 1.79053442e+02] [-6.57292062e-01 7.47695016e-01 -9.44420865e-02 -8.13212201e+01] [-1.37175782e-01 4.52560207e-03 9.90536382e-01 -2.35020172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters 0.031025395687214085 Centerline is valid? [True, True] Translation: X:179.09, Y:-81.37, Z:-23.51 [[ 7.37311380e-01 6.68134540e-01 9.98406952e-02 1.79093933e+02] [-6.61393624e-01 7.44030656e-01 -9.47462755e-02 -8.13676871e+01] [-1.37587797e-01 3.82350791e-03 9.90482195e-01 -2.35074386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters 0.03023437693438231 Centerline is valid? [True, True] Translation: X:179.14, Y:-81.41, Z:-23.51 [[ 7.34158397e-01 6.71627276e-01 9.96406067e-02 1.79136080e+02] [-6.64942011e-01 7.40882365e-01 -9.45803479e-02 -8.14132921e+01] [-1.37344710e-01 3.18173118e-03 9.90518201e-01 -2.35137644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters 0.030267741113084782 Centerline is valid? [True, True] Translation: X:179.18, Y:-81.46, Z:-23.52 [[ 7.34103636e-01 6.71732838e-01 9.93320020e-02 1.79179054e+02] [-6.65078606e-01 7.40786517e-01 -9.43704624e-02 -8.14595921e+01] [-1.36975546e-01 3.21411012e-03 9.90569215e-01 -2.35201494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters 0.030515465563402133 Centerline is valid? [True, True] Translation: X:179.22, Y:-81.50, Z:-23.53 [[ 7.35106177e-01 6.70759685e-01 9.84903715e-02 1.79223613e+02] [-6.64196863e-01 7.41666799e-01 -9.36636922e-02 -8.15040627e+01] [-1.35872867e-01 3.43576298e-03 9.90720324e-01 -2.35272096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters 0.030805264605710796 Centerline is valid? [True, True] Translation: X:179.27, Y:-81.55, Z:-23.53 [[ 7.36409305e-01 6.69291106e-01 9.87458920e-02 1.79266776e+02] [-6.62668317e-01 7.42990638e-01 -9.39979419e-02 -8.15485258e+01] [-1.36279260e-01 3.78518498e-03 9.90663230e-01 -2.35344862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters 0.030702888040766672 Centerline is valid? [True, True] Translation: X:179.31, Y:-81.59, Z:-23.54 [[ 7.36370397e-01 6.69504798e-01 9.75805524e-02 1.79308891e+02] [-6.63029269e-01 7.42798215e-01 -9.29677363e-02 -8.15942043e+01] [-1.34725006e-01 3.75992655e-03 9.90875893e-01 -2.35418546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters 0.030878357887854823 Centerline is valid? [True, True] Translation: X:179.35, Y:-81.64, Z:-23.55 [[ 7.35609194e-01 6.70079272e-01 9.93623808e-02 1.79349772e+02] [-6.63357657e-01 7.42279897e-01 -9.47479479e-02 -8.16403485e+01] [-1.37243334e-01 3.78466547e-03 9.90530133e-01 -2.35501048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters 0.031034286302366453 Centerline is valid? [True, True] Translation: X:179.39, Y:-81.69, Z:-23.56 [[ 7.36480289e-01 6.69100015e-01 9.95085622e-02 1.79391735e+02] [-6.62338274e-01 7.43161417e-01 -9.49690425e-02 -8.16857125e+01] [-1.37494712e-01 4.03449851e-03 9.90494284e-01 -2.35575431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters 0.031204022691773636 Centerline is valid? [True, True] Translation: X:179.43, Y:-81.73, Z:-23.56 [[ 7.36581991e-01 6.68844991e-01 1.00465662e-01 1.79433707e+02] [-6.61937977e-01 7.43390122e-01 -9.59647886e-02 -8.17313547e+01] [-1.38870749e-01 4.18389787e-03 9.90301676e-01 -2.35646201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters 0.03111821338881106 Centerline is valid? [True, True] Translation: X:179.48, Y:-81.78, Z:-23.57 [[ 7.35710141e-01 6.69806557e-01 1.00447822e-01 1.79475646e+02] [-6.62899416e-01 7.42524523e-01 -9.60296713e-02 -8.17773930e+01] [-1.38906274e-01 4.06320065e-03 9.90297196e-01 -2.35715204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters 0.03124390377705618 Centerline is valid? [True, True] Translation: X:179.52, Y:-81.82, Z:-23.58 [[ 7.36293512e-01 6.69256614e-01 9.98371145e-02 1.79519773e+02] [-6.62416981e-01 7.43019457e-01 -9.55292048e-02 -8.18222083e+01] [-1.38114471e-01 4.20373369e-03 9.90407351e-01 -2.35791411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters 0.03203212269601817 Centerline is valid? [True, True] Translation: X:179.56, Y:-81.87, Z:-23.59 [[ 7.36683814e-01 6.68407899e-01 1.02605262e-01 1.79562476e+02] [-6.61161426e-01 7.43781006e-01 -9.82618091e-02 -8.18668403e+01] [-1.41994814e-01 4.54924287e-03 9.89856948e-01 -2.35874835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters 0.03279674681175927 Centerline is valid? [True, True] Translation: X:179.61, Y:-81.91, Z:-23.60 [[ 7.38221286e-01 6.66754053e-01 1.02315035e-01 1.79605981e+02] [-6.59528861e-01 7.45261878e-01 -9.80123180e-02 -8.19098617e+01] [-1.41601606e-01 4.87506067e-03 9.89911723e-01 -2.35950501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters 0.03250574951101004 Centerline is valid? [True, True] Translation: X:179.65, Y:-81.96, Z:-23.60 [[ 7.38146774e-01 6.66847700e-01 1.02242286e-01 1.79649307e+02] [-6.59625878e-01 7.45177955e-01 -9.79975276e-02 -8.19557712e+01] [-1.41538124e-01 4.89490100e-03 9.89920704e-01 -2.36018637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters 0.032940427481785196 Centerline is valid? [True, True] Translation: X:179.69, Y:-82.00, Z:-23.61 [[ 7.38776304e-01 6.65783255e-01 1.04605112e-01 1.79690255e+02] [-6.58199159e-01 7.46126506e-01 -1.00344921e-01 -8.20023717e+01] [-1.44856615e-01 5.28145334e-03 9.89438562e-01 -2.36094873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters 0.03245548687076435 Centerline is valid? [True, True] Translation: X:179.73, Y:-82.05, Z:-23.62 [[ 7.38677467e-01 6.66054781e-01 1.03569438e-01 1.79732606e+02] [-6.58618278e-01 7.45884681e-01 -9.93881614e-02 -8.20475811e+01] [-1.43448817e-01 5.20307032e-03 9.89644060e-01 -2.36156279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters 0.03237744493480207 Centerline is valid? [True, True] Translation: X:179.77, Y:-82.09, Z:-23.62 [[ 7.36458931e-01 6.68403970e-01 1.04232318e-01 1.79773993e+02] [-6.60882236e-01 7.43782692e-01 -1.00109829e-01 -8.20939917e+01] [-1.44440001e-01 4.84149060e-03 9.89501716e-01 -2.36237488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters 0.031732309974986564 Centerline is valid? [True, True] Translation: X:179.81, Y:-82.14, Z:-23.63 [[ 7.33834448e-01 6.71168089e-01 1.04978091e-01 1.79814089e+02] [-6.63552827e-01 7.41292167e-01 -1.00913668e-01 -8.21412211e+01] [-1.45549470e-01 4.39541706e-03 9.89341211e-01 -2.36299335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters 0.03150952512748896 Centerline is valid? [True, True] Translation: X:179.86, Y:-82.19, Z:-23.64 [[ 7.32895086e-01 6.72315739e-01 1.04193758e-01 1.79856029e+02] [-6.64813478e-01 7.40252597e-01 -1.00245357e-01 -8.21871950e+01] [-1.44526231e-01 4.19991455e-03 9.89492056e-01 -2.36361157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters 0.03139207232933391 Centerline is valid? [True, True] Translation: X:179.90, Y:-82.23, Z:-23.64 [[ 7.32888471e-01 6.72577292e-01 1.02539143e-01 1.79896681e+02] [-6.65303145e-01 7.40015279e-01 -9.87375923e-02 -8.22337745e+01] [-1.42289195e-01 4.14402891e-03 9.89816454e-01 -2.36443627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters 0.031189692823524056 Centerline is valid? [True, True] Translation: X:179.94, Y:-82.28, Z:-23.65 [[ 7.32338967e-01 6.73278303e-01 1.01862474e-01 1.79938448e+02] [-6.66095070e-01 7.39378100e-01 -9.81701750e-02 -8.22797578e+01] [-1.41410731e-01 4.04375306e-03 9.89942753e-01 -2.36501168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters 0.031019301689627406 Centerline is valid? [True, True] Translation: X:179.98, Y:-82.33, Z:-23.66 [[ 7.31775199e-01 6.73893706e-01 1.01844643e-01 1.79980650e+02] [-6.66706322e-01 7.38817537e-01 -9.82411665e-02 -8.23256779e+01] [-1.41448712e-01 3.98998187e-03 9.89937544e-01 -2.36570193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters 0.030866948552446337 Centerline is valid? [True, True] Translation: X:180.02, Y:-82.37, Z:-23.66 [[ 7.30828814e-01 6.75022264e-01 1.01164162e-01 1.80020893e+02] [-6.67928378e-01 7.37787487e-01 -9.76796066e-02 -8.23729482e+01] [-1.40573562e-01 3.81665616e-03 9.90062880e-01 -2.36649860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters 0.03079851561400045 Centerline is valid? [True, True] Translation: X:180.06, Y:-82.42, Z:-23.67 [[ 7.30437361e-01 6.75671170e-01 9.96480344e-02 1.80062756e+02] [-6.68783768e-01 7.37193868e-01 -9.62988701e-02 -8.24192973e+01] [-1.38526290e-01 3.69730466e-03 9.90351855e-01 -2.36701174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters 0.03055458893709902 Centerline is valid? [True, True] Translation: X:180.10, Y:-82.47, Z:-23.68 [[ 7.29062266e-01 6.77121642e-01 9.98723863e-02 1.80102224e+02] [-6.70204674e-01 7.35862815e-01 -9.66002657e-02 -8.24669913e+01] [-1.38902506e-01 3.49266856e-03 9.90299902e-01 -2.36763829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters 0.030157467496099308 Centerline is valid? [True, True] Translation: X:180.14, Y:-82.51, Z:-23.68 [[ 7.24791113e-01 6.81652315e-01 1.00139723e-01 1.80142205e+02] [-6.74728812e-01 7.31671270e-01 -9.69442312e-02 -8.25148893e+01] [-1.39351618e-01 2.69716120e-03 9.90239290e-01 -2.36837660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters 0.029721701887288617 Centerline is valid? [True, True] Translation: X:180.18, Y:-82.56, Z:-23.69 [[ 7.20659675e-01 6.86126688e-01 9.93971855e-02 1.80184019e+02] [-6.79337632e-01 7.27479656e-01 -9.63002150e-02 -8.25609477e+01] [-1.38383578e-01 1.87543303e-03 9.90376932e-01 -2.36912609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters 0.029540520347589368 Centerline is valid? [True, True] Translation: X:180.23, Y:-82.61, Z:-23.70 [[ 7.14933287e-01 6.91866562e-01 1.00950758e-01 1.80228199e+02] [-6.84912502e-01 7.22024928e-01 -9.78512519e-02 -8.26056433e+01] [-1.40588973e-01 8.14680862e-04 9.90067713e-01 -2.36987787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters 0.029383703960807413 Centerline is valid? [True, True] Translation: X:180.27, Y:-82.65, Z:-23.71 [[ 7.12224687e-01 6.94660504e-01 1.00909759e-01 1.80274654e+02] [-6.87725352e-01 7.19337660e-01 -9.79141007e-02 -8.26474857e+01] [-1.40605249e-01 3.38639905e-04 9.90065679e-01 -2.37058417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters 0.02960270133131119 Centerline is valid? [True, True] Translation: X:180.32, Y:-82.69, Z:-23.71 [[ 7.09948928e-01 6.96738559e-01 1.02605555e-01 1.80319009e+02] [-6.89573615e-01 7.17325157e-01 -9.96636790e-02 -8.26902706e+01] [-1.43041074e-01 2.03892109e-06 9.89716753e-01 -2.37133819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters 0.02975851130815871 Centerline is valid? [True, True] Translation: X:180.37, Y:-82.73, Z:-23.72 [[ 7.08844540e-01 6.97953616e-01 1.01981219e-01 1.80367285e+02] [-6.90875380e-01 7.16142946e-01 -9.91488275e-02 -8.27298723e+01] [-1.42234413e-01 -1.75208286e-04 9.89832986e-01 -2.37199223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters 0.029919696335083353 Centerline is valid? [True, True] Translation: X:180.42, Y:-82.77, Z:-23.73 [[ 7.08797412e-01 6.98063161e-01 1.01558123e-01 1.80415032e+02] [-6.91031484e-01 7.16036177e-01 -9.88315810e-02 -8.27704897e+01] [-1.41709976e-01 -1.28291771e-04 9.89908211e-01 -2.37285513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters 0.030132443649847265 Centerline is valid? [True, True] Translation: X:180.46, Y:-82.81, Z:-23.74 [[ 7.09718833e-01 6.96840802e-01 1.03499155e-01 1.80462171e+02] [-6.89507919e-01 7.17225807e-01 -1.00826441e-01 -8.28106132e+01] [-1.44492243e-01 1.94937549e-04 9.89505914e-01 -2.37354480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters 0.03031548754862983 Centerline is valid? [True, True] Translation: X:180.51, Y:-82.85, Z:-23.74 [[ 7.10767642e-01 6.95750672e-01 1.03635717e-01 1.80507056e+02] [-6.88372590e-01 7.18283207e-01 -1.01056482e-01 -8.28537682e+01] [-1.44749911e-01 4.87690834e-04 9.89468153e-01 -2.37431434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters 0.030345823390933363 Centerline is valid? [True, True] Translation: X:180.55, Y:-82.90, Z:-23.75 [[ 7.12483308e-01 6.93944145e-01 1.03966628e-01 1.80552527e+02] [-6.86484037e-01 7.20028229e-01 -1.01484070e-01 -8.28959252e+01] [-1.45283183e-01 9.34275040e-04 9.89389672e-01 -2.37512844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters 0.030630597717638375 Centerline is valid? [True, True] Translation: X:180.60, Y:-82.94, Z:-23.76 [[ 7.12906217e-01 6.93547890e-01 1.03711379e-01 1.80596648e+02] [-6.86106358e-01 7.20409712e-01 -1.01330707e-01 -8.29406990e+01] [-1.44992383e-01 1.08225387e-03 9.89432179e-01 -2.37598991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters 0.0302873783149931 Centerline is valid? [True, True] Translation: X:180.64, Y:-82.98, Z:-23.77 [[ 7.11532329e-01 6.95039089e-01 1.03162059e-01 1.80641009e+02] [-6.87677150e-01 7.18971449e-01 -1.00896945e-01 -8.29844155e+01] [-1.44297895e-01 8.49247725e-04 9.89533929e-01 -2.37662357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters 0.030275724855895206 Centerline is valid? [True, True] Translation: X:180.68, Y:-83.03, Z:-23.77 [[ 7.10146915e-01 6.96349992e-01 1.03865526e-01 1.80684372e+02] [-6.88887024e-01 7.17702069e-01 -1.01677967e-01 -8.30290424e+01] [-1.45347954e-01 6.54681451e-04 9.89380384e-01 -2.37728083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters 0.030191227563835667 Centerline is valid? [True, True] Translation: X:180.73, Y:-83.07, Z:-23.78 [[ 7.10000372e-01 6.96777563e-01 1.01982840e-01 1.80730531e+02] [-6.89576685e-01 7.17287005e-01 -9.99167006e-02 -8.30708223e+01] [-1.42770681e-01 6.15905896e-04 9.89755603e-01 -2.37800306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters 0.03049247695680776 Centerline is valid? [True, True] Translation: X:180.78, Y:-83.11, Z:-23.79 [[ 7.10293571e-01 6.96368872e-01 1.02729922e-01 1.80776212e+02] [-6.89048576e-01 7.17683660e-01 -1.00708611e-01 -8.31131635e+01] [-1.43857929e-01 7.46772591e-04 9.89598069e-01 -2.37870336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters 0.030478135771355715 Centerline is valid? [True, True] Translation: X:180.82, Y:-83.16, Z:-23.79 [[ 7.12975129e-01 6.93847325e-01 1.01204528e-01 1.80820999e+02] [-6.86705742e-01 7.20120957e-01 -9.93027201e-02 -8.31552781e+01] [-1.41780428e-01 1.30263942e-03 9.89897274e-01 -2.37948228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters 0.030716901995664327 Centerline is valid? [True, True] Translation: X:180.87, Y:-83.20, Z:-23.80 [[ 7.14699286e-01 6.92031668e-01 1.01474629e-01 1.80865445e+02] [-6.84820407e-01 7.21865059e-01 -9.96586543e-02 -8.31988111e+01] [-1.42217934e-01 1.73407248e-03 9.89833851e-01 -2.38010890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters 0.030745505094461157 Centerline is valid? [True, True] Translation: X:180.91, Y:-83.24, Z:-23.81 [[ 7.16119793e-01 6.90758961e-01 1.00122423e-01 1.80907451e+02] [-6.83714720e-01 7.23082264e-01 -9.84186002e-02 -8.32435622e+01] [-1.40380278e-01 2.02433321e-03 9.90095591e-01 -2.38081197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters 0.030977516140141506 Centerline is valid? [True, True] Translation: X:180.95, Y:-83.29, Z:-23.82 [[ 7.15594426e-01 6.91258864e-01 1.00428085e-01 1.80951107e+02] [-6.84163190e-01 7.22604447e-01 -9.88106407e-02 -8.32889710e+01] [-1.40873512e-01 1.99914494e-03 9.90025584e-01 -2.38156724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters 0.030742757124055244 Centerline is valid? [True, True] Translation: X:180.99, Y:-83.33, Z:-23.82 [[ 7.15386346e-01 6.91618238e-01 9.94313313e-02 1.80993678e+02] [-6.84654625e-01 7.22260565e-01 -9.79169124e-02 -8.33347001e+01] [-1.39536452e-01 1.97230138e-03 9.90214971e-01 -2.38214091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters 0.030782391668125315 Centerline is valid? [True, True] Translation: X:181.03, Y:-83.38, Z:-23.83 [[ 7.13372761e-01 6.93674068e-01 9.95770660e-02 1.81034760e+02] [-6.86703772e-01 7.20287245e-01 -9.81030812e-02 -8.33806032e+01] [-1.39775654e-01 1.60411904e-03 9.90181899e-01 -2.38289444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters 0.030173951613505497 Centerline is valid? [True, True] Translation: X:181.08, Y:-83.43, Z:-23.84 [[ 7.09510882e-01 6.97732459e-01 9.88115543e-02 1.81076937e+02] [-6.90897115e-01 7.16357926e-01 -9.74294539e-02 -8.34267134e+01] [-1.38764133e-01 8.58640052e-04 9.90325087e-01 -2.38354070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters 0.03019057998753826 Centerline is valid? [True, True] Translation: X:181.12, Y:-83.47, Z:-23.84 [[ 7.04657836e-01 7.02701895e-01 9.83228390e-02 1.81121018e+02] [-6.95974312e-01 7.11484393e-01 -9.70036887e-02 -8.34703097e+01] [-1.38119841e-01 -7.57608447e-05 9.90415521e-01 -2.38412745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters 0.029767165130391002 Centerline is valid? [True, True] Translation: X:181.17, Y:-83.51, Z:-23.85 [[ 7.01572620e-01 7.05921578e-01 9.73169317e-02 1.81166827e+02] [-6.99350034e-01 7.08289715e-01 -9.60999991e-02 -8.35116502e+01] [-1.36767645e-01 -6.37471344e-04 9.90602950e-01 -2.38490394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters 0.029974723304145863 Centerline is valid? [True, True] Translation: X:181.21, Y:-83.55, Z:-23.86 [[ 6.99449032e-01 7.07965664e-01 9.77531069e-02 1.81212776e+02] [-7.01342083e-01 7.06246178e-01 -9.66210023e-02 -8.35526216e+01] [-1.37442110e-01 -9.76901116e-04 9.90509319e-01 -2.38557538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters 0.02983873225043246 Centerline is valid? [True, True] Translation: X:181.26, Y:-83.59, Z:-23.86 [[ 6.97523736e-01 7.10119184e-01 9.58716919e-02 1.81262237e+02] [-7.03757512e-01 7.04080269e-01 -9.48490290e-02 -8.35910326e+01] [-1.34855482e-01 -1.31097431e-03 9.90864411e-01 -2.38621377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters 0.02977506582039636 Centerline is valid? [True, True] Translation: X:181.31, Y:-83.63, Z:-23.87 [[ 6.97810806e-01 7.09756856e-01 9.64639009e-02 1.81311245e+02] [-7.03299962e-01 7.04445743e-01 -9.55267460e-02 -8.36301049e+01] [-1.35754347e-01 -1.18346226e-03 9.90741821e-01 -2.38695134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters 0.02952748108114422 Centerline is valid? [True, True] Translation: X:181.36, Y:-83.67, Z:-23.87 [[ 6.98653525e-01 7.08961545e-01 9.62121628e-02 1.81359562e+02] [-7.02517253e-01 7.05246493e-01 -9.53776329e-02 -8.36692657e+01] [-1.35472364e-01 -9.54784931e-04 9.90780665e-01 -2.38747394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters 0.029095089007089854 Centerline is valid? [True, True] Translation: X:181.41, Y:-83.71, Z:-23.88 [[ 7.03278858e-01 7.04259753e-01 9.70414755e-02 1.81411708e+02] [-6.97645702e-01 7.09942392e-01 -9.62926494e-02 -8.37059301e+01] [-1.36708895e-01 2.00162315e-05 9.90611265e-01 -2.38841841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters 0.02890352310866104 Centerline is valid? [True, True] Translation: X:181.46, Y:-83.75, Z:-23.89 [[ 7.05033707e-01 7.02608294e-01 9.62759378e-02 1.81459020e+02] [-6.96069348e-01 7.11576711e-01 -9.56349647e-02 -8.37479065e+01] [-1.35701635e-01 4.11144384e-04 9.90749664e-01 -2.38896721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters 0.0289631629382374 Centerline is valid? [True, True] Translation: X:181.51, Y:-83.79, Z:-23.90 [[ 7.05268842e-01 7.02186301e-01 9.76230497e-02 1.81505787e+02] [-6.95444029e-01 7.11993027e-01 -9.70748764e-02 -8.37891061e+01] [-1.37671579e-01 5.72518650e-04 9.90477768e-01 -2.38962574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters 0.028969448107447247 Centerline is valid? [True, True] Translation: X:181.55, Y:-83.83, Z:-23.90 [[ 7.05427484e-01 7.02115198e-01 9.69861513e-02 1.81552362e+02] [-6.95447860e-01 7.12063080e-01 -9.65320948e-02 -8.38306243e+01] [-1.36836908e-01 6.47581459e-04 9.90593378e-01 -2.39032731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters 0.028925755864351 Centerline is valid? [True, True] Translation: X:181.60, Y:-83.87, Z:-23.91 [[ 7.05587959e-01 7.02018791e-01 9.65155434e-02 1.81598761e+02] [-6.95401446e-01 7.12158041e-01 -9.61652387e-02 -8.38728913e+01] [-1.36244125e-01 7.35985980e-04 9.90675021e-01 -2.39100532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters 0.0288542871360242 Centerline is valid? [True, True] Translation: X:181.65, Y:-83.91, Z:-23.92 [[ 7.06397119e-01 7.01379585e-01 9.52354351e-02 1.81647054e+02] [-6.94918560e-01 7.12787371e-01 -9.49860983e-02 -8.39123966e+01] [-1.34503926e-01 9.17034737e-04 9.90912636e-01 -2.39170296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters 0.029079421934892307 Centerline is valid? [True, True] Translation: X:181.69, Y:-83.95, Z:-23.93 [[ 7.07178444e-01 7.00412295e-01 9.65467049e-02 1.81693135e+02] [-6.93750049e-01 7.13737503e-01 -9.63828125e-02 -8.39532154e+01] [-1.36416711e-01 1.18056611e-03 9.90650840e-01 -2.39250166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters 0.029221813581573542 Centerline is valid? [True, True] Translation: X:181.74, Y:-84.00, Z:-23.93 [[ 7.06519547e-01 7.00993454e-01 9.71509461e-02 1.81738562e+02] [-6.94239998e-01 7.13166794e-01 -9.70770267e-02 -8.39970593e+01] [-1.37335189e-01 1.14074430e-03 9.90523975e-01 -2.39323156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters 0.02948715838963422 Centerline is valid? [True, True] Translation: X:181.79, Y:-84.32, Z:-21.98 [[ 7.48860916e-01 -6.59968062e-01 -6.04109749e-02 1.81791117e+02] [-6.56983642e-01 -7.51255186e-01 6.31517175e-02 -8.43231655e+01] [-8.70621748e-02 -7.60283071e-03 -9.96173868e-01 -2.19849101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters 0.029244319504026783 Centerline is valid? [True, True] Translation: X:181.80, Y:-84.06, Z:-23.94 [[ 7.56492449e-01 6.45677675e-01 1.04016896e-01 1.81804346e+02] [-6.39451189e-01 7.63609186e-01 -8.94605405e-02 -8.40629470e+01] [-1.37190931e-01 1.16249531e-03 9.90543940e-01 -2.39438092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters 0.029350681593949376 Centerline is valid? [True, True] Translation: X:181.86, Y:-84.10, Z:-23.95 [[ 7.56172732e-01 6.46045455e-01 1.04058012e-01 1.81855175e+02] [-6.39805803e-01 7.63298056e-01 -8.95802035e-02 -8.40997948e+01] [-1.37300161e-01 1.16118739e-03 9.90528807e-01 -2.39507452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters 0.02983794424558717 Centerline is valid? [True, True] Translation: X:181.91, Y:-84.13, Z:-23.96 [[ 7.58719280e-01 6.42788986e-01 1.05675797e-01 1.81906970e+02] [-6.36307987e-01 7.66041049e-01 -9.10673206e-02 -8.41346128e+01] [-1.39489069e-01 1.85217790e-03 9.90221879e-01 -2.39586709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters 0.030352843920440225 Centerline is valid? [True, True] Translation: X:181.96, Y:-84.17, Z:-23.96 [[ 7.62492751e-01 6.38524982e-01 1.04358286e-01 1.81955051e+02] [-6.32154204e-01 7.69596487e-01 -9.00128345e-02 -8.41731338e+01] [-1.37789214e-01 2.66360456e-03 9.90457994e-01 -2.39647515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters 0.031052959582367843 Centerline is valid? [True, True] Translation: X:182.00, Y:-84.21, Z:-23.97 [[ 7.64987347e-01 6.35310593e-01 1.05710969e-01 1.82002885e+02] [-6.28730661e-01 7.72249462e-01 -9.12607553e-02 -8.42115659e+01] [-1.39614164e-01 3.34959558e-03 9.90200316e-01 -2.39708708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters 0.0316094988389817 Centerline is valid? [True, True] Translation: X:182.05, Y:-84.25, Z:-23.98 [[ 7.66012460e-01 6.34262557e-01 1.04574950e-01 1.82049598e+02] [-6.27803500e-01 7.73109513e-01 -9.03573272e-02 -8.42533360e+01] [-1.38158158e-01 3.56231895e-03 9.90403773e-01 -2.39791155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters 0.031250705432059295 Centerline is valid? [True, True] Translation: X:182.10, Y:-84.29, Z:-23.98 [[ 7.64992745e-01 6.35813211e-01 1.02604389e-01 1.82096205e+02] [-6.29599594e-01 7.71835992e-01 -8.87330407e-02 -8.42948801e+01] [-1.35611400e-01 3.28045045e-03 9.90756674e-01 -2.39845647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters 0.031089026324723646 Centerline is valid? [True, True] Translation: X:182.14, Y:-84.33, Z:-23.99 [[ 7.62955372e-01 6.38135246e-01 1.03356220e-01 1.82143087e+02] [-6.31845798e-01 7.69918756e-01 -8.94203357e-02 -8.43347307e+01] [-1.36638160e-01 2.91853243e-03 9.90616725e-01 -2.39908503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters 0.03074100789267273 Centerline is valid? [True, True] Translation: X:182.19, Y:-84.37, Z:-24.00 [[ 7.59221736e-01 6.42514127e-01 1.03720547e-01 1.82191431e+02] [-6.36209419e-01 7.66270676e-01 -8.98155129e-02 -8.43733739e+01] [-1.37185749e-01 2.20190066e-03 9.90542892e-01 -2.39969750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters 0.03023332196518441 Centerline is valid? [True, True] Translation: X:182.24, Y:-84.41, Z:-24.00 [[ 7.55358044e-01 6.47202358e-01 1.02778081e-01 1.82239178e+02] [-6.41044357e-01 7.62316959e-01 -8.90785440e-02 -8.44124980e+01] [-1.36001318e-01 1.40088603e-03 9.90707666e-01 -2.40039369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters 0.030177393546080785 Centerline is valid? [True, True] Translation: X:182.29, Y:-84.45, Z:-24.01 [[ 7.53629755e-01 6.49313278e-01 1.02149197e-01 1.82290354e+02] [-6.43239190e-01 7.60520290e-01 -8.86128283e-02 -8.44488207e+01] [-1.35224023e-01 1.07489763e-03 9.90814467e-01 -2.40090889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters 0.03015727928754873 Centerline is valid? [True, True] Translation: X:182.34, Y:-84.49, Z:-24.02 [[ 7.52151495e-01 6.51046656e-01 1.02011669e-01 1.82340987e+02] [-6.44993559e-01 7.59037265e-01 -8.85761758e-02 -8.44856934e+01] [-1.35097881e-01 8.25833773e-04 9.90831913e-01 -2.40176314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters 0.03017646173097246 Centerline is valid? [True, True] Translation: X:182.39, Y:-84.52, Z:-24.02 [[ 7.52018337e-01 6.51088873e-01 1.02721465e-01 1.82389996e+02] [-6.44938554e-01 7.59000974e-01 -8.92848429e-02 -8.45241246e+01] [-1.36098060e-01 8.94805852e-04 9.90694967e-01 -2.40243013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters 0.030153819813492768 Centerline is valid? [True, True] Translation: X:182.44, Y:-84.56, Z:-24.03 [[ 7.51856871e-01 6.51395350e-01 1.01957558e-01 1.82441594e+02] [-6.45328463e-01 7.58737964e-01 -8.87010510e-02 -8.45599108e+01] [-1.35138522e-01 8.94380601e-04 9.90826312e-01 -2.40297359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters 0.030318379360753583 Centerline is valid? [True, True] Translation: X:182.49, Y:-84.60, Z:-24.04 [[ 7.52083122e-01 6.51267628e-01 1.01101212e-01 1.82490836e+02] [-6.45290780e-01 7.58847505e-01 -8.80356400e-02 -8.45974331e+01] [-1.34055165e-01 9.70439151e-04 9.90973396e-01 -2.40382937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters 0.03065173358575659 Centerline is valid? [True, True] Translation: X:182.54, Y:-84.63, Z:-24.04 [[ 7.53371993e-01 6.49780407e-01 1.01074541e-01 1.82542223e+02] [-6.43782294e-01 7.60120871e-01 -8.80943762e-02 -8.46344439e+01] [-1.34070867e-01 1.29783620e-03 9.90970897e-01 -2.40441891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters 0.03102503658417233 Centerline is valid? [True, True] Translation: X:182.59, Y:-84.67, Z:-24.05 [[ 7.53966974e-01 6.48949478e-01 1.01972433e-01 1.82590853e+02] [-6.42823808e-01 7.60829967e-01 -8.89680492e-02 -8.46722203e+01] [-1.35319452e-01 1.52866315e-03 9.90800842e-01 -2.40519849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters 0.03151240045947325 Centerline is valid? [True, True] Translation: X:182.64, Y:-84.71, Z:-24.06 [[ 7.55767429e-01 6.46625527e-01 1.03397395e-01 1.82639511e+02] [-6.40293412e-01 7.62804876e-01 -9.02943329e-02 -8.47104169e+01] [-1.37258658e-01 2.03684464e-03 9.90533145e-01 -2.40609047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters 0.03170082432007088 Centerline is valid? [True, True] Translation: X:182.69, Y:-84.75, Z:-24.07 [[ 7.55582518e-01 6.47075192e-01 1.01925244e-01 1.82686148e+02] [-6.40916292e-01 7.62423601e-01 -8.90873742e-02 -8.47516398e+01] [-1.35356441e-01 1.98731317e-03 9.90794976e-01 -2.40678642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters 0.03149875871893467 Centerline is valid? [True, True] Translation: X:182.73, Y:-84.79, Z:-24.07 [[ 7.53623105e-01 6.49208723e-01 1.02860335e-01 1.82734580e+02] [-6.42943991e-01 7.60608440e-01 -8.99879145e-02 -8.47915971e+01] [-1.36657378e-01 1.68353692e-03 9.90616942e-01 -2.40739923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters 0.03165929749194868 Centerline is valid? [True, True] Translation: X:182.78, Y:-84.83, Z:-24.08 [[ 7.53960527e-01 6.48969320e-01 1.01893796e-01 1.82780873e+02] [-6.42808093e-01 7.60812500e-01 -8.92305768e-02 -8.48323739e+01] [-1.35429981e-01 1.77817587e-03 9.90785324e-01 -2.40816035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters 0.031931998128147523 Centerline is valid? [True, True] Translation: X:182.83, Y:-84.87, Z:-24.09 [[ 7.54760593e-01 6.47934451e-01 1.02554343e-01 1.82828216e+02] [-6.41672176e-01 7.61693371e-01 -8.98889695e-02 -8.48723639e+01] [-1.36357124e-01 2.03838331e-03 9.90657650e-01 -2.40893749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters 0.032151754125109885 Centerline is valid? [True, True] Translation: X:182.88, Y:-84.91, Z:-24.10 [[ 7.54886261e-01 6.47780864e-01 1.02599632e-01 1.82876070e+02] [-6.41500323e-01 7.61823743e-01 -9.00106673e-02 -8.49127399e+01] [-1.36470024e-01 2.13011895e-03 9.90641911e-01 -2.40959610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters 0.032110228557987966 Centerline is valid? [True, True] Translation: X:182.92, Y:-84.95, Z:-24.10 [[ 7.54071623e-01 6.48511954e-01 1.03962651e-01 1.82923146e+02] [-6.42056683e-01 7.61201586e-01 -9.12982022e-02 -8.49528818e+01] [-1.38344511e-01 2.09546839e-03 9.90381949e-01 -2.41032857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters 0.0321683012975561 Centerline is valid? [True, True] Translation: X:182.97, Y:-84.99, Z:-24.11 [[ 7.54719145e-01 6.47963706e-01 1.02674479e-01 1.82969965e+02] [-6.41652230e-01 7.61667951e-01 -9.02460442e-02 -8.49928105e+01] [-1.36680021e-01 2.22910891e-03 9.90612741e-01 -2.41099057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters 0.03204651370907996 Centerline is valid? [True, True] Translation: X:183.02, Y:-85.03, Z:-24.12 [[ 7.55464868e-01 6.47091845e-01 1.02688736e-01 1.83017196e+02] [-6.40760402e-01 7.62408139e-01 -9.03323702e-02 -8.50321045e+01] [-1.36744068e-01 2.44405639e-03 9.90603395e-01 -2.41160437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters 0.03179708330946411 Centerline is valid? [True, True] Translation: X:183.06, Y:-85.07, Z:-24.12 [[ 7.54259390e-01 6.48331419e-01 1.03726296e-01 1.83064627e+02] [-6.41874866e-01 7.61354816e-01 -9.12989619e-02 -8.50736524e+01] [-1.38164501e-01 2.28379679e-03 9.90406661e-01 -2.41230866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters 0.031753940933464724 Centerline is valid? [True, True] Translation: X:183.11, Y:-85.11, Z:-24.13 [[ 7.53205115e-01 6.49576064e-01 1.03600154e-01 1.83112434e+02] [-6.43134412e-01 7.60293649e-01 -9.12781233e-02 -8.51131767e+01] [-1.38058623e-01 2.12232545e-03 9.90421785e-01 -2.41298522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters 0.031568228819874596 Centerline is valid? [True, True] Translation: X:183.16, Y:-85.15, Z:-24.14 [[ 7.50307654e-01 6.52688603e-01 1.05052425e-01 1.83159779e+02] [-6.46082340e-01 7.57624514e-01 -9.26428908e-02 -8.51547874e+01] [-1.40057251e-01 1.63815345e-03 9.90142052e-01 -2.41371520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters 0.03134705009491912 Centerline is valid? [True, True] Translation: X:183.21, Y:-85.20, Z:-24.14 [[ 7.48918000e-01 6.54533237e-01 1.03479810e-01 1.83206326e+02] [-6.48129276e-01 7.56032037e-01 -9.13455085e-02 -8.51952852e+01] [-1.38022723e-01 1.34200093e-03 9.90428153e-01 -2.41444197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters 0.03134694370947949 Centerline is valid? [True, True] Translation: X:183.25, Y:-85.24, Z:-24.15 [[ 7.49179149e-01 6.54335487e-01 1.02838090e-01 1.83253192e+02] [-6.47997733e-01 7.56203026e-01 -9.08620992e-02 -8.52367626e+01] [-1.37220771e-01 1.43314095e-03 9.90539452e-01 -2.41506399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters 0.03148073368843308 Centerline is valid? [True, True] Translation: X:183.30, Y:-85.28, Z:-24.16 [[ 7.48743252e-01 6.54839475e-01 1.02804689e-01 1.83299492e+02] [-6.48497748e-01 7.55766677e-01 -9.09252457e-02 -8.52783754e+01] [-1.37237798e-01 1.41105484e-03 9.90537125e-01 -2.41583718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters 0.031735482034146154 Centerline is valid? [True, True] Translation: X:183.35, Y:-85.32, Z:-24.17 [[ 7.48179673e-01 6.55502092e-01 1.02684879e-01 1.83345854e+02] [-6.49168606e-01 7.55192136e-01 -9.09118184e-02 -8.53201440e+01] [-1.37139700e-01 1.35857463e-03 9.90550785e-01 -2.41653856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters 0.031347561339910374 Centerline is valid? [True, True] Translation: X:183.39, Y:-85.36, Z:-24.17 [[ 7.47120961e-01 6.56986107e-01 1.00893635e-01 1.83392032e+02] [-6.50874104e-01 7.53901830e-01 -8.94143840e-02 -8.53612589e+01] [-1.34807904e-01 1.13430610e-03 9.90871103e-01 -2.41707314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters 0.03146231522365371 Centerline is valid? [True, True] Translation: X:183.44, Y:-85.40, Z:-24.18 [[ 7.46742261e-01 6.57463308e-01 1.00588239e-01 1.83438998e+02] [-6.51381728e-01 7.53485749e-01 -8.92248349e-02 -8.54021937e+01] [-1.34453860e-01 1.10661385e-03 9.90919237e-01 -2.41782739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters 0.03137477248895877 Centerline is valid? [True, True] Translation: X:183.49, Y:-85.44, Z:-24.18 [[ 7.47737855e-01 6.56471981e-01 9.96626257e-02 1.83486295e+02] [-6.50481476e-01 7.54349216e-01 -8.84935608e-02 -8.54435518e+01] [-1.33273967e-01 1.34129349e-03 9.91078327e-01 -2.41839633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters 0.03144519015064125 Centerline is valid? [True, True] Translation: X:183.53, Y:-85.48, Z:-24.19 [[ 7.50133145e-01 6.53612678e-01 1.00452630e-01 1.83533815e+02] [-6.47488534e-01 7.56826748e-01 -8.92853405e-02 -8.54833378e+01] [-1.34383268e-01 1.93396731e-03 9.90927544e-01 -2.41927009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters 0.031327007925322725 Centerline is valid? [True, True] Translation: X:183.58, Y:-85.52, Z:-24.20 [[ 7.50461508e-01 6.53446995e-01 9.90684076e-02 1.83580494e+02] [-6.47479415e-01 7.56969645e-01 -8.81326544e-02 -8.55242670e+01] [-1.32581796e-01 1.99541019e-03 9.91170059e-01 -2.41994630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters 0.030984212136152767 Centerline is valid? [True, True] Translation: X:183.63, Y:-85.57, Z:-24.21 [[ 7.49611087e-01 6.54278672e-01 1.00013193e-01 1.83627690e+02] [-6.48192579e-01 7.56251084e-01 -8.90543611e-02 -8.55659554e+01] [-1.33901454e-01 1.92832712e-03 9.90992776e-01 -2.42065920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters 0.031021033299693763 Centerline is valid? [True, True] Translation: X:183.67, Y:-85.61, Z:-24.21 [[ 7.48660284e-01 6.55426774e-01 9.96168857e-02 1.83674936e+02] [-6.49387321e-01 7.55256622e-01 -8.87893137e-02 -8.56064192e+01] [-1.33431206e-01 1.78309024e-03 9.91056474e-01 -2.42142420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters 0.03078445434666504 Centerline is valid? [True, True] Translation: X:183.72, Y:-85.65, Z:-24.22 [[ 7.49382883e-01 6.54759598e-01 9.85655243e-02 1.83723640e+02] [-6.48831308e-01 7.55834703e-01 -8.79308552e-02 -8.56457683e+01] [-1.32072815e-01 1.94147978e-03 9.91238116e-01 -2.42203020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters 0.030996096038100277 Centerline is valid? [True, True] Translation: X:183.77, Y:-85.68, Z:-24.23 [[ 7.50727049e-01 6.53121776e-01 9.92010279e-02 1.83772471e+02] [-6.47090341e-01 7.57249365e-01 -8.85860586e-02 -8.56836874e+01] [-1.32977399e-01 2.31192341e-03 9.91116374e-01 -2.42271608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters 0.03137901265942142 Centerline is valid? [True, True] Translation: X:183.82, Y:-85.72, Z:-24.24 [[ 7.52138934e-01 6.51498739e-01 9.91787138e-02 1.83818772e+02] [-6.45445472e-01 7.58645059e-01 -8.86443255e-02 -8.57249048e+01] [-1.32993108e-01 2.65839672e-03 9.91113397e-01 -2.42355508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters 0.031655942267943236 Centerline is valid? [True, True] Translation: X:183.87, Y:-85.77, Z:-24.24 [[ 7.52613808e-01 6.50975088e-01 9.90146022e-02 1.83866346e+02] [-6.44926865e-01 7.59093906e-01 -8.85764122e-02 -8.57661386e+01] [-1.32822419e-01 2.80665385e-03 9.91135878e-01 -2.42421325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters 0.03194572592407585 Centerline is valid? [True, True] Translation: X:183.91, Y:-85.81, Z:-24.25 [[ 7.53776569e-01 6.49423950e-01 1.00346486e-01 1.83910837e+02] [-6.43185404e-01 7.60419854e-01 -8.98564484e-02 -8.58086945e+01] [-1.34660390e-01 3.19029029e-03 9.90886674e-01 -2.42501426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters 0.03214437011757451 Centerline is valid? [True, True] Translation: X:183.96, Y:-85.85, Z:-24.26 [[ 7.55547376e-01 6.47664716e-01 9.83797632e-02 1.83957164e+02] [-6.41644408e-01 7.61917459e-01 -8.81716532e-02 -8.58509933e+01] [-1.32062928e-01 3.49303638e-03 9.91235180e-01 -2.42568860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters 0.03308326690552492 Centerline is valid? [True, True] Translation: X:184.00, Y:-85.89, Z:-24.26 [[ 7.58772482e-01 6.43573979e-01 1.00383533e-01 1.84000393e+02] [-6.37258474e-01 7.65371533e-01 -9.00447361e-02 -8.58940046e+01] [-1.34781148e-01 4.35321090e-03 9.90865829e-01 -2.42627933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters 0.0329983446092613 Centerline is valid? [True, True] Translation: X:184.05, Y:-85.94, Z:-24.27 [[ 7.59016174e-01 6.43301705e-01 1.00286414e-01 1.84045763e+02] [-6.36993290e-01 7.65600052e-01 -8.99783761e-02 -8.59353572e+01] [-1.34662526e-01 4.41327021e-03 9.90881692e-01 -2.42695074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters 0.03298775361056481 Centerline is valid? [True, True] Translation: X:184.09, Y:-85.98, Z:-24.28 [[ 7.58830695e-01 6.43324134e-01 1.01538343e-01 1.84089919e+02] [-6.36846519e-01 7.65580570e-01 -9.11751186e-02 -8.59791443e+01] [-1.36390937e-01 4.52213843e-03 9.90644771e-01 -2.42770438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters 0.0334383103825774 Centerline is valid? [True, True] Translation: X:184.13, Y:-86.02, Z:-24.28 [[ 7.58955288e-01 6.42840375e-01 1.03649036e-01 1.84134377e+02] [-6.36073573e-01 7.65985324e-01 -9.31498398e-02 -8.60216721e+01] [-1.39274118e-01 4.76815105e-03 9.90242387e-01 -2.42839400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters 0.03369443123981982 Centerline is valid? [True, True] Translation: X:184.18, Y:-86.06, Z:-24.29 [[ 7.60367144e-01 6.41474337e-01 1.01747142e-01 1.84179961e+02] [-6.34932449e-01 7.67128316e-01 -9.15146564e-02 -8.60641167e+01] [-1.36757417e-01 4.98217578e-03 9.90592038e-01 -2.42906547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters 0.0346409770443432 Centerline is valid? [True, True] Translation: X:184.22, Y:-86.11, Z:-24.30 [[ 7.62825683e-01 6.38273630e-01 1.03458932e-01 1.84221468e+02] [-6.31468595e-01 7.69788384e-01 -9.31303230e-02 -8.61091079e+01] [-1.39084113e-01 5.71113609e-03 9.90264102e-01 -2.42994381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters 0.035218949771135336 Centerline is valid? [True, True] Translation: X:184.26, Y:-86.15, Z:-24.31 [[ 7.64206575e-01 6.36664394e-01 1.03183136e-01 1.84263497e+02] [-6.29877887e-01 7.71117612e-01 -9.29057368e-02 -8.61547254e+01] [-1.38716108e-01 6.00639939e-03 9.90313973e-01 -2.43066264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters 0.035083054569128344 Centerline is valid? [True, True] Translation: X:184.30, Y:-86.20, Z:-24.31 [[ 7.64270257e-01 6.36689981e-01 1.02551655e-01 1.84304703e+02] [-6.29975956e-01 7.71096335e-01 -9.24161114e-02 -8.62018171e+01] [-1.37917618e-01 6.02580812e-03 9.90425373e-01 -2.43144641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters 0.03525273389829741 Centerline is valid? [True, True] Translation: X:184.35, Y:-86.25, Z:-24.32 [[ 7.62498144e-01 6.38522981e-01 1.04331122e-01 1.84348792e+02] [-6.31576776e-01 7.69580400e-01 -9.41104859e-02 -8.62463942e+01] [-1.40382895e-01 5.86595733e-03 9.90079913e-01 -2.43237648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters 0.03386999776792026 Centerline is valid? [True, True] Translation: X:184.39, Y:-86.30, Z:-24.33 [[ 7.59330985e-01 6.42352254e-01 1.03923225e-01 1.84387139e+02] [-6.35485495e-01 7.66391923e-01 -9.38168738e-02 -8.62953392e+01] [-1.39909400e-01 5.19635737e-03 9.90150674e-01 -2.43290925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters 0.03344922352838305 Centerline is valid? [True, True] Translation: X:184.43, Y:-86.34, Z:-24.34 [[ 7.57292497e-01 6.44914301e-01 1.02925300e-01 1.84430194e+02] [-6.38201293e-01 7.64240527e-01 -9.29275363e-02 -8.63384493e+01] [-1.38589983e-01 4.68626628e-03 9.90338758e-01 -2.43365165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters 0.032306921223213186 Centerline is valid? [True, True] Translation: X:184.47, Y:-86.38, Z:-24.34 [[ 7.54896937e-01 6.48068326e-01 1.00687930e-01 1.84471883e+02] [-6.41671487e-01 7.61571553e-01 -9.09201469e-02 -8.63838231e+01] [-1.35603530e-01 4.02676685e-03 9.90754999e-01 -2.43410653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters 0.03209976972123847 Centerline is valid? [True, True] Translation: X:184.52, Y:-86.43, Z:-24.35 [[ 7.52873096e-01 6.50321057e-01 1.01314483e-01 1.84516694e+02] [-6.43860989e-01 7.59650651e-01 -9.15091010e-02 -8.64265601e+01] [-1.36473908e-01 3.66229664e-03 9.90636896e-01 -2.43483966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters 0.03173416430657638 Centerline is valid? [True, True] Translation: X:184.56, Y:-86.47, Z:-24.36 [[ 7.49999092e-01 6.53525983e-01 1.02005647e-01 1.84562468e+02] [-6.46995214e-01 7.56897472e-01 -9.22139310e-02 -8.64679584e+01] [-1.37472016e-01 3.16319899e-03 9.90500600e-01 -2.43559464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters 0.031967527008711666 Centerline is valid? [True, True] Translation: X:184.61, Y:-86.51, Z:-24.36 [[ 7.50622405e-01 6.52826781e-01 1.01897984e-01 1.84609070e+02] [-6.46292285e-01 7.57499819e-01 -9.21971037e-02 -8.65091521e+01] [-1.37376443e-01 3.34933061e-03 9.90513248e-01 -2.43632310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters 0.032406312080644345 Centerline is valid? [True, True] Translation: X:184.66, Y:-86.55, Z:-24.37 [[ 7.52435168e-01 6.50832653e-01 1.01282652e-01 1.84655567e+02] [-6.44348149e-01 7.59211944e-01 -9.17207042e-02 -8.65496673e+01] [-1.36589828e-01 3.75259432e-03 9.90620582e-01 -2.43689807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters 0.033298557829231204 Centerline is valid? [True, True] Translation: X:184.70, Y:-86.59, Z:-24.38 [[ 7.55415040e-01 6.47284032e-01 1.01840559e-01 1.84700354e+02] [-6.40685524e-01 7.62235764e-01 -9.22968036e-02 -8.65918495e+01] [-1.37368764e-01 4.47462159e-03 9.90509869e-01 -2.43768980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters 0.034151778096267064 Centerline is valid? [True, True] Translation: X:184.74, Y:-86.63, Z:-24.38 [[ 7.57967242e-01 6.44175654e-01 1.02583555e-01 1.84744041e+02] [-6.37447071e-01 7.64860576e-01 -9.30028571e-02 -8.66347678e+01] [-1.38372294e-01 5.10153227e-03 9.90367145e-01 -2.43839007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters 0.034550091622209865 Centerline is valid? [True, True] Translation: X:184.79, Y:-86.68, Z:-24.39 [[ 7.59919520e-01 6.41808077e-01 1.02979198e-01 1.84785943e+02] [-6.34996469e-01 7.66844817e-01 -9.34264983e-02 -8.66802893e+01] [-1.38930945e-01 5.60519293e-03 9.90286208e-01 -2.43898403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters 0.0338750316592516 Centerline is valid? [True, True] Translation: X:184.83, Y:-86.73, Z:-24.40 [[ 7.57499698e-01 6.44790362e-01 1.02174345e-01 1.84825814e+02] [-6.38108211e-01 7.64342841e-01 -9.27250359e-02 -8.67274992e+01] [-1.37884439e-01 5.04089803e-03 9.90435496e-01 -2.43969119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters 0.03223029643075582 Centerline is valid? [True, True] Translation: X:184.87, Y:-86.77, Z:-24.40 [[ 7.51979859e-01 6.51400731e-01 1.01011782e-01 1.84867013e+02] [-6.44922601e-01 7.58724225e-01 -9.17190836e-02 -8.67734340e+01] [-1.36385964e-01 3.82612232e-03 9.90648388e-01 -2.44041534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters 0.031022430435864674 Centerline is valid? [True, True] Translation: X:184.91, Y:-86.82, Z:-24.41 [[ 7.46246156e-01 6.57961442e-01 1.01011954e-01 1.84909323e+02] [-6.51540516e-01 7.53046981e-01 -9.17344055e-02 -8.68182555e+01] [-1.36424449e-01 2.64306683e-03 9.90646952e-01 -2.44101994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters 0.03056732016279604 Centerline is valid? [True, True] Translation: X:184.95, Y:-86.86, Z:-24.42 [[ 7.41522669e-01 6.63504487e-01 9.95285222e-02 1.84954748e+02] [-6.57317312e-01 7.48170544e-01 -9.04145322e-02 -8.68600838e+01] [-1.34454756e-01 1.62260451e-03 9.90918405e-01 -2.44172524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters 0.030489160677689125 Centerline is valid? [True, True] Translation: X:185.00, Y:-86.90, Z:-24.42 [[ 7.38080499e-01 6.67239862e-01 1.00140615e-01 1.85000454e+02] [-6.60998735e-01 7.44842226e-01 -9.10534427e-02 -8.69014570e+01] [-1.35343445e-01 1.01195058e-03 9.90798228e-01 -2.44245026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters 0.030239149744475027 Centerline is valid? [True, True] Translation: X:185.05, Y:-86.94, Z:-24.43 [[ 7.35302299e-01 6.70371308e-01 9.96636257e-02 1.85047482e+02] [-6.64207044e-01 7.42025649e-01 -9.07024805e-02 -8.69421828e+01] [-1.34757307e-01 4.96460263e-04 9.90878510e-01 -2.44297988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters 0.03031628930276775 Centerline is valid? [True, True] Translation: X:185.10, Y:-86.98, Z:-24.44 [[ 7.32091605e-01 6.73790428e-01 1.00241414e-01 1.85096551e+02] [-6.67574048e-01 7.38922495e-01 -9.13150383e-02 -8.69817966e+01] [-1.35597835e-01 -6.75937475e-05 9.90763959e-01 -2.44369956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters 0.03028703108112106 Centerline is valid? [True, True] Translation: X:185.15, Y:-87.02, Z:-24.44 [[ 7.29903023e-01 6.76164943e-01 1.00212511e-01 1.85147505e+02] [-6.69961072e-01 7.36750148e-01 -9.13858941e-02 -8.70187698e+01] [-1.35623520e-01 -4.35641119e-04 9.90760350e-01 -2.44428355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters 0.030272658163594268 Centerline is valid? [True, True] Translation: X:185.20, Y:-87.05, Z:-24.45 [[ 7.28874512e-01 6.77238277e-01 1.00450292e-01 1.85200032e+02] [-6.71001500e-01 7.35763547e-01 -9.17005401e-02 -8.70535703e+01] [-1.36010779e-01 -5.64110557e-04 9.90707197e-01 -2.44499730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters 0.030238511280453496 Centerline is valid? [True, True] Translation: X:185.26, Y:-87.09, Z:-24.46 [[ 7.29591537e-01 6.76375775e-01 1.01054442e-01 1.85255509e+02] [-6.70041477e-01 7.36556651e-01 -9.23510580e-02 -8.70862235e+01] [-1.36896340e-01 -3.32117591e-04 9.90585323e-01 -2.44555443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters 0.029966796965707664 Centerline is valid? [True, True] Translation: X:185.31, Y:-87.12, Z:-24.46 [[ 7.31278909e-01 6.74731737e-01 9.98410752e-02 1.85311363e+02] [-6.68521075e-01 7.38063060e-01 -9.13372427e-02 -8.71164681e+01] [-1.35317146e-01 4.71362635e-05 9.90802335e-01 -2.44628583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters 0.030142351667470677 Centerline is valid? [True, True] Translation: X:185.37, Y:-87.15, Z:-24.47 [[ 7.34383094e-01 6.71098611e-01 1.01528940e-01 1.85367159e+02] [-6.64628271e-01 7.41367669e-01 -9.29690243e-02 -8.71466182e+01] [-1.37661657e-01 7.95875738e-04 9.90478993e-01 -2.44698107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters 0.03056303054228075 Centerline is valid? [True, True] Translation: X:185.42, Y:-87.18, Z:-24.48 [[ 7.39193541e-01 6.65841604e-01 1.01231749e-01 1.85419927e+02] [-6.59348210e-01 7.46090870e-01 -9.27812034e-02 -8.71802034e+01] [-1.37305669e-01 1.83629374e-03 9.90527022e-01 -2.44767330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters 0.031135540407061766 Centerline is valid? [True, True] Translation: X:185.47, Y:-87.22, Z:-24.48 [[ 7.42982543e-01 6.61583576e-01 1.01410615e-01 1.85469541e+02] [-6.55015912e-01 7.49866602e-01 -9.30281365e-02 -8.72180912e+01] [-1.37590320e-01 2.69271528e-03 9.90485564e-01 -2.44838277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters 0.031781803608872346 Centerline is valid? [True, True] Translation: X:185.52, Y:-87.26, Z:-24.49 [[ 7.46924748e-01 6.57217782e-01 1.00837536e-01 1.85519398e+02] [-6.50673587e-01 7.53692413e-01 -9.25830943e-02 -8.72551975e+01] [-1.36847742e-01 3.54028285e-03 9.90585767e-01 -2.44904547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters 0.0322542088306886 Centerline is valid? [True, True] Translation: X:185.56, Y:-87.30, Z:-24.50 [[ 7.48511853e-01 6.55364016e-01 1.01133636e-01 1.85564695e+02] [-6.48753088e-01 7.55302841e-01 -9.29357259e-02 -8.72972767e+01] [-1.37293253e-01 3.95273385e-03 9.90522558e-01 -2.44994979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters 0.033306701093988214 Centerline is valid? [True, True] Translation: X:185.61, Y:-87.34, Z:-24.51 [[ 7.51576554e-01 6.51867373e-01 1.01003028e-01 1.85607554e+02] [-6.45232431e-01 7.58318796e-01 -9.28854839e-02 -8.73417890e+01] [-1.37141511e-01 4.64012285e-03 9.90540598e-01 -2.45070337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters 0.032907130348104864 Centerline is valid? [True, True] Translation: X:185.65, Y:-87.39, Z:-24.51 [[ 7.50166587e-01 6.53456960e-01 1.01213113e-01 1.85647940e+02] [-6.46804038e-01 7.56950977e-01 -9.31115191e-02 -8.73889245e+01] [-1.37457735e-01 4.38410032e-03 9.90497931e-01 -2.45141379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters 0.03181200854143215 Centerline is valid? [True, True] Translation: X:185.69, Y:-87.44, Z:-24.52 [[ 7.45659592e-01 6.58648347e-01 1.00866887e-01 1.85686534e+02] [-6.52078859e-01 7.52442906e-01 -9.28592210e-02 -8.74371110e+01] [-1.37058146e-01 3.46820415e-03 9.90556932e-01 -2.45198612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters 0.030494169950963 Centerline is valid? [True, True] Translation: X:185.73, Y:-87.48, Z:-24.53 [[ 7.39104346e-01 6.65982217e-01 1.00957677e-01 1.85726199e+02] [-6.59466697e-01 7.45964592e-01 -9.29543039e-02 -8.74841176e+01] [-1.37216765e-01 2.12470451e-03 9.90538765e-01 -2.45258965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters 0.03009302910102907 Centerline is valid? [True, True] Translation: X:185.77, Y:-87.53, Z:-24.53 [[ 7.33005358e-01 6.72685467e-01 1.00982213e-01 1.85769832e+02] [-6.66226170e-01 7.39928013e-01 -9.30012172e-02 -8.75284718e+01] [-1.37280136e-01 8.93397266e-04 9.90531860e-01 -2.45327809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters 0.030008853626333584 Centerline is valid? [True, True] Translation: X:185.81, Y:-87.57, Z:-24.54 [[ 7.27537999e-01 6.78738798e-01 1.00010523e-01 1.85814906e+02] [-6.72449091e-01 7.34379746e-01 -9.21878971e-02 -8.75711624e+01] [-1.36017205e-01 -1.81787401e-04 9.90706458e-01 -2.45400661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters 0.030098267234616415 Centerline is valid? [True, True] Translation: X:185.86, Y:-87.61, Z:-24.55 [[ 7.25449859e-01 6.80846087e-01 1.00851911e-01 1.85862778e+02] [-6.74457983e-01 7.32426336e-01 -9.30488723e-02 -8.76102775e+01] [-1.37218556e-01 -5.18085083e-04 9.90540660e-01 -2.45467441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters 0.030147468910360214 Centerline is valid? [True, True] Translation: X:185.91, Y:-87.65, Z:-24.55 [[ 7.24608264e-01 6.81845177e-01 1.00149980e-01 1.85910683e+02] [-6.75543976e-01 7.31496237e-01 -9.24856277e-02 -8.76488853e+01] [-1.36320212e-01 -6.39865237e-04 9.90664620e-01 -2.45542395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters 0.03023449157297092 Centerline is valid? [True, True] Translation: X:185.96, Y:-87.69, Z:-24.56 [[ 7.29125801e-01 6.77212887e-01 9.87839597e-02 1.85960706e+02] [-6.71029389e-01 7.35787077e-01 -9.13068254e-02 -8.76864446e+01] [-1.34518120e-01 2.87222055e-04 9.90911092e-01 -2.45616386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters 0.03043438731897747 Centerline is valid? [True, True] Translation: X:186.01, Y:-87.72, Z:-24.57 [[ 7.34283178e-01 6.71594604e-01 9.89388864e-02 1.86008835e+02] [-6.65329017e-01 7.40917519e-01 -9.15343098e-02 -8.77246934e+01] [-1.34779503e-01 1.38519182e-03 9.90874647e-01 -2.45698376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters 0.030951737605724543 Centerline is valid? [True, True] Translation: X:186.06, Y:-87.77, Z:-24.57 [[ 7.40967243e-01 6.64443759e-01 9.73757454e-02 1.86056135e+02] [-6.58302751e-01 7.47333360e-01 -9.01683765e-02 -8.77651967e+01] [-1.32683958e-01 2.70909221e-03 9.91154694e-01 -2.45747694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters 0.032287537923238845 Centerline is valid? [True, True] Translation: X:186.10, Y:-87.81, Z:-24.58 [[ 7.46240896e-01 6.58284193e-01 9.89264710e-02 1.86098745e+02] [-6.51881286e-01 7.52759278e-01 -9.16747446e-02 -8.78090297e+01] [-1.34815854e-01 3.92312837e-03 9.90862904e-01 -2.45826605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters 0.03304030507224871 Centerline is valid? [True, True] Translation: X:186.14, Y:-87.85, Z:-24.59 [[ 7.48510386e-01 6.55784059e-01 9.83842984e-02 1.86142648e+02] [-6.49426990e-01 7.54935893e-01 -9.11942048e-02 -8.78530319e+01] [-1.34077544e-01 4.36639065e-03 9.90961224e-01 -2.45900371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters 0.032847650121769434 Centerline is valid? [True, True] Translation: X:186.19, Y:-87.90, Z:-24.60 [[ 7.48842728e-01 6.55599017e-01 9.70798532e-02 1.86186155e+02] [-6.49398321e-01 7.55096402e-01 -9.00624463e-02 -8.78976536e+01] [-1.32349499e-01 4.39911432e-03 9.91193350e-01 -2.45968011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters 0.03378568908885226 Centerline is valid? [True, True] Translation: X:186.23, Y:-87.95, Z:-24.60 [[ 7.50566016e-01 6.53401730e-01 9.85740104e-02 1.86225854e+02] [-6.46977050e-01 7.56995303e-01 -9.15358301e-02 -8.79451686e+01] [-1.34429733e-01 4.92856089e-03 9.90910872e-01 -2.46041438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters 0.03405770407870294 Centerline is valid? [True, True] Translation: X:186.27, Y:-87.99, Z:-24.61 [[ 7.50869300e-01 6.52751060e-01 1.00555199e-01 1.86266360e+02] [-6.46047843e-01 7.57554582e-01 -9.34518031e-02 -8.79920632e+01] [-1.37176815e-01 5.20662039e-03 9.90532893e-01 -2.46120773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters 0.03327734751732594 Centerline is valid? [True, True] Translation: X:186.31, Y:-88.04, Z:-24.62 [[ 7.48701096e-01 6.55305068e-01 1.00109628e-01 1.86308713e+02] [-6.48673230e-01 7.55349219e-01 -9.31160498e-02 -8.80374391e+01] [-1.36637148e-01 4.77765310e-03 9.90609642e-01 -2.46179373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters 0.03216097140189931 Centerline is valid? [True, True] Translation: X:186.35, Y:-88.08, Z:-24.63 [[ 7.43839191e-01 6.60759837e-01 1.00497246e-01 1.86349905e+02] [-6.54116124e-01 7.50587541e-01 -9.35437888e-02 -8.80821405e+01] [-1.37241959e-01 3.84466716e-03 9.90530092e-01 -2.46264947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters 0.031587403868767634 Centerline is valid? [True, True] Translation: X:186.39, Y:-88.12, Z:-24.63 [[ 7.39478942e-01 6.65695952e-01 1.00098924e-01 1.86394667e+02] [-6.59148170e-01 7.46217345e-01 -9.31845655e-02 -8.81236244e+01] [-1.36728142e-01 2.92800118e-03 9.90604281e-01 -2.46327058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters 0.030917703371022606 Centerline is valid? [True, True] Translation: X:186.44, Y:-88.17, Z:-24.64 [[ 7.36115270e-01 6.69321311e-01 1.00713908e-01 1.86440895e+02] [-6.62722603e-01 7.42969544e-01 -9.37817002e-02 -8.81650725e+01] [-1.37597457e-01 2.28875821e-03 9.90485589e-01 -2.46395966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters 0.030907504217927775 Centerline is valid? [True, True] Translation: X:186.49, Y:-88.21, Z:-24.65 [[ 7.34192575e-01 6.71351924e-01 1.01231701e-01 1.86487847e+02] [-6.64692046e-01 7.41136062e-01 -9.43494614e-02 -8.82064246e+01] [-1.38368157e-01 1.98276763e-03 9.90378878e-01 -2.46477780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters 0.03087527894774445 Centerline is valid? [True, True] Translation: X:186.54, Y:-88.25, Z:-24.65 [[ 7.35049911e-01 6.70689893e-01 9.93815705e-02 1.86535512e+02] [-6.64253858e-01 7.41734793e-01 -9.27162834e-02 -8.82468055e+01] [-1.35898643e-01 2.13650418e-03 9.90720442e-01 -2.46537151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters 0.03114625028309438 Centerline is valid? [True, True] Translation: X:186.58, Y:-88.29, Z:-24.66 [[ 7.36946021e-01 6.68735014e-01 9.85091011e-02 1.86581105e+02] [-6.62383440e-01 7.43496500e-01 -9.19844185e-02 -8.82888579e+01] [-1.34754373e-01 2.53675398e-03 9.90875786e-01 -2.46626290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters 0.031835293281373876 Centerline is valid? [True, True] Translation: X:186.63, Y:-88.33, Z:-24.67 [[ 7.39413808e-01 6.65784627e-01 9.99902560e-02 1.86626379e+02] [-6.59202434e-01 7.46137204e-01 -9.34420855e-02 -8.83316315e+01] [-1.36818754e-01 3.17854804e-03 9.90590998e-01 -2.46683204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters 0.03217692208448634 Centerline is valid? [True, True] Translation: X:186.67, Y:-88.38, Z:-24.68 [[ 7.41286402e-01 6.63637401e-01 1.00398551e-01 1.86669855e+02] [-6.56976700e-01 7.48045670e-01 -9.38578287e-02 -8.83752314e+01] [-1.37390267e-01 3.61602334e-03 9.90510393e-01 -2.46755215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters 0.03221579458337464 Centerline is valid? [True, True] Translation: X:186.72, Y:-88.42, Z:-24.68 [[ 7.41957186e-01 6.63042232e-01 9.93706845e-02 1.86715754e+02] [-6.56501307e-01 7.48572602e-01 -9.29789932e-02 -8.84175939e+01] [-1.36035171e-01 3.74944799e-03 9.90696913e-01 -2.46825083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters 0.03246622117152162 Centerline is valid? [True, True] Translation: X:186.76, Y:-88.47, Z:-24.69 [[ 7.42100843e-01 6.62694966e-01 1.00606763e-01 1.86755968e+02] [-6.55973480e-01 7.48879115e-01 -9.42277307e-02 -8.84655089e+01] [-1.37786546e-01 3.93110984e-03 9.90454145e-01 -2.46888261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters 0.032533775997984196 Centerline is valid? [True, True] Translation: X:186.80, Y:-88.51, Z:-24.70 [[ 7.41524184e-01 6.63532434e-01 9.93307285e-02 1.86800840e+02] [-6.56977789e-01 7.48137935e-01 -9.31118412e-02 -8.85081437e+01] [-1.36095813e-01 3.78659966e-03 9.90688443e-01 -2.46953924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters 0.03262157048506299 Centerline is valid? [True, True] Translation: X:186.84, Y:-88.56, Z:-24.70 [[ 7.41713492e-01 6.63341765e-01 9.91907207e-02 1.86841948e+02] [-6.56792773e-01 7.48306532e-01 -9.30622821e-02 -8.85552002e+01] [-1.35957163e-01 3.87780175e-03 9.90707128e-01 -2.47024711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters 0.03245211899484914 Centerline is valid? [True, True] Translation: X:186.89, Y:-88.60, Z:-24.71 [[ 7.40796045e-01 6.64276860e-01 9.97871419e-02 1.86885277e+02] [-6.57644682e-01 7.47476987e-01 -9.37103333e-02 -8.86009136e+01] [-1.36838198e-01 3.79576108e-03 9.90586139e-01 -2.47102798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters 0.03227478903541643 Centerline is valid? [True, True] Translation: X:186.93, Y:-88.65, Z:-24.72 [[ 7.39250965e-01 6.66105126e-01 9.90553946e-02 1.86925256e+02] [-6.59574321e-01 7.45849660e-01 -9.31128330e-02 -8.86485971e+01] [-1.35903368e-01 3.49935705e-03 9.90715917e-01 -2.47187731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters 0.031890218990194064 Centerline is valid? [True, True] Translation: X:186.97, Y:-88.69, Z:-24.73 [[ 7.34967018e-01 6.70336692e-01 1.02333779e-01 1.86968788e+02] [-6.63392050e-01 7.42051505e-01 -9.62837009e-02 -8.86941444e+01] [-1.40479432e-01 2.87792914e-03 9.90079414e-01 -2.47260127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters 0.031150292967863247 Centerline is valid? [True, True] Translation: X:187.01, Y:-88.74, Z:-24.73 [[ 7.29985963e-01 6.75986876e-01 1.00807927e-01 1.87009717e+02] [-6.69290818e-01 7.36911397e-01 -9.49283565e-02 -8.87403178e+01] [-1.38456833e-01 1.82654779e-03 9.90366785e-01 -2.47334690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters 0.030889304781307293 Centerline is valid? [True, True] Translation: X:187.06, Y:-88.78, Z:-24.74 [[ 7.25456035e-01 6.80801727e-01 1.01106623e-01 1.87056540e+02] [-6.74107632e-01 7.32467154e-01 -9.52405805e-02 -8.87811589e+01] [-1.38897232e-01 9.36107437e-04 9.90306358e-01 -2.47397034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters 0.031001732043591704 Centerline is valid? [True, True] Translation: X:187.10, Y:-88.82, Z:-24.75 [[ 7.23285415e-01 6.83152663e-01 1.00800038e-01 1.87101069e+02] [-6.76509968e-01 7.30275386e-01 -9.50374851e-02 -8.88243055e+01] [-1.38536898e-01 5.46996389e-04 9.90357122e-01 -2.47466960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters 0.031011542443481806 Centerline is valid? [True, True] Translation: X:187.15, Y:-88.86, Z:-24.75 [[ 7.20305100e-01 6.86373553e-01 1.00259214e-01 1.87150283e+02] [-6.79821169e-01 7.27249164e-01 -9.46141213e-02 -8.88629997e+01] [-1.37854060e-01 -7.30222778e-06 9.90452552e-01 -2.47529964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters 0.031096900213165954 Centerline is valid? [True, True] Translation: X:187.20, Y:-88.90, Z:-24.76 [[ 7.17678630e-01 6.89180286e-01 9.98394518e-02 1.87199434e+02] [-6.82697505e-01 7.24589749e-01 -9.43070092e-02 -8.89027120e+01] [-1.37337175e-01 -4.78019445e-04 9.90524241e-01 -2.47607473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters 0.030985882363671134 Centerline is valid? [True, True] Translation: X:187.25, Y:-88.94, Z:-24.77 [[ 7.14321036e-01 6.92701587e-01 9.95488267e-02 1.87251821e+02] [-6.86276842e-01 7.21223509e-01 -9.41315358e-02 -8.89388494e+01] [-1.37002018e-01 -1.07791825e-03 9.90570182e-01 -2.47672316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters 0.03117012001227374 Centerline is valid? [True, True] Translation: X:187.30, Y:-88.98, Z:-24.77 [[ 7.11410852e-01 6.95984644e-01 9.74678161e-02 1.87300929e+02] [-6.89844705e-01 7.18054873e-01 -9.22576950e-02 -8.89761729e+01] [-1.34197179e-01 -1.60453134e-03 9.90953350e-01 -2.47749241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters 0.03113264563035241 Centerline is valid? [True, True] Translation: X:187.35, Y:-89.01, Z:-24.78 [[ 7.10564135e-01 6.96878405e-01 9.72578983e-02 1.87353115e+02] [-6.90761504e-01 7.17187268e-01 -9.21464423e-02 -8.90115685e+01] [-1.33966992e-01 -1.70605511e-03 9.90984326e-01 -2.47828210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters 0.03125906585591406 Centerline is valid? [True, True] Translation: X:187.41, Y:-89.05, Z:-24.79 [[ 7.10752916e-01 6.96592546e-01 9.79240363e-02 1.87405294e+02] [-6.90374901e-01 7.17465185e-01 -9.28773605e-02 -8.90482890e+01] [-1.34954764e-01 -1.59144199e-03 9.90850483e-01 -2.47894056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters 0.03108382667031103 Centerline is valid? [True, True] Translation: X:187.46, Y:-89.09, Z:-24.80 [[ 7.10417214e-01 6.97010031e-01 9.73878769e-02 1.87456162e+02] [-6.90851171e-01 7.17059612e-01 -9.24671424e-02 -8.90862998e+01] [-1.34283439e-01 -1.59027908e-03 9.90941688e-01 -2.47961992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters 0.0311087154537528 Centerline is valid? [True, True] Translation: X:187.51, Y:-89.12, Z:-24.80 [[ 7.09641858e-01 6.97795553e-01 9.74155993e-02 1.87510372e+02] [-6.91627265e-01 7.16295038e-01 -9.25912728e-02 -8.91208937e+01] [-1.34388089e-01 -1.66864169e-03 9.90927372e-01 -2.48016394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters 0.031032368798324467 Centerline is valid? [True, True] Translation: X:187.56, Y:-89.16, Z:-24.81 [[ 7.10195273e-01 6.97297842e-01 9.69453175e-02 1.87560101e+02] [-6.91171749e-01 7.16779936e-01 -9.22395619e-02 -8.91578121e+01] [-1.33806906e-01 -1.49776380e-03 9.91006291e-01 -2.48089679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters 0.031022319147746346 Centerline is valid? [True, True] Translation: X:187.61, Y:-89.20, Z:-24.82 [[ 7.11975858e-01 6.95465561e-01 9.70465386e-02 1.87609730e+02] [-6.89298115e-01 7.18558599e-01 -9.24210408e-02 -8.91956325e+01] [-1.34009276e-01 -1.09244621e-03 9.90979475e-01 -2.48151167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters 0.030777746609026303 Centerline is valid? [True, True] Translation: X:187.66, Y:-89.23, Z:-24.82 [[ 7.14937983e-01 6.92414034e-01 9.70900938e-02 1.87659988e+02] [-6.86201508e-01 7.21500239e-01 -9.25467203e-02 -8.92325784e+01] [-1.34131174e-01 -4.58203224e-04 9.90963480e-01 -2.48219130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters 0.030640446872987486 Centerline is valid? [True, True] Translation: X:187.71, Y:-89.27, Z:-24.83 [[ 7.16800154e-01 6.90456348e-01 9.73014420e-02 1.87709441e+02] [-6.84186870e-01 7.23374060e-01 -9.28347755e-02 -8.92719169e+01] [-1.34483699e-01 -2.83876540e-05 9.90915806e-01 -2.48289909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters 0.030539763228698166 Centerline is valid? [True, True] Translation: X:187.76, Y:-89.31, Z:-24.84 [[ 7.17622485e-01 6.89543239e-01 9.77143318e-02 1.87758380e+02] [-6.83198506e-01 7.24244486e-01 -9.33259126e-02 -8.93111522e+01] [-1.35121318e-01 2.14487783e-04 9.90829038e-01 -2.48360188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters 0.030585432590969405 Centerline is valid? [True, True] Translation: X:187.81, Y:-89.35, Z:-24.84 [[ 7.17978214e-01 6.89144398e-01 9.79146679e-02 1.87806403e+02] [-6.82756461e-01 7.24623949e-01 -9.36148911e-02 -8.93518881e+01] [-1.35465491e-01 3.61580245e-04 9.90781999e-01 -2.48426515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters 0.03049008954165068 Centerline is valid? [True, True] Translation: X:187.85, Y:-89.39, Z:-24.85 [[ 7.20660884e-01 6.86552485e-01 9.64031942e-02 1.87852186e+02] [-6.80325490e-01 7.27079685e-01 -9.22624471e-02 -8.93927795e+01] [-1.33435816e-01 9.04386385e-04 9.91057044e-01 -2.48505736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters 0.030544149378912044 Centerline is valid? [True, True] Translation: X:187.90, Y:-89.43, Z:-24.86 [[ 7.22502026e-01 6.84504279e-01 9.71839220e-02 1.87899864e+02] [-6.78145758e-01 7.29007583e-01 -9.30928272e-02 -8.94329295e+01] [-1.34570255e-01 1.35489168e-03 9.90903129e-01 -2.48565888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters 0.030433739074495723 Centerline is valid? [True, True] Translation: X:187.95, Y:-89.48, Z:-24.86 [[ 7.21190806e-01 6.85877302e-01 9.72427283e-02 1.87945491e+02] [-6.79511970e-01 7.27716276e-01 -9.32336055e-02 -8.94758984e+01] [-1.34711930e-01 1.16162126e-03 9.90884124e-01 -2.48638323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters 0.03031442763777595 Centerline is valid? [True, True] Translation: X:187.99, Y:-89.52, Z:-24.87 [[ 7.19958081e-01 6.87031757e-01 9.82228386e-02 1.87992168e+02] [-6.80534670e-01 7.26626669e-01 -9.42668946e-02 -8.95166686e+01] [-1.36135684e-01 1.02416551e-03 9.90689672e-01 -2.48702123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters 0.030568264473355124 Centerline is valid? [True, True] Translation: X:188.04, Y:-89.56, Z:-24.88 [[ 7.16455746e-01 6.90521709e-01 9.93525722e-02 1.88037871e+02] [-6.83894678e-01 7.23311540e-01 -9.54383860e-02 -8.95590306e+01] [-1.37765139e-01 4.30684745e-04 9.90464831e-01 -2.48778623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters 0.030202066229995394 Centerline is valid? [True, True] Translation: X:188.09, Y:-89.60, Z:-24.88 [[ 7.13413163e-01 6.93893198e-01 9.77439931e-02 1.88087371e+02] [-6.87498751e-01 7.20077918e-01 -9.39854208e-02 -8.95967962e+01] [-1.35599135e-01 -1.48436819e-04 9.90763772e-01 -2.48848239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters 0.03024051358343127 Centerline is valid? [True, True] Translation: X:188.14, Y:-89.63, Z:-24.89 [[ 7.10442109e-01 6.96860244e-01 9.82741552e-02 1.88136842e+02] [-6.90412404e-01 7.17206643e-01 -9.45798243e-02 -8.96345259e+01] [-1.36391796e-01 -6.56205910e-04 9.90654757e-01 -2.48908859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters 0.030193383043523505 Centerline is valid? [True, True] Translation: X:188.19, Y:-89.67, Z:-24.90 [[ 7.09761386e-01 6.97683821e-01 9.73450633e-02 1.88186906e+02] [-6.91354217e-01 7.16405423e-01 -9.37689591e-02 -8.96716636e+01] [-1.35159617e-01 -7.46333604e-04 9.90823557e-01 -2.48980870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters 0.030309329308074496 Centerline is valid? [True, True] Translation: X:188.24, Y:-89.71, Z:-24.91 [[ 7.11436630e-01 6.95601457e-01 9.99826724e-02 1.88239584e+02] [-6.88889498e-01 7.18427815e-01 -9.63988269e-02 -8.97061099e+01] [-1.38885497e-01 -2.95356489e-04 9.90308402e-01 -2.49071727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters 0.03054968751894942 Centerline is valid? [True, True] Translation: X:188.29, Y:-89.74, Z:-24.91 [[ 7.16117096e-01 6.90771125e-01 1.00057771e-01 1.88293007e+02] [-6.83989264e-01 7.23073128e-01 -9.65605420e-02 -8.97414535e+01] [-1.39050319e-01 7.10213986e-04 9.90285062e-01 -2.49147597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters 0.03105751120408627 Centerline is valid? [True, True] Translation: X:188.34, Y:-89.78, Z:-24.92 [[ 7.22228521e-01 6.84596668e-01 9.85564111e-02 1.88344913e+02] [-6.77947203e-01 7.28919491e-01 -9.52048615e-02 -8.97766235e+01] [-1.37016620e-01 1.94362313e-03 9.90566842e-01 -2.49220099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters 0.03249621030820277 Centerline is valid? [True, True] Translation: X:188.39, Y:-89.82, Z:-24.93 [[ 7.28544266e-01 6.77641074e-01 1.00129050e-01 1.88392015e+02] [-6.70700665e-01 7.35385112e-01 -9.67954251e-02 -8.98156584e+01] [-1.39225969e-01 3.36313154e-03 9.90254926e-01 -2.49303589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters 0.03361534826070215 Centerline is valid? [True, True] Translation: X:188.44, Y:-89.86, Z:-24.94 [[ 7.33862582e-01 6.72084840e-01 9.87303289e-02 1.88439011e+02] [-6.65285739e-01 7.40461265e-01 -9.54567938e-02 -8.98562487e+01] [-1.37261048e-01 4.36828935e-03 9.90525276e-01 -2.49371704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters 0.034895774574272585 Centerline is valid? [True, True] Translation: X:188.48, Y:-89.90, Z:-24.95 [[ 7.37353280e-01 6.68125503e-01 9.95914292e-02 1.88482647e+02] [-6.61167678e-01 7.44030646e-01 -9.63104279e-02 -8.98987820e+01] [-1.38446528e-01 5.16817594e-03 9.90356425e-01 -2.49463200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters 0.03539900985830955 Centerline is valid? [True, True] Translation: X:188.53, Y:-89.94, Z:-24.95 [[ 7.38923022e-01 6.66532329e-01 9.86276943e-02 1.88525842e+02] [-6.59691877e-01 7.45456346e-01 -9.54015919e-02 -8.99430769e+01] [-1.37110886e-01 5.43054386e-03 9.90540819e-01 -2.49514473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters 0.03561791138351038 Centerline is valid? [True, True] Translation: X:188.57, Y:-89.99, Z:-24.96 [[ 7.39728367e-01 6.65891203e-01 9.69063903e-02 1.88570061e+02] [-6.59272587e-01 7.46028520e-01 -9.38141920e-02 -8.99881397e+01] [-1.34764976e-01 5.50929239e-03 9.90862275e-01 -2.49575868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters 0.035365679106804035 Centerline is valid? [True, True] Translation: X:188.61, Y:-90.03, Z:-24.96 [[ 7.39225588e-01 6.66555771e-01 9.61713781e-02 1.88614741e+02] [-6.60031773e-01 7.45435531e-01 -9.31875987e-02 -9.00314319e+01] [-1.33804294e-01 5.41049227e-03 9.90993006e-01 -2.49646172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters 0.03567907279687168 Centerline is valid? [True, True] Translation: X:188.66, Y:-90.08, Z:-24.97 [[ 7.38420972e-01 6.67076210e-01 9.87106744e-02 1.88657545e+02] [-6.60194933e-01 7.44969040e-01 -9.57276328e-02 -9.00761080e+01] [-1.37394023e-01 5.51900455e-03 9.90501097e-01 -2.49730030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters 0.036043169566419044 Centerline is valid? [True, True] Translation: X:188.70, Y:-90.12, Z:-24.98 [[ 7.39366453e-01 6.66160473e-01 9.78134562e-02 1.88700883e+02] [-6.59385838e-01 7.45786697e-01 -9.49342852e-02 -9.01201979e+01] [-1.36189443e-01 5.69441795e-03 9.90666447e-01 -2.49795365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters 0.03576212014383153 Centerline is valid? [True, True] Translation: X:188.74, Y:-90.17, Z:-24.99 [[ 7.40361373e-01 6.65223430e-01 9.66582873e-02 1.88740542e+02] [-6.58590477e-01 7.46621409e-01 -9.38885314e-02 -9.01686691e+01] [-1.34623998e-01 5.85321454e-03 9.90879468e-01 -2.49866368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters 0.03572570761325016 Centerline is valid? [True, True] Translation: X:188.78, Y:-90.21, Z:-25.00 [[ 7.38054777e-01 6.67545453e-01 9.82762124e-02 1.88783137e+02] [-6.60696953e-01 7.44548125e-01 -9.55386088e-02 -9.02128247e+01] [-1.36947734e-01 5.58193249e-03 9.90562547e-01 -2.49952191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters 0.03388259351748975 Centerline is valid? [True, True] Translation: X:188.82, Y:-90.26, Z:-25.00 [[ 7.33458273e-01 6.72849247e-01 9.65031232e-02 1.88823471e+02] [-6.66283346e-01 7.39765579e-01 -9.38796635e-02 -9.02583602e+01] [-1.34556550e-01 4.55839211e-03 9.90895431e-01 -2.49996092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters 0.03302060044056495 Centerline is valid? [True, True] Translation: X:188.87, Y:-90.30, Z:-25.01 [[ 7.29369312e-01 6.77310517e-01 9.62853640e-02 1.88866361e+02] [-6.70811448e-01 7.35687776e-01 -9.36776244e-02 -9.03024548e+01] [-1.34284806e-01 3.73625994e-03 9.90935735e-01 -2.50066636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters 0.03272593633672464 Centerline is valid? [True, True] Translation: X:188.91, Y:-90.34, Z:-25.01 [[ 7.28441414e-01 6.78305533e-01 9.63053005e-02 1.88914322e+02] [-6.71807922e-01 7.34771257e-01 -9.37300133e-02 -9.03424893e+01] [-1.34339953e-01 3.57815959e-03 9.90928844e-01 -2.50126272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters 0.03308684987632149 Centerline is valid? [True, True] Translation: X:188.96, Y:-90.38, Z:-25.02 [[ 7.28505927e-01 6.78226057e-01 9.63770256e-02 1.88962816e+02] [-6.71707056e-01 7.34844238e-01 -9.38806567e-02 -9.03822903e+01] [-1.34494409e-01 3.65548665e-03 9.90907610e-01 -2.50199473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters 0.03294359365177742 Centerline is valid? [True, True] Translation: X:189.01, Y:-90.42, Z:-25.03 [[ 7.29399331e-01 6.77335651e-01 9.58802965e-02 1.89010613e+02] [-6.70864476e-01 7.35663971e-01 -9.34846331e-02 -9.04218808e+01] [-1.33856154e-01 3.86494402e-03 9.90993235e-01 -2.50267159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters 0.033100424286650616 Centerline is valid? [True, True] Translation: X:189.06, Y:-90.46, Z:-25.03 [[ 7.29970264e-01 6.76712061e-01 9.59385206e-02 1.89057166e+02] [-6.70217030e-01 7.36236690e-01 -9.36198092e-02 -9.04624399e+01] [-1.33987113e-01 4.04004650e-03 9.90974839e-01 -2.50348038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters 0.03315720608476313 Centerline is valid? [True, True] Translation: X:189.10, Y:-90.50, Z:-25.04 [[ 7.29479390e-01 6.77039106e-01 9.73543436e-02 1.89102564e+02] [-6.70341841e-01 7.35935623e-01 -9.50819328e-02 -9.05044381e+01] [-1.36020716e-01 4.09962041e-03 9.90697511e-01 -2.50423108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters 0.03347308499747381 Centerline is valid? [True, True] Translation: X:189.15, Y:-90.54, Z:-25.05 [[ 7.29208733e-01 6.77400964e-01 9.68636062e-02 1.89150444e+02] [-6.70763448e-01 7.35602716e-01 -9.46839062e-02 -9.05448637e+01] [-1.35392101e-01 4.07176486e-03 9.90783730e-01 -2.50499699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters 0.033292804480554924 Centerline is valid? [True, True] Translation: X:189.20, Y:-90.59, Z:-25.06 [[ 7.28533694e-01 6.78102894e-01 9.70315505e-02 1.89196697e+02] [-6.71435881e-01 7.34956009e-01 -9.49395732e-02 -9.05873505e+01] [-1.35692720e-01 4.01621333e-03 9.90742830e-01 -2.50569049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters 0.03330302005103106 Centerline is valid? [True, True] Translation: X:189.24, Y:-90.63, Z:-25.06 [[ 7.27957967e-01 6.78708426e-01 9.71188461e-02 1.89244257e+02] [-6.72022311e-01 7.34397086e-01 -9.51153737e-02 -9.06289526e+01] [-1.35879403e-01 3.97396272e-03 9.90717415e-01 -2.50649424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters 0.033814236455871956 Centerline is valid? [True, True] Translation: X:189.29, Y:-90.67, Z:-25.07 [[ 7.29143392e-01 6.77351386e-01 9.76985849e-02 1.89290750e+02] [-6.70560188e-01 7.35646951e-01 -9.57736799e-02 -9.06700942e+01] [-1.36744101e-01 4.31996442e-03 9.90596986e-01 -2.50716655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters 0.03498545333444746 Centerline is valid? [True, True] Translation: X:189.34, Y:-90.71, Z:-25.08 [[ 7.31326012e-01 6.74977161e-01 9.78166483e-02 1.89335611e+02] [-6.68138174e-01 7.37822846e-01 -9.59626346e-02 -9.07120548e+01] [-1.36943945e-01 4.82493409e-03 9.90567048e-01 -2.50789897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters 0.03548187096109811 Centerline is valid? [True, True] Translation: X:189.38, Y:-90.76, Z:-25.09 [[ 7.32316574e-01 6.73826648e-01 9.83365855e-02 1.89376363e+02] [-6.66898361e-01 7.38871882e-01 -9.65138257e-02 -9.07577747e+01] [-1.37691726e-01 5.09816654e-03 9.90462012e-01 -2.50873556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters 0.03557862979315951 Centerline is valid? [True, True] Translation: X:189.42, Y:-90.81, Z:-25.10 [[ 7.32144317e-01 6.74008192e-01 9.83750834e-02 1.89417348e+02] [-6.67069037e-01 7.38706240e-01 -9.66022347e-02 -9.08059886e+01] [-1.37780985e-01 5.10380497e-03 9.90449570e-01 -2.50954258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters 0.03500039334651638 Centerline is valid? [True, True] Translation: X:189.46, Y:-90.85, Z:-25.10 [[ 7.30330258e-01 6.75918783e-01 9.87497494e-02 1.89457429e+02] [-6.68931188e-01 7.36960298e-01 -9.70596979e-02 -9.08531396e+01] [-1.38379118e-01 4.82884704e-03 9.90367559e-01 -2.51019462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters 0.034811466840482336 Centerline is valid? [True, True] Translation: X:189.50, Y:-90.90, Z:-25.11 [[ 7.29161763e-01 6.77334036e-01 9.76817670e-02 1.89495888e+02] [-6.70500543e-01 7.35661468e-01 -9.60792735e-02 -9.09026168e+01] [-1.36938474e-01 4.56165462e-03 9.90569051e-01 -2.51101533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters 0.034712307674913206 Centerline is valid? [True, True] Translation: X:189.53, Y:-90.95, Z:-25.12 [[ 7.27284362e-01 6.79163684e-01 9.89653843e-02 1.89534703e+02] [-6.72159798e-01 7.33974233e-01 -9.73808568e-02 -9.09512215e+01] [-1.38775583e-01 4.30302151e-03 9.90314506e-01 -2.51175588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters 0.03451751177397367 Centerline is valid? [True, True] Translation: X:189.58, Y:-91.00, Z:-25.12 [[ 7.26270434e-01 6.80322457e-01 9.84510600e-02 1.89577463e+02] [-6.73390916e-01 7.32901346e-01 -9.69550987e-02 -9.09957990e+01] [-1.38115645e-01 4.11957217e-03 9.90407541e-01 -2.51239452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters 0.03420062072090985 Centerline is valid? [True, True] Translation: X:189.62, Y:-91.04, Z:-25.13 [[ 7.25233493e-01 6.81408930e-01 9.85811895e-02 1.89617520e+02] [-6.74457576e-01 7.31892099e-01 -9.71644634e-02 -9.10430055e+01] [-1.38359527e-01 3.97809310e-03 9.90374079e-01 -2.51304972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters 0.034326583524569854 Centerline is valid? [True, True] Translation: X:189.66, Y:-91.09, Z:-25.14 [[ 7.24731194e-01 6.81870522e-01 9.90822328e-02 1.89657316e+02] [-6.74840393e-01 7.31462105e-01 -9.77426876e-02 -9.10918779e+01] [-1.39122756e-01 3.97248176e-03 9.90267175e-01 -2.51378343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters 0.034155844539837873 Centerline is valid? [True, True] Translation: X:189.69, Y:-91.14, Z:-25.14 [[ 7.25139745e-01 6.81791968e-01 9.66026071e-02 1.89694756e+02] [-6.75098314e-01 7.31535444e-01 -9.53842794e-02 -9.11418400e+01] [-1.35700467e-01 3.95067483e-03 9.90742033e-01 -2.51428996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters 0.03373832087433741 Centerline is valid? [True, True] Translation: X:189.73, Y:-91.19, Z:-25.15 [[ 7.21625623e-01 6.85351676e-01 9.77217489e-02 1.89733189e+02] [-6.78523525e-01 7.28204429e-01 -9.65615601e-02 -9.11915107e+01] [-1.37340037e-01 3.37479044e-03 9.90518210e-01 -2.51506633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters 0.0325609760268792 Centerline is valid? [True, True] Translation: X:189.77, Y:-91.24, Z:-25.16 [[ 7.15498580e-01 6.91872450e-01 9.68209359e-02 1.89770028e+02] [-6.85225525e-01 7.22016612e-01 -9.56974010e-02 -9.12411401e+01] [-1.36116719e-01 2.12717797e-03 9.90690524e-01 -2.51580855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters 0.032176998122068305 Centerline is valid? [True, True] Translation: X:189.81, Y:-91.29, Z:-25.16 [[ 7.09830450e-01 6.97758559e-01 9.63001835e-02 1.89810240e+02] [-6.91233511e-01 7.16332300e-01 -9.52064603e-02 -9.12880397e+01] [-1.35414054e-01 1.01453063e-03 9.90788577e-01 -2.51648387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters 0.032210801106056494 Centerline is valid? [True, True] Translation: X:189.85, Y:-91.33, Z:-25.17 [[ 7.07174296e-01 7.00368424e-01 9.68947153e-02 1.89853998e+02] [-6.93774478e-01 7.13781291e-01 -9.58813909e-02 -9.13332737e+01] [-1.36313934e-01 5.81774547e-04 9.90665520e-01 -2.51724254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters 0.031853367560783975 Centerline is valid? [True, True] Translation: X:189.90, Y:-91.38, Z:-25.18 [[ 7.07669913e-01 7.00010413e-01 9.58577865e-02 1.89898905e+02] [-6.93541383e-01 7.14132281e-01 -9.49496474e-02 -9.13762333e+01] [-1.34920882e-01 7.11666888e-04 9.90856119e-01 -2.51778613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters 0.0318457987435374 Centerline is valid? [True, True] Translation: X:189.94, Y:-91.42, Z:-25.18 [[ 7.08665454e-01 6.98923992e-01 9.64288748e-02 1.89943801e+02] [-6.92355593e-01 7.15195276e-01 -9.56004713e-02 -9.14189490e+01] [-1.35782939e-01 9.85680528e-04 9.90738120e-01 -2.51845964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters 0.031351843134474845 Centerline is valid? [True, True] Translation: X:189.99, Y:-91.46, Z:-25.19 [[ 7.08886518e-01 6.98997676e-01 9.42451818e-02 1.89988643e+02] [-6.92714390e-01 7.15123229e-01 -9.35176007e-02 -9.14620155e+01] [-1.32765504e-01 1.00837269e-03 9.91146964e-01 -2.51895755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters 0.031505599481903755 Centerline is valid? [True, True] Translation: X:190.03, Y:-91.51, Z:-25.20 [[ 7.07677283e-01 7.00213088e-01 9.43106237e-02 1.90032731e+02] [-6.93920241e-01 7.13933414e-01 -9.36684492e-02 -9.15074527e+01] [-1.32919380e-01 8.42982903e-04 9.91126494e-01 -2.51954950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters 0.031078662507030973 Centerline is valid? [True, True] Translation: X:190.08, Y:-91.55, Z:-25.20 [[ 7.06018718e-01 7.01990813e-01 9.35225552e-02 1.90077085e+02] [-6.95806309e-01 7.12185771e-01 -9.29785322e-02 -9.15512706e+01] [-1.31875508e-01 5.71000169e-04 9.91266122e-01 -2.52016215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters 0.03058991648793519 Centerline is valid? [True, True] Translation: X:190.12, Y:-91.59, Z:-25.21 [[ 7.01563396e-01 7.06240635e-01 9.50419218e-02 1.90121303e+02] [-6.99879563e-01 7.07971848e-01 -9.45751496e-02 -9.15943162e+01] [-1.34079819e-01 -1.67435552e-04 9.90970521e-01 -2.52081506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters 0.030390311506478588 Centerline is valid? [True, True] Translation: X:190.17, Y:-91.64, Z:-25.22 [[ 6.99638720e-01 7.08258073e-01 9.42133971e-02 1.90165836e+02] [-7.02014811e-01 7.05953443e-01 -9.38346489e-02 -9.16370685e+01] [-1.32969420e-01 -4.88846540e-04 9.91120020e-01 -2.52153752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters 0.030265316194231975 Centerline is valid? [True, True] Translation: X:190.21, Y:-91.68, Z:-25.22 [[ 6.96682469e-01 7.11001130e-01 9.54511966e-02 1.90211986e+02] [-7.04605656e-01 7.03190206e-01 -9.51546303e-02 -9.16781474e+01] [-1.34775396e-01 -9.62890198e-04 9.90875706e-01 -2.52223124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters 0.030158782231735612 Centerline is valid? [True, True] Translation: X:190.26, Y:-91.72, Z:-25.23 [[ 6.96437517e-01 7.11160684e-01 9.60482497e-02 1.90259154e+02] [-7.04673882e-01 7.03028879e-01 -9.58390106e-02 -9.17192954e+01] [-1.35681630e-01 -9.36810349e-04 9.90752047e-01 -2.52290893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters 0.029856031446100502 Centerline is valid? [True, True] Translation: X:190.31, Y:-91.76, Z:-25.23 [[ 6.97121377e-01 7.10482342e-01 9.61073808e-02 1.90306960e+02] [-7.03967374e-01 7.03714646e-01 -9.59980895e-02 -9.17606966e+01] [-1.35837119e-01 -7.34140163e-04 9.90730911e-01 -2.52344539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters 0.029612722755410065 Centerline is valid? [True, True] Translation: X:190.35, Y:-91.80, Z:-25.24 [[ 7.01818679e-01 7.06053346e-01 9.45474215e-02 1.90351948e+02] [-6.99695984e-01 7.08158624e-01 -9.45351444e-02 -9.18031996e+01] [-1.33701427e-01 1.92079034e-04 9.91021640e-01 -2.52416416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters 0.029608190798234357 Centerline is valid? [True, True] Translation: X:190.26, Y:-92.25, Z:-23.31 [[ 7.48443086e-01 -6.60095174e-01 -6.40882801e-02 1.90256895e+02] [-6.56807470e-01 -7.51144834e-01 6.62222505e-02 -9.22496099e+01] [-9.18525685e-02 -7.46992446e-03 -9.95744599e-01 -2.33111094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters 0.029565550816072168 Centerline is valid? [True, True] Translation: X:190.39, Y:-91.86, Z:-25.25 [[ 7.53098110e-01 6.49988593e-01 1.01774581e-01 1.90386797e+02] [-6.43978004e-01 7.59943456e-01 -8.81945229e-02 -9.18606371e+01] [-1.34668361e-01 8.78536926e-04 9.90890337e-01 -2.52492141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters 0.02941657646760295 Centerline is valid? [True, True] Translation: X:190.43, Y:-91.90, Z:-25.26 [[ 7.52342220e-01 6.51096830e-01 1.00270142e-01 1.90433197e+02] [-6.45262845e-01 7.58994326e-01 -8.69682378e-02 -9.19017929e+01] [-1.32729213e-01 7.29279783e-04 9.91152069e-01 -2.52563057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters 0.029230297370119913 Centerline is valid? [True, True] Translation: X:190.48, Y:-91.95, Z:-25.26 [[ 7.51756175e-01 6.51773890e-01 1.00266896e-01 1.90477622e+02] [-6.45935580e-01 7.58413045e-01 -8.70452766e-02 -9.19465743e+01] [-1.32777561e-01 6.70868328e-04 9.91145635e-01 -2.52640843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters 0.02939104238742783 Centerline is valid? [True, True] Translation: X:190.52, Y:-91.99, Z:-25.27 [[ 7.50329429e-01 6.53273827e-01 1.01188216e-01 1.90524853e+02] [-6.47328336e-01 7.57121573e-01 -8.79371919e-02 -9.19878460e+01] [-1.34058847e-01 4.79863793e-04 9.90973257e-01 -2.52702611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters 0.02914482739989819 Centerline is valid? [True, True] Translation: X:190.57, Y:-92.03, Z:-25.28 [[ 7.49186695e-01 6.54733450e-01 1.00216792e-01 1.90570798e+02] [-6.48903305e-01 7.55859795e-01 -8.71806783e-02 -9.20294602e+01] [-1.32829950e-01 2.83596870e-04 9.91138802e-01 -2.52774292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters 0.028913744550583275 Centerline is valid? [True, True] Translation: X:190.62, Y:-92.07, Z:-25.28 [[ 7.48202678e-01 6.56230991e-01 9.77427237e-02 1.90618932e+02] [-6.50690076e-01 7.54560058e-01 -8.50972580e-02 -9.20693137e+01] [-1.29596213e-01 6.97760419e-05 9.91566849e-01 -2.52828101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters 0.028877156915624442 Centerline is valid? [True, True] Translation: X:190.66, Y:-92.11, Z:-25.29 [[ 7.47200096e-01 6.57223276e-01 9.87399741e-02 1.90664541e+02] [-6.51572767e-01 7.53695933e-01 -8.59963380e-02 -9.21106142e+01] [-1.30938712e-01 -7.98060925e-05 9.91390462e-01 -2.52880878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters 0.028746440306116262 Centerline is valid? [True, True] Translation: X:190.71, Y:-92.15, Z:-25.29 [[ 7.47312155e-01 6.57257064e-01 9.76611206e-02 1.90713738e+02] [-6.51723988e-01 7.53666471e-01 -8.51040246e-02 -9.21480956e+01] [-1.29539133e-01 -4.88229418e-05 9.91574309e-01 -2.52930164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters 0.028573003594747064 Centerline is valid? [True, True] Translation: X:190.76, Y:-92.19, Z:-25.30 [[ 7.48213659e-01 6.56383632e-01 9.66273627e-02 1.90760719e+02] [-6.50950356e-01 7.54427267e-01 -8.42800785e-02 -9.21880256e+01] [-1.28218381e-01 1.59889768e-04 9.91745946e-01 -2.53000400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters 0.028330340385949657 Centerline is valid? [True, True] Translation: X:190.81, Y:-92.23, Z:-25.31 [[ 7.48071241e-01 6.56763929e-01 9.51344343e-02 1.90807997e+02] [-6.51491357e-01 7.54096227e-01 -8.30535540e-02 -9.22275768e+01] [-1.26287096e-01 1.50713540e-04 9.91993723e-01 -2.53064246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters 0.02815873638536119 Centerline is valid? [True, True] Translation: X:190.86, Y:-92.27, Z:-25.31 [[ 7.48301483e-01 6.56402462e-01 9.58159585e-02 1.90855194e+02] [-6.51040738e-01 7.54410851e-01 -8.37270880e-02 -9.22692071e+01] [-1.27243266e-01 2.73011829e-04 9.91871502e-01 -2.53126421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters 0.02806265837433837 Centerline is valid? [True, True] Translation: X:190.90, Y:-92.31, Z:-25.32 [[ 7.48806800e-01 6.55737426e-01 9.64199383e-02 1.90903083e+02] [-6.50290654e-01 7.54988888e-01 -8.43436116e-02 -9.23096949e+01] [-1.28103245e-01 4.56085243e-04 9.91760733e-01 -2.53198918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters 0.027882982824363328 Centerline is valid? [True, True] Translation: X:190.95, Y:-92.35, Z:-25.33 [[ 7.48080027e-01 6.56433288e-01 9.73222081e-02 1.90949797e+02] [-6.50877922e-01 7.54383969e-01 -8.52218128e-02 -9.23518892e+01] [-1.29360748e-01 4.07859417e-04 9.91597514e-01 -2.53277226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters 0.027726048645868796 Centerline is valid? [True, True] Translation: X:191.00, Y:-92.39, Z:-25.33 [[ 7.48182956e-01 6.56324018e-01 9.72679131e-02 1.90996381e+02] [-6.50762442e-01 7.54478985e-01 -8.52625660e-02 -9.23939158e+01] [-1.29346466e-01 4.93694098e-04 9.91599338e-01 -2.53335959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters 0.02764564914624413 Centerline is valid? [True, True] Translation: X:191.04, Y:-92.44, Z:-25.34 [[ 7.47107483e-01 6.57309666e-01 9.88656279e-02 1.91040700e+02] [-6.51560438e-01 7.53620494e-01 -8.67476063e-02 -9.24364838e+01] [-1.31527203e-01 3.92853969e-04 9.91312484e-01 -2.53403551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters 0.027620954778359415 Centerline is valid? [True, True] Translation: X:191.09, Y:-92.48, Z:-25.35 [[ 7.45860775e-01 6.58600433e-01 9.96853813e-02 1.91088815e+02] [-6.52759632e-01 7.52492809e-01 -8.75181958e-02 -9.24774593e+01] [-1.32652054e-01 2.05796456e-04 9.91162646e-01 -2.53464802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters 0.027440623339017593 Centerline is valid? [True, True] Translation: X:191.14, Y:-92.52, Z:-25.35 [[ 7.45394917e-01 6.59063812e-01 1.00106494e-01 1.91136192e+02] [-6.53165093e-01 7.52086999e-01 -8.79801521e-02 -9.25182184e+01] [-1.33273327e-01 1.93891000e-04 9.91079302e-01 -2.53536962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters 0.027383081609255514 Centerline is valid? [True, True] Translation: X:191.18, Y:-92.56, Z:-25.36 [[ 7.45993357e-01 6.58379963e-01 1.00148565e-01 1.91183256e+02] [-6.52457711e-01 7.52685642e-01 -8.81093657e-02 -9.25593061e+01] [-1.33389828e-01 3.86298051e-04 9.91063572e-01 -2.53633361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters 0.02746939889604745 Centerline is valid? [True, True] Translation: X:191.23, Y:-92.60, Z:-25.37 [[ 7.46137323e-01 6.58265253e-01 9.98296124e-02 1.91231253e+02] [-6.52368855e-01 7.52785918e-01 -8.79104011e-02 -9.25990377e+01] [-1.33018689e-01 4.67501345e-04 9.91113419e-01 -2.53705857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters 0.027341224787283125 Centerline is valid? [True, True] Translation: X:191.28, Y:-92.64, Z:-25.38 [[ 7.44165103e-01 6.60288843e-01 1.01177777e-01 1.91276863e+02] [-6.54244808e-01 7.51011734e-01 -8.91353240e-02 -9.26405615e+01] [-1.34840758e-01 1.36362047e-04 9.90867272e-01 -2.53771074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters 0.027432531766047808 Centerline is valid? [True, True] Translation: X:191.32, Y:-92.68, Z:-25.38 [[ 7.42920292e-01 6.61539019e-01 1.02154619e-01 1.91323077e+02] [-6.55377620e-01 7.49910745e-01 -9.00780211e-02 -9.26815979e+01] [-1.36196972e-01 -2.90616096e-05 9.90681777e-01 -2.53849933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters 0.02736551288876787 Centerline is valid? [True, True] Translation: X:191.37, Y:-92.72, Z:-25.39 [[ 7.40299701e-01 6.64236245e-01 1.03665628e-01 1.91367076e+02] [-6.57904820e-01 7.47522569e-01 -9.14945764e-02 -9.27249218e+01] [-1.38266411e-01 -4.68709014e-04 9.90394962e-01 -2.53916459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters 0.027311412911598307 Centerline is valid? [True, True] Translation: X:191.41, Y:-92.77, Z:-25.40 [[ 7.37895822e-01 6.67168795e-01 1.01958596e-01 1.91414194e+02] [-6.61063050e-01 7.44905970e-01 -9.00596487e-02 -9.27658678e+01] [-1.36034554e-01 -9.46421734e-04 9.90703641e-01 -2.53977359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters 0.02763674768785798 Centerline is valid? [True, True] Translation: X:191.46, Y:-92.81, Z:-25.41 [[ 7.35055657e-01 6.70172922e-01 1.02768852e-01 1.91460444e+02] [-6.63992948e-01 7.42203512e-01 -9.08147119e-02 -9.28067570e+01] [-1.37136964e-01 -1.48392515e-03 9.90550984e-01 -2.54060660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters 0.027928506585941343 Centerline is valid? [True, True] Translation: X:191.51, Y:-92.85, Z:-25.41 [[ 7.33504809e-01 6.71821246e-01 1.03086897e-01 1.91508985e+02] [-6.65607408e-01 7.40711281e-01 -9.11788172e-02 -9.28452287e+01] [-1.37613494e-01 -1.73530159e-03 9.90484485e-01 -2.54131239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters 0.0277236108952003 Centerline is valid? [True, True] Translation: X:191.56, Y:-92.88, Z:-25.42 [[ 7.31967565e-01 6.73515691e-01 1.02956779e-01 1.91559692e+02] [-6.67322464e-01 7.39170254e-01 -9.11485920e-02 -9.28827576e+01] [-1.37492595e-01 -1.98755856e-03 9.90500801e-01 -2.54207082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters 0.0280011672451801 Centerline is valid? [True, True] Translation: X:191.61, Y:-92.92, Z:-25.43 [[ 7.31363891e-01 6.74003119e-01 1.04051215e-01 1.91610225e+02] [-6.67668570e-01 7.38725707e-01 -9.22117691e-02 -9.29195365e+01] [-1.39016327e-01 -2.03136792e-03 9.90288006e-01 -2.54276831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters 0.027778029685600718 Centerline is valid? [True, True] Translation: X:191.66, Y:-92.96, Z:-25.43 [[ 7.32886122e-01 6.72504867e-01 1.03029785e-01 1.91661077e+02] [-6.66269429e-01 7.40090808e-01 -9.13818525e-02 -9.29561196e+01] [-1.37706138e-01 -1.67310478e-03 9.90471716e-01 -2.54349026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters 0.02769322969502714 Centerline is valid? [True, True] Translation: X:191.71, Y:-92.99, Z:-25.44 [[ 7.36090585e-01 6.68666921e-01 1.05143710e-01 1.91712641e+02] [-6.62124807e-01 7.43561483e-01 -9.33116332e-02 -9.29912311e+01] [-1.40575216e-01 -9.32444304e-04 9.90069563e-01 -2.54424682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters 0.02767691536376951 Centerline is valid? [True, True] Translation: X:191.76, Y:-93.03, Z:-25.45 [[ 7.42234679e-01 6.62050732e-01 1.03809966e-01 1.91762207e+02] [-6.55597756e-01 7.49458925e-01 -9.22111832e-02 -9.30281457e+01] [-1.38849787e-01 3.84757166e-04 9.90313379e-01 -2.54496199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters 0.02801416063366858 Centerline is valid? [True, True] Translation: X:191.81, Y:-93.07, Z:-25.46 [[ 7.47959418e-01 6.56026020e-01 1.00928544e-01 1.91810349e+02] [-6.49862150e-01 7.54736732e-01 -8.97309964e-02 -9.30675372e+01] [-1.35040348e-01 1.52550353e-03 9.90838926e-01 -2.54562329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters 0.028533083409655505 Centerline is valid? [True, True] Translation: X:191.85, Y:-93.11, Z:-25.46 [[ 7.49941023e-01 6.53615127e-01 1.01861317e-01 1.91854359e+02] [-6.47302901e-01 7.56824354e-01 -9.06413373e-02 -9.31115245e+01] [-1.36335675e-01 2.04053121e-03 9.90660598e-01 -2.54641088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters 0.028762441018337 Centerline is valid? [True, True] Translation: X:191.90, Y:-93.16, Z:-25.47 [[ 7.50756538e-01 6.52737830e-01 1.01478795e-01 1.91898274e+02] [-6.46454070e-01 7.57580522e-01 -9.03818996e-02 -9.31569439e+01] [-1.35874043e-01 2.25342231e-03 9.90723557e-01 -2.54705270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters 0.02877677341436829 Centerline is valid? [True, True] Translation: X:191.94, Y:-93.20, Z:-25.48 [[ 7.50743226e-01 6.53051433e-01 9.95411212e-02 1.91941797e+02] [-6.46998761e-01 7.57310325e-01 -8.87337339e-02 -9.32016828e+01] [-1.33331211e-01 2.21326760e-03 9.91069064e-01 -2.54773716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters 0.028827996880811734 Centerline is valid? [True, True] Translation: X:191.99, Y:-93.25, Z:-25.48 [[ 7.51093536e-01 6.52722257e-01 9.90563203e-02 1.91986327e+02] [-6.46720885e-01 7.57593834e-01 -8.83384435e-02 -9.32462457e+01] [-1.32704926e-01 2.28864283e-03 9.91152947e-01 -2.54843333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters 0.028904975127684317 Centerline is valid? [True, True] Translation: X:192.03, Y:-93.29, Z:-25.49 [[ 7.50435691e-01 6.53405479e-01 9.95366929e-02 1.92028608e+02] [-6.47339394e-01 7.57004776e-01 -8.88565000e-02 -9.32934752e+01] [-1.33409076e-01 2.24706655e-03 9.91058509e-01 -2.54921260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters 0.028868700454173737 Centerline is valid? [True, True] Translation: X:192.07, Y:-93.34, Z:-25.50 [[ 7.49070087e-01 6.54911181e-01 9.99267189e-02 1.92071965e+02] [-6.48798447e-01 7.55703064e-01 -8.92942010e-02 -9.33386002e+01] [-1.33994698e-01 2.05531479e-03 9.90979917e-01 -2.54988691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters 0.028699292690723972 Centerline is valid? [True, True] Translation: X:192.11, Y:-93.38, Z:-25.51 [[ 7.45803893e-01 6.58556177e-01 1.00400769e-01 1.92113068e+02] [-6.52405708e-01 7.52530121e-01 -8.98065068e-02 -9.33848750e+01] [-1.34697233e-01 1.47600746e-03 9.90885703e-01 -2.55058624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters 0.028398484851073894 Centerline is valid? [True, True] Translation: X:192.16, Y:-93.43, Z:-25.51 [[ 7.42994730e-01 6.61675562e-01 1.00718823e-01 1.92155088e+02] [-6.55503405e-01 7.49789637e-01 -9.01708720e-02 -9.34301333e+01] [-1.35181793e-01 9.74951051e-04 9.90820333e-01 -2.55131440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters 0.02828991583618241 Centerline is valid? [True, True] Translation: X:192.20, Y:-93.47, Z:-25.52 [[ 7.40410575e-01 6.64741457e-01 9.95538846e-02 1.92198548e+02] [-6.58728829e-01 7.47073339e-01 -8.92062558e-02 -9.34745027e+01] [-1.33673149e-01 4.70241260e-04 9.91025362e-01 -2.55211374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters 0.028159897451473015 Centerline is valid? [True, True] Translation: X:192.24, Y:-93.52, Z:-25.53 [[ 7.37941995e-01 6.67301350e-01 1.00749790e-01 1.92241365e+02] [-6.61155168e-01 7.44787825e-01 -9.03600589e-02 -9.35193208e+01] [-1.35334606e-01 6.92380299e-05 9.90799949e-01 -2.55287430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters 0.028164252266761464 Centerline is valid? [True, True] Translation: X:192.29, Y:-93.56, Z:-25.53 [[ 7.36366459e-01 6.69057307e-01 1.00631791e-01 1.92287016e+02] [-6.62930399e-01 7.43210794e-01 -9.03382654e-02 -9.35618387e+01] [-1.35232110e-01 -1.89804580e-04 9.90813928e-01 -2.55346325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters 0.028252287916796733 Centerline is valid? [True, True] Translation: X:192.33, Y:-93.61, Z:-25.54 [[ 7.32852834e-01 6.73005222e-01 9.99534647e-02 1.92331354e+02] [-6.66984725e-01 7.39637252e-01 -8.98226660e-02 -9.36069591e+01] [-1.34380429e-01 -8.40638826e-04 9.90929459e-01 -2.55410742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters 0.028453566112926158 Centerline is valid? [True, True] Translation: X:192.38, Y:-93.65, Z:-25.55 [[ 7.28381648e-01 6.77853337e-01 9.98750627e-02 1.92377123e+02] [-6.71875028e-01 7.35195272e-01 -8.98435297e-02 -9.36479531e+01] [-1.34328410e-01 -1.66318230e-03 9.90935473e-01 -2.55470418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters 0.028619814828669494 Centerline is valid? [True, True] Translation: X:192.42, Y:-93.69, Z:-25.55 [[ 7.25089811e-01 6.81723128e-01 9.74594414e-02 1.92423990e+02] [-6.76056369e-01 7.31606758e-01 -8.77458655e-02 -9.36897448e+01] [-1.31120372e-01 -2.26444311e-03 9.91363869e-01 -2.55513403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters 0.028810016190287783 Centerline is valid? [True, True] Translation: X:192.47, Y:-93.73, Z:-25.56 [[ 7.24136773e-01 6.82460056e-01 9.93690355e-02 1.92471240e+02] [-6.76562457e-01 7.30919025e-01 -8.95579210e-02 -9.37284456e+01] [-1.33750422e-01 -2.37717492e-03 9.91012196e-01 -2.55609588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters 0.028835998684476494 Centerline is valid? [True, True] Translation: X:192.52, Y:-93.77, Z:-25.57 [[ 7.23389919e-01 6.83531709e-01 9.74239594e-02 1.92518593e+02] [-6.77863327e-01 7.29916646e-01 -8.78805968e-02 -9.37685726e+01] [-1.31180544e-01 -2.46819148e-03 9.91355422e-01 -2.55665670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters 0.028626873070812606 Centerline is valid? [True, True] Translation: X:192.57, Y:-93.81, Z:-25.57 [[ 7.25182770e-01 6.81789586e-01 9.62959505e-02 1.92568492e+02] [-6.76226531e-01 7.31545406e-01 -8.69424972e-02 -9.38050053e+01] [-1.29721349e-01 -2.06867561e-03 9.91548331e-01 -2.55733376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters 0.028534777299228806 Centerline is valid? [True, True] Translation: X:192.62, Y:-93.85, Z:-25.58 [[ 7.28476029e-01 6.78320903e-01 9.59344965e-02 1.92615078e+02] [-6.72760137e-01 7.34764466e-01 -8.66889732e-02 -9.38461790e+01] [-1.29292202e-01 -1.39006603e-03 9.91605564e-01 -2.55807983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters 0.028313967571083367 Centerline is valid? [True, True] Translation: X:192.66, Y:-93.89, Z:-25.59 [[ 7.31781765e-01 6.74733528e-01 9.60734825e-02 1.92662706e+02] [-6.69120993e-01 7.38061064e-01 -8.68502296e-02 -9.38852470e+01] [-1.29508858e-01 -7.29369717e-04 9.91577997e-01 -2.55879429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters 0.02830614954684644 Centerline is valid? [True, True] Translation: X:192.71, Y:-93.93, Z:-25.59 [[ 7.34408983e-01 6.71873027e-01 9.60733129e-02 1.92708945e+02] [-6.66225315e-01 7.40666328e-01 -8.69322774e-02 -9.39269329e+01] [-1.29565720e-01 -1.62627725e-04 9.91570823e-01 -2.55948626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters 0.02805391055202398 Centerline is valid? [True, True] Translation: X:192.75, Y:-93.97, Z:-25.60 [[ 7.35735291e-01 6.70505040e-01 9.54807443e-02 1.92753827e+02] [-6.64903796e-01 7.41904960e-01 -8.64868343e-02 -9.39705840e+01] [-1.28827496e-01 1.45906905e-04 9.91667008e-01 -2.56019327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters 0.028297147362871644 Centerline is valid? [True, True] Translation: X:192.80, Y:-94.02, Z:-25.61 [[ 7.37599979e-01 6.68256892e-01 9.68452204e-02 1.92796092e+02] [-6.62462995e-01 7.43930341e-01 -8.78090395e-02 -9.40151607e+01] [-1.30725094e-01 6.11570997e-04 9.91418467e-01 -2.56093536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters 0.027967720798086286 Centerline is valid? [True, True] Translation: X:192.84, Y:-94.06, Z:-25.62 [[ 7.37946792e-01 6.68089297e-01 9.53479113e-02 1.92840566e+02] [-6.62466394e-01 7.44080807e-01 -8.64987259e-02 -9.40582596e+01] [-1.28735424e-01 6.66670301e-04 9.91678752e-01 -2.56175368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters 0.02802382821943097 Centerline is valid? [True, True] Translation: X:192.88, Y:-94.10, Z:-25.63 [[ 7.36209508e-01 6.69709463e-01 9.73899175e-02 1.92883347e+02] [-6.63845122e-01 7.42623073e-01 -8.84342975e-02 -9.41026444e+01] [-1.31549286e-01 4.54348954e-04 9.91309527e-01 -2.56250287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters 0.02790567468978275 Centerline is valid? [True, True] Translation: X:192.93, Y:-94.15, Z:-25.63 [[ 7.36533024e-01 6.69669323e-01 9.51950745e-02 1.92927230e+02] [-6.64056999e-01 7.42659234e-01 -8.65191520e-02 -9.41467896e+01] [-1.28636723e-01 5.09257159e-04 9.91691653e-01 -2.56301033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters 0.027674064182420792 Centerline is valid? [True, True] Translation: X:192.97, Y:-94.19, Z:-25.64 [[ 7.37172832e-01 6.69113449e-01 9.41456731e-02 1.92973150e+02] [-6.63610127e-01 7.43159982e-01 -8.56436832e-02 -9.41897889e+01] [-1.27270637e-01 6.58174484e-04 9.91867810e-01 -2.56365008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters 0.02738559552194533 Centerline is valid? [True, True] Translation: X:193.02, Y:-94.23, Z:-25.64 [[ 7.36195849e-01 6.70187718e-01 9.41493181e-02 1.93018453e+02] [-6.64681165e-01 7.42191438e-01 -8.57369107e-02 -9.42334490e+01] [-1.27336642e-01 5.39879305e-04 9.91859409e-01 -2.56422391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters 0.027312043831965973 Centerline is valid? [True, True] Translation: X:193.06, Y:-94.28, Z:-25.65 [[ 7.34972694e-01 6.71415194e-01 9.49567089e-02 1.93063399e+02] [-6.65811814e-01 7.41081290e-01 -8.65629784e-02 -9.42766109e+01] [-1.28490339e-01 3.98126807e-04 9.91710681e-01 -2.56499903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters 0.027145233804775216 Centerline is valid? [True, True] Translation: X:193.11, Y:-94.32, Z:-25.66 [[ 7.35752498e-01 6.70573894e-01 9.48626061e-02 1.93107969e+02] [-6.64962930e-01 7.41842488e-01 -8.65680350e-02 -9.43201826e+01] [-1.28423376e-01 6.12531551e-04 9.91719245e-01 -2.56579012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters 0.027018199249966502 Centerline is valid? [True, True] Translation: X:193.15, Y:-94.36, Z:-25.66 [[ 7.34745895e-01 6.71630706e-01 9.51875196e-02 1.93154499e+02] [-6.65977962e-01 7.40885920e-01 -8.69563540e-02 -9.43628645e+01] [-1.28925651e-01 4.98033805e-04 9.91654138e-01 -2.56638176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters 0.027232911999713172 Centerline is valid? [True, True] Translation: X:193.20, Y:-94.41, Z:-25.67 [[ 7.33352206e-01 6.73171740e-01 9.50492028e-02 1.93199567e+02] [-6.67536294e-01 7.39486120e-01 -8.69228079e-02 -9.44058186e+01] [-1.28801544e-01 2.96240318e-04 9.91670346e-01 -2.56740074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters 0.027055747872789963 Centerline is valid? [True, True] Translation: X:193.25, Y:-94.45, Z:-25.68 [[ 7.31128509e-01 6.75517339e-01 9.55375765e-02 1.93245999e+02] [-6.69831289e-01 7.37344101e-01 -8.74626876e-02 -9.44488498e+01] [-1.29526630e-01 -4.75936520e-05 9.91575943e-01 -2.56794969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters 0.026942097228919774 Centerline is valid? [True, True] Translation: X:193.29, Y:-94.49, Z:-25.69 [[ 7.28974106e-01 6.77987566e-01 9.44966243e-02 1.93293715e+02] [-6.72434297e-01 7.35073254e-01 -8.65992393e-02 -9.44890260e+01] [-1.28175149e-01 -4.14167992e-04 9.91751461e-01 -2.56860581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters 0.026937133325169872 Centerline is valid? [True, True] Translation: X:193.34, Y:-94.53, Z:-25.69 [[ 7.30366214e-01 6.76605419e-01 9.36498821e-02 1.93341542e+02] [-6.71130068e-01 7.36345771e-01 -8.59030675e-02 -9.45285111e+01] [-1.27081176e-01 -1.10553552e-04 9.91892314e-01 -2.56941794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters 0.026942493013874788 Centerline is valid? [True, True] Translation: X:193.39, Y:-94.57, Z:-25.70 [[ 7.31013441e-01 6.75861471e-01 9.39713848e-02 1.93388841e+02] [-6.70331692e-01 7.37028674e-01 -8.62795248e-02 -9.45696244e+01] [-1.27572612e-01 7.94949812e-05 9.91829230e-01 -2.57008040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters 0.027046240339727762 Centerline is valid? [True, True] Translation: X:193.44, Y:-94.61, Z:-25.71 [[ 7.32302971e-01 6.74374800e-01 9.46096614e-02 1.93436205e+02] [-6.68744973e-01 7.38389099e-01 -8.69580355e-02 -9.46101036e+01] [-1.28501050e-01 4.09892293e-04 9.91709288e-01 -2.57076395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters 0.026883805480458472 Centerline is valid? [True, True] Translation: X:193.48, Y:-94.65, Z:-25.71 [[ 7.31443008e-01 6.75307047e-01 9.46124683e-02 1.93484897e+02] [-6.69672855e-01 7.37536639e-01 -8.70515575e-02 -9.46501225e+01] [-1.28566692e-01 3.13851317e-04 9.91700815e-01 -2.57143905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters 0.02671346956901614 Centerline is valid? [True, True] Translation: X:193.53, Y:-94.69, Z:-25.72 [[ 7.30683040e-01 6.76174867e-01 9.42859709e-02 1.93532107e+02] [-6.70575161e-01 7.36741133e-01 -8.68415638e-02 -9.46911444e+01] [-1.28184436e-01 2.27827748e-04 9.91750321e-01 -2.57217646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters 0.026576057845930097 Centerline is valid? [True, True] Translation: X:193.58, Y:-94.73, Z:-25.73 [[ 7.30826635e-01 6.75986077e-01 9.45264726e-02 1.93583080e+02] [-6.70344196e-01 7.36914320e-01 -8.71547129e-02 -9.47278882e+01] [-1.28573284e-01 3.29713278e-04 9.91699956e-01 -2.57297688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters 0.026540987964871948 Centerline is valid? [True, True] Translation: X:193.63, Y:-94.77, Z:-25.74 [[ 7.30383040e-01 6.76360809e-01 9.52715631e-02 1.93631688e+02] [-6.70620297e-01 7.36570393e-01 -8.79344778e-02 -9.47677147e+01] [-1.29649647e-01 3.34807324e-04 9.91559810e-01 -2.57371522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters 0.026635626643741014 Centerline is valid? [True, True] Translation: X:193.68, Y:-94.81, Z:-25.74 [[ 7.32394551e-01 6.74207872e-01 9.50892633e-02 1.93681115e+02] [-6.68459245e-01 7.38541218e-01 -8.78584415e-02 -9.48069086e+01] [-1.29462193e-01 7.83746559e-04 9.91584049e-01 -2.57433820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters 0.02678323392215108 Centerline is valid? [True, True] Translation: X:193.73, Y:-94.85, Z:-25.75 [[ 7.33274481e-01 6.73071087e-01 9.63527268e-02 1.93728378e+02] [-6.67146047e-01 7.39577024e-01 -8.91177749e-02 -9.48461231e+01] [-1.31242861e-01 1.06644935e-03 9.91349673e-01 -2.57513343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters 0.02670653952912201 Centerline is valid? [True, True] Translation: X:193.78, Y:-94.89, Z:-25.76 [[ 7.34383327e-01 6.72045376e-01 9.50586252e-02 1.93775972e+02] [-6.66260103e-01 7.40508840e-01 -8.80007569e-02 -9.48872796e+01] [-1.29532254e-01 1.29251924e-03 9.91574367e-01 -2.57579298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters 0.02725172063993427 Centerline is valid? [True, True] Translation: X:193.82, Y:-94.93, Z:-25.77 [[ 7.36873671e-01 6.69292772e-01 9.52070271e-02 1.93820879e+02] [-6.63454668e-01 7.42996483e-01 -8.82277186e-02 -9.49290252e+01] [-1.29788661e-01 1.84713637e-03 9.91539960e-01 -2.57667775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters 0.027700360575459316 Centerline is valid? [True, True] Translation: X:193.87, Y:-94.97, Z:-25.77 [[ 7.39860582e-01 6.66001844e-01 9.51202612e-02 1.93866487e+02] [-6.60137082e-01 7.45945967e-01 -8.82249856e-02 -9.49703173e+01] [-1.29712578e-01 2.48177750e-03 9.91548530e-01 -2.57720787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters 0.02797968094291737 Centerline is valid? [True, True] Translation: X:193.91, Y:-95.01, Z:-25.78 [[ 7.40228931e-01 6.65413147e-01 9.63663481e-02 1.93911343e+02] [-6.59378154e-01 7.46470485e-01 -8.94553839e-02 -9.50130968e+01] [-1.31459423e-01 2.67559851e-03 9.91317942e-01 -2.57791663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters 0.027787034594112376 Centerline is valid? [True, True] Translation: X:193.96, Y:-95.06, Z:-25.79 [[ 7.39842002e-01 6.66029738e-01 9.50694544e-02 1.93957250e+02] [-6.60151871e-01 7.45920699e-01 -8.83279053e-02 -9.50550835e+01] [-1.29743285e-01 2.58841609e-03 9.91544240e-01 -2.57852486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters 0.027781741535520894 Centerline is valid? [True, True] Translation: X:194.00, Y:-95.10, Z:-25.79 [[ 7.38714442e-01 6.67241615e-01 9.53393965e-02 1.94002566e+02] [-6.61329842e-01 7.44837341e-01 -8.86576335e-02 -9.50982429e+01] [-1.30168405e-01 2.44188618e-03 9.91488892e-01 -2.57921731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters 0.027594234884038643 Centerline is valid? [True, True] Translation: X:194.05, Y:-95.14, Z:-25.80 [[ 7.36592214e-01 6.69432030e-01 9.63984854e-02 1.94047718e+02] [-6.63394118e-01 7.42870210e-01 -8.97334712e-02 -9.51413489e+01] [-1.31682023e-01 2.14678809e-03 9.91289683e-01 -2.57987307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters 0.027098692282528963 Centerline is valid? [True, True] Translation: X:194.09, Y:-95.19, Z:-25.80 [[ 7.34514732e-01 6.72093028e-01 9.36966871e-02 1.94092214e+02] [-6.66400822e-01 7.40464799e-01 -8.73030627e-02 -9.51850474e+01] [-1.28054878e-01 1.68583644e-03 9.91765651e-01 -2.58038172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters 0.02706447326092846 Centerline is valid? [True, True] Translation: X:194.14, Y:-95.23, Z:-25.81 [[ 7.31555287e-01 6.75018841e-01 9.57936596e-02 1.94137064e+02] [-6.69081739e-01 7.37799409e-01 -8.93401340e-02 -9.52284263e+01] [-1.30982779e-01 1.26345905e-03 9.91383839e-01 -2.58116504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters 0.027049318508122172 Centerline is valid? [True, True] Translation: X:194.18, Y:-95.27, Z:-25.82 [[ 7.30940507e-01 6.75694455e-01 9.57234501e-02 1.94181598e+02] [-6.69759735e-01 7.37180806e-01 -8.93664174e-02 -9.52732196e+01] [-1.30949883e-01 1.20982180e-03 9.91388251e-01 -2.58191081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters 0.026750955774790627 Centerline is valid? [True, True] Translation: X:194.23, Y:-95.32, Z:-25.83 [[ 7.28375488e-01 6.78197498e-01 9.75566661e-02 1.94225601e+02] [-6.72042028e-01 7.34879202e-01 -9.11705609e-02 -9.53159054e+01] [-1.33524011e-01 8.44222033e-04 9.91045219e-01 -2.58268452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters 0.02695604039616482 Centerline is valid? [True, True] Translation: X:194.27, Y:-95.36, Z:-25.83 [[ 7.27344529e-01 6.79297348e-01 9.75963575e-02 1.94268618e+02] [-6.73136050e-01 7.33862808e-01 -9.12865681e-02 -9.53619716e+01] [-1.33633061e-01 7.01159310e-04 9.91030632e-01 -2.58347504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters 0.02674509733154858 Centerline is valid? [True, True] Translation: X:194.31, Y:-95.41, Z:-25.84 [[ 7.27447232e-01 6.79290021e-01 9.68792665e-02 1.94312782e+02] [-6.73206768e-01 7.33869525e-01 -9.07092474e-02 -9.54063919e+01] [-1.32714628e-01 7.66413003e-04 9.91153994e-01 -2.58419621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters 0.026772840511319864 Centerline is valid? [True, True] Translation: X:194.36, Y:-95.45, Z:-25.85 [[ 7.27506161e-01 6.79172793e-01 9.72579216e-02 1.94356102e+02] [-6.73027915e-01 7.33977912e-01 -9.11583806e-02 -9.54511520e+01] [-1.33297458e-01 8.60987336e-04 9.91075702e-01 -2.58492059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters 0.026777312584271497 Centerline is valid? [True, True] Translation: X:194.40, Y:-95.50, Z:-25.86 [[ 7.26564703e-01 6.80161960e-01 9.73829611e-02 1.94399640e+02] [-6.73997245e-01 7.33061488e-01 -9.13705031e-02 -9.54969357e+01] [-1.33534439e-01 7.50734996e-04 9.91043889e-01 -2.58557482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters 0.026944769225942265 Centerline is valid? [True, True] Translation: X:194.44, Y:-95.54, Z:-25.86 [[ 7.27367099e-01 6.79068565e-01 9.90100370e-02 1.94443171e+02] [-6.72671914e-01 7.34074114e-01 -9.29929632e-02 -9.55403934e+01] [-1.35829303e-01 1.03875078e-03 9.90731710e-01 -2.58636831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters 0.02738635365580441 Centerline is valid? [True, True] Translation: X:194.49, Y:-95.59, Z:-25.87 [[ 7.28080912e-01 6.78066021e-01 1.00621353e-01 1.94485223e+02] [-6.71436698e-01 7.34999832e-01 -9.45939094e-02 -9.55862190e+01] [-1.38097593e-01 1.31115114e-03 9.90417758e-01 -2.58717331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters 0.02735223199054376 Centerline is valid? [True, True] Translation: X:194.53, Y:-95.63, Z:-25.88 [[ 7.28307685e-01 6.78135213e-01 9.84913634e-02 1.94528499e+02] [-6.71774101e-01 7.34935955e-01 -9.26752331e-02 -9.56306841e+01] [-1.35231183e-01 1.33213734e-03 9.90813177e-01 -2.58783523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters 0.027173621236024688 Centerline is valid? [True, True] Translation: X:194.57, Y:-95.68, Z:-25.89 [[ 7.25408676e-01 6.80848071e-01 1.01134347e-01 1.94568242e+02] [-6.74153169e-01 7.32424103e-01 -9.52493439e-02 -9.56789276e+01] [-1.38923566e-01 9.14659918e-04 9.90302684e-01 -2.58871776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters 0.027196500735963323 Centerline is valid? [True, True] Translation: X:194.61, Y:-95.72, Z:-25.89 [[ 7.23008915e-01 6.83283312e-01 1.01892217e-01 1.94611465e+02] [-6.76498593e-01 7.30153168e-01 -9.60520980e-02 -9.57240724e+01] [-1.40027721e-01 5.16581533e-04 9.90147449e-01 -2.58941097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters 0.027356752634228088 Centerline is valid? [True, True] Translation: X:194.65, Y:-95.77, Z:-25.90 [[ 7.22577713e-01 6.83859815e-01 1.01080181e-01 1.94654327e+02] [-6.77175349e-01 7.29613274e-01 -9.53835214e-02 -9.57679690e+01] [-1.38978399e-01 4.72999635e-04 9.90295300e-01 -2.59024398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters 0.027788162270918623 Centerline is valid? [True, True] Translation: X:194.70, Y:-95.81, Z:-25.91 [[ 7.19650727e-01 6.86705894e-01 1.02654012e-01 1.94696373e+02] [-6.79826375e-01 7.26935358e-01 -9.69591899e-02 -9.58138994e+01] [-1.41205279e-01 -1.01536699e-05 9.89980338e-01 -2.59108516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters 0.027648635481549808 Centerline is valid? [True, True] Translation: X:194.74, Y:-95.86, Z:-25.92 [[ 7.17779119e-01 6.88849212e-01 1.01389842e-01 1.94740958e+02] [-6.82147947e-01 7.24904567e-01 -9.58516937e-02 -9.58569513e+01] [-1.39525323e-01 -3.62528092e-04 9.90218437e-01 -2.59170679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters 0.027989112057794648 Centerline is valid? [True, True] Translation: X:194.79, Y:-95.90, Z:-25.93 [[ 7.14554193e-01 6.92024210e-01 1.02541687e-01 1.94785805e+02] [-6.85188684e-01 7.21873696e-01 -9.70300686e-02 -9.58997095e+01] [-1.41169303e-01 -9.27160958e-04 9.89985034e-01 -2.59260055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters 0.028542993609022186 Centerline is valid? [True, True] Translation: X:194.83, Y:-95.94, Z:-25.93 [[ 7.10848083e-01 6.95899967e-01 1.02069772e-01 1.94830355e+02] [-6.89154461e-01 7.18136897e-01 -9.66722607e-02 -9.59424486e+01] [-1.40574293e-01 -1.62254769e-03 9.90068803e-01 -2.59332628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters 0.028547362568167284 Centerline is valid? [True, True] Translation: X:194.88, Y:-95.98, Z:-25.94 [[ 7.09452371e-01 6.97441173e-01 1.01257803e-01 1.94878604e+02] [-6.90806021e-01 7.16639657e-01 -9.59929292e-02 -9.59833062e+01] [-1.39514779e-01 -1.84708912e-03 9.90218266e-01 -2.59398720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters 0.028189667533689056 Centerline is valid? [True, True] Translation: X:194.93, Y:-96.02, Z:-25.94 [[ 7.09886803e-01 6.97339040e-01 9.88887711e-02 1.94926775e+02] [-6.90998099e-01 7.16739368e-01 -9.38419171e-02 -9.60231716e+01] [-1.36317108e-01 -1.71481432e-03 9.90663770e-01 -2.59449601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters 0.02845939138163638 Centerline is valid? [True, True] Translation: X:194.97, Y:-96.06, Z:-25.95 [[ 7.09066359e-01 6.98267548e-01 9.82208209e-02 1.94974308e+02] [-6.92009221e-01 7.15834570e-01 -9.32958068e-02 -9.60633312e+01] [-1.35455293e-01 -1.81679560e-03 9.90781794e-01 -2.59527317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters 0.028554931551791257 Centerline is valid? [True, True] Translation: X:195.02, Y:-96.10, Z:-25.96 [[ 7.08982133e-01 6.98418365e-01 9.77554197e-02 1.95022392e+02] [-6.92207480e-01 7.15687551e-01 -9.29523233e-02 -9.61041124e+01] [-1.34881947e-01 -1.76549627e-03 9.90860103e-01 -2.59592656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters 0.028503244074479808 Centerline is valid? [True, True] Translation: X:195.07, Y:-96.14, Z:-25.97 [[ 7.10825145e-01 6.96382064e-01 9.88920305e-02 1.95071767e+02] [-6.89991728e-01 7.17670030e-01 -9.41336473e-02 -9.61432168e+01] [-1.36524830e-01 -1.32211944e-03 9.90635767e-01 -2.59651156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters 0.028257579691448802 Centerline is valid? [True, True] Translation: X:195.12, Y:-96.18, Z:-25.97 [[ 7.14350310e-01 6.92964839e-01 9.74852153e-02 1.95120468e+02] [-6.86711059e-01 7.20971141e-01 -9.28899102e-02 -9.61815306e+01] [-1.34653469e-01 -5.88239259e-04 9.90892576e-01 -2.59714810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters 0.02810557509337455 Centerline is valid? [True, True] Translation: X:195.17, Y:-96.22, Z:-25.98 [[ 7.17425507e-01 6.89885198e-01 9.67422098e-02 1.95167588e+02] [-6.83687275e-01 7.23918787e-01 -9.22675456e-02 -9.62217924e+01] [-1.33687517e-01 5.36728832e-05 9.91023534e-01 -2.59775483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters 0.028115416583374724 Centerline is valid? [True, True] Translation: X:195.21, Y:-96.27, Z:-25.98 [[ 7.20328906e-01 6.86843218e-01 9.68125036e-02 1.95213529e+02] [-6.80596939e-01 7.26805287e-01 -9.24222987e-02 -9.62651110e+01] [-1.33843469e-01 6.84159711e-04 9.91002249e-01 -2.59844957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters 0.028000766011104652 Centerline is valid? [True, True] Translation: X:195.26, Y:-96.31, Z:-25.99 [[ 7.21434053e-01 6.85902567e-01 9.52395723e-02 1.95256189e+02] [-6.79838165e-01 7.27692818e-01 -9.10122625e-02 -9.63106438e+01] [-1.31730697e-01 9.11849279e-04 9.91285121e-01 -2.59902841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters 0.02790820835881225 Centerline is valid? [True, True] Translation: X:195.30, Y:-96.36, Z:-26.00 [[ 7.19628627e-01 6.87926549e-01 9.42958254e-02 1.95298984e+02] [-6.81988888e-01 7.25780069e-01 -9.01911718e-02 -9.63553075e+01] [-1.30482932e-01 5.95444043e-04 9.91450377e-01 -2.59964428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters 0.02762756258436412 Centerline is valid? [True, True] Translation: X:195.34, Y:-96.40, Z:-26.00 [[ 7.16363078e-01 6.91469538e-01 9.32406496e-02 1.95341863e+02] [-6.85683941e-01 7.22405618e-01 -8.92617239e-02 -9.64004567e+01] [-1.29079332e-01 1.01870986e-05 9.91634270e-01 -2.60031280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters 0.027648279218523922 Centerline is valid? [True, True] Translation: X:195.39, Y:-96.44, Z:-26.01 [[ 7.13209005e-01 6.94612254e-01 9.40570601e-02 1.95385188e+02] [-6.88740679e-01 7.19384156e-01 -9.01260961e-02 -9.64445338e+01] [-1.30265850e-01 -5.02180133e-04 9.91478974e-01 -2.60096623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters 0.027897668210788994 Centerline is valid? [True, True] Translation: X:195.43, Y:-96.49, Z:-26.02 [[ 7.09772255e-01 6.98079809e-01 9.43818099e-02 1.95429790e+02] [-6.92186798e-01 7.16019143e-01 -9.05208460e-02 -9.64868882e+01] [-1.30769957e-01 -1.08065784e-03 9.91412150e-01 -2.60160791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters 0.028092873960680147 Centerline is valid? [True, True] Translation: X:195.48, Y:-96.53, Z:-26.02 [[ 7.07031420e-01 7.00976180e-01 9.34824374e-02 1.95475604e+02] [-6.95209562e-01 7.13183024e-01 -8.97420678e-02 -9.65296927e+01] [-1.29577139e-01 -1.53942275e-03 9.91568150e-01 -2.60217751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters 0.028185521287224832 Centerline is valid? [True, True] Translation: X:195.52, Y:-96.57, Z:-26.03 [[ 7.05836053e-01 7.02259407e-01 9.28826737e-02 1.95521017e+02] [-6.96565566e-01 7.11919133e-01 -8.92611946e-02 -9.65729236e+01] [-1.28809466e-01 -1.69510288e-03 9.91667912e-01 -2.60293888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters 0.027861957834141318 Centerline is valid? [True, True] Translation: X:195.56, Y:-96.62, Z:-26.04 [[ 7.07147274e-01 7.00928106e-01 9.29651728e-02 1.95564973e+02] [-6.95200495e-01 7.13230585e-01 -8.94337994e-02 -9.66163153e+01] [-1.28992268e-01 -1.38656667e-03 9.91644630e-01 -2.60366437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters 0.027836513445106854 Centerline is valid? [True, True] Translation: X:195.61, Y:-96.66, Z:-26.04 [[ 7.07062031e-01 7.01169539e-01 9.17854099e-02 1.95608772e+02] [-6.95578504e-01 7.12993300e-01 -8.83804218e-02 -9.66596804e+01] [-1.27412042e-01 -1.35351754e-03 9.91848950e-01 -2.60425887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters 0.027589541133202354 Centerline is valid? [True, True] Translation: X:195.65, Y:-96.70, Z:-26.05 [[ 7.05991819e-01 7.02131728e-01 9.26638427e-02 1.95652865e+02] [-6.96430116e-01 7.12045533e-01 -8.93098732e-02 -9.67033119e+01] [-1.28688171e-01 -1.48185082e-03 9.91684001e-01 -2.60503059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters 0.02739963143015065 Centerline is valid? [True, True] Translation: X:195.70, Y:-96.75, Z:-26.06 [[ 7.04135996e-01 7.04096272e-01 9.18745791e-02 1.95698709e+02] [-6.98497662e-01 7.10102334e-01 -8.86323428e-02 -9.67464280e+01] [-1.27646055e-01 -1.76495571e-03 9.91818214e-01 -2.60551907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters 0.027369879080443835 Centerline is valid? [True, True] Translation: X:195.74, Y:-96.79, Z:-26.06 [[ 7.02812795e-01 7.05363226e-01 9.22870206e-02 1.95744023e+02] [-6.99712765e-01 7.08843401e-01 -8.91239563e-02 -9.67886936e+01] [-1.28281807e-01 -1.93694947e-03 9.91735865e-01 -2.60605031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters 0.0271337329568278 Centerline is valid? [True, True] Translation: X:195.79, Y:-96.83, Z:-26.07 [[ 7.02281356e-01 7.05727360e-01 9.35403149e-02 1.95788698e+02] [-6.99913744e-01 7.08480778e-01 -9.04197868e-02 -9.68313025e+01] [-1.30083232e-01 -1.97002144e-03 9.91501120e-01 -2.60674230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters 0.02733626486350345 Centerline is valid? [True, True] Translation: X:195.84, Y:-96.87, Z:-26.07 [[ 7.00869761e-01 7.07037130e-01 9.42341423e-02 1.95836190e+02] [-7.01137024e-01 7.07173100e-01 -9.11760922e-02 -9.68711655e+01] [-1.31104733e-01 -2.16848013e-03 9.91366152e-01 -2.60744592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters 0.027106183231874557 Centerline is valid? [True, True] Translation: X:195.88, Y:-96.91, Z:-26.08 [[ 7.00298992e-01 7.07778090e-01 9.29058484e-02 1.95883506e+02] [-7.02039472e-01 7.06431362e-01 -8.99739437e-02 -9.69119407e+01] [-1.29313191e-01 -2.21491064e-03 9.91601328e-01 -2.60808412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters 0.0270869046074976 Centerline is valid? [True, True] Translation: X:195.93, Y:-96.95, Z:-26.09 [[ 7.01317959e-01 7.06612677e-01 9.40831818e-02 1.95931279e+02] [-7.00705111e-01 7.07597816e-01 -9.12013059e-02 -9.69518591e+01] [-1.31017053e-01 -1.96345257e-03 9.91378170e-01 -2.60897262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters 0.026933840105601854 Centerline is valid? [True, True] Translation: X:195.98, Y:-96.99, Z:-26.10 [[ 7.02462278e-01 7.05462053e-01 9.41808888e-02 1.95977238e+02] [-6.99519270e-01 7.08745695e-01 -9.13910854e-02 -9.69935803e+01] [-1.31223242e-01 -1.68255657e-03 9.91351416e-01 -2.60968784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters 0.026555730601919708 Centerline is valid? [True, True] Translation: X:196.02, Y:-97.03, Z:-26.10 [[ 7.04244924e-01 7.03984019e-01 9.18998842e-02 1.96024581e+02] [-6.98303770e-01 7.10214597e-01 -8.92584507e-02 -9.70339402e+01] [-1.28105162e-01 -1.31422479e-03 9.91759719e-01 -2.61028033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters 0.026534457843473996 Centerline is valid? [True, True] Translation: X:196.07, Y:-97.07, Z:-26.11 [[ 7.06074780e-01 7.01983520e-01 9.31533353e-02 1.96072059e+02] [-6.96117909e-01 7.12192618e-01 -9.05623101e-02 -9.70743363e+01] [-1.29916367e-01 -9.01941813e-04 9.91524545e-01 -2.61112884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters 0.0264162134722736 Centerline is valid? [True, True] Translation: X:196.12, Y:-97.12, Z:-26.12 [[ 7.07486366e-01 7.00419742e-01 9.42084265e-02 1.96118778e+02] [-6.94392933e-01 7.13730959e-01 -9.16873590e-02 -9.71169094e+01] [-1.31459107e-01 -5.50109196e-04 9.91321442e-01 -2.61173595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters 0.02671818257519055 Centerline is valid? [True, True] Translation: X:196.16, Y:-97.16, Z:-26.13 [[ 7.10278495e-01 6.97761917e-01 9.29126887e-02 1.96164598e+02] [-6.91865622e-01 7.16329748e-01 -9.05188002e-02 -9.71575950e+01] [-1.29716694e-01 1.04620048e-05 9.91551098e-01 -2.61263681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters 0.026263188573907834 Centerline is valid? [True, True] Translation: X:196.21, Y:-97.20, Z:-26.13 [[ 7.09686362e-01 6.98494976e-01 9.19240826e-02 1.96208452e+02] [-6.92719551e-01 7.15614956e-01 -8.96373719e-02 -9.72011839e+01] [-1.28393502e-01 -6.31889560e-05 9.91723300e-01 -2.61329399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters 0.026465871193517117 Centerline is valid? [True, True] Translation: X:196.25, Y:-97.25, Z:-26.14 [[ 7.08309969e-01 6.99870418e-01 9.20781517e-02 1.96252350e+02] [-6.94076202e-01 7.14269791e-01 -8.98715318e-02 -9.72461464e+01] [-1.28667069e-01 -2.52351874e-04 9.91687815e-01 -2.61401171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters 0.0261895609926632 Centerline is valid? [True, True] Translation: X:196.30, Y:-97.29, Z:-26.15 [[ 7.05726697e-01 7.02524240e-01 9.17034378e-02 1.96297076e+02] [-6.96787317e-01 7.11659504e-01 -8.96001354e-02 -9.72903896e+01] [-1.28207890e-01 -6.64584769e-04 9.91747092e-01 -2.61476960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters 0.02650597322055368 Centerline is valid? [True, True] Translation: X:196.34, Y:-97.33, Z:-26.16 [[ 7.03689838e-01 7.04374546e-01 9.31510152e-02 1.96340655e+02] [-6.98457870e-01 7.09827866e-01 -9.11098471e-02 -9.73346593e+01] [-1.30296643e-01 -9.48986202e-04 9.91474601e-01 -2.61555244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters 0.02631825363080572 Centerline is valid? [True, True] Translation: X:196.39, Y:-97.38, Z:-26.16 [[ 7.02527008e-01 7.05574197e-01 9.28485598e-02 1.96385184e+02] [-6.99695317e-01 7.08635186e-01 -9.08990417e-02 -9.73792205e+01] [-1.29931775e-01 -1.10667068e-03 9.91522319e-01 -2.61619242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters 0.02651427203067565 Centerline is valid? [True, True] Translation: X:196.43, Y:-97.42, Z:-26.17 [[ 7.01236657e-01 7.06866131e-01 9.27761982e-02 1.96430053e+02] [-7.00995210e-01 7.07346197e-01 -9.09234485e-02 -9.74230287e+01] [-1.29895597e-01 -1.27681544e-03 9.91526855e-01 -2.61665976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters 0.026544319136028328 Centerline is valid? [True, True] Translation: X:196.47, Y:-97.47, Z:-26.17 [[ 6.98849018e-01 7.09183097e-01 9.31095308e-02 1.96474847e+02] [-7.03277697e-01 7.05022429e-01 -9.13447014e-02 -9.74654797e+01] [-1.30424426e-01 -1.64570156e-03 9.91456888e-01 -2.61733837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters 0.02697064838528494 Centerline is valid? [True, True] Translation: X:196.52, Y:-97.50, Z:-26.18 [[ 6.94654153e-01 7.13250173e-01 9.34333903e-02 1.96521934e+02] [-7.07328762e-01 7.00905585e-01 -9.17462962e-02 -9.75049487e+01] [-1.30926047e-01 -2.35617866e-03 9.91389338e-01 -2.61812995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters 0.027188283757342387 Centerline is valid? [True, True] Translation: X:196.57, Y:-97.54, Z:-26.19 [[ 6.91858001e-01 7.16037579e-01 9.28584510e-02 1.96569592e+02] [-7.10203627e-01 6.98056083e-01 -9.12606835e-02 -9.75447304e+01] [-1.30166486e-01 -2.80897468e-03 9.91488172e-01 -2.61868007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters 0.027103431134541667 Centerline is valid? [True, True] Translation: X:196.62, Y:-97.58, Z:-26.19 [[ 6.93043593e-01 7.14848245e-01 9.31802817e-02 1.96619779e+02] [-7.08951715e-01 6.99275027e-01 -9.16618923e-02 -9.75817961e+01] [-1.30682987e-01 -2.53463336e-03 9.91420966e-01 -2.61945226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters 0.026855814927389733 Centerline is valid? [True, True] Translation: X:196.67, Y:-97.62, Z:-26.20 [[ 6.96099081e-01 7.11792993e-01 9.37912757e-02 1.96669664e+02] [-7.05779257e-01 7.02386704e-01 -9.23501954e-02 -9.76187730e+01] [-1.31611967e-01 -1.91105064e-03 9.91299469e-01 -2.62024142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters 0.026572318341537518 Centerline is valid? [True, True] Translation: X:196.72, Y:-97.66, Z:-26.21 [[ 6.99296380e-01 7.08742469e-01 9.31057795e-02 1.96720255e+02] [-7.02778504e-01 7.05466166e-01 -9.17598112e-02 -9.76556119e+01] [-1.30717052e-01 -1.26543658e-03 9.91418908e-01 -2.62091746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters 0.026424693320129648 Centerline is valid? [True, True] Translation: X:196.77, Y:-97.69, Z:-26.22 [[ 7.02513384e-01 7.05604455e-01 9.27216160e-02 1.96769092e+02] [-6.99651474e-01 7.08605653e-01 -9.14649872e-02 -9.76941446e+01] [-1.30241164e-01 -6.17437584e-04 9.91482152e-01 -2.62158564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters 0.026502354246084475 Centerline is valid? [True, True] Translation: X:196.82, Y:-97.73, Z:-26.22 [[ 7.04042825e-01 7.03812638e-01 9.47178520e-02 1.96819104e+02] [-6.97571530e-01 7.10385612e-01 -9.35213470e-02 -9.77314997e+01] [-1.33107705e-01 -2.29443615e-04 9.91101552e-01 -2.62226397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters 0.026345931037715792 Centerline is valid? [True, True] Translation: X:196.87, Y:-97.77, Z:-26.23 [[ 7.05909714e-01 7.02116207e-01 9.34040081e-02 1.96866773e+02] [-6.96021910e-01 7.12062364e-01 -9.23075873e-02 -9.77719807e+01] [-1.31320132e-01 1.49586353e-04 9.91340003e-01 -2.62288194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters 0.026316682965509482 Centerline is valid? [True, True] Translation: X:196.91, Y:-97.81, Z:-26.24 [[ 7.08428802e-01 6.99861181e-01 9.12302573e-02 1.96914777e+02] [-6.94019333e-01 7.14278624e-01 -9.02397550e-02 -9.78119438e+01] [-1.28319124e-01 6.12879310e-04 9.91732740e-01 -2.62351385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters 0.026758346516799373 Centerline is valid? [True, True] Translation: X:196.96, Y:-97.85, Z:-26.24 [[ 7.11124574e-01 6.96878255e-01 9.30727588e-02 1.96963280e+02] [-6.90760332e-01 7.17188377e-01 -9.21465970e-02 -9.78510193e+01] [-1.30965661e-01 1.23673978e-03 9.91386134e-01 -2.62426643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters 0.026781748775863347 Centerline is valid? [True, True] Translation: X:197.01, Y:-97.89, Z:-26.25 [[ 7.11725815e-01 6.96211701e-01 9.34645990e-02 1.97009683e+02] [-6.90025201e-01 7.17835103e-01 -9.26174157e-02 -9.78918461e+01] [-1.31573499e-01 1.42527692e-03 9.91305393e-01 -2.62500730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters 0.026683047831838773 Centerline is valid? [True, True] Translation: X:197.06, Y:-97.93, Z:-26.26 [[ 7.12409866e-01 6.95817011e-01 9.11639689e-02 1.97055739e+02] [-6.89919264e-01 7.18217505e-01 -9.04158455e-02 -9.79329361e+01] [-1.28388442e-01 1.51736211e-03 9.91722797e-01 -2.62556941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters 0.027045158427119572 Centerline is valid? [True, True] Translation: X:197.10, Y:-97.98, Z:-26.26 [[ 7.14068867e-01 6.94078211e-01 9.14389990e-02 1.97100890e+02] [-6.88120049e-01 7.19897111e-01 -9.07686555e-02 -9.79758687e+01] [-1.28827217e-01 1.89406253e-03 9.91665246e-01 -2.62630632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters 0.027516555424784157 Centerline is valid? [True, True] Translation: X:197.15, Y:-98.02, Z:-26.27 [[ 7.15504311e-01 6.92413933e-01 9.28252446e-02 1.97145305e+02] [-6.86248203e-01 7.21496856e-01 -9.22262958e-02 -9.80189254e+01] [-1.30831894e-01 2.28715494e-03 9.91401929e-01 -2.62710423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters 0.027782345473685983 Centerline is valid? [True, True] Translation: X:197.19, Y:-98.06, Z:-26.28 [[ 7.16615245e-01 6.91331254e-01 9.23238221e-02 1.97187576e+02] [-6.85212845e-01 7.22533528e-01 -9.18077212e-02 -9.80639533e+01] [-1.30176604e-01 2.52934376e-03 9.91487597e-01 -2.62781875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters 0.028184193386377756 Centerline is valid? [True, True] Translation: X:197.23, Y:-98.11, Z:-26.29 [[ 7.17529001e-01 6.90270045e-01 9.31632820e-02 1.97231332e+02] [-6.84019730e-01 7.23546398e-01 -9.27233436e-02 -9.81082530e+01] [-1.31412104e-01 2.80616510e-03 9.91323854e-01 -2.62850251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters 0.028984957163631135 Centerline is valid? [True, True] Translation: X:197.27, Y:-98.15, Z:-26.29 [[ 7.20453905e-01 6.87198968e-01 9.32938819e-02 1.97273861e+02] [-6.80894709e-01 7.26461153e-01 -9.29332441e-02 -9.81527843e+01] [-1.31638011e-01 3.43080805e-03 9.91291917e-01 -2.62938451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters 0.029622962319742284 Centerline is valid? [True, True] Translation: X:197.32, Y:-98.20, Z:-26.30 [[ 7.23183899e-01 6.84500287e-01 9.20022061e-02 1.97316080e+02] [-6.78338235e-01 7.29002027e-01 -9.17239604e-02 -9.81977603e+01] [-1.29854872e-01 3.92467725e-03 9.91525244e-01 -2.63001613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters 0.029802911690199108 Centerline is valid? [True, True] Translation: X:197.36, Y:-98.24, Z:-26.31 [[ 7.23593989e-01 6.84251235e-01 9.06200053e-02 1.97358846e+02] [-6.78261905e-01 7.29235575e-01 -9.04226959e-02 -9.82444710e+01] [-1.27955173e-01 3.96522187e-03 9.91772026e-01 -2.63066397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters 0.03064984129790824 Centerline is valid? [True, True] Translation: X:197.40, Y:-98.29, Z:-26.31 [[ 7.25026341e-01 6.82428532e-01 9.28875843e-02 1.97400528e+02] [-6.76107596e-01 7.30938704e-01 -9.27746191e-02 -9.82895177e+01] [-1.31207178e-01 4.46204133e-03 9.91344928e-01 -2.63145555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters 0.03127684768932797 Centerline is valid? [True, True] Translation: X:197.44, Y:-98.34, Z:-26.32 [[ 7.26770789e-01 6.80552691e-01 9.30174985e-02 1.97442291e+02] [-6.74188946e-01 7.32683011e-01 -9.29777940e-02 -9.83356889e+01] [-1.31428629e-01 4.86217546e-03 9.91313712e-01 -2.63211608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters 0.031767882616807915 Centerline is valid? [True, True] Translation: X:197.34, Y:-98.79, Z:-24.42 [[ 7.25125407e-01 -6.85377003e-01 -6.67196225e-02 1.97340545e+02] [-6.81962504e-01 -7.28176659e-01 6.84536082e-02 -9.87894552e+01] [-9.55002007e-02 -4.13716972e-03 -9.95420813e-01 -2.44151091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters 0.03180724697289201 Centerline is valid? [True, True] Translation: X:197.47, Y:-98.40, Z:-26.33 [[ 7.73903163e-01 6.25419052e-01 9.96238127e-02 1.97473643e+02] [-6.19457436e-01 7.80272564e-01 -8.62972189e-02 -9.84014242e+01] [-1.31705653e-01 5.07297906e-03 9.91275888e-01 -2.63313406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters 0.030209215022463817 Centerline is valid? [True, True] Translation: X:197.51, Y:-98.45, Z:-26.34 [[ 7.70344096e-01 6.29878155e-01 9.91134877e-02 1.97514695e+02] [-6.24005851e-01 7.76681838e-01 -8.59186844e-02 -9.84477938e+01] [-1.31097948e-01 4.33955501e-03 9.91359923e-01 -2.63385189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters 0.029496873832337612 Centerline is valid? [True, True] Translation: X:197.56, Y:-98.49, Z:-26.35 [[ 7.67398837e-01 6.33442093e-01 9.92478683e-02 1.97555883e+02] [-6.27580111e-01 7.73780983e-01 -8.60592564e-02 -9.84948869e+01] [-1.31309669e-01 3.75578508e-03 9.91334285e-01 -2.63463704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters 0.02912276137939823 Centerline is valid? [True, True] Translation: X:197.60, Y:-98.54, Z:-26.35 [[ 7.66384516e-01 6.34783965e-01 9.85093471e-02 1.97599908e+02] [-6.29011600e-01 7.72681506e-01 -8.54850734e-02 -9.85391019e+01] [-1.30380904e-01 3.55091457e-03 9.91457619e-01 -2.63534986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters 0.028719989065589997 Centerline is valid? [True, True] Translation: X:197.64, Y:-98.58, Z:-26.36 [[ 7.64758454e-01 6.36868075e-01 9.76911584e-02 1.97643282e+02] [-6.31204287e-01 7.70966181e-01 -8.48073992e-02 -9.85839809e+01] [-1.29327704e-01 3.19409752e-03 9.91596764e-01 -2.63608056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters 0.028288822371627033 Centerline is valid? [True, True] Translation: X:197.69, Y:-98.63, Z:-26.37 [[ 7.62232588e-01 6.39609313e-01 9.95058172e-02 1.97686820e+02] [-6.33746172e-01 7.68694926e-01 -8.64517164e-02 -9.86287723e+01] [-1.31784940e-01 2.83488480e-03 9.91274277e-01 -2.63683173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters 0.02753522834303649 Centerline is valid? [True, True] Translation: X:197.73, Y:-98.67, Z:-26.37 [[ 7.57223578e-01 6.45427679e-01 1.00177663e-01 1.97728591e+02] [-6.39530370e-01 7.63819110e-01 -8.70705042e-02 -9.86746464e+01] [-1.32715327e-01 1.86518091e-03 9.91152442e-01 -2.63749833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters 0.02759613815575499 Centerline is valid? [True, True] Translation: X:197.77, Y:-98.72, Z:-26.38 [[ 7.55560919e-01 6.47381892e-01 1.00121840e-01 1.97772969e+02] [-6.41497955e-01 7.62164148e-01 -8.70987138e-02 -9.87182243e+01] [-1.32695407e-01 1.58042874e-03 9.91155604e-01 -2.63832419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters 0.02757937996455753 Centerline is valid? [True, True] Translation: X:197.82, Y:-98.76, Z:-26.39 [[ 7.52334713e-01 6.50820040e-01 1.02106586e-01 1.97817080e+02] [-6.44719450e-01 7.59231292e-01 -8.89082481e-02 -9.87630149e+01] [-1.35385785e-01 1.05865902e-03 9.90792394e-01 -2.63908469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters 0.027584599299859538 Centerline is valid? [True, True] Translation: X:197.86, Y:-98.81, Z:-26.40 [[ 7.50541741e-01 6.52990798e-01 1.01440191e-01 1.97861395e+02] [-6.46977606e-01 7.57365489e-01 -8.84165948e-02 -9.88062128e+01] [-1.34562523e-01 7.30812911e-04 9.90904836e-01 -2.63981016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters 0.02773504279292455 Centerline is valid? [True, True] Translation: X:197.91, Y:-98.85, Z:-26.41 [[ 7.48638384e-01 6.54971980e-01 1.02724270e-01 1.97906129e+02] [-6.48812063e-01 7.55653035e-01 -8.96180659e-02 -9.88495151e+01] [-1.36321228e-01 4.42778527e-04 9.90664588e-01 -2.64058869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters 0.027476317759514684 Centerline is valid? [True, True] Translation: X:197.95, Y:-98.89, Z:-26.41 [[ 7.48352647e-01 6.55510116e-01 1.01364709e-01 1.97951146e+02] [-6.49506983e-01 7.55186286e-01 -8.85118742e-02 -9.88914082e+01] [-1.34569667e-01 4.01008906e-04 9.90904054e-01 -2.64122012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters 0.027328480954314373 Centerline is valid? [True, True] Translation: X:198.00, Y:-98.93, Z:-26.42 [[ 7.45697809e-01 6.58455945e-01 1.01835884e-01 1.97997863e+02] [-6.52412314e-01 7.52619269e-01 -8.90079053e-02 -9.89337246e+01] [-1.35251433e-01 -6.59846634e-05 9.90811307e-01 -2.64195157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters 0.027152155493009467 Centerline is valid? [True, True] Translation: X:198.05, Y:-98.97, Z:-26.43 [[ 7.44114310e-01 6.60335044e-01 1.01249804e-01 1.98045785e+02] [-6.54365556e-01 7.50971050e-01 -8.85900753e-02 -9.89748893e+01] [-1.34534803e-01 -3.33241861e-04 9.90908813e-01 -2.64264071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters 0.027140220494932036 Centerline is valid? [True, True] Translation: X:198.09, Y:-99.02, Z:-26.43 [[ 7.42214420e-01 6.62569027e-01 1.00598407e-01 1.98093145e+02] [-6.56684280e-01 7.49000565e-01 -8.81130592e-02 -9.90160259e+01] [-1.33729247e-01 -6.62608972e-04 9.91017684e-01 -2.64335675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters 0.02697586303767078 Centerline is valid? [True, True] Translation: X:198.14, Y:-99.05, Z:-26.44 [[ 7.40665787e-01 6.64439367e-01 9.96720582e-02 1.98141948e+02] [-6.58667473e-01 7.47341608e-01 -8.73938292e-02 -9.90549897e+01] [-1.32556977e-01 -9.21123411e-04 9.91174959e-01 -2.64401352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters 0.027149061269542238 Centerline is valid? [True, True] Translation: X:198.19, Y:-99.09, Z:-26.45 [[ 7.38964715e-01 6.66346728e-01 9.95649938e-02 1.98193531e+02] [-6.60591982e-01 7.45641079e-01 -8.73934466e-02 -9.90914435e+01] [-1.32474087e-01 -1.19116327e-03 9.91185753e-01 -2.64463238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters 0.027081907256846394 Centerline is valid? [True, True] Translation: X:198.24, Y:-99.13, Z:-26.45 [[ 7.38535503e-01 6.66921078e-01 9.89019051e-02 1.98244931e+02] [-6.61235920e-01 7.45127370e-01 -8.69037464e-02 -9.91274742e+01] [-1.31652457e-01 -1.21599014e-03 9.91295189e-01 -2.64539619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters 0.027147089288062105 Centerline is valid? [True, True] Translation: X:198.30, Y:-99.16, Z:-26.46 [[ 7.39023925e-01 6.66196657e-01 1.00128180e-01 1.98296962e+02] [-6.60349589e-01 7.45775406e-01 -8.80764708e-02 -9.91638619e+01] [-1.33349384e-01 -1.02898302e-03 9.91068556e-01 -2.64604463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters 0.026915116772967696 Centerline is valid? [True, True] Translation: X:198.35, Y:-99.20, Z:-26.46 [[ 7.40121960e-01 6.65477248e-01 9.67445927e-02 1.98349021e+02] [-6.60002837e-01 7.46417703e-01 -8.51872537e-02 -9.91985886e+01] [-1.28902056e-01 -8.02748452e-04 9.91657005e-01 -2.64648744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters 0.02696498008160483 Centerline is valid? [True, True] Translation: X:198.40, Y:-99.23, Z:-26.47 [[ 7.41250564e-01 6.64182938e-01 9.69980694e-02 1.98402466e+02] [-6.58658089e-01 7.47569901e-01 -8.54913188e-02 -9.92335062e+01] [-1.29294712e-01 -5.18074716e-04 9.91606075e-01 -2.64715218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters 0.026945034119841203 Centerline is valid? [True, True] Translation: X:198.46, Y:-99.27, Z:-26.48 [[ 7.44267182e-01 6.60732425e-01 9.74629344e-02 1.98456605e+02] [-6.55112690e-01 7.50621502e-01 -8.59925865e-02 -9.92675263e+01] [-1.29975864e-01 1.52255004e-04 9.91517146e-01 -2.64780520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters 0.02717978868799591 Centerline is valid? [True, True] Translation: X:198.51, Y:-99.31, Z:-26.49 [[ 7.47520358e-01 6.57170985e-01 9.66416574e-02 1.98506294e+02] [-6.51604530e-01 7.53741070e-01 -8.53576984e-02 -9.93053663e+01] [-1.28937389e-01 8.34475533e-04 9.91652385e-01 -2.64854369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters 0.028186307438734414 Centerline is valid? [True, True] Translation: X:198.56, Y:-99.34, Z:-26.49 [[ 7.54154559e-01 6.49596494e-01 9.63083417e-02 1.98556876e+02] [-6.43995196e-01 7.60275989e-01 -8.51504991e-02 -9.93405846e+01] [-1.28534385e-01 2.19452772e-03 9.91702625e-01 -2.64941178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters 0.02858967420122381 Centerline is valid? [True, True] Translation: X:198.60, Y:-99.38, Z:-26.50 [[ 7.56499226e-01 6.47044496e-01 9.50912283e-02 1.98604476e+02] [-6.41555377e-01 7.62447640e-01 -8.41444921e-02 -9.93800434e+01] [-1.26947313e-01 2.64895432e-03 9.91905924e-01 -2.65001264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters 0.02914041042849025 Centerline is valid? [True, True] Translation: X:198.65, Y:-99.42, Z:-26.51 [[ 7.58793396e-01 6.44338348e-01 9.51875786e-02 1.98649490e+02] [-6.38807456e-01 7.64734004e-01 -8.43026557e-02 -9.94219366e+01] [-1.27112612e-01 3.16176350e-03 9.91883253e-01 -2.65069613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters 0.029485069421544156 Centerline is valid? [True, True] Translation: X:198.69, Y:-99.46, Z:-26.51 [[ 7.60352021e-01 6.42541710e-01 9.48944402e-02 1.98693778e+02] [-6.37022337e-01 7.66242698e-01 -8.41110634e-02 -9.94644786e+01] [-1.26757038e-01 3.50413900e-03 9.91927605e-01 -2.65142741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters 0.02990603311035149 Centerline is valid? [True, True] Translation: X:198.74, Y:-99.51, Z:-26.52 [[ 7.62129511e-01 6.40348703e-01 9.54575616e-02 1.98736202e+02] [-6.34737373e-01 7.68074195e-01 -8.46787951e-02 -9.95101991e+01] [-1.27542446e-01 3.94572686e-03 9.91825265e-01 -2.65212204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters 0.02931493327954006 Centerline is valid? [True, True] Translation: X:198.78, Y:-99.56, Z:-26.53 [[ 7.61139885e-01 6.41444361e-01 9.59958668e-02 1.98777789e+02] [-6.35768454e-01 7.67159945e-01 -8.52296365e-02 -9.95564376e+01] [-1.28314254e-01 3.84053189e-03 9.91726123e-01 -2.65271211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters 0.028311249479948966 Centerline is valid? [True, True] Translation: X:198.82, Y:-99.60, Z:-26.54 [[ 7.57297694e-01 6.45657099e-01 9.81178547e-02 1.98818237e+02] [-6.39751270e-01 7.63620521e-01 -8.71895207e-02 -9.96042836e+01] [-1.31219340e-01 3.25740082e-03 9.91348009e-01 -2.65352930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters 0.027496152457852734 Centerline is valid? [True, True] Translation: X:198.86, Y:-99.65, Z:-26.54 [[ 7.54241942e-01 6.49317773e-01 9.74962722e-02 1.98858637e+02] [-6.43507333e-01 7.60512552e-01 -8.67119983e-02 -9.96512803e+01] [-1.30450780e-01 2.66225990e-03 9.91451212e-01 -2.65427788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters 0.0270909417036217 Centerline is valid? [True, True] Translation: X:198.90, Y:-99.70, Z:-26.55 [[ 7.51660431e-01 6.52253616e-01 9.78356624e-02 1.98901073e+02] [-6.46416993e-01 7.57997554e-01 -8.70906373e-02 -9.96970664e+01] [-1.30964376e-01 2.21995126e-03 9.91384589e-01 -2.65504057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters 0.0268774520767679 Centerline is valid? [True, True] Translation: X:198.94, Y:-99.74, Z:-26.56 [[ 7.49298147e-01 6.54810419e-01 9.88716456e-02 1.98943338e+02] [-6.48860635e-01 7.55790900e-01 -8.80908157e-02 -9.97426575e+01] [-1.32409074e-01 1.85236615e-03 9.91193425e-01 -2.65580089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters 0.02675467035168755 Centerline is valid? [True, True] Translation: X:198.99, Y:-99.79, Z:-26.56 [[ 7.48578797e-01 6.55774882e-01 9.79238880e-02 1.98987031e+02] [-6.49937848e-01 7.54954532e-01 -8.73180857e-02 -9.97873075e+01] [-1.31189090e-01 1.72002651e-03 9.91355872e-01 -2.65647639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters 0.026766793435202375 Centerline is valid? [True, True] Translation: X:199.03, Y:-99.83, Z:-26.57 [[ 7.47006606e-01 6.57591756e-01 9.77456502e-02 1.99027882e+02] [-6.51785188e-01 7.53373097e-01 -8.72069180e-02 -9.98336156e+01] [-1.30985494e-01 1.43497685e-03 9.91383246e-01 -2.65731856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters 0.026725853737951832 Centerline is valid? [True, True] Translation: X:199.07, Y:-99.88, Z:-26.58 [[ 7.46673983e-01 6.57880411e-01 9.83429065e-02 1.99071685e+02] [-6.51994034e-01 7.53121005e-01 -8.78210169e-02 -9.98782161e+01] [-1.31839835e-01 1.45468013e-03 9.91269964e-01 -2.65797476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters 0.027037104263767327 Centerline is valid? [True, True] Translation: X:199.12, Y:-99.92, Z:-26.59 [[ 7.45659723e-01 6.58915149e-01 9.91080443e-02 1.99115880e+02] [-6.52933145e-01 7.52216059e-01 -8.85963238e-02 -9.99222082e+01] [-1.32928122e-01 1.35178314e-03 9.91124759e-01 -2.65862712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters 0.026774131659953987 Centerline is valid? [True, True] Translation: X:199.16, Y:-99.97, Z:-26.59 [[ 7.44481572e-01 6.60353893e-01 9.83866090e-02 1.99159251e+02] [-6.54459661e-01 7.50953662e-01 -8.80406128e-02 -9.99665093e+01] [-1.32021746e-01 1.15454703e-03 9.91246148e-01 -2.65942637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters 0.026871658445685304 Centerline is valid? [True, True] Translation: X:199.20, Y:-100.01, Z:-26.60 [[ 7.43588695e-01 6.61113850e-01 1.00021652e-01 1.99203309e+02] [-6.55017717e-01 7.50284799e-01 -8.95796346e-02 -1.00009070e+02] [-1.34267062e-01 1.09444935e-03 9.90944579e-01 -2.66020593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters 0.026723571930466344 Centerline is valid? [True, True] Translation: X:199.25, Y:-100.06, Z:-26.61 [[ 7.42635036e-01 6.62152853e-01 1.00233739e-01 1.99245804e+02] [-6.56032867e-01 7.49368199e-01 -8.98230479e-02 -1.00055987e+02] [-1.34588564e-01 9.49115164e-04 9.90901114e-01 -2.66086485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters 0.02676633777643376 Centerline is valid? [True, True] Translation: X:199.29, Y:-100.10, Z:-26.62 [[ 7.41178683e-01 6.63937055e-01 9.92055799e-02 1.99288988e+02] [-6.57946195e-01 7.47788148e-01 -8.89926341e-02 -1.00099880e+02] [-1.33270264e-01 6.87509477e-04 9.91079494e-01 -2.66163952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters 0.02665881994335905 Centerline is valid? [True, True] Translation: X:199.33, Y:-100.15, Z:-26.62 [[ 7.38961233e-01 6.66271358e-01 1.00093829e-01 1.99330947e+02] [-6.60181871e-01 7.45709304e-01 -8.98750863e-02 -1.00147202e+02] [-1.34522096e-01 3.34073168e-04 9.90910538e-01 -2.66219944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters 0.026575330301839933 Centerline is valid? [True, True] Translation: X:199.38, Y:-100.19, Z:-26.63 [[ 7.34841911e-01 6.70857026e-01 9.97908626e-02 1.99375220e+02] [-6.64833551e-01 7.41586587e-01 -8.96977342e-02 -1.00191446e+02] [-1.34177920e-01 -4.30659064e-04 9.90957164e-01 -2.66290114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters 0.026528699544040798 Centerline is valid? [True, True] Translation: X:199.42, Y:-100.23, Z:-26.64 [[ 7.31267035e-01 6.74995698e-01 9.81291562e-02 1.99419952e+02] [-6.69196801e-01 7.37820843e-01 -8.82952119e-02 -1.00234036e+02] [-1.32000625e-01 -1.10033962e-03 9.91249022e-01 -2.66353557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters 0.02684152583808392 Centerline is valid? [True, True] Translation: X:199.47, Y:-100.27, Z:-26.64 [[ 7.28552297e-01 6.77816380e-01 9.88762167e-02 1.99467165e+02] [-6.71943039e-01 7.35229569e-01 -8.90507390e-02 -1.00274365e+02] [-1.33056768e-01 -1.56106509e-03 9.91107189e-01 -2.66430467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters 0.026733113003164024 Centerline is valid? [True, True] Translation: X:199.51, Y:-100.31, Z:-26.65 [[ 7.26632621e-01 6.79881283e-01 9.88254833e-02 1.99514355e+02] [-6.74021751e-01 7.33319795e-01 -8.90884777e-02 -1.00314220e+02] [-1.33040272e-01 -1.87593131e-03 9.91108857e-01 -2.66489317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters 0.026839856062054586 Centerline is valid? [True, True] Translation: X:199.56, Y:-100.35, Z:-26.66 [[ 7.25293618e-01 6.81283174e-01 9.90070887e-02 1.99563236e+02] [-6.75403716e-01 7.32017029e-01 -8.93358231e-02 -1.00352899e+02] [-1.33337868e-01 -2.07505325e-03 9.91068467e-01 -2.66558838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters 0.02674973830092867 Centerline is valid? [True, True] Translation: X:199.61, Y:-100.39, Z:-26.66 [[ 7.25839324e-01 6.80857188e-01 9.79324554e-02 1.99611350e+02] [-6.75090351e-01 7.32413700e-01 -8.84487991e-02 -1.00392244e+02] [-1.31948073e-01 -1.91363916e-03 9.91254783e-01 -2.66621351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters 0.026703838975456327 Centerline is valid? [True, True] Translation: X:199.66, Y:-100.43, Z:-26.67 [[ 7.25639350e-01 6.81043238e-01 9.81205432e-02 1.99659482e+02] [-6.75244510e-01 7.32240767e-01 -8.87034953e-02 -1.00432292e+02] [-1.32258777e-01 -1.88861143e-03 9.91213422e-01 -2.66698693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters 0.026531649851990677 Centerline is valid? [True, True] Translation: X:199.71, Y:-100.47, Z:-26.68 [[ 7.28674938e-01 6.77793737e-01 9.81248427e-02 1.99709093e+02] [-6.71952596e-01 7.35251074e-01 -8.88007116e-02 -1.00470300e+02] [-1.32334962e-01 -1.22838976e-03 9.91204292e-01 -2.66763536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters 0.026197337179734482 Centerline is valid? [True, True] Translation: X:199.75, Y:-100.51, Z:-26.68 [[ 7.33661748e-01 6.72605543e-01 9.66551767e-02 1.99754739e+02] [-6.66883000e-01 7.40001171e-01 -8.75518771e-02 -1.00511727e+02] [-1.30412822e-01 -2.24231026e-04 9.91459755e-01 -2.66836940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters 0.026358158518250716 Centerline is valid? [True, True] Translation: X:199.80, Y:-100.55, Z:-26.69 [[ 7.37571505e-01 6.68091643e-01 9.81928294e-02 1.99802389e+02] [-6.62133361e-01 7.44078716e-01 -8.90296424e-02 -1.00551618e+02] [-1.32543154e-01 6.48979120e-04 9.91177023e-01 -2.66897866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters 0.026714907708749538 Centerline is valid? [True, True] Translation: X:199.85, Y:-100.60, Z:-26.70 [[ 7.41386451e-01 6.63851320e-01 9.82219662e-02 1.99845521e+02] [-6.57841137e-01 7.47863128e-01 -8.91391097e-02 -1.00595339e+02] [-1.32631702e-01 1.47207833e-03 9.91164297e-01 -2.66976262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters 0.02720300722556932 Centerline is valid? [True, True] Translation: X:199.89, Y:-100.64, Z:-26.71 [[ 7.44875640e-01 6.60020055e-01 9.76412146e-02 1.99888100e+02] [-6.54037339e-01 7.51244745e-01 -8.86932458e-02 -1.00640357e+02] [-1.31891770e-01 2.20443802e-03 9.91261671e-01 -2.67055591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters 0.027639621922235878 Centerline is valid? [True, True] Translation: X:199.93, Y:-100.69, Z:-26.71 [[ 7.46828155e-01 6.57552357e-01 9.93609854e-02 1.99928275e+02] [-6.51322887e-01 7.53403827e-01 -9.03391989e-02 -1.00687672e+02] [-1.34261700e-01 2.75177336e-03 9.90942089e-01 -2.67132162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters 0.02766729660527925 Centerline is valid? [True, True] Translation: X:199.97, Y:-100.74, Z:-26.72 [[ 7.47466268e-01 6.57188516e-01 9.69403532e-02 1.99966736e+02] [-6.51247012e-01 7.53721023e-01 -8.82153529e-02 -1.00737375e+02] [-1.31040099e-01 2.80588524e-03 9.91373098e-01 -2.67206296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters 0.027477691225135898 Centerline is valid? [True, True] Translation: X:200.00, Y:-100.79, Z:-26.73 [[ 7.45636613e-01 6.59100070e-01 9.80466120e-02 2.00004372e+02] [-6.53026975e-01 7.52050887e-01 -8.93041579e-02 -1.00789189e+02] [-1.32596418e-01 2.56136737e-03 9.91166802e-01 -2.67276837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters 0.026861419967214913 Centerline is valid? [True, True] Translation: X:200.04, Y:-100.84, Z:-26.73 [[ 7.43759613e-01 6.61286927e-01 9.75768329e-02 2.00044402e+02] [-6.55278976e-01 7.50129744e-01 -8.89653393e-02 -1.00837061e+02] [-1.32026900e-01 2.22877925e-03 9.91243628e-01 -2.67336099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters 0.026518383040706164 Centerline is valid? [True, True] Translation: X:200.08, Y:-100.89, Z:-26.74 [[ 7.40283723e-01 6.65325438e-01 9.65508701e-02 2.00083642e+02] [-6.59467383e-01 7.46551839e-01 -8.81085783e-02 -1.00885977e+02] [-1.30701108e-01 1.55319672e-03 9.91420601e-01 -2.67408203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters 0.02604330065626205 Centerline is valid? [True, True] Translation: X:200.12, Y:-100.93, Z:-26.75 [[ 7.35314676e-01 6.70766077e-01 9.68772317e-02 2.00123020e+02] [-6.64904155e-01 7.41668690e-01 -8.84873981e-02 -1.00934772e+02] [-1.31205154e-01 6.52008534e-04 9.91355023e-01 -2.67472353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters 0.025786936310624696 Centerline is valid? [True, True] Translation: X:200.16, Y:-100.98, Z:-26.75 [[ 7.30441531e-01 6.76137462e-01 9.64017768e-02 2.00164619e+02] [-6.70368811e-01 7.36775455e-01 -8.81339095e-02 -1.00980809e+02] [-1.30617101e-01 -2.48076716e-04 9.91432858e-01 -2.67531815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters 0.025900878243605718 Centerline is valid? [True, True] Translation: X:200.21, Y:-101.02, Z:-26.76 [[ 7.26453652e-01 6.80329877e-01 9.70378794e-02 2.00209144e+02] [-6.74510414e-01 7.32905429e-01 -8.87994041e-02 -1.01023761e+02] [-1.31532476e-01 -9.44408762e-04 9.91311412e-01 -2.67598222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters 0.026024120693650645 Centerline is valid? [True, True] Translation: X:200.25, Y:-101.07, Z:-26.77 [[ 7.23707113e-01 6.83325253e-01 9.65122460e-02 2.00254177e+02] [-6.77584150e-01 7.30112725e-01 -8.84032202e-02 -1.01067288e+02] [-1.30872972e-01 -1.41712890e-03 9.91398132e-01 -2.67686302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters 0.02596652905826615 Centerline is valid? [True, True] Translation: X:200.30, Y:-101.11, Z:-26.78 [[ 7.23234830e-01 6.83670338e-01 9.76025104e-02 2.00301123e+02] [-6.77788480e-01 7.29789584e-01 -8.94982644e-02 -1.01107491e+02] [-1.32416604e-01 -1.42559510e-03 9.91193125e-01 -2.67756684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters 0.025768703043784612 Centerline is valid? [True, True] Translation: X:200.35, Y:-101.15, Z:-26.78 [[ 7.24312015e-01 6.82411802e-01 9.84186843e-02 2.00347988e+02] [-6.76407161e-01 7.30967054e-01 -9.03355947e-02 -1.01149027e+02] [-1.33586892e-01 -1.13994617e-03 9.91036449e-01 -2.67828814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters 0.025757467211182987 Centerline is valid? [True, True] Translation: X:200.39, Y:-101.19, Z:-26.79 [[ 7.27890216e-01 6.78515297e-01 9.89587052e-02 2.00393850e+02] [-6.72394631e-01 7.34586189e-01 -9.09317919e-02 -1.01191601e+02] [-1.34392310e-01 -3.50940440e-04 9.90928143e-01 -2.67908845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters 0.02594349275119544 Centerline is valid? [True, True] Translation: X:200.44, Y:-101.24, Z:-26.80 [[ 7.29315961e-01 6.76867509e-01 9.97426916e-02 2.00438919e+02] [-6.70619790e-01 7.36104866e-01 -9.17535988e-02 -1.01235162e+02] [-1.35526111e-01 2.79411349e-05 9.90773775e-01 -2.67982838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters 0.02607088718547088 Centerline is valid? [True, True] Translation: X:200.49, Y:-101.28, Z:-26.81 [[ 7.28876054e-01 6.77300750e-01 1.00016956e-01 2.00485274e+02] [-6.71008692e-01 7.35706255e-01 -9.21066857e-02 -1.01277759e+02] [-1.35967027e-01 2.21108360e-05 9.90713363e-01 -2.68060323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters 0.02604800191175474 Centerline is valid? [True, True] Translation: X:200.53, Y:-101.32, Z:-26.81 [[ 7.29255106e-01 6.76967543e-01 9.95084710e-02 2.00529292e+02] [-6.70722967e-01 7.36012854e-01 -9.17375676e-02 -1.01322590e+02] [-1.35342869e-01 1.57472776e-04 9.90798811e-01 -2.68140418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters 0.02605812753948073 Centerline is valid? [True, True] Translation: X:200.57, Y:-101.37, Z:-26.82 [[ 7.28792979e-01 6.77653539e-01 9.82164706e-02 2.00572085e+02] [-6.71565017e-01 7.35381311e-01 -9.06352889e-02 -1.01368071e+02] [-1.33645881e-01 9.56164175e-05 9.91029147e-01 -2.68209913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters 0.025919109845877305 Centerline is valid? [True, True] Translation: X:200.61, Y:-101.41, Z:-26.83 [[ 7.26006123e-01 6.80851343e-01 9.67292975e-02 2.00613649e+02] [-6.74967979e-01 7.32421497e-01 -8.93139309e-02 -1.01414202e+02] [-1.31656127e-01 -4.46717719e-04 9.91295347e-01 -2.68279721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters 0.02611058482038371 Centerline is valid? [True, True] Translation: X:200.66, Y:-101.46, Z:-26.83 [[ 7.21095654e-01 6.86073541e-01 9.65616654e-02 2.00657082e+02] [-6.80245749e-01 7.27530976e-01 -8.92434896e-02 -1.01458331e+02] [-1.31479200e-01 -1.33256990e-03 9.91318034e-01 -2.68347652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters 0.026362443385330277 Centerline is valid? [True, True] Translation: X:200.70, Y:-101.51, Z:-26.84 [[ 7.16716843e-01 6.90996140e-01 9.40281954e-02 2.00699605e+02] [-6.85502688e-01 7.22855356e-01 -8.69838965e-02 -1.01505226e+02] [-1.28074321e-01 -2.11375708e-03 9.91762320e-01 -2.68414887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters 0.026502653353543487 Centerline is valid? [True, True] Translation: X:200.74, Y:-101.55, Z:-26.85 [[ 7.14117472e-01 6.93507805e-01 9.53056223e-02 2.00744336e+02] [-6.87873125e-01 7.20444673e-01 -8.82611809e-02 -1.01547414e+02] [-1.29872246e-01 -2.52932487e-03 9.91527510e-01 -2.68488202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters 0.026994774756714923 Centerline is valid? [True, True] Translation: X:200.79, Y:-101.59, Z:-26.85 [[ 7.10840387e-01 6.96482824e-01 9.80694697e-02 2.00791166e+02] [-6.90531344e-01 7.17566774e-01 -9.09086723e-02 -1.01587993e+02] [-1.33687722e-01 -3.09848703e-03 9.91018664e-01 -2.68546343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters 0.02723746950742044 Centerline is valid? [True, True] Translation: X:200.84, Y:-101.63, Z:-26.86 [[ 7.08953023e-01 6.98693872e-01 9.59816894e-02 2.00838968e+02] [-6.93003174e-01 7.15412790e-01 -8.90569536e-02 -1.01628964e+02] [-1.30890076e-01 -3.37841891e-03 9.91391131e-01 -2.68614290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters 0.027403001479387935 Centerline is valid? [True, True] Translation: X:200.89, Y:-101.67, Z:-26.87 [[ 7.08083262e-01 6.99371836e-01 9.74532152e-02 2.00886435e+02] [-6.93498027e-01 7.14749510e-01 -9.05186390e-02 -1.01667905e+02] [-1.32960825e-01 -3.48887927e-03 9.91115153e-01 -2.68697460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters 0.027155432187413803 Centerline is valid? [True, True] Translation: X:200.94, Y:-101.71, Z:-26.87 [[ 7.08010353e-01 6.99392233e-01 9.78358022e-02 2.00937671e+02] [-6.93460566e-01 7.14729767e-01 -9.09604436e-02 -1.01705122e+02] [-1.33543188e-01 -3.44433504e-03 9.91037009e-01 -2.68748178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters 0.02640910068031304 Centerline is valid? [True, True] Translation: X:200.99, Y:-101.74, Z:-26.88 [[ 7.10691702e-01 6.96917349e-01 9.60391206e-02 2.00987464e+02] [-6.91168853e-01 7.17145742e-01 -8.93733820e-02 -1.01742854e+02] [-1.31159907e-01 -2.86232777e-03 9.91357093e-01 -2.68819137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters 0.026022820370671097 Centerline is valid? [True, True] Translation: X:201.04, Y:-101.78, Z:-26.89 [[ 7.15282297e-01 6.92215708e-01 9.59617023e-02 2.01038542e+02] [-6.86430203e-01 7.21687963e-01 -8.93311804e-02 -1.01779254e+02] [-1.31090852e-01 -1.97399890e-03 9.91368394e-01 -2.68894394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters 0.025398274236441875 Centerline is valid? [True, True] Translation: X:201.09, Y:-101.82, Z:-26.90 [[ 7.20024167e-01 6.87370979e-01 9.53222698e-02 2.01087342e+02] [-6.81616154e-01 7.26305730e-01 -8.87660085e-02 -1.01818446e+02] [-1.30248289e-01 -1.05952762e-03 9.91480842e-01 -2.68958790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters 0.02537199333145035 Centerline is valid? [True, True] Translation: X:201.14, Y:-101.86, Z:-26.90 [[ 7.22746999e-01 6.84437690e-01 9.58218336e-02 2.01136945e+02] [-6.78591039e-01 7.29071187e-01 -8.92715287e-02 -1.01857244e+02] [-1.30961737e-01 -5.03108174e-04 9.91387296e-01 -2.69034451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters 0.025371698597106977 Centerline is valid? [True, True] Translation: X:201.18, Y:-101.90, Z:-26.91 [[ 7.25896935e-01 6.81053399e-01 9.61244428e-02 2.01183035e+02] [-6.75126850e-01 7.32233730e-01 -8.96521153e-02 -1.01899764e+02] [-1.31443437e-01 1.82003474e-04 9.91323655e-01 -2.69102390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters 0.02531021340181867 Centerline is valid? [True, True] Translation: X:201.23, Y:-101.94, Z:-26.92 [[ 7.27550800e-01 6.79448469e-01 9.49716327e-02 2.01229141e+02] [-6.73637808e-01 7.33723033e-01 -8.86713803e-02 -1.01940663e+02] [-1.29930508e-01 5.36451186e-04 9.91522958e-01 -2.69163592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters 0.02522613721394878 Centerline is valid? [True, True] Translation: X:201.27, Y:-101.98, Z:-26.92 [[ 7.28433354e-01 6.78464194e-01 9.52427778e-02 2.01274668e+02] [-6.72600549e-01 7.34633060e-01 -8.90099326e-02 -1.01983912e+02] [-1.30358546e-01 7.77459047e-04 9.91466613e-01 -2.69223146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters 0.025193674075202035 Centerline is valid? [True, True] Translation: X:201.32, Y:-102.03, Z:-26.93 [[ 7.26589922e-01 6.80254245e-01 9.65466077e-02 2.01319234e+02] [-6.74231176e-01 7.32976041e-01 -9.03241118e-02 -1.02027198e+02] [-1.32209711e-01 5.33856511e-04 9.91221624e-01 -2.69285033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters 0.025179490935675328 Centerline is valid? [True, True] Translation: X:201.36, Y:-102.07, Z:-26.94 [[ 7.23094521e-01 6.83832528e-01 9.75058302e-02 2.01364433e+02] [-6.77709039e-01 7.29639000e-01 -9.13093010e-02 -1.02070649e+02] [-1.33584327e-01 -5.53271758e-05 9.91037449e-01 -2.69365134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters 0.025120992998376526 Centerline is valid? [True, True] Translation: X:201.41, Y:-102.11, Z:-26.94 [[ 7.20706894e-01 6.86489052e-01 9.65109029e-02 2.01413490e+02] [-6.80501433e-01 7.27139986e-01 -9.04723170e-02 -1.02108641e+02] [-1.32285192e-01 -4.71785113e-04 9.91211585e-01 -2.69422134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters 0.024987763000512583 Centerline is valid? [True, True] Translation: X:201.46, Y:-102.15, Z:-26.95 [[ 7.21508246e-01 6.85774234e-01 9.56010002e-02 2.01459085e+02] [-6.79883239e-01 7.27814276e-01 -8.96948173e-02 -1.02151139e+02] [-1.31090167e-01 -2.81967420e-04 9.91370409e-01 -2.69488123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters 0.024921376770977336 Centerline is valid? [True, True] Translation: X:201.51, Y:-102.19, Z:-26.96 [[ 7.23568800e-01 6.83394986e-01 9.70540287e-02 2.01507258e+02] [-6.77296012e-01 7.30048807e-01 -9.10980341e-02 -1.02190689e+02] [-1.33110118e-01 1.81388702e-04 9.91101238e-01 -2.69555011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters 0.024935776067940837 Centerline is valid? [True, True] Translation: X:201.55, Y:-102.23, Z:-26.96 [[ 7.25416755e-01 6.81525765e-01 9.64010525e-02 2.01553772e+02] [-6.75480805e-01 7.31793884e-01 -9.05725880e-02 -1.02232610e+02] [-1.32273253e-01 5.85812401e-04 9.91213117e-01 -2.69646273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters 0.025052535370916364 Centerline is valid? [True, True] Translation: X:201.60, Y:-102.28, Z:-26.97 [[ 7.26294791e-01 6.80629702e-01 9.61201621e-02 2.01598628e+02] [-6.74599417e-01 7.32627149e-01 -9.04051254e-02 -1.02275717e+02] [-1.31952654e-01 8.18166277e-04 9.91255682e-01 -2.69725854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters 0.02532129728126866 Centerline is valid? [True, True] Translation: X:201.64, Y:-102.32, Z:-26.98 [[ 7.29011698e-01 6.77585054e-01 9.70589403e-02 2.01639950e+02] [-6.71395946e-01 7.35442980e-01 -9.13843931e-02 -1.02321680e+02] [-1.33302015e-01 1.45531258e-03 9.91074394e-01 -2.69782864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters 0.025498293144150922 Centerline is valid? [True, True] Translation: X:201.68, Y:-102.37, Z:-26.99 [[ 7.30122109e-01 6.76450080e-01 9.66281302e-02 2.01683279e+02] [-6.70294578e-01 7.36486479e-01 -9.10650561e-02 -1.02367527e+02] [-1.32766276e-01 1.71929907e-03 9.91145882e-01 -2.69858883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters 0.02565902475804795 Centerline is valid? [True, True] Translation: X:201.72, Y:-102.42, Z:-26.99 [[ 7.30631643e-01 6.75863234e-01 9.68828689e-02 2.01723722e+02] [-6.69657289e-01 7.37024609e-01 -9.13993463e-02 -1.02415083e+02] [-1.33178516e-01 1.90093522e-03 9.91090243e-01 -2.69942128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters 0.025619965816527753 Centerline is valid? [True, True] Translation: X:201.76, Y:-102.46, Z:-27.00 [[ 7.29340668e-01 6.77193051e-01 9.73229821e-02 2.01764183e+02] [-6.70930478e-01 7.35803357e-01 -9.19005677e-02 -1.02464095e+02] [-1.33845003e-01 1.72986649e-03 9.91000768e-01 -2.70013306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters 0.025056700964997382 Centerline is valid? [True, True] Translation: X:201.80, Y:-102.51, Z:-27.01 [[ 7.26242188e-01 6.80741865e-01 9.57225000e-02 2.01803861e+02] [-6.74702821e-01 7.32522520e-01 -9.04812700e-02 -1.02511584e+02] [-1.31713275e-01 1.12707470e-03 9.91287215e-01 -2.70083048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters 0.025194318808442813 Centerline is valid? [True, True] Translation: X:201.84, Y:-102.56, Z:-27.02 [[ 7.22417070e-01 6.84524401e-01 9.76725220e-02 2.01843774e+02] [-6.78257966e-01 7.28989768e-01 -9.24123929e-02 -1.02558791e+02] [-1.34460807e-01 5.13123957e-04 9.90918780e-01 -2.70165317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters 0.025144299811566635 Centerline is valid? [True, True] Translation: X:201.89, Y:-102.60, Z:-27.02 [[ 7.16185964e-01 6.91071666e-01 9.74557234e-02 2.01887347e+02] [-6.84880886e-01 7.22785956e-01 -9.22964498e-02 -1.02604393e+02] [-1.34223090e-01 -6.44140334e-04 9.90950931e-01 -2.70242775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters 0.025105466417150814 Centerline is valid? [True, True] Translation: X:201.93, Y:-102.65, Z:-27.03 [[ 7.14209703e-01 6.93216532e-01 9.67230094e-02 2.01932670e+02] [-6.87125269e-01 7.20728731e-01 -9.17003814e-02 -1.02647485e+02] [-1.33279272e-01 -9.67521724e-04 9.91078049e-01 -2.70312529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters 0.025461520927918938 Centerline is valid? [True, True] Translation: X:201.98, Y:-102.69, Z:-27.04 [[ 7.09507964e-01 6.98082511e-01 9.63288963e-02 2.01977039e+02] [-6.92072357e-01 7.16015059e-01 -9.14236734e-02 -1.02690913e+02] [-1.32794208e-01 -1.80074195e-03 9.91141996e-01 -2.70387993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters 0.02577921221180837 Centerline is valid? [True, True] Translation: X:202.02, Y:-102.73, Z:-27.05 [[ 7.07375807e-01 7.00029927e-01 9.78650577e-02 2.02024368e+02] [-6.93832022e-01 7.14110311e-01 -9.29709017e-02 -1.02730885e+02] [-1.34968860e-01 -2.13654427e-03 9.90847537e-01 -2.70456650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters 0.02629783450942831 Centerline is valid? [True, True] Translation: X:202.07, Y:-102.77, Z:-27.05 [[ 7.04761178e-01 7.02349172e-01 1.00086576e-01 2.02072979e+02] [-6.95875746e-01 7.11827942e-01 -9.51731434e-02 -1.02769412e+02] [-1.38089200e-01 -2.57348431e-03 9.90416453e-01 -2.70539343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters 0.026341918467428255 Centerline is valid? [True, True] Translation: X:202.12, Y:-102.81, Z:-27.06 [[ 7.04983223e-01 7.02164929e-01 9.98151629e-02 2.02121560e+02] [-6.95712450e-01 7.12010063e-01 -9.50045114e-02 -1.02808664e+02] [-1.37778236e-01 -2.46606482e-03 9.90460033e-01 -2.70608272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters 0.026116307851181058 Centerline is valid? [True, True] Translation: X:202.17, Y:-102.85, Z:-27.07 [[ 7.07260132e-01 6.99704800e-01 1.00976723e-01 2.02170539e+02] [-6.93062330e-01 7.14429438e-01 -9.62038708e-02 -1.02848505e+02] [-1.39455053e-01 -1.94200033e-03 9.90226498e-01 -2.70683447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters 0.025767358791079515 Centerline is valid? [True, True] Translation: X:202.22, Y:-102.89, Z:-27.08 [[ 7.10773930e-01 6.96350611e-01 9.94798827e-02 2.02218813e+02] [-6.89857975e-01 7.17700779e-01 -9.48765831e-02 -1.02887420e+02] [-1.37464156e-01 -1.19118861e-03 9.90506026e-01 -2.70756027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters 0.025833421474800715 Centerline is valid? [True, True] Translation: X:202.26, Y:-102.93, Z:-27.08 [[ 7.14252041e-01 6.92501016e-01 1.01421718e-01 2.02264887e+02] [-6.85699188e-01 7.21416794e-01 -9.68216573e-02 -1.02928369e+02] [-1.40216426e-01 -3.89722974e-04 9.90120802e-01 -2.70834021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters 0.025700779683841917 Centerline is valid? [True, True] Translation: X:202.31, Y:-102.97, Z:-27.09 [[ 7.16987050e-01 6.89968913e-01 9.93603055e-02 2.02312372e+02] [-6.83405483e-01 7.23838981e-01 -9.49424825e-02 -1.02968780e+02] [-1.37428224e-01 1.69152906e-04 9.90511714e-01 -2.70886538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters 0.025950254633575965 Centerline is valid? [True, True] Translation: X:202.36, Y:-103.01, Z:-27.10 [[ 7.19560102e-01 6.87416025e-01 9.84503337e-02 2.02358422e+02] [-6.80936568e-01 7.26263516e-01 -9.41631357e-02 -1.03010792e+02] [-1.36230134e-01 7.17603213e-04 9.90676958e-01 -2.70970224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters 0.02579999511372821 Centerline is valid? [True, True] Translation: X:202.40, Y:-103.06, Z:-27.10 [[ 7.22662586e-01 6.84688763e-01 9.46577260e-02 2.02402040e+02] [-6.78665458e-01 7.28834501e-01 -9.06281834e-02 -1.03055045e+02] [-1.31041915e-01 1.25266848e-03 9.91376037e-01 -2.71016503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters 0.026198471641147473 Centerline is valid? [True, True] Translation: X:202.45, Y:-103.10, Z:-27.11 [[ 7.23416045e-01 6.83658630e-01 9.63332959e-02 2.02446993e+02] [-6.77398419e-01 7.29800342e-01 -9.23192438e-02 -1.03096985e+02] [-1.33418920e-01 1.52919996e-03 9.91058552e-01 -2.71089332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters 0.026622318634233384 Centerline is valid? [True, True] Translation: X:202.49, Y:-103.14, Z:-27.12 [[ 7.26162093e-01 6.80716268e-01 9.65089470e-02 2.02487252e+02] [-6.74395537e-01 7.32544054e-01 -9.25735893e-02 -1.03144728e+02] [-1.33713403e-01 2.13822828e-03 9.91017736e-01 -2.71159101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters 0.026960483488614018 Centerline is valid? [True, True] Translation: X:202.53, Y:-103.19, Z:-27.12 [[ 7.27293365e-01 6.79510535e-01 9.64872741e-02 2.02529781e+02] [-6.73170610e-01 7.33661750e-01 -9.26378250e-02 -1.03189632e+02] [-1.33737400e-01 2.42247828e-03 9.91013844e-01 -2.71242846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters 0.027101878920242208 Centerline is valid? [True, True] Translation: X:202.57, Y:-103.24, Z:-27.13 [[ 7.28236155e-01 6.78387645e-01 9.72743839e-02 2.02569228e+02] [-6.71921670e-01 7.34699145e-01 -9.34795989e-02 -1.03238319e+02] [-1.34882812e-01 2.71445711e-03 9.90857840e-01 -2.71315850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters 0.027013094296352527 Centerline is valid? [True, True] Translation: X:202.61, Y:-103.28, Z:-27.14 [[ 7.27075141e-01 6.79735617e-01 9.65465203e-02 2.02610389e+02] [-6.73367004e-01 7.33452931e-01 -9.28637482e-02 -1.03284881e+02] [-1.33935126e-01 2.50768167e-03 9.90986929e-01 -2.71396742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters 0.026466456015967404 Centerline is valid? [True, True] Translation: X:202.65, Y:-103.33, Z:-27.15 [[ 7.23744071e-01 6.83198875e-01 9.71278422e-02 2.02650917e+02] [-6.76772214e-01 7.30229774e-01 -9.35085411e-02 -1.03331513e+02] [-1.34810572e-01 1.94282737e-03 9.90869484e-01 -2.71464207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters 0.02607832994564469 Centerline is valid? [True, True] Translation: X:202.69, Y:-103.38, Z:-27.15 [[ 7.21552094e-01 6.85627703e-01 9.63183663e-02 2.02694516e+02] [-6.79318338e-01 7.27950743e-01 -9.28133134e-02 -1.03375302e+02] [-1.33750405e-01 1.53880813e-03 9.91013855e-01 -2.71529982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters 0.02612576901925545 Centerline is valid? [True, True] Translation: X:202.74, Y:-103.42, Z:-27.16 [[ 7.20814396e-01 6.86499774e-01 9.56277532e-02 2.02737034e+02] [-6.80277291e-01 7.27128612e-01 -9.22322540e-02 -1.03420745e+02] [-1.32851097e-01 1.42894754e-03 9.91134978e-01 -2.71598896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters 0.026167338681032243 Centerline is valid? [True, True] Translation: X:202.78, Y:-103.47, Z:-27.17 [[ 7.21096103e-01 6.86130517e-01 9.61526016e-02 2.02780258e+02] [-6.79824278e-01 7.27476770e-01 -9.28251038e-02 -1.03465450e+02] [-1.33638921e-01 1.56894771e-03 9.91028848e-01 -2.71673604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters 0.026305010429078936 Centerline is valid? [True, True] Translation: X:202.82, Y:-103.51, Z:-27.17 [[ 7.22032557e-01 6.85053743e-01 9.68005995e-02 2.02821733e+02] [-6.78640357e-01 7.28490198e-01 -9.35376788e-02 -1.03512110e+02] [-1.34596625e-01 1.84445592e-03 9.90898757e-01 -2.71738490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters 0.026548171292409654 Centerline is valid? [True, True] Translation: X:202.86, Y:-103.56, Z:-27.18 [[ 7.22475575e-01 6.84613907e-01 9.66066360e-02 2.02861425e+02] [-6.78210459e-01 7.28903182e-01 -9.34383501e-02 -1.03561746e+02] [-1.34386078e-01 1.98729477e-03 9.90927057e-01 -2.71810812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters 0.026639657584829543 Centerline is valid? [True, True] Translation: X:202.90, Y:-103.61, Z:-27.19 [[ 7.22336998e-01 6.84772648e-01 9.65177809e-02 2.02899830e+02] [-6.78368984e-01 7.28753939e-01 -9.34516844e-02 -1.03611581e+02] [-1.34330870e-01 2.02894015e-03 9.90934458e-01 -2.71880693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters 0.02625305988744006 Centerline is valid? [True, True] Translation: X:202.94, Y:-103.66, Z:-27.19 [[ 7.19810098e-01 6.87436450e-01 9.64600995e-02 2.02937742e+02] [-6.81051052e-01 7.26242768e-01 -9.34928153e-02 -1.03660910e+02] [-1.34323819e-01 1.60282030e-03 9.90936195e-01 -2.71934653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters 0.02593292936925081 Centerline is valid? [True, True] Translation: X:202.98, Y:-103.71, Z:-27.20 [[ 7.16189091e-01 6.91392768e-01 9.51274190e-02 2.02976676e+02] [-6.85206499e-01 7.22478516e-01 -9.22867678e-02 -1.03709943e+02] [-1.32533920e-01 9.12850702e-04 9.91178050e-01 -2.72002254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters 0.02590460776742031 Centerline is valid? [True, True] Translation: X:203.02, Y:-103.76, Z:-27.21 [[ 7.12622227e-01 6.95030979e-01 9.54017808e-02 2.03017616e+02] [-6.88828210e-01 7.18979724e-01 -9.26490914e-02 -1.03757633e+02] [-1.32985935e-01 3.08363986e-04 9.91117877e-01 -2.72068946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters 0.02583943493691076 Centerline is valid? [True, True] Translation: X:203.06, Y:-103.80, Z:-27.21 [[ 7.07267800e-01 7.00627639e-01 9.43036125e-02 2.03059302e+02] [-6.94603434e-01 7.13526788e-01 -9.16820181e-02 -1.03804153e+02] [-1.31523109e-01 -6.59873914e-04 9.91312885e-01 -2.72129307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters 0.02630660694342678 Centerline is valid? [True, True] Translation: X:203.10, Y:-103.85, Z:-27.22 [[ 7.02033918e-01 7.05614532e-01 9.62107610e-02 2.03101150e+02] [-6.99376351e-01 7.08594183e-01 -9.36322802e-02 -1.03849753e+02] [-1.34242683e-01 -1.55449447e-03 9.90947267e-01 -2.72199775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters 0.026793988190366377 Centerline is valid? [True, True] Translation: X:203.14, Y:-103.89, Z:-27.23 [[ 6.98108039e-01 7.09567678e-01 9.57020179e-02 2.03144940e+02] [-7.03423755e-01 7.04633682e-01 -9.32008296e-02 -1.03893318e+02] [-1.33567162e-01 -2.25482437e-03 9.91037199e-01 -2.72281909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters 0.027079748081412527 Centerline is valid? [True, True] Translation: X:203.19, Y:-103.94, Z:-27.23 [[ 6.95699373e-01 7.11970100e-01 9.53989516e-02 2.03189309e+02] [-7.05875398e-01 7.02204810e-01 -9.29963816e-02 -1.03936924e+02] [-1.33200246e-01 -2.64224859e-03 9.91085623e-01 -2.72344714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters 0.027800144993103598 Centerline is valid? [True, True] Translation: X:203.24, Y:-103.98, Z:-27.24 [[ 6.92565403e-01 7.14905140e-01 9.62486514e-02 2.03235099e+02] [-7.08715740e-01 6.99214287e-01 -9.39222060e-02 -1.03979099e+02] [-1.34443900e-01 -3.16566382e-03 9.90916150e-01 -2.72422030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters 0.027881638369230136 Centerline is valid? [True, True] Translation: X:203.28, Y:-104.02, Z:-27.25 [[ 6.91209981e-01 7.16169385e-01 9.65928264e-02 2.03282454e+02] [-7.09934716e-01 6.97918437e-01 -9.43533493e-02 -1.04020097e+02] [-1.34986895e-01 -3.35662399e-03 9.90841698e-01 -2.72491346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters 0.027825116638482757 Centerline is valid? [True, True] Translation: X:203.33, Y:-104.06, Z:-27.26 [[ 6.90601511e-01 7.16725274e-01 9.68216645e-02 2.03331693e+02] [-7.10453131e-01 6.97347319e-01 -9.46734653e-02 -1.04059607e+02] [-1.35373194e-01 -3.40561645e-03 9.90788827e-01 -2.72573659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters 0.027605166705331023 Centerline is valid? [True, True] Translation: X:203.38, Y:-104.10, Z:-27.27 [[ 6.91954552e-01 7.15414763e-01 9.68535801e-02 2.03381621e+02] [-7.09112241e-01 6.98693228e-01 -9.48029715e-02 -1.04097751e+02] [-1.35494386e-01 -3.08071161e-03 9.90773325e-01 -2.72650953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters 0.02731549321493872 Centerline is valid? [True, True] Translation: X:203.43, Y:-104.13, Z:-27.27 [[ 6.94045494e-01 7.13401480e-01 9.67428575e-02 2.03433040e+02] [-7.07080945e-01 7.00750655e-01 -9.47895352e-02 -1.04133861e+02] [-1.35415616e-01 -2.61678130e-03 9.90785428e-01 -2.72714625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters 0.027261491778654407 Centerline is valid? [True, True] Translation: X:203.48, Y:-104.17, Z:-27.28 [[ 6.93721223e-01 7.13643567e-01 9.72816674e-02 2.03481678e+02] [-7.07241197e-01 7.00504134e-01 -9.54140847e-02 -1.04174022e+02] [-1.36237858e-01 -2.61082728e-03 9.90672716e-01 -2.72793471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters 0.026870597876844877 Centerline is valid? [True, True] Translation: X:203.53, Y:-104.21, Z:-27.29 [[ 6.96311762e-01 7.11074082e-01 9.75888351e-02 2.03532478e+02] [-7.04592157e-01 7.03114126e-01 -9.58145014e-02 -1.04209985e+02] [-1.36747297e-01 -2.04356354e-03 9.90603857e-01 -2.72854840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters 0.026598860949337 Centerline is valid? [True, True] Translation: X:203.58, Y:-104.25, Z:-27.29 [[ 6.96977858e-01 7.10505187e-01 9.69754859e-02 2.03579525e+02] [-7.04087228e-01 7.03689514e-01 -9.53008028e-02 -1.04250563e+02] [-1.35952347e-01 -1.85665161e-03 9.90713638e-01 -2.72926211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters 0.026673930569731226 Centerline is valid? [True, True] Translation: X:203.63, Y:-104.29, Z:-27.30 [[ 6.96607738e-01 7.10829246e-01 9.72596618e-02 2.03627515e+02] [-7.04363754e-01 7.03362158e-01 -9.56732780e-02 -1.04290622e+02] [-1.36416130e-01 -1.85943471e-03 9.90649879e-01 -2.72988262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters 0.026282104433263932 Centerline is valid? [True, True] Translation: X:203.68, Y:-104.33, Z:-27.31 [[ 6.96782235e-01 7.10565308e-01 9.79359993e-02 2.03680493e+02] [-7.03992013e-01 7.03629089e-01 -9.64435125e-02 -1.04326020e+02] [-1.37440032e-01 -1.74603508e-03 9.90508551e-01 -2.73052319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters 0.02629830754207187 Centerline is valid? [True, True] Translation: X:203.73, Y:-104.37, Z:-27.31 [[ 6.95836584e-01 7.11482301e-01 9.80019621e-02 2.03727554e+02] [-7.04894658e-01 7.02701570e-01 -9.66127553e-02 -1.04367014e+02] [-1.37604398e-01 -1.85436996e-03 9.90485533e-01 -2.73117178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters 0.026372525301703153 Centerline is valid? [True, True] Translation: X:203.78, Y:-104.40, Z:-27.32 [[ 6.93255962e-01 7.14195635e-01 9.65441205e-02 2.03780471e+02] [-7.07815508e-01 6.99942412e-01 -9.52776271e-02 -1.04402801e+02] [-1.35622190e-01 -2.28364272e-03 9.90757996e-01 -2.73166113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters 0.02658242229588261 Centerline is valid? [True, True] Translation: X:203.83, Y:-104.44, Z:-27.32 [[ 6.91237450e-01 7.16267053e-01 9.56676334e-02 2.03830537e+02] [-7.10008705e-01 6.97821455e-01 -9.45137860e-02 -1.04441217e+02] [-1.34456038e-01 -2.59338405e-03 9.90916166e-01 -2.73242480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters 0.026608505745093408 Centerline is valid? [True, True] Translation: X:203.88, Y:-104.48, Z:-27.33 [[ 6.90513384e-01 7.16809508e-01 9.68266320e-02 2.03881641e+02] [-7.10389397e-01 6.97263972e-01 -9.57593801e-02 -1.04476687e+02] [-1.36154956e-01 -2.66147913e-03 9.90683978e-01 -2.73311499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters 0.0263896715762016 Centerline is valid? [True, True] Translation: X:203.93, Y:-104.51, Z:-27.34 [[ 6.95397005e-01 7.12331108e-01 9.49073176e-02 2.03932465e+02] [-7.06111383e-01 7.01841538e-01 -9.39423780e-02 -1.04512953e+02] [-1.33527976e-01 -1.68788904e-03 9.91043607e-01 -2.73377916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters 0.026115357200030356 Centerline is valid? [True, True] Translation: X:203.98, Y:-104.55, Z:-27.35 [[ 7.00157846e-01 7.07647691e-01 9.49406934e-02 2.03983430e+02] [-7.01368815e-01 7.06565079e-01 -9.40615440e-02 -1.04549300e+02] [-1.33644213e-01 -7.30513554e-04 9.91029107e-01 -2.73468014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters 0.02609869598272635 Centerline is valid? [True, True] Translation: X:204.03, Y:-104.59, Z:-27.35 [[ 7.03866873e-01 7.03950062e-01 9.50038704e-02 2.04031631e+02] [-6.97616706e-01 7.10249469e-01 -9.42158331e-02 -1.04589151e+02] [-1.33799690e-01 3.91166377e-05 9.91008396e-01 -2.73529680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters 0.02625119177796586 Centerline is valid? [True, True] Translation: X:204.08, Y:-104.63, Z:-27.36 [[ 7.07490346e-01 7.00463682e-01 9.38511562e-02 2.04079115e+02] [-6.94239796e-01 7.13687640e-01 -9.31722007e-02 -1.04630720e+02] [-1.32244153e-01 7.63225032e-04 9.91216879e-01 -2.73596911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters 0.02665479888554231 Centerline is valid? [True, True] Translation: X:204.12, Y:-104.68, Z:-27.37 [[ 7.10461709e-01 6.97595371e-01 9.27623819e-02 2.04123285e+02] [-6.91478388e-01 7.16490661e-01 -9.21887818e-02 -1.04675283e+02] [-1.30773848e-01 1.35341704e-03 9.91411302e-01 -2.73668460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters 0.02692795985021624 Centerline is valid? [True, True] Translation: X:204.17, Y:-104.72, Z:-27.37 [[ 7.13491921e-01 6.94626546e-01 9.17782068e-02 2.04167315e+02] [-6.88602510e-01 7.19367899e-01 -9.13039340e-02 -1.04718777e+02] [-1.29444432e-01 1.94591571e-03 9.91584768e-01 -2.73730051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters 0.027411955571095045 Centerline is valid? [True, True] Translation: X:204.21, Y:-104.77, Z:-27.38 [[ 7.16247319e-01 6.91748207e-01 9.20553992e-02 2.04207196e+02] [-6.85652831e-01 7.22134328e-01 -9.16635547e-02 -1.04766017e+02] [-1.29884463e-01 2.53573020e-03 9.91525893e-01 -2.73789872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters 0.027724418716446392 Centerline is valid? [True, True] Translation: X:204.25, Y:-104.81, Z:-27.39 [[ 7.17264391e-01 6.90667015e-01 9.22543627e-02 2.04246859e+02] [-6.84525290e-01 7.23167507e-01 -9.19450120e-02 -1.04813783e+02] [-1.30218744e-01 2.79843873e-03 9.91481340e-01 -2.73860288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters 0.027670540833154178 Centerline is valid? [True, True] Translation: X:204.28, Y:-104.87, Z:-27.39 [[ 7.18200024e-01 6.89730806e-01 9.19790242e-02 2.04283619e+02] [-6.83607348e-01 7.24059594e-01 -9.17534592e-02 -1.04865004e+02] [-1.29883482e-01 3.01979971e-03 9.91524665e-01 -2.73903083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters 0.02773788696918825 Centerline is valid? [True, True] Translation: X:204.32, Y:-104.92, Z:-27.40 [[ 7.17657115e-01 6.90381600e-01 9.13318796e-02 2.04320070e+02] [-6.84339038e-01 7.23439423e-01 -9.11892625e-02 -1.04916088e+02] [-1.29028471e-01 2.94065246e-03 9.91636529e-01 -2.73953285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters 0.027508017386760463 Centerline is valid? [True, True] Translation: X:204.36, Y:-104.97, Z:-27.40 [[ 7.16473345e-01 6.91620348e-01 9.12537160e-02 2.04355413e+02] [-6.85587517e-01 7.22255906e-01 -9.11929947e-02 -1.04967765e+02] [-1.28979466e-01 2.77494135e-03 9.91643382e-01 -2.74019653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters 0.02693421028601165 Centerline is valid? [True, True] Translation: X:204.53, Y:-105.16, Z:-25.50 [[ 7.44611189e-01 -6.64109565e-01 -6.71763558e-02 2.04531876e+02] [-6.60559576e-01 -7.47602963e-01 6.89264494e-02 -1.05159071e+02] [-9.59959570e-02 -6.94942028e-03 -9.95357464e-01 -2.55012378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters 0.02634216603808564 Centerline is valid? [True, True] Translation: X:204.41, Y:-105.07, Z:-27.41 [[ 7.59085202e-01 6.43517625e-01 9.83601653e-02 2.04412431e+02] [-6.37978906e-01 7.65430343e-01 -8.42573787e-02 -1.05065107e+02] [-1.29508963e-01 1.20681876e-03 9.91577517e-01 -2.74134792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters 0.026320495203471295 Centerline is valid? [True, True] Translation: X:204.46, Y:-105.11, Z:-27.42 [[ 7.56058953e-01 6.47140873e-01 9.78956083e-02 2.04457167e+02] [-6.41673258e-01 7.62370163e-01 -8.39473920e-02 -1.05107880e+02] [-1.28958479e-01 6.52183318e-04 9.91649780e-01 -2.74204826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters 0.02599460228796748 Centerline is valid? [True, True] Translation: X:204.50, Y:-105.15, Z:-27.43 [[ 7.52464366e-01 6.51511125e-01 9.65951910e-02 2.04504099e+02] [-6.46214089e-01 7.58639079e-01 -8.29101895e-02 -1.05148443e+02] [-1.27297798e-01 -3.42100602e-05 9.91864542e-01 -2.74273968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters 0.026260975992767128 Centerline is valid? [True, True] Translation: X:204.55, Y:-105.19, Z:-27.43 [[ 7.49807032e-01 6.54412469e-01 9.76408466e-02 2.04550598e+02] [-6.49013509e-01 7.56137620e-01 -8.38890044e-02 -1.05189851e+02] [-1.28727928e-01 -4.69663071e-04 9.91679837e-01 -2.74329408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters 0.026234174680429524 Centerline is valid? [True, True] Translation: X:204.60, Y:-105.23, Z:-27.44 [[ 7.47371548e-01 6.57194945e-01 9.76246564e-02 2.04600581e+02] [-6.51810616e-01 7.53720121e-01 -8.39577303e-02 -1.05227694e+02] [-1.28758264e-01 -8.85168518e-04 9.91675615e-01 -2.74400678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters 0.026213427596457527 Centerline is valid? [True, True] Translation: X:204.65, Y:-105.27, Z:-27.45 [[ 7.44030684e-01 6.60740117e-01 9.92010025e-02 2.04649824e+02] [-6.55198629e-01 7.50613344e-01 -8.54070516e-02 -1.05266022e+02] [-1.30893462e-01 -1.45089383e-03 9.91395379e-01 -2.74450253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters 0.026168419033197544 Centerline is valid? [True, True] Translation: X:204.70, Y:-105.30, Z:-27.45 [[ 7.42312199e-01 6.62587070e-01 9.97545685e-02 2.04700269e+02] [-6.56988906e-01 7.48982912e-01 -8.59661317e-02 -1.05302593e+02] [-1.31674515e-01 -1.72393663e-03 9.91291506e-01 -2.74515861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters 0.026171112837267897 Centerline is valid? [True, True] Translation: X:204.75, Y:-105.34, Z:-27.46 [[ 7.43451238e-01 6.60993670e-01 1.01821534e-01 2.04750703e+02] [-6.55133580e-01 7.50390157e-01 -8.78328201e-02 -1.05339623e+02] [-1.34462815e-01 -1.40728736e-03 9.90917641e-01 -2.74574865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters 0.025956880519420043 Centerline is valid? [True, True] Translation: X:204.80, Y:-105.38, Z:-27.46 [[ 7.43861207e-01 6.60532418e-01 1.01820572e-01 2.04799861e+02] [-6.54656366e-01 7.50796471e-01 -8.79187192e-02 -1.05379101e+02] [-1.34519690e-01 -1.25816114e-03 9.90910122e-01 -2.74643261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters 0.025987963607326567 Centerline is valid? [True, True] Translation: X:204.85, Y:-105.42, Z:-27.47 [[ 7.43911925e-01 6.60313488e-01 1.02864698e-01 2.04850870e+02] [-6.54300378e-01 7.50989186e-01 -8.89171467e-02 -1.05415024e+02] [-1.35963467e-01 -1.15788476e-03 9.90713175e-01 -2.74713044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters 0.02601223634709987 Centerline is valid? [True, True] Translation: X:204.90, Y:-105.45, Z:-27.48 [[ 7.44570003e-01 6.59536430e-01 1.03088355e-01 2.04901487e+02] [-6.53477528e-01 7.51671998e-01 -8.91982544e-02 -1.05452746e+02] [-1.36318128e-01 -9.51578808e-04 9.90664657e-01 -2.74781465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters 0.02597916400495097 Centerline is valid? [True, True] Translation: X:204.95, Y:-105.49, Z:-27.49 [[ 7.46052910e-01 6.57967136e-01 1.02392886e-01 2.04951801e+02] [-6.51962435e-01 7.53046414e-01 -8.86909319e-02 -1.05489645e+02] [-1.35462314e-01 -5.88187373e-04 9.90782325e-01 -2.74855085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters 0.026326584398896423 Centerline is valid? [True, True] Translation: X:205.00, Y:-105.53, Z:-27.49 [[ 7.47953458e-01 6.55339868e-01 1.05334141e-01 2.05002638e+02] [-6.48944927e-01 7.55334135e-01 -9.13281266e-02 -1.05525263e+02] [-1.39413434e-01 -4.68681339e-05 9.90234261e-01 -2.74921643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters 0.026375682633442667 Centerline is valid? [True, True] Translation: X:205.05, Y:-105.56, Z:-27.50 [[ 7.49450859e-01 6.53696253e-01 1.04902897e-01 2.05052140e+02] [-6.47325268e-01 7.56756964e-01 -9.10433699e-02 -1.05564025e+02] [-1.38900707e-01 3.26236014e-04 9.90306259e-01 -2.74987416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters 0.026824303079050572 Centerline is valid? [True, True] Translation: X:205.10, Y:-105.60, Z:-27.51 [[ 7.53210184e-01 6.49293306e-01 1.05321514e-01 2.05100528e+02] [-6.42814532e-01 7.60537124e-01 -9.15027840e-02 -1.05601894e+02] [-1.39513067e-01 1.21862869e-03 9.90219480e-01 -2.75053792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters 0.0273323911162737 Centerline is valid? [True, True] Translation: X:205.15, Y:-105.64, Z:-27.51 [[ 7.56480805e-01 6.45393423e-01 1.05849521e-01 2.05147598e+02] [-6.38799529e-01 7.63847682e-01 -9.20428162e-02 -1.05642280e+02] [-1.40256739e-01 2.01199949e-03 9.90113124e-01 -2.75121560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters 0.02740828324257116 Centerline is valid? [True, True] Translation: X:205.19, Y:-105.68, Z:-27.52 [[ 7.56786297e-01 6.45079602e-01 1.05578446e-01 2.05193188e+02] [-6.38504333e-01 7.64112403e-01 -9.18937017e-02 -1.05684819e+02] [-1.39952553e-01 2.13159892e-03 9.90155917e-01 -2.75198319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters 0.02754997731332184 Centerline is valid? [True, True] Translation: X:205.23, Y:-105.73, Z:-27.53 [[ 7.54193413e-01 6.48035915e-01 1.06027116e-01 2.05234484e+02] [-6.41419920e-01 7.61607961e-01 -9.23785706e-02 -1.05730873e+02] [-1.40615727e-01 1.66340527e-03 9.90062852e-01 -2.75277329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters 0.027251861217619314 Centerline is valid? [True, True] Translation: X:205.28, Y:-105.77, Z:-27.53 [[ 7.52144541e-01 6.50408227e-01 1.06055304e-01 2.05280481e+02] [-6.43800042e-01 7.59583757e-01 -9.24879546e-02 -1.05772900e+02] [-1.40712813e-01 1.28590091e-03 9.90049620e-01 -2.75341639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters 0.027187312683950207 Centerline is valid? [True, True] Translation: X:205.33, Y:-105.82, Z:-27.54 [[ 7.48317562e-01 6.54579506e-01 1.07454630e-01 2.05325177e+02] [-6.47824415e-01 7.55992946e-01 -9.37986840e-02 -1.05816599e+02] [-1.42633639e-01 5.79469573e-04 9.89775383e-01 -2.75428336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters 0.027137568400848727 Centerline is valid? [True, True] Translation: X:205.37, Y:-105.86, Z:-27.55 [[ 7.47862976e-01 6.55410146e-01 1.05539134e-01 2.05372301e+02] [-6.48889750e-01 7.55273000e-01 -9.22214084e-02 -1.05856704e+02] [-1.40153705e-01 4.85714996e-04 9.90129640e-01 -2.75480982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters 0.027300168899596987 Centerline is valid? [True, True] Translation: X:205.42, Y:-105.90, Z:-27.55 [[ 7.47822441e-01 6.55317096e-01 1.06400664e-01 2.05420078e+02] [-6.48675767e-01 7.55353675e-01 -9.30622132e-02 -1.05896388e+02] [-1.41355392e-01 5.74479132e-04 9.89958748e-01 -2.75549871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters 0.027143197860347447 Centerline is valid? [True, True] Translation: X:205.47, Y:-105.93, Z:-27.56 [[ 7.46846320e-01 6.56482187e-01 1.06074086e-01 2.05469512e+02] [-6.49880631e-01 7.54341408e-01 -9.28665996e-02 -1.05934725e+02] [-1.40981344e-01 4.21583954e-04 9.90012163e-01 -2.75622586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters 0.027306409187720312 Centerline is valid? [True, True] Translation: X:205.52, Y:-105.97, Z:-27.57 [[ 7.45854815e-01 6.57629220e-01 1.05945287e-01 2.05519823e+02] [-6.51040958e-01 7.53341709e-01 -9.28544039e-02 -1.05972633e+02] [-1.40876773e-01 2.81183114e-04 9.90027099e-01 -2.75696952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters 0.02750654554635534 Centerline is valid? [True, True] Translation: X:205.57, Y:-106.01, Z:-27.58 [[ 7.44962811e-01 6.58399624e-01 1.07426001e-01 2.05570804e+02] [-6.51618416e-01 7.52668513e-01 -9.42525901e-02 -1.06008070e+02] [-1.42912038e-01 2.13913969e-04 9.89735370e-01 -2.75781845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters 0.02746211717833136 Centerline is valid? [True, True] Translation: X:205.62, Y:-106.04, Z:-27.58 [[ 7.46933048e-01 6.56707316e-01 1.04050575e-01 2.05621790e+02] [-6.50319527e-01 7.54145317e-01 -9.13748019e-02 -1.06043574e+02] [-1.38475755e-01 5.84738375e-04 9.90365651e-01 -2.75845947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters 0.027660787651071266 Centerline is valid? [True, True] Translation: X:205.67, Y:-106.08, Z:-27.59 [[ 7.47833739e-01 6.55638413e-01 1.04321478e-01 2.05674202e+02] [-6.49194327e-01 7.55074529e-01 -9.17015925e-02 -1.06079426e+02] [-1.38893577e-01 8.52633348e-04 9.90306946e-01 -2.75917678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters 0.027764801685816447 Centerline is valid? [True, True] Translation: X:205.73, Y:-106.11, Z:-27.60 [[ 7.46749074e-01 6.56999946e-01 1.03522425e-01 2.05725625e+02] [-6.50654486e-01 7.53890328e-01 -9.10939814e-02 -1.06114379e+02] [-1.37893296e-01 6.67016250e-04 9.90446866e-01 -2.75988626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters 0.02749189455682142 Centerline is valid? [True, True] Translation: X:205.78, Y:-106.15, Z:-27.61 [[ 7.47203252e-01 6.56739963e-01 1.01881901e-01 2.05776878e+02] [-6.50582470e-01 7.54116731e-01 -8.97240525e-02 -1.06150380e+02] [-1.35756217e-01 7.59524925e-04 9.90741981e-01 -2.76062221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters 0.0275078126484335 Centerline is valid? [True, True] Translation: X:205.83, Y:-106.19, Z:-27.61 [[ 7.47591227e-01 6.56385397e-01 1.01319137e-01 2.05827737e+02] [-6.50287220e-01 7.54425269e-01 -8.92695088e-02 -1.06187503e+02] [-1.35032919e-01 8.50561752e-04 9.90840748e-01 -2.76128677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters 0.028064305956939373 Centerline is valid? [True, True] Translation: X:205.88, Y:-106.22, Z:-27.62 [[ 7.50120880e-01 6.53361465e-01 1.02163894e-01 2.05881377e+02] [-6.47119707e-01 7.57044653e-01 -9.01081477e-02 -1.06220501e+02] [-1.36215821e-01 1.47973395e-03 9.90678081e-01 -2.76209127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters 0.02823888769221325 Centerline is valid? [True, True] Translation: X:205.93, Y:-106.26, Z:-27.63 [[ 7.50438277e-01 6.52934594e-01 1.02561239e-01 2.05931045e+02] [-6.46628368e-01 7.57412547e-01 -9.05427359e-02 -1.06257018e+02] [-1.36799654e-01 1.62772838e-03 9.90597398e-01 -2.76285016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters 0.02848723043016317 Centerline is valid? [True, True] Translation: X:205.98, Y:-106.29, Z:-27.64 [[ 7.52771657e-01 6.50334960e-01 1.01976826e-01 2.05981359e+02] [-6.44065696e-01 7.59644530e-01 -9.01086449e-02 -1.06293309e+02] [-1.36066940e-01 2.15145846e-03 9.90697309e-01 -2.76358247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters 0.029467137492709534 Centerline is valid? [True, True] Translation: X:206.03, Y:-106.33, Z:-27.64 [[ 7.58619132e-01 6.43550933e-01 1.01681899e-01 2.06031200e+02] [-6.37247269e-01 7.65395660e-01 -8.99188620e-02 -1.06330463e+02] [-1.35694252e-01 3.41765652e-03 9.90744866e-01 -2.76426552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters 0.030783854493113504 Centerline is valid? [True, True] Translation: X:206.08, Y:-106.37, Z:-27.65 [[ 7.63537306e-01 6.37781621e-01 1.01219497e-01 2.06077683e+02] [-6.31481653e-01 7.70204429e-01 -8.95324493e-02 -1.06370768e+02] [-1.35061856e-01 4.44310953e-03 9.90827207e-01 -2.76505033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters 0.03180521094540825 Centerline is valid? [True, True] Translation: X:206.12, Y:-106.41, Z:-27.66 [[ 7.66489157e-01 6.34167885e-01 1.01614298e-01 2.06123466e+02] [-6.27783424e-01 7.73178425e-01 -8.99060385e-02 -1.06411452e+02] [-1.35581505e-01 5.12023160e-03 9.90752966e-01 -2.76572325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters 0.03202076580531418 Centerline is valid? [True, True] Translation: X:206.17, Y:-106.46, Z:-27.66 [[ 7.68558760e-01 6.31852145e-01 1.00400694e-01 2.06166057e+02] [-6.25594711e-01 7.75069465e-01 -8.88739683e-02 -1.06456082e+02] [-1.33972720e-01 5.49472351e-03 9.90969787e-01 -2.76631599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters 0.03309470865303911 Centerline is valid? [True, True] Translation: X:206.21, Y:-106.50, Z:-27.67 [[ 7.70859082e-01 6.29011730e-01 1.00600795e-01 2.06208940e+02] [-6.22696595e-01 7.77372262e-01 -8.91140712e-02 -1.06501143e+02] [-1.34258064e-01 6.05061874e-03 9.90927930e-01 -2.76708044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters 0.03392422885268892 Centerline is valid? [True, True] Translation: X:206.25, Y:-106.55, Z:-27.68 [[ 7.73423880e-01 6.26226799e-01 9.82623938e-02 2.06251548e+02] [-6.20177148e-01 7.79614651e-01 -8.70706644e-02 -1.06545926e+02] [-1.31132785e-01 6.40243999e-03 9.91344139e-01 -2.76754140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters 0.03375558787795368 Centerline is valid? [True, True] Translation: X:206.30, Y:-106.59, Z:-27.68 [[ 7.72944992e-01 6.26752901e-01 9.86754286e-02 2.06297120e+02] [-6.20646857e-01 7.79191820e-01 -8.75076332e-02 -1.06589332e+02] [-1.31732750e-01 6.39599224e-03 9.91264634e-01 -2.76823814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters 0.03379775648924447 Centerline is valid? [True, True] Translation: X:206.34, Y:-106.64, Z:-27.69 [[ 7.72569300e-01 6.26971912e-01 1.00214257e-01 2.06336847e+02] [-6.20663353e-01 7.79014524e-01 -8.89571381e-02 -1.06638262e+02] [-1.33841989e-01 6.52623699e-03 9.90981196e-01 -2.76899564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters 0.033113749021348046 Centerline is valid? [True, True] Translation: X:206.38, Y:-106.69, Z:-27.70 [[ 7.71482818e-01 6.28437710e-01 9.93997320e-02 2.06377537e+02] [-6.22233955e-01 7.77834578e-01 -8.83078427e-02 -1.06686100e+02] [-1.32812527e-01 6.27809496e-03 9.91121293e-01 -2.76968407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters 0.03294394201537788 Centerline is valid? [True, True] Translation: X:206.42, Y:-106.74, Z:-27.70 [[ 7.71082886e-01 6.28922737e-01 9.94352766e-02 2.06418327e+02] [-6.22708280e-01 7.77442631e-01 -8.84157995e-02 -1.06735251e+02] [-1.32911930e-01 6.25673976e-03 9.91108103e-01 -2.77032930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters 0.03241884849325678 Centerline is valid? [True, True] Translation: X:206.46, Y:-106.78, Z:-27.71 [[ 7.69644051e-01 6.30621957e-01 9.98197509e-02 2.06460205e+02] [-6.24361823e-01 7.76066558e-01 -8.88426208e-02 -1.06781237e+02] [-1.33492878e-01 6.05355292e-03 9.91031284e-01 -2.77112170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters 0.03206831815872268 Centerline is valid? [True, True] Translation: X:206.50, Y:-106.83, Z:-27.72 [[ 7.68437195e-01 6.32157978e-01 9.94010481e-02 2.06501549e+02] [-6.25953175e-01 7.74817662e-01 -8.85449815e-02 -1.06828339e+02] [-1.32992104e-01 5.82085552e-03 9.91100004e-01 -2.77175871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters 0.030992588131665638 Centerline is valid? [True, True] Translation: X:206.54, Y:-106.88, Z:-27.72 [[ 7.66550069e-01 6.34529736e-01 9.88585171e-02 2.06541142e+02] [-6.28402341e-01 7.72879319e-01 -8.81365824e-02 -1.06876862e+02] [-1.32330986e-01 5.43817975e-03 9.91190666e-01 -2.77243638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters 0.030708447928176896 Centerline is valid? [True, True] Translation: X:206.58, Y:-106.92, Z:-27.73 [[ 7.64963754e-01 6.36451567e-01 9.87919917e-02 2.06582853e+02] [-6.30338251e-01 7.71299399e-01 -8.81528625e-02 -1.06922945e+02] [-1.32303231e-01 5.16137341e-03 9.91195851e-01 -2.77310740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters 0.029996225342425523 Centerline is valid? [True, True] Translation: X:206.62, Y:-106.97, Z:-27.74 [[ 7.63333208e-01 6.38755663e-01 9.65070853e-02 2.06623275e+02] [-6.32932777e-01 7.69395281e-01 -8.61800520e-02 -1.06970438e+02] [-1.29300092e-01 4.70159797e-03 9.91594363e-01 -2.77377714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters 0.02910984206777546 Centerline is valid? [True, True] Translation: X:206.66, Y:-107.02, Z:-27.74 [[ 7.60838781e-01 6.41492386e-01 9.80401320e-02 2.06663080e+02] [-6.35500930e-01 7.67117194e-01 -8.75772677e-02 -1.07019294e+02] [-1.31388421e-01 4.32758655e-03 9.91321519e-01 -2.77435729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters 0.02834535420280643 Centerline is valid? [True, True] Translation: X:206.70, Y:-107.07, Z:-27.75 [[ 7.57502803e-01 6.45151051e-01 9.98480141e-02 2.06702138e+02] [-6.38956941e-01 7.64045497e-01 -8.92664918e-02 -1.07068925e+02] [-1.33878797e-01 3.82103614e-03 9.90990347e-01 -2.77505519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters 0.02769459069798726 Centerline is valid? [True, True] Translation: X:206.74, Y:-107.12, Z:-27.76 [[ 7.54191700e-01 6.49092143e-01 9.93693586e-02 2.06743413e+02] [-6.42984754e-01 7.60703289e-01 -8.88881970e-02 -1.07115148e+02] [-1.33287228e-01 3.14575774e-03 9.91072459e-01 -2.77579688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters 0.026493438380242876 Centerline is valid? [True, True] Translation: X:206.78, Y:-107.16, Z:-27.77 [[ 7.46489729e-01 6.57833357e-01 1.00041789e-01 2.06781668e+02] [-6.51708890e-01 7.53161669e-01 -8.95713319e-02 -1.07164368e+02] [-1.34270651e-01 1.66595588e-03 9.90943297e-01 -2.77654228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters 0.026037875795594113 Centerline is valid? [True, True] Translation: X:206.83, Y:-107.21, Z:-27.77 [[ 7.42327930e-01 6.62391310e-01 1.00930654e-01 2.06825939e+02] [-6.56187341e-01 7.49157471e-01 -9.04502995e-02 -1.07207123e+02] [-1.35526446e-01 9.14366347e-04 9.90773307e-01 -2.77720875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters 0.025961108314736244 Centerline is valid? [True, True] Translation: X:206.87, Y:-107.25, Z:-27.78 [[ 7.36863202e-01 6.68544787e-01 1.00401639e-01 2.06871537e+02] [-6.62450911e-01 7.43671867e-01 -9.00607839e-02 -1.07248894e+02] [-1.34875542e-01 -1.48679479e-04 9.90862536e-01 -2.77804971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters 0.025943145173108927 Centerline is valid? [True, True] Translation: X:206.92, Y:-107.29, Z:-27.79 [[ 7.35206318e-01 6.70400753e-01 1.00172352e-01 2.06919501e+02] [-6.64340019e-01 7.41999092e-01 -8.99426844e-02 -1.07289944e+02] [-1.34625437e-01 -4.22072094e-04 9.90896470e-01 -2.77871740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters 0.025867695588974383 Centerline is valid? [True, True] Translation: X:206.97, Y:-107.33, Z:-27.79 [[ 7.37161801e-01 6.68329418e-01 9.96406986e-02 2.06967331e+02] [-6.62300977e-01 7.43865437e-01 -8.95635348e-02 -1.07330269e+02] [-1.33977217e-01 3.06844799e-05 9.90984412e-01 -2.77939927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters 0.02592136935338326 Centerline is valid? [True, True] Translation: X:207.01, Y:-107.37, Z:-27.80 [[ 7.39289703e-01 6.66097559e-01 9.88168867e-02 2.07014718e+02] [-6.60135844e-01 7.45864456e-01 -8.89206398e-02 -1.07371832e+02] [-1.32933824e-01 5.05544439e-04 9.91124787e-01 -2.78013600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters 0.025984602484597476 Centerline is valid? [True, True] Translation: X:207.06, Y:-107.41, Z:-27.81 [[ 7.39765786e-01 6.65432178e-01 9.97326328e-02 2.07060100e+02] [-6.59339800e-01 7.46457983e-01 -8.98415681e-02 -1.07413526e+02] [-1.34229690e-01 7.04024129e-04 9.90949996e-01 -2.78075742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters 0.026170087621497386 Centerline is valid? [True, True] Translation: X:207.11, Y:-107.46, Z:-27.82 [[ 7.39286729e-01 6.65933719e-01 9.99370514e-02 2.07105164e+02] [-6.59808753e-01 7.46010602e-01 -9.01143177e-02 -1.07457186e+02] [-1.34564263e-01 6.80977934e-04 9.90904635e-01 -2.78154159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters 0.026080041125705153 Centerline is valid? [True, True] Translation: X:207.15, Y:-107.50, Z:-27.82 [[ 7.38594037e-01 6.66766462e-01 9.95054443e-02 2.07149773e+02] [-6.60688855e-01 7.45266479e-01 -8.98226686e-02 -1.07500547e+02] [-1.34048815e-01 6.00349418e-04 9.90974548e-01 -2.78220299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters 0.026168444893021878 Centerline is valid? [True, True] Translation: X:207.20, Y:-107.54, Z:-27.83 [[ 7.38446155e-01 6.67059904e-01 9.86324510e-02 2.07195166e+02] [-6.61078916e-01 7.45003831e-01 -8.91288852e-02 -1.07542026e+02] [-1.32935859e-01 6.13048715e-04 9.91124453e-01 -2.78284305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters 0.026392836893901258 Centerline is valid? [True, True] Translation: X:207.24, Y:-107.59, Z:-27.84 [[ 7.38158998e-01 6.67291744e-01 9.92120028e-02 2.07239728e+02] [-6.61230086e-01 7.44796158e-01 -8.97410556e-02 -1.07585435e+02] [-1.33776184e-01 6.41206568e-04 9.91011363e-01 -2.78362104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters 0.026387179495525544 Centerline is valid? [True, True] Translation: X:207.29, Y:-107.63, Z:-27.84 [[ 7.37961469e-01 6.67563709e-01 9.88512212e-02 2.07286074e+02] [-6.61535616e-01 7.44552385e-01 -8.95118678e-02 -1.07628056e+02] [-1.33354787e-01 6.62706031e-04 9.91068142e-01 -2.78441402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters 0.02653635328831724 Centerline is valid? [True, True] Translation: X:207.33, Y:-107.67, Z:-27.85 [[ 7.37903653e-01 6.67399289e-01 1.00381216e-01 2.07330366e+02] [-6.61167220e-01 7.44699660e-01 -9.09962811e-02 -1.07670760e+02] [-1.35484711e-01 7.77718741e-04 9.90779132e-01 -2.78513359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters 0.026569058997437337 Centerline is valid? [True, True] Translation: X:207.38, Y:-107.71, Z:-27.86 [[ 7.38071193e-01 6.67207096e-01 1.00427113e-01 2.07376584e+02] [-6.60955398e-01 7.44871745e-01 -9.11265329e-02 -1.07713273e+02] [-1.35605588e-01 8.80026463e-04 9.90762509e-01 -2.78603905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters 0.026669262968293913 Centerline is valid? [True, True] Translation: X:207.42, Y:-107.76, Z:-27.87 [[ 7.38593122e-01 6.66652799e-01 1.00270861e-01 2.07421084e+02] [-6.60402050e-01 7.45367650e-01 -9.10834664e-02 -1.07757395e+02] [-1.35459704e-01 1.05453965e-03 9.90782295e-01 -2.78676066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters 0.026534338879521932 Centerline is valid? [True, True] Translation: X:207.47, Y:-107.80, Z:-27.87 [[ 7.37355837e-01 6.67896185e-01 1.01099238e-01 2.07465740e+02] [-6.61538977e-01 7.44253895e-01 -9.19365107e-02 -1.07801361e+02] [-1.36647547e-01 9.08836259e-04 9.90619312e-01 -2.78738478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters 0.02636668199313646 Centerline is valid? [True, True] Translation: X:207.51, Y:-107.85, Z:-27.88 [[ 7.34966697e-01 6.70507875e-01 1.01208419e-01 2.07509547e+02] [-6.64147674e-01 7.41902245e-01 -9.21353711e-02 -1.07845153e+02] [-1.36864245e-01 4.99093261e-04 9.90589688e-01 -2.78834460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters 0.02614884563189437 Centerline is valid? [True, True] Translation: X:207.56, Y:-107.89, Z:-27.89 [[ 7.31906558e-01 6.74040956e-01 9.99078569e-02 2.07555404e+02] [-6.67863154e-01 7.38693970e-01 -9.10495786e-02 -1.07886940e+02] [-1.35172477e-01 -8.49927799e-05 9.90822080e-01 -2.78886726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters 0.026249758038815966 Centerline is valid? [True, True] Translation: X:207.60, Y:-107.93, Z:-27.90 [[ 7.29442683e-01 6.76702244e-01 9.99372055e-02 2.07601983e+02] [-6.70532326e-01 7.36256625e-01 -9.11733617e-02 -1.07928673e+02] [-1.35276648e-01 -5.05385277e-04 9.90807738e-01 -2.78957548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters 0.02628912064065242 Centerline is valid? [True, True] Translation: X:207.65, Y:-107.97, Z:-27.90 [[ 7.28664041e-01 6.77434413e-01 1.00654516e-01 2.07649557e+02] [-6.71168138e-01 7.35582960e-01 -9.19295345e-02 -1.07969176e+02] [-1.36315977e-01 -5.70358190e-04 9.90665246e-01 -2.79027496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters 0.026177526541037645 Centerline is valid? [True, True] Translation: X:207.70, Y:-108.01, Z:-27.91 [[ 7.28379150e-01 6.77769070e-01 1.00463432e-01 2.07696733e+02] [-6.71516087e-01 7.35274627e-01 -9.18551445e-02 -1.08009716e+02] [-1.36124788e-01 -5.57438630e-04 9.90691542e-01 -2.79102622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters 0.026144633026062188 Centerline is valid? [True, True] Translation: X:207.74, Y:-108.05, Z:-27.92 [[ 7.30617797e-01 6.75482938e-01 9.96013823e-02 2.07744337e+02] [-6.69302625e-01 7.37375615e-01 -9.11657745e-02 -1.08049364e+02] [-1.35024556e-01 -5.61293025e-05 9.90842251e-01 -2.79178394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters 0.026013642646729018 Centerline is valid? [True, True] Translation: X:207.79, Y:-108.09, Z:-27.92 [[ 7.31956222e-01 6.74072890e-01 9.93268717e-02 2.07791996e+02] [-6.67900531e-01 7.38664783e-01 -9.10121875e-02 -1.08089636e+02] [-1.34718110e-01 2.76466545e-04 9.90883926e-01 -2.79243248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters 0.02616680296057595 Centerline is valid? [True, True] Translation: X:207.84, Y:-108.13, Z:-27.93 [[ 7.35018443e-01 6.70848272e-01 9.85417922e-02 2.07838694e+02] [-6.64731257e-01 7.41594041e-01 -9.03915660e-02 -1.08130783e+02] [-1.33717032e-01 9.35658767e-04 9.91019112e-01 -2.79322194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters 0.026686185454635532 Centerline is valid? [True, True] Translation: X:207.88, Y:-108.17, Z:-27.94 [[ 7.38840498e-01 6.66585631e-01 9.88853676e-02 2.07883670e+02] [-6.60374360e-01 7.45426321e-01 -9.08036630e-02 -1.08173510e+02] [-1.34240173e-01 1.78806225e-03 9.90947213e-01 -2.79402771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters 0.027384392041585867 Centerline is valid? [True, True] Translation: X:207.93, Y:-108.22, Z:-27.95 [[ 7.43418162e-01 6.61407568e-01 9.93451846e-02 2.07926904e+02] [-6.55080175e-01 7.50021446e-01 -9.13115275e-02 -1.08217689e+02] [-1.34905154e-01 2.80358708e-03 9.90854550e-01 -2.79472854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters 0.02749298776521268 Centerline is valid? [True, True] Translation: X:207.97, Y:-108.26, Z:-27.95 [[ 7.44818768e-01 6.59940567e-01 9.86075609e-02 2.07969863e+02] [-6.53683476e-01 7.51311380e-01 -9.07145133e-02 -1.08261544e+02] [-1.33951170e-01 3.10773885e-03 9.90983060e-01 -2.79537804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters 0.02720558858295597 Centerline is valid? [True, True] Translation: X:208.01, Y:-108.31, Z:-27.96 [[ 7.42104921e-01 6.62850727e-01 9.95449669e-02 2.08011004e+02] [-6.56488444e-01 7.48746811e-01 -9.16577105e-02 -1.08308243e+02] [-1.35289357e-01 2.66951757e-03 9.90802535e-01 -2.79608320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters 0.026463509773130355 Centerline is valid? [True, True] Translation: X:208.05, Y:-108.35, Z:-27.97 [[ 7.37621950e-01 6.67948628e-01 9.87850713e-02 2.08053994e+02] [-6.61716587e-01 7.44205228e-01 -9.10479889e-02 -1.08352517e+02] [-1.34331746e-01 1.79127479e-03 9.90934798e-01 -2.79661951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters 0.02616538376496747 Centerline is valid? [True, True] Translation: X:208.10, Y:-108.39, Z:-27.97 [[ 7.33454851e-01 6.72496937e-01 9.89537864e-02 2.08099366e+02] [-6.66272719e-01 7.40099193e-01 -9.12899097e-02 -1.08394613e+02] [-1.34627802e-01 1.02681880e-03 9.90895706e-01 -2.79736833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters 0.026065298562743963 Centerline is valid? [True, True] Translation: X:208.15, Y:-108.44, Z:-27.98 [[ 7.27851555e-01 6.78472897e-01 9.95321161e-02 2.08145513e+02] [-6.72217435e-01 7.34625434e-01 -9.19194844e-02 -1.08436627e+02] [-1.35483703e-01 -3.48409956e-06 9.90779575e-01 -2.79814436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters 0.026120275774890987 Centerline is valid? [True, True] Translation: X:208.19, Y:-108.48, Z:-27.99 [[ 7.25064876e-01 6.81455970e-01 9.94921427e-02 2.08193954e+02] [-6.75219580e-01 7.31858952e-01 -9.19836553e-02 -1.08476542e+02] [-1.35497026e-01 -4.84925154e-04 9.90777634e-01 -2.79889833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters 0.026305585957120823 Centerline is valid? [True, True] Translation: X:208.24, Y:-108.52, Z:-28.00 [[ 7.24487303e-01 6.82031129e-01 9.97581420e-02 2.08241902e+02] [-6.75752587e-01 7.31322959e-01 -9.23318570e-02 -1.08517426e+02] [-1.35928620e-01 -5.18564472e-04 9.90718497e-01 -2.79962092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters 0.026125425639290142 Centerline is valid? [True, True] Translation: X:208.29, Y:-108.56, Z:-28.00 [[ 7.26615499e-01 6.79772273e-01 9.96974092e-02 2.08287979e+02] [-6.73466219e-01 7.33423245e-01 -9.23774624e-02 -1.08560337e+02] [-1.35916035e-01 -1.99413086e-05 9.90720360e-01 -2.80041097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters 0.026010044783655484 Centerline is valid? [True, True] Translation: X:208.33, Y:-108.60, Z:-28.01 [[ 7.26952198e-01 6.79489052e-01 9.91722218e-02 2.08333408e+02] [-6.73233272e-01 7.33685639e-01 -9.19910010e-02 -1.08602745e+02] [-1.35268113e-01 1.07021020e-04 9.90809026e-01 -2.80115484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters 0.025991870198499824 Centerline is valid? [True, True] Translation: X:208.38, Y:-108.65, Z:-28.02 [[ 7.26175233e-01 6.80452113e-01 9.82570775e-02 2.08375126e+02] [-6.74307073e-01 7.32792551e-01 -9.12417090e-02 -1.08650307e+02] [-1.34087668e-01 2.02706781e-06 9.90969473e-01 -2.80176344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters 0.026173315836869163 Centerline is valid? [True, True] Translation: X:208.42, Y:-108.69, Z:-28.02 [[ 7.23730436e-01 6.83157859e-01 9.75171586e-02 2.08419700e+02] [-6.77116713e-01 7.30270608e-01 -9.06520642e-02 -1.08694411e+02] [-1.33143585e-01 -4.22839920e-04 9.91096669e-01 -2.80247669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters 0.026342350796507756 Centerline is valid? [True, True] Translation: X:208.46, Y:-108.74, Z:-28.03 [[ 7.20025891e-01 6.86971247e-01 9.81489785e-02 2.08462614e+02] [-6.80872642e-01 7.26683826e-01 -9.13403667e-02 -1.08740372e+02] [-1.34071481e-01 -1.05952541e-03 9.90971097e-01 -2.80322174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters 0.027150417436869502 Centerline is valid? [True, True] Translation: X:208.51, Y:-108.79, Z:-28.04 [[ 7.13693580e-01 6.93553714e-01 9.81056524e-02 2.08505575e+02] [-6.87508623e-01 7.20401502e-01 -9.13978615e-02 -1.08785987e+02] [-1.34064786e-01 -2.21841503e-03 9.90970086e-01 -2.80386425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters 0.028008395236829353 Centerline is valid? [True, True] Translation: X:208.55, Y:-108.83, Z:-28.05 [[ 7.07059083e-01 7.00718627e-01 9.51885416e-02 2.08553295e+02] [-6.95080910e-01 7.13429656e-01 -8.87730574e-02 -1.08826257e+02] [-1.30115263e-01 -3.39594145e-03 9.91493059e-01 -2.80455363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters 0.029726402597253634 Centerline is valid? [True, True] Translation: X:208.60, Y:-108.87, Z:-28.05 [[ 7.00023660e-01 7.07768325e-01 9.50309148e-02 2.08600631e+02] [-7.02201241e-01 7.06429469e-01 -8.87176520e-02 -1.08866500e+02] [-1.29924183e-01 -4.62637087e-03 9.91513138e-01 -2.80525070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters 0.03028819416686185 Centerline is valid? [True, True] Translation: X:208.65, Y:-108.90, Z:-28.06 [[ 6.96662822e-01 7.10989422e-01 9.56815204e-02 2.08652037e+02] [-7.05364136e-01 7.03183472e-01 -8.94116340e-02 -1.08902843e+02] [-1.30852390e-01 -5.20055163e-03 9.91388222e-01 -2.80584694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters 0.03004553526556019 Centerline is valid? [True, True] Translation: X:208.70, Y:-108.94, Z:-28.07 [[ 6.97156570e-01 7.10545021e-01 9.53860034e-02 2.08704460e+02] [-7.04939351e-01 7.03633682e-01 -8.92196888e-02 -1.08937790e+02] [-1.30511410e-01 -5.04125507e-03 9.91433990e-01 -2.80666648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters 0.029233673830933334 Centerline is valid? [True, True] Translation: X:208.76, Y:-108.97, Z:-28.07 [[ 6.99325729e-01 7.08513833e-01 9.46132830e-02 2.08757822e+02] [-7.02970153e-01 7.05682146e-01 -8.85758059e-02 -1.08971920e+02] [-1.29524088e-01 -4.56697395e-03 9.91565758e-01 -2.80721089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters 0.02839907589765697 Centerline is valid? [True, True] Translation: X:208.81, Y:-109.00, Z:-28.08 [[ 7.02571368e-01 7.05188079e-01 9.54109360e-02 2.08811917e+02] [-6.99512628e-01 7.09009295e-01 -8.93750664e-02 -1.09003923e+02] [-1.30673472e-01 -3.94879196e-03 9.91417597e-01 -2.80805602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters 0.027533609435762513 Centerline is valid? [True, True] Translation: X:208.86, Y:-109.04, Z:-28.09 [[ 7.07363992e-01 7.00306238e-01 9.59549712e-02 2.08864354e+02] [-6.94509886e-01 7.13836224e-01 -8.99658995e-02 -1.09037822e+02] [-1.31499815e-01 -3.00303834e-03 9.91311646e-01 -2.80876077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters 0.02666480836673162 Centerline is valid? [True, True] Translation: X:208.92, Y:-109.07, Z:-28.10 [[ 7.13128524e-01 6.94267163e-01 9.71638551e-02 2.08916063e+02] [-6.88255777e-01 7.19715006e-01 -9.11827629e-02 -1.09072651e+02] [-1.33235483e-01 -1.84855542e-03 9.91082685e-01 -2.80950865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters 0.026279856826657524 Centerline is valid? [True, True] Translation: X:208.97, Y:-109.11, Z:-28.10 [[ 7.17485868e-01 6.89722260e-01 9.74537485e-02 2.08966593e+02] [-6.83621292e-01 7.24073418e-01 -9.15402324e-02 -1.09108569e+02] [-1.33701005e-01 -9.42634372e-04 9.91021268e-01 -2.81018177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters 0.026133962463577392 Centerline is valid? [True, True] Translation: X:209.01, Y:-109.15, Z:-28.11 [[ 7.21891246e-01 6.85295232e-01 9.61429894e-02 2.09014743e+02] [-6.79307320e-01 7.28265365e-01 -9.03942628e-02 -1.09148013e+02] [-1.31964367e-01 -5.58094095e-05 9.91254459e-01 -2.81084210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters 0.026023155468711222 Centerline is valid? [True, True] Translation: X:209.06, Y:-109.19, Z:-28.12 [[ 7.23699898e-01 6.83202171e-01 9.74333184e-02 2.09060194e+02] [-6.77020755e-01 7.30229167e-01 -9.16965706e-02 -1.09189897e+02] [-1.33795947e-01 3.96420033e-04 9.91008823e-01 -2.81156974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters 0.026174027977279773 Centerline is valid? [True, True] Translation: X:209.11, Y:-109.23, Z:-28.12 [[ 7.22983705e-01 6.83950208e-01 9.75021806e-02 2.09107855e+02] [-6.77754655e-01 7.29528620e-01 -9.18510707e-02 -1.09230501e+02] [-1.33952190e-01 3.24270612e-04 9.90987742e-01 -2.81209445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters 0.026158914180447714 Centerline is valid? [True, True] Translation: X:209.15, Y:-109.27, Z:-28.13 [[ 7.22399344e-01 6.84489711e-01 9.80460256e-02 2.09153869e+02] [-6.78215727e-01 7.29022459e-01 -9.24644867e-02 -1.09272569e+02] [-1.34768744e-01 2.99927984e-04 9.90877034e-01 -2.81284821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters 0.02641689541150984 Centerline is valid? [True, True] Translation: X:209.20, Y:-109.31, Z:-28.14 [[ 7.21729560e-01 6.85421716e-01 9.64547271e-02 2.09199748e+02] [-6.79346156e-01 7.28146300e-01 -9.10591350e-02 -1.09314125e+02] [-1.32647061e-01 1.93921264e-04 9.91163316e-01 -2.81352236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters 0.026345533820739488 Centerline is valid? [True, True] Translation: X:209.25, Y:-109.36, Z:-28.14 [[ 7.22893894e-01 6.84133224e-01 9.68821474e-02 2.09246357e+02] [-6.77979963e-01 7.29356898e-01 -9.15515485e-02 -1.09355842e+02] [-1.33295119e-01 4.97900700e-04 9.91076265e-01 -2.81419174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters 0.02626423102080126 Centerline is valid? [True, True] Translation: X:209.29, Y:-109.40, Z:-28.15 [[ 7.22431104e-01 6.84711169e-01 9.62492334e-02 2.09292001e+02] [-6.78630606e-01 7.28814382e-01 -9.10499722e-02 -1.09397654e+02] [-1.32490758e-01 4.59656336e-04 9.91184134e-01 -2.81494263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters 0.026281053226699342 Centerline is valid? [True, True] Translation: X:209.34, Y:-109.44, Z:-28.16 [[ 7.20206272e-01 6.86982935e-01 9.67335189e-02 2.09335746e+02] [-6.80849111e-01 7.26673542e-01 -9.15972280e-02 -1.09442699e+02] [-1.33219421e-01 1.07967722e-04 9.91086562e-01 -2.81570666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters 0.026470300701504787 Centerline is valid? [True, True] Translation: X:209.38, Y:-109.49, Z:-28.16 [[ 7.19484002e-01 6.87812903e-01 9.62090449e-02 2.09380756e+02] [-6.81739955e-01 7.25888014e-01 -9.11988168e-02 -1.09485888e+02] [-1.32564715e-01 2.65397581e-05 9.91174352e-01 -2.81639994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters 0.026401571486084685 Centerline is valid? [True, True] Translation: X:209.42, Y:-109.53, Z:-28.17 [[ 7.19202392e-01 6.88156157e-01 9.58593851e-02 2.09424834e+02] [-6.82117375e-01 7.25562611e-01 -9.09658420e-02 -1.09530427e+02] [-1.32150690e-01 3.54990070e-05 9.91229637e-01 -2.81702422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters 0.026708347934661203 Centerline is valid? [True, True] Translation: X:209.47, Y:-109.57, Z:-28.18 [[ 7.20415295e-01 6.86759339e-01 9.67647276e-02 2.09468431e+02] [-6.80579492e-01 7.26884774e-01 -9.19243184e-02 -1.09573507e+02] [-1.33466691e-01 3.67595797e-04 9.91053231e-01 -2.81798576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters 0.02695788218744298 Centerline is valid? [True, True] Translation: X:209.51, Y:-109.62, Z:-28.19 [[ 7.22971168e-01 6.84127724e-01 9.63428653e-02 2.09512727e+02] [-6.77966648e-01 7.29361651e-01 -9.16122580e-02 -1.09618363e+02] [-1.32943277e-01 9.15771706e-04 9.91123225e-01 -2.81851352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters 0.026859163163736 Centerline is valid? [True, True] Translation: X:209.55, Y:-109.66, Z:-28.19 [[ 7.23079321e-01 6.84155091e-01 9.53315644e-02 2.09554691e+02] [-6.78110883e-01 7.29335910e-01 -9.07455797e-02 -1.09664014e+02] [-1.31612784e-01 9.70880870e-04 9.91300728e-01 -2.81919118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters 0.027038051390642148 Centerline is valid? [True, True] Translation: X:209.60, Y:-109.71, Z:-28.20 [[ 7.21797624e-01 6.85356554e-01 9.64084193e-02 2.09596908e+02] [-6.79173093e-01 7.28207190e-01 -9.18596711e-02 -1.09710243e+02] [-1.33161932e-01 8.26088096e-04 9.91093950e-01 -2.81995445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters 0.026992876621821767 Centerline is valid? [True, True] Translation: X:209.64, Y:-109.76, Z:-28.21 [[ 7.18285599e-01 6.89312826e-01 9.44120006e-02 2.09638664e+02] [-6.83405462e-01 7.24463803e-01 -9.00509438e-02 -1.09756084e+02] [-1.30471348e-01 1.60619125e-04 9.91452067e-01 -2.82052747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters 0.027174816341326697 Centerline is valid? [True, True] Translation: X:209.68, Y:-109.80, Z:-28.21 [[ 7.15056901e-01 6.92561408e-01 9.51437060e-02 2.09680409e+02] [-6.86578464e-01 7.21358829e-01 -9.08375060e-02 -1.09802512e+02] [-1.31543303e-01 -3.69634028e-04 9.91310356e-01 -2.82119062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters 0.02714799524150523 Centerline is valid? [True, True] Translation: X:209.72, Y:-109.85, Z:-28.22 [[ 7.12516097e-01 6.95153890e-01 9.52989074e-02 2.09723529e+02] [-6.89161131e-01 7.18860533e-01 -9.10849588e-02 -1.09847760e+02] [-1.31824687e-01 -7.76803509e-04 9.91272742e-01 -2.82186859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters 0.027353459262468932 Centerline is valid? [True, True] Translation: X:209.77, Y:-109.89, Z:-28.22 [[ 7.10400588e-01 6.97344176e-01 9.50899795e-02 2.09768183e+02] [-6.91383987e-01 7.16735567e-01 -9.09852118e-02 -1.09891775e+02] [-1.31602378e-01 -1.10774121e-03 9.91301966e-01 -2.82247533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters 0.027445202461465174 Centerline is valid? [True, True] Translation: X:209.81, Y:-109.94, Z:-28.23 [[ 7.08863625e-01 6.99080500e-01 9.38020043e-02 2.09813783e+02] [-6.93283725e-01 7.15041719e-01 -8.98499694e-02 -1.09935130e+02] [-1.29884708e-01 -1.34002795e-03 9.91528198e-01 -2.82323459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters 0.02751079636913449 Centerline is valid? [True, True] Translation: X:209.86, Y:-109.98, Z:-28.24 [[ 7.08059810e-01 6.99784272e-01 9.46217605e-02 2.09860192e+02] [-6.93878655e-01 7.14352840e-01 -9.07327529e-02 -1.09975759e+02] [-1.31086677e-01 -1.41180412e-03 9.91369906e-01 -2.82400252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters 0.027744176916235035 Centerline is valid? [True, True] Translation: X:209.91, Y:-110.02, Z:-28.25 [[ 7.06780341e-01 7.00979738e-01 9.53360211e-02 2.09906565e+02] [-6.94983377e-01 7.13179432e-01 -9.15052131e-02 -1.10016733e+02] [-1.32134990e-01 -1.58286423e-03 9.91230467e-01 -2.82483048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters 0.027654590233981334 Centerline is valid? [True, True] Translation: X:209.96, Y:-110.06, Z:-28.25 [[ 7.05909438e-01 7.01888231e-01 9.51040289e-02 2.09955245e+02] [-6.95917562e-01 7.12285106e-01 -9.13710789e-02 -1.10056306e+02] [-1.31873468e-01 -1.68485703e-03 9.91265126e-01 -2.82540007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters 0.02766418721757167 Centerline is valid? [True, True] Translation: X:210.00, Y:-110.10, Z:-28.26 [[ 7.04918603e-01 7.02822846e-01 9.55500408e-02 2.10001899e+02] [-6.96791951e-01 7.11362636e-01 -9.18922032e-02 -1.10096220e+02] [-1.32554669e-01 -1.80197583e-03 9.91174058e-01 -2.82608636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters 0.027656806376422472 Centerline is valid? [True, True] Translation: X:210.05, Y:-110.13, Z:-28.27 [[ 7.04081574e-01 7.03885449e-01 9.38850978e-02 2.10051677e+02] [-6.98067160e-01 7.10310872e-01 -9.03366248e-02 -1.10134556e+02] [-1.30274241e-01 -1.93375053e-03 9.91476113e-01 -2.82663618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters 0.027693751641538738 Centerline is valid? [True, True] Translation: X:210.10, Y:-110.17, Z:-28.27 [[ 7.02628549e-01 7.05124551e-01 9.54593609e-02 2.10100689e+02] [-6.99114650e-01 7.09080145e-01 -9.18915347e-02 -1.10172655e+02] [-1.32483315e-01 -2.17142204e-03 9.91182857e-01 -2.82728639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters 0.027755559716984127 Centerline is valid? [True, True] Translation: X:210.15, Y:-110.21, Z:-28.28 [[ 7.02061421e-01 7.05619326e-01 9.59746201e-02 2.10151032e+02] [-6.99536562e-01 7.08587659e-01 -9.24777166e-02 -1.10210782e+02] [-1.33260495e-01 -2.21271869e-03 9.91078576e-01 -2.82788686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters 0.027225416954957914 Centerline is valid? [True, True] Translation: X:210.20, Y:-110.25, Z:-28.29 [[ 7.04664869e-01 7.03164726e-01 9.49041116e-02 2.10201372e+02] [-6.97182418e-01 7.11025047e-01 -9.15426621e-02 -1.10247903e+02] [-1.31848771e-01 -1.65857990e-03 9.91268455e-01 -2.82860245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters 0.02702326170087799 Centerline is valid? [True, True] Translation: X:210.25, Y:-110.29, Z:-28.29 [[ 7.10235025e-01 6.97376897e-01 9.60815997e-02 2.10249271e+02] [-6.91179487e-01 7.16704395e-01 -9.27670521e-02 -1.10287403e+02] [-1.33555704e-01 -5.23221274e-04 9.91041170e-01 -2.82933862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters 0.026919629175527166 Centerline is valid? [True, True] Translation: X:210.30, Y:-110.33, Z:-28.30 [[ 7.14780840e-01 6.92942611e-01 9.44398685e-02 2.10297903e+02] [-6.86905898e-01 7.20992652e-01 -9.12681922e-02 -1.10325976e+02] [-1.31334071e-01 3.65452439e-04 9.91338100e-01 -2.82997431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters 0.02683915892194092 Centerline is valid? [True, True] Translation: X:210.34, Y:-110.37, Z:-28.31 [[ 7.15620583e-01 6.92033731e-01 9.47443729e-02 2.10343921e+02] [-6.85938116e-01 7.21864915e-01 -9.16512161e-02 -1.10369082e+02] [-1.31818372e-01 5.98720071e-04 9.91273705e-01 -2.83070427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters 0.026869725354056104 Centerline is valid? [True, True] Translation: X:210.39, Y:-110.41, Z:-28.31 [[ 7.15721284e-01 6.91878776e-01 9.51146813e-02 2.10391707e+02] [-6.85720725e-01 7.22013343e-01 -9.21076560e-02 -1.10409005e+02] [-1.32401401e-01 7.01301696e-04 9.91195933e-01 -2.83143146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters 0.02683188550352289 Centerline is valid? [True, True] Translation: X:210.44, Y:-110.45, Z:-28.32 [[ 7.15291512e-01 6.92391639e-01 9.46143263e-02 2.10437877e+02] [-6.86290708e-01 7.21521565e-01 -9.17152918e-02 -1.10451445e+02] [-1.31769178e-01 6.70236738e-04 9.91280200e-01 -2.83209703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters 0.026892333406257928 Centerline is valid? [True, True] Translation: X:210.49, Y:-110.49, Z:-28.33 [[ 7.16113619e-01 6.91573390e-01 9.43797148e-02 2.10485396e+02] [-6.85482793e-01 7.22305652e-01 -9.15854047e-02 -1.10492706e+02] [-1.31509030e-01 8.89885157e-04 9.91314573e-01 -2.83275517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters 0.02695529627167322 Centerline is valid? [True, True] Translation: X:210.53, Y:-110.54, Z:-28.33 [[ 7.18135454e-01 6.89595010e-01 9.34889922e-02 2.10531363e+02] [-6.83589867e-01 7.24194036e-01 -9.08179046e-02 -1.10536009e+02] [-1.30331744e-01 1.31142942e-03 9.91469574e-01 -2.83339218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters 0.027486129758886497 Centerline is valid? [True, True] Translation: X:210.57, Y:-110.58, Z:-28.34 [[ 7.19651168e-01 6.87650213e-01 9.61217027e-02 2.10574171e+02] [-6.81270744e-01 7.26039957e-01 -9.34673920e-02 -1.10579748e+02] [-1.34061069e-01 1.77901381e-03 9.90971475e-01 -2.83421220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters 0.027463650680420913 Centerline is valid? [True, True] Translation: X:210.62, Y:-110.63, Z:-28.35 [[ 7.20025493e-01 6.87633947e-01 9.33961655e-02 2.10615134e+02] [-6.81606307e-01 7.26055396e-01 -9.08647627e-02 -1.10627137e+02] [-1.30292485e-01 1.76553010e-03 9.91474030e-01 -2.83474012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters 0.027509605334424782 Centerline is valid? [True, True] Translation: X:210.66, Y:-110.67, Z:-28.36 [[ 7.19217043e-01 6.88562316e-01 9.27835241e-02 2.10656998e+02] [-6.82610805e-01 7.25175306e-01 -9.03507842e-02 -1.10673039e+02] [-1.29496466e-01 1.64678776e-03 9.91578516e-01 -2.83554350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters 0.027039603212486277 Centerline is valid? [True, True] Translation: X:210.70, Y:-110.72, Z:-28.36 [[ 7.15948449e-01 6.91851034e-01 9.35946848e-02 2.10698403e+02] [-6.85811204e-01 7.22039391e-01 -9.12256006e-02 -1.10719750e+02] [-1.30693575e-01 1.12454370e-03 9.91422173e-01 -2.83616076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters 0.027041443380558153 Centerline is valid? [True, True] Translation: X:210.74, Y:-110.77, Z:-28.37 [[ 7.12786050e-01 6.94900367e-01 9.51290026e-02 2.10740190e+02] [-6.88674931e-01 7.19105743e-01 -9.28103958e-02 -1.10766380e+02] [-1.32901790e-01 6.40996099e-04 9.91129004e-01 -2.83691365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters 0.026691185975973315 Centerline is valid? [True, True] Translation: X:210.78, Y:-110.81, Z:-28.37 [[ 7.08213426e-01 7.00016692e-01 9.17080932e-02 2.10779990e+02] [-6.94263412e-01 7.14126441e-01 -8.95641753e-02 -1.10814308e+02] [-1.28187592e-01 -2.39022231e-04 9.91749910e-01 -2.83747235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters 0.026772806887279527 Centerline is valid? [True, True] Translation: X:210.82, Y:-110.86, Z:-28.38 [[ 7.04321837e-01 7.03926478e-01 9.17510993e-02 2.10824386e+02] [-6.98189586e-01 7.10272290e-01 -8.96915629e-02 -1.10858288e+02] [-1.28304529e-01 -8.87935671e-04 9.91734420e-01 -2.83803062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters 0.027159457689249378 Centerline is valid? [True, True] Translation: X:210.87, Y:-110.90, Z:-28.39 [[ 6.97673844e-01 7.10413782e-01 9.25389995e-02 2.10869273e+02] [-7.04621048e-01 7.03781331e-01 -9.05594588e-02 -1.10900740e+02] [-1.29461908e-01 -2.02396117e-03 9.91582330e-01 -2.83868893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters 0.02747603015502571 Centerline is valid? [True, True] Translation: X:210.92, Y:-110.94, Z:-28.39 [[ 6.94065115e-01 7.14006440e-01 9.20240228e-02 2.10916644e+02] [-7.08298470e-01 7.00134241e-01 -9.01405672e-02 -1.10941326e+02] [-1.28790115e-01 -2.61705148e-03 9.91668421e-01 -2.83936336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters 0.027372149377158938 Centerline is valid? [True, True] Translation: X:210.96, Y:-110.98, Z:-28.40 [[ 6.93464864e-01 7.14452141e-01 9.30839419e-02 2.10963352e+02] [-7.08603898e-01 6.99679220e-01 -9.12661240e-02 -1.10981838e+02] [-1.30334177e-01 -2.66979378e-03 9.91466527e-01 -2.83999800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters 0.027038007701447396 Centerline is valid? [True, True] Translation: X:211.01, Y:-111.02, Z:-28.41 [[ 6.94304060e-01 7.13801489e-01 9.18112564e-02 2.11011962e+02] [-7.08096135e-01 7.00343786e-01 -9.01024123e-02 -1.11020020e+02] [-1.28614679e-01 -2.45272514e-03 9.91691610e-01 -2.84069958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters 0.026948899385774876 Centerline is valid? [True, True] Translation: X:211.06, Y:-111.06, Z:-28.42 [[ 6.96975830e-01 7.11057090e-01 9.28574562e-02 2.11058931e+02] [-7.05184661e-01 7.03131696e-01 -9.12162986e-02 -1.11060554e+02] [-1.30151017e-01 -1.90609834e-03 9.91492350e-01 -2.84156344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters 0.02639925074056937 Centerline is valid? [True, True] Translation: X:211.11, Y:-111.10, Z:-28.42 [[ 7.00783317e-01 7.07353031e-01 9.24901693e-02 2.11106494e+02] [-7.01483619e-01 7.06859510e-01 -9.09415469e-02 -1.11100713e+02] [-1.29705335e-01 -1.15001986e-03 9.91551917e-01 -2.84216576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters 0.02644317297058901 Centerline is valid? [True, True] Translation: X:211.15, Y:-111.14, Z:-28.43 [[ 7.04293590e-01 7.03894193e-01 9.22144496e-02 2.11151432e+02] [-6.98018909e-01 7.10304698e-01 -9.07570262e-02 -1.11142989e+02] [-1.29383700e-01 -4.47837756e-04 9.91594503e-01 -2.84295752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters 0.02671132038060525 Centerline is valid? [True, True] Translation: X:211.20, Y:-111.18, Z:-28.44 [[ 7.07820338e-01 7.00019683e-01 9.46721274e-02 2.11196470e+02] [-6.93778844e-01 7.14123471e-01 -9.32662026e-02 -1.11184406e+02] [-1.32895766e-01 3.34195938e-04 9.91129963e-01 -2.84374018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters 0.02651317566313174 Centerline is valid? [True, True] Translation: X:211.24, Y:-111.23, Z:-28.44 [[ 7.09755659e-01 6.98371497e-01 9.23263627e-02 2.11239855e+02] [-6.92413112e-01 7.15735135e-01 -9.10345978e-02 -1.11228560e+02] [-1.29657190e-01 6.84336732e-04 9.91558644e-01 -2.84444756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters 0.02645001675505602 Centerline is valid? [True, True] Translation: X:211.28, Y:-111.27, Z:-28.45 [[ 7.08729220e-01 6.99403017e-01 9.24029904e-02 2.11283062e+02] [-6.93432079e-01 7.14727296e-01 -9.11967293e-02 -1.11274060e+02] [-1.29826207e-01 5.58589033e-04 9.91536607e-01 -2.84507599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters 0.026336173532936394 Centerline is valid? [True, True] Translation: X:211.33, Y:-111.32, Z:-28.46 [[ 7.05190381e-01 7.02815834e-01 9.35757925e-02 2.11326053e+02] [-6.96708203e-01 7.11371846e-01 -9.24541850e-02 -1.11319881e+02] [-1.31545449e-01 2.77971657e-06 9.91310141e-01 -2.84576345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters 0.026419661296955606 Centerline is valid? [True, True] Translation: X:211.37, Y:-111.36, Z:-28.46 [[ 7.02612756e-01 7.05297537e-01 9.42905034e-02 2.11367884e+02] [-6.99104679e-01 7.08911299e-01 -9.32599470e-02 -1.11364848e+02] [-1.32619614e-01 -3.93303686e-04 9.91166930e-01 -2.84643998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters 0.026159529173445488 Centerline is valid? [True, True] Translation: X:211.41, Y:-111.41, Z:-28.47 [[ 7.01070834e-01 7.06902011e-01 9.37509090e-02 2.11414025e+02] [-7.00782457e-01 7.07311213e-01 -9.28159247e-02 -1.11406722e+02] [-1.31922833e-01 -6.28454715e-04 9.91259790e-01 -2.84705249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters 0.02636724181398062 Centerline is valid? [True, True] Translation: X:211.46, Y:-111.45, Z:-28.48 [[ 7.01199233e-01 7.06756950e-01 9.38842297e-02 2.11457951e+02] [-7.00605154e-01 7.07456241e-01 -9.30488342e-02 -1.11451231e+02] [-1.32181894e-01 -5.30003938e-04 9.91225336e-01 -2.84772268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters 0.026309976543031195 Centerline is valid? [True, True] Translation: X:211.50, Y:-111.50, Z:-28.48 [[ 7.01801577e-01 7.06156826e-01 9.38993226e-02 2.11502773e+02] [-6.99984184e-01 7.08055378e-01 -9.31650374e-02 -1.11495189e+02] [-1.32275047e-01 -3.44670583e-04 9.91212991e-01 -2.84846052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters 0.026004386899901217 Centerline is valid? [True, True] Translation: X:211.55, Y:-111.54, Z:-28.49 [[ 7.03779847e-01 7.04238960e-01 9.34955314e-02 2.11547370e+02] [-6.98089257e-01 7.09963013e-01 -9.28650060e-02 -1.11538854e+02] [-1.31777524e-01 8.82936273e-05 9.91279313e-01 -2.84915035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters 0.026394300082482117 Centerline is valid? [True, True] Translation: X:211.59, Y:-111.58, Z:-28.50 [[ 7.05822109e-01 7.01943717e-01 9.53423745e-02 2.11589672e+02] [-6.95512785e-01 7.12232165e-01 -9.48014211e-02 -1.11583557e+02] [-1.34451168e-01 6.01098509e-04 9.90920038e-01 -2.84995749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters 0.026072402195435527 Centerline is valid? [True, True] Translation: X:211.63, Y:-111.63, Z:-28.51 [[ 7.07101665e-01 7.01001721e-01 9.27567909e-02 2.11630540e+02] [-6.94897086e-01 7.13159109e-01 -9.23153610e-02 -1.11630009e+02] [-1.30863577e-01 8.19921714e-04 9.91400046e-01 -2.85055938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters 0.026184077768329917 Centerline is valid? [True, True] Translation: X:211.67, Y:-111.68, Z:-28.51 [[ 7.07395755e-01 7.00388466e-01 9.51169967e-02 2.11671964e+02] [-6.93950065e-01 7.13761131e-01 -9.47541861e-02 -1.11676194e+02] [-1.34255554e-01 1.02226294e-03 9.90946215e-01 -2.85119458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters 0.026443647527877895 Centerline is valid? [True, True] Translation: X:211.71, Y:-111.72, Z:-28.52 [[ 7.07412069e-01 7.00411384e-01 9.48264597e-02 2.11712730e+02] [-6.94000473e-01 7.13738557e-01 -9.45548304e-02 -1.11724114e+02] [-1.33908580e-01 1.07962032e-03 9.90993101e-01 -2.85199561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters 0.026476101815391194 Centerline is valid? [True, True] Translation: X:211.75, Y:-111.77, Z:-28.53 [[ 7.06530755e-01 7.01178457e-01 9.57238917e-02 2.11753736e+02] [-6.94638281e-01 7.12985091e-01 -9.55506111e-02 -1.11770589e+02] [-1.35247738e-01 1.01596592e-03 9.90811292e-01 -2.85261107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters 0.02635218378660397 Centerline is valid? [True, True] Translation: X:211.80, Y:-111.82, Z:-28.53 [[ 7.05737781e-01 7.01978731e-01 9.57081267e-02 2.11797737e+02] [-6.95435587e-01 7.12197304e-01 -9.56260637e-02 -1.11815735e+02] [-1.35290533e-01 9.28088744e-04 9.90805536e-01 -2.85322131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters 0.026222129100499734 Centerline is valid? [True, True] Translation: X:211.99, Y:-111.99, Z:-26.65 [[ 7.52866278e-01 -6.55296263e-01 -6.14749991e-02 2.11993547e+02] [-6.52212595e-01 -7.55328564e-01 6.40116513e-02 -1.11991904e+02] [-8.83804187e-02 -8.09744497e-03 -9.96053881e-01 -2.66486480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters 0.026277971502735274 Centerline is valid? [True, True] Translation: X:211.87, Y:-111.91, Z:-28.55 [[ 7.54325055e-01 6.48444151e-01 1.02537285e-01 2.11871607e+02] [-6.42475627e-01 7.61262156e-01 -8.77781159e-02 -1.11905097e+02] [-1.34976961e-01 3.35525357e-04 9.90848680e-01 -2.85451950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters 0.02621001227063158 Centerline is valid? [True, True] Translation: X:211.92, Y:-111.95, Z:-28.55 [[ 7.52347509e-01 6.50740043e-01 1.02521327e-01 2.11919172e+02] [-6.44781337e-01 7.59300597e-01 -8.78614257e-02 -1.11945980e+02] [-1.35019453e-01 -1.51380770e-06 9.90842948e-01 -2.85522589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters 0.026203108282414872 Centerline is valid? [True, True] Translation: X:211.97, Y:-111.99, Z:-28.56 [[ 7.50916668e-01 6.52275967e-01 1.03248341e-01 2.11967395e+02] [-6.46233414e-01 7.57981543e-01 -8.85796551e-02 -1.11985545e+02] [-1.36038717e-01 -2.06588536e-04 9.90703500e-01 -2.85580391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters 0.026395959681963073 Centerline is valid? [True, True] Translation: X:212.02, Y:-112.03, Z:-28.56 [[ 7.50756559e-01 6.52456262e-01 1.03273494e-01 2.12015583e+02] [-6.46400472e-01 7.57826363e-01 -8.86884127e-02 -1.12025380e+02] [-1.36128687e-01 -1.72627650e-04 9.90691148e-01 -2.85649465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters 0.0263706406691549 Centerline is valid? [True, True] Translation: X:212.06, Y:-112.06, Z:-28.57 [[ 7.50581803e-01 6.52993985e-01 1.01122760e-01 2.12063600e+02] [-6.47181388e-01 7.57363069e-01 -8.69334961e-02 -1.12064450e+02] [-1.33353694e-01 -1.94068103e-04 9.91068491e-01 -2.85720770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters 0.02617213623345305 Centerline is valid? [True, True] Translation: X:212.11, Y:-112.10, Z:-28.58 [[ 7.50011972e-01 6.53403344e-01 1.02694265e-01 2.12110524e+02] [-6.47399866e-01 7.57009926e-01 -8.83707285e-02 -1.12103952e+02] [-1.35482307e-01 -2.05148828e-04 9.90779745e-01 -2.85796637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters 0.026378114524609326 Centerline is valid? [True, True] Translation: X:212.16, Y:-112.14, Z:-28.59 [[ 7.51079787e-01 6.52156621e-01 1.02814862e-01 2.12159299e+02] [-6.46115382e-01 7.58084253e-01 -8.85617223e-02 -1.12143130e+02] [-1.35698441e-01 8.66557097e-05 9.90750183e-01 -2.85860789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters 0.02648265726619194 Centerline is valid? [True, True] Translation: X:212.21, Y:-112.18, Z:-28.59 [[ 7.52486952e-01 6.50749403e-01 1.01432746e-01 2.12206320e+02] [-6.44844965e-01 7.59292466e-01 -8.74638314e-02 -1.12182425e+02] [-1.33934156e-01 4.06996486e-04 9.90990149e-01 -2.85949232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters 0.02656856813434844 Centerline is valid? [True, True] Translation: X:212.25, Y:-112.22, Z:-28.60 [[ 7.53023250e-01 6.50054238e-01 1.01909142e-01 2.12254222e+02] [-6.44075848e-01 7.59887576e-01 -8.79612051e-02 -1.12222465e+02] [-1.34619045e-01 5.99615404e-04 9.90897247e-01 -2.86026377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters 0.026973282781104148 Centerline is valid? [True, True] Translation: X:212.30, Y:-112.27, Z:-28.61 [[ 7.54524076e-01 6.48436641e-01 1.01110542e-01 2.12300462e+02] [-6.42524805e-01 7.61268029e-01 -8.73662580e-02 -1.12265249e+02] [-1.33623706e-01 9.53914182e-04 9.91031682e-01 -2.86094402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters 0.02726487142869565 Centerline is valid? [True, True] Translation: X:212.35, Y:-112.31, Z:-28.62 [[ 7.55305647e-01 6.47091261e-01 1.03857014e-01 2.12345636e+02] [-6.40826277e-01 7.62411445e-01 -8.98358029e-02 -1.12307283e+02] [-1.37313739e-01 1.29918544e-03 9.90526753e-01 -2.86181331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters 0.027377815594358874 Centerline is valid? [True, True] Translation: X:212.39, Y:-112.35, Z:-28.62 [[ 7.54961223e-01 6.47450979e-01 1.04119071e-01 2.12391673e+02] [-6.41145503e-01 7.62105983e-01 -9.01494022e-02 -1.12349474e+02] [-1.37717086e-01 1.30382864e-03 9.90470749e-01 -2.86248432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters 0.027528837484904627 Centerline is valid? [True, True] Translation: X:212.44, Y:-112.39, Z:-28.63 [[ 7.53683987e-01 6.48961427e-01 1.03968815e-01 2.12437998e+02] [-6.42675123e-01 7.60820514e-01 -9.01156520e-02 -1.12391105e+02] [-1.37583190e-01 1.10055262e-03 9.90489604e-01 -2.86328544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters 0.027344964193922287 Centerline is valid? [True, True] Translation: X:212.49, Y:-112.43, Z:-28.64 [[ 7.53528863e-01 6.49230635e-01 1.03411003e-01 2.12485183e+02] [-6.43001257e-01 7.60590777e-01 -8.97276613e-02 -1.12432103e+02] [-1.36907401e-01 1.11897780e-03 9.90583218e-01 -2.86392753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters 0.027592615330133023 Centerline is valid? [True, True] Translation: X:212.53, Y:-112.47, Z:-28.65 [[ 7.54011842e-01 6.48575390e-01 1.04000509e-01 2.12532198e+02] [-6.42255026e-01 7.61149280e-01 -9.03341284e-02 -1.12472164e+02] [-1.37748405e-01 1.31815261e-03 9.90466375e-01 -2.86473940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters 0.02793357328032044 Centerline is valid? [True, True] Translation: X:212.58, Y:-112.51, Z:-28.66 [[ 7.53729619e-01 6.48797567e-01 1.04658384e-01 2.12579059e+02] [-6.42386614e-01 7.60959847e-01 -9.09920354e-02 -1.12512725e+02] [-1.38676239e-01 1.35224702e-03 9.90336848e-01 -2.86554278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters 0.027716841825954866 Centerline is valid? [True, True] Translation: X:212.63, Y:-112.55, Z:-28.66 [[ 7.52523642e-01 6.50146521e-01 1.04965083e-01 2.12627107e+02] [-6.43698407e-01 7.59807950e-01 -9.13468088e-02 -1.12553071e+02] [-1.39142115e-01 1.17477623e-03 9.90271726e-01 -2.86621303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters 0.0276577948160468 Centerline is valid? [True, True] Translation: X:212.67, Y:-112.59, Z:-28.67 [[ 7.51070372e-01 6.51981626e-01 1.03986807e-01 2.12674587e+02] [-6.45658104e-01 7.58234232e-01 -9.05895226e-02 -1.12593126e+02] [-1.37909061e-01 8.99181814e-04 9.90444487e-01 -2.86689546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters 0.02770062781772789 Centerline is valid? [True, True] Translation: X:212.72, Y:-112.63, Z:-28.67 [[ 7.51163569e-01 6.52052345e-01 1.02864141e-01 2.12721226e+02] [-6.45854446e-01 7.58173367e-01 -8.96949249e-02 -1.12633388e+02] [-1.36474638e-01 9.40297361e-04 9.90643119e-01 -2.86749682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters 0.027759744530642404 Centerline is valid? [True, True] Translation: X:212.77, Y:-112.67, Z:-28.68 [[ 7.51252865e-01 6.51704204e-01 1.04406719e-01 2.12769407e+02] [-6.45302622e-01 7.58472447e-01 -9.11266883e-02 -1.12672472e+02] [-1.38577266e-01 1.08525589e-03 9.90351031e-01 -2.86821827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters 0.027943830638874977 Centerline is valid? [True, True] Translation: X:212.82, Y:-112.71, Z:-28.69 [[ 7.51151068e-01 6.51782830e-01 1.04648058e-01 2.12815629e+02] [-6.45339810e-01 7.58404800e-01 -9.14258717e-02 -1.12714036e+02] [-1.38955403e-01 1.14108311e-03 9.90297982e-01 -2.86899581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters 0.027704382222528315 Centerline is valid? [True, True] Translation: X:212.86, Y:-112.75, Z:-28.70 [[ 7.51210083e-01 6.51856486e-01 1.03761901e-01 2.12863724e+02] [-6.45510239e-01 7.58341418e-01 -9.07459369e-02 -1.12752614e+02] [-1.37840275e-01 1.18989339e-03 9.90453756e-01 -2.86960036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters 0.027915522851450034 Centerline is valid? [True, True] Translation: X:212.91, Y:-112.79, Z:-28.70 [[ 7.51639635e-01 6.51331530e-01 1.03947569e-01 2.12910796e+02] [-6.44945295e-01 7.58792067e-01 -9.09954112e-02 -1.12794390e+02] [-1.38142771e-01 1.35526241e-03 9.90411398e-01 -2.87031356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters 0.028050708185195845 Centerline is valid? [True, True] Translation: X:212.96, Y:-112.83, Z:-28.71 [[ 7.53730374e-01 6.48943895e-01 1.03741720e-01 2.12958098e+02] [-6.42547319e-01 7.60833985e-01 -9.09097912e-02 -1.12834257e+02] [-1.37925580e-01 1.86250700e-03 9.90440844e-01 -2.87094214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters 0.02797327088139185 Centerline is valid? [True, True] Translation: X:213.00, Y:-112.88, Z:-28.72 [[ 7.54585898e-01 6.47843193e-01 1.04399807e-01 2.13003603e+02] [-6.41342340e-01 7.61770704e-01 -9.15718135e-02 -1.12876193e+02] [-1.38852891e-01 2.14278238e-03 9.90310700e-01 -2.87176500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters 0.02803402016964036 Centerline is valid? [True, True] Translation: X:213.05, Y:-112.92, Z:-28.72 [[ 7.55149730e-01 6.47500810e-01 1.02428445e-01 2.13048955e+02] [-6.41229965e-01 7.62061510e-01 -8.99243430e-02 -1.12917660e+02] [-1.36282861e-01 2.22615483e-03 9.90667465e-01 -2.87242393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters 0.028200191686812637 Centerline is valid? [True, True] Translation: X:213.09, Y:-112.96, Z:-28.73 [[ 7.54641504e-01 6.48118154e-01 1.02269541e-01 2.13093323e+02] [-6.41860856e-01 7.61536685e-01 -8.98694554e-02 -1.12962668e+02] [-1.36128032e-01 2.17640612e-03 9.90688862e-01 -2.87307347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters 0.02828081857725395 Centerline is valid? [True, True] Translation: X:213.14, Y:-113.00, Z:-28.74 [[ 7.55827119e-01 6.46803564e-01 1.01835728e-01 2.13138184e+02] [-6.40575037e-01 7.62652628e-01 -8.95800803e-02 -1.13004590e+02] [-1.35606001e-01 2.47362854e-03 9.90759756e-01 -2.87378680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters 0.0280693697819827 Centerline is valid? [True, True] Translation: X:213.18, Y:-113.05, Z:-28.74 [[ 7.55826007e-01 6.47010650e-01 1.00519976e-01 2.13183868e+02] [-6.40933780e-01 7.62476975e-01 -8.85028347e-02 -1.13046696e+02] [-1.33906444e-01 2.46609574e-03 9.90990909e-01 -2.87426683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters 0.02772081236353846 Centerline is valid? [True, True] Translation: X:213.23, Y:-113.09, Z:-28.75 [[ 7.53824386e-01 6.49400559e-01 1.00138453e-01 2.13230032e+02] [-6.43381218e-01 7.60443653e-01 -8.82386465e-02 -1.13088364e+02] [-1.33451877e-01 2.08924378e-03 9.91053092e-01 -2.87503418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters 0.027610282337618967 Centerline is valid? [True, True] Translation: X:213.28, Y:-113.13, Z:-28.76 [[ 7.52216410e-01 6.51350656e-01 9.95630215e-02 2.13276332e+02] [-6.45412568e-01 7.58774814e-01 -8.77690100e-02 -1.13129985e+02] [-1.32714315e-01 1.76206423e-03 9.91152766e-01 -2.87565982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters 0.027285836378462887 Centerline is valid? [True, True] Translation: X:213.32, Y:-113.17, Z:-28.76 [[ 7.49225836e-01 6.54767378e-01 9.97011889e-02 2.13323728e+02] [-6.48831766e-01 7.55829470e-01 -8.79724501e-02 -1.13169262e+02] [-1.32958587e-01 1.22193401e-03 9.91120841e-01 -2.87623621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters 0.027137469086961945 Centerline is valid? [True, True] Translation: X:213.37, Y:-113.21, Z:-28.77 [[ 7.47295957e-01 6.56876809e-01 1.00307579e-01 2.13371659e+02] [-6.50875784e-01 7.53997359e-01 -8.85928680e-02 -1.13209600e+02] [-1.33826250e-01 9.17317915e-04 9.91004386e-01 -2.87706170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters 0.027225793876827116 Centerline is valid? [True, True] Translation: X:213.42, Y:-113.25, Z:-28.78 [[ 7.46638159e-01 6.57585387e-01 1.00563002e-01 2.13421232e+02] [-6.51546979e-01 7.53379525e-01 -8.89147099e-02 -1.13247917e+02] [-1.34231121e-01 8.65594923e-04 9.90949674e-01 -2.87776192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters 0.02740144016468532 Centerline is valid? [True, True] Translation: X:213.47, Y:-113.29, Z:-28.79 [[ 7.45896839e-01 6.58193243e-01 1.02076245e-01 2.13469562e+02] [-6.51963196e-01 7.52848555e-01 -9.03495683e-02 -1.13286902e+02] [-1.36315429e-01 8.41502397e-04 9.90665128e-01 -2.87859512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters 0.027258846077291107 Centerline is valid? [True, True] Translation: X:213.52, Y:-113.32, Z:-28.79 [[ 7.45260015e-01 6.58780921e-01 1.02933033e-01 2.13518160e+02] [-6.52438889e-01 7.52334399e-01 -9.11945617e-02 -1.13324836e+02] [-1.37517299e-01 8.06146814e-04 9.90499037e-01 -2.87923234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters 0.0275071022307412 Centerline is valid? [True, True] Translation: X:213.57, Y:-113.36, Z:-28.80 [[ 7.45862081e-01 6.58169683e-01 1.02481339e-01 2.13567201e+02] [-6.51865610e-01 7.52868983e-01 -9.08819055e-02 -1.13364477e+02] [-1.36970737e-01 9.81306458e-04 9.90574608e-01 -2.87998350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters 0.027998967391108767 Centerline is valid? [True, True] Translation: X:213.62, Y:-113.40, Z:-28.81 [[ 7.49816606e-01 6.53626164e-01 1.02702944e-01 2.13619256e+02] [-6.47238892e-01 7.56815213e-01 -9.11731844e-02 -1.13397521e+02] [-1.37320330e-01 1.88982770e-03 9.90524889e-01 -2.88103853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters 0.028096704056850188 Centerline is valid? [True, True] Translation: X:213.67, Y:-113.44, Z:-28.82 [[ 7.51674867e-01 6.51394044e-01 1.03299048e-01 2.13666866e+02] [-6.44899826e-01 7.58735901e-01 -9.17826070e-02 -1.13436609e+02] [-1.38163340e-01 2.37314073e-03 9.90406613e-01 -2.88169138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters 0.028745509869747266 Centerline is valid? [True, True] Translation: X:213.72, Y:-113.47, Z:-28.82 [[ 7.54811079e-01 6.47721709e-01 1.03522088e-01 2.13717380e+02] [-6.41153090e-01 7.61870637e-01 -9.20643719e-02 -1.13473158e+02] [-1.38502531e-01 3.11770150e-03 9.90357172e-01 -2.88239199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters 0.028983209854194666 Centerline is valid? [True, True] Translation: X:213.76, Y:-113.51, Z:-28.83 [[ 7.55944264e-01 6.46342136e-01 1.03875463e-01 2.13764194e+02] [-6.39703690e-01 7.63039949e-01 -9.24620187e-02 -1.13512593e+02] [-1.39023227e-01 3.44661565e-03 9.90283123e-01 -2.88330016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters 0.028913955534671593 Centerline is valid? [True, True] Translation: X:213.81, Y:-113.55, Z:-28.84 [[ 7.55269450e-01 6.47136897e-01 1.03835905e-01 2.13810787e+02] [-6.40499090e-01 7.62366393e-01 -9.25116136e-02 -1.13553691e+02] [-1.39028683e-01 3.36439293e-03 9.90282640e-01 -2.88402457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters 0.028662808752107173 Centerline is valid? [True, True] Translation: X:213.86, Y:-113.60, Z:-28.85 [[ 7.54362039e-01 6.48293883e-01 1.03213154e-01 2.13856419e+02] [-6.41733898e-01 7.61383470e-01 -9.20479033e-02 -1.13595685e+02] [-1.38258882e-01 3.20206464e-03 9.90390947e-01 -2.88452948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters 0.028633583738038076 Centerline is valid? [True, True] Translation: X:213.90, Y:-113.64, Z:-28.85 [[ 7.53143059e-01 6.49593592e-01 1.03940838e-01 2.13903262e+02] [-6.42940570e-01 7.60275516e-01 -9.27823486e-02 -1.13636365e+02] [-1.39294494e-01 3.05059997e-03 9.90246302e-01 -2.88539021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters 0.028675619163237975 Centerline is valid? [True, True] Translation: X:213.95, Y:-113.68, Z:-28.86 [[ 7.52646365e-01 6.49972498e-01 1.05162735e-01 2.13948177e+02] [-6.43151534e-01 7.59951454e-01 -9.39675036e-02 -1.13679036e+02] [-1.40994866e-01 3.08872573e-03 9.90005509e-01 -2.88607820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters 0.02855409837430231 Centerline is valid? [True, True] Translation: X:213.99, Y:-113.72, Z:-28.87 [[ 7.52160418e-01 6.50847350e-01 1.03210626e-01 2.13993567e+02] [-6.44275342e-01 7.59202958e-01 -9.23046721e-02 -1.13721120e+02] [-1.38434064e-01 2.93185906e-03 9.90367313e-01 -2.88680153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters 0.02863196205767463 Centerline is valid? [True, True] Translation: X:214.04, Y:-113.76, Z:-28.88 [[ 7.51049292e-01 6.52100217e-01 1.03393756e-01 2.14038197e+02] [-6.45504531e-01 7.58127710e-01 -9.25541708e-02 -1.13764787e+02] [-1.38740266e-01 2.77160644e-03 9.90324925e-01 -2.88761451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters 0.028354348557477205 Centerline is valid? [True, True] Translation: X:214.08, Y:-113.81, Z:-28.88 [[ 7.50707213e-01 6.52735563e-01 1.01857574e-01 2.14084510e+02] [-6.46328640e-01 7.57581073e-01 -9.12699602e-02 -1.13806475e+02] [-1.36740519e-01 2.68354987e-03 9.90603265e-01 -2.88812767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters 0.02843453791173496 Centerline is valid? [True, True] Translation: X:214.13, Y:-113.85, Z:-28.89 [[ 7.51020276e-01 6.52315156e-01 1.02242274e-01 2.14128549e+02] [-6.45844095e-01 7.57942547e-01 -9.16978784e-02 -1.13849865e+02] [-1.37309685e-01 2.83439730e-03 9.90524112e-01 -2.88871772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters 0.028788974785836904 Centerline is valid? [True, True] Translation: X:214.17, Y:-113.89, Z:-28.90 [[ 7.51147635e-01 6.52151139e-01 1.02352935e-01 2.14172980e+02] [-6.45652557e-01 7.58083299e-01 -9.18830083e-02 -1.13893680e+02] [-1.37513659e-01 2.93327000e-03 9.90495527e-01 -2.88956490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters 0.028673234307443965 Centerline is valid? [True, True] Translation: X:214.22, Y:-113.94, Z:-28.90 [[ 7.49592804e-01 6.54023669e-01 1.01802100e-01 2.14216849e+02] [-6.47599535e-01 7.56469454e-01 -9.14811834e-02 -1.13937441e+02] [-1.36841038e-01 2.64664447e-03 9.90589484e-01 -2.89024137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters 0.02831108990708192 Centerline is valid? [True, True] Translation: X:214.26, Y:-113.98, Z:-28.91 [[ 7.47308896e-01 6.56590076e-01 1.02072947e-01 2.14260334e+02] [-6.50143780e-01 7.54244274e-01 -9.18076259e-02 -1.13982018e+02] [-1.37267912e-01 2.24656397e-03 9.90531410e-01 -2.89091812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters 0.02855996203988882 Centerline is valid? [True, True] Translation: X:214.30, Y:-114.03, Z:-28.92 [[ 7.46990148e-01 6.56843749e-01 1.02771628e-01 2.14303542e+02] [-6.50299023e-01 7.54023270e-01 -9.25207525e-02 -1.14026094e+02] [-1.38263877e-01 2.27980140e-03 9.90392802e-01 -2.89176785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters 0.02844751356961011 Centerline is valid? [True, True] Translation: X:214.35, Y:-114.07, Z:-28.92 [[ 7.46651049e-01 6.57327606e-01 1.02140244e-01 2.14346994e+02] [-6.50856293e-01 7.53601618e-01 -9.20363327e-02 -1.14070455e+02] [-1.37471075e-01 2.24040391e-03 9.90503248e-01 -2.89230725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters 0.02838659191792289 Centerline is valid? [True, True] Translation: X:214.39, Y:-114.12, Z:-28.93 [[ 7.45228417e-01 6.59016161e-01 1.01647948e-01 2.14390303e+02] [-6.52612460e-01 7.52126179e-01 -9.16689065e-02 -1.14115405e+02] [-1.36863373e-01 1.97755686e-03 9.90587960e-01 -2.89299986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters 0.028343760666668674 Centerline is valid? [True, True] Translation: X:214.43, Y:-114.16, Z:-28.94 [[ 7.43853611e-01 6.60619323e-01 1.01310979e-01 2.14433924e+02] [-6.54265713e-01 7.50719096e-01 -9.14178111e-02 -1.14158723e+02] [-1.36448459e-01 1.71716908e-03 9.90645683e-01 -2.89368345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters 0.028441851331736066 Centerline is valid? [True, True] Translation: X:214.48, Y:-114.20, Z:-28.94 [[ 7.42314039e-01 6.62247004e-01 1.01974370e-01 2.14479454e+02] [-6.55812483e-01 7.49284106e-01 -9.21049204e-02 -1.14202083e+02] [-1.37403982e-01 1.49471057e-03 9.90513963e-01 -2.89448144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters 0.028311079867014134 Centerline is valid? [True, True] Translation: X:214.53, Y:-114.24, Z:-28.95 [[ 7.42132926e-01 6.62446174e-01 1.01998955e-01 2.14525934e+02] [-6.55996759e-01 7.49107948e-01 -9.22254586e-02 -1.14243644e+02] [-1.37502630e-01 1.53256523e-03 9.90500216e-01 -2.89505618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters 0.028661262908930955 Centerline is valid? [True, True] Translation: X:214.57, Y:-114.28, Z:-28.96 [[ 7.42186760e-01 6.62318719e-01 1.02434019e-01 2.14571783e+02] [-6.55799128e-01 7.49220419e-01 -9.27160580e-02 -1.14284923e+02] [-1.38153240e-01 1.63649015e-03 9.90409513e-01 -2.89594355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters 0.028466925260862783 Centerline is valid? [True, True] Translation: X:214.62, Y:-114.33, Z:-28.97 [[ 7.41384418e-01 6.62824938e-01 1.04939245e-01 2.14618127e+02] [-6.55972464e-01 7.48772577e-01 -9.50776227e-02 -1.14326203e+02] [-1.41595448e-01 1.65181291e-03 9.89923230e-01 -2.89650696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters 0.02857596374006204 Centerline is valid? [True, True] Translation: X:214.66, Y:-114.37, Z:-28.97 [[ 7.41048726e-01 6.63473953e-01 1.03194469e-01 2.14663013e+02] [-6.56842840e-01 7.48197741e-01 -9.35821755e-02 -1.14368350e+02] [-1.39299205e-01 1.56640366e-03 9.90249099e-01 -2.89725218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters 0.02862987073484104 Centerline is valid? [True, True] Translation: X:214.71, Y:-114.41, Z:-28.98 [[ 7.40526057e-01 6.64093469e-01 1.02961271e-01 2.14708724e+02] [-6.57485786e-01 7.47648026e-01 -9.34605263e-02 -1.14411553e+02] [-1.39045316e-01 1.51438266e-03 9.90284861e-01 -2.89795549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters 0.02847882356287971 Centerline is valid? [True, True] Translation: X:214.75, Y:-114.45, Z:-28.99 [[ 7.39716762e-01 6.64932347e-01 1.03363853e-01 2.14754288e+02] [-6.58266578e-01 7.46902206e-01 -9.39265998e-02 -1.14454376e+02] [-1.39657524e-01 1.43811026e-03 9.90198822e-01 -2.89854773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters 0.028424605263185194 Centerline is valid? [True, True] Translation: X:214.80, Y:-114.50, Z:-28.99 [[ 7.37427541e-01 6.67800924e-01 1.01205476e-01 2.14798604e+02] [-6.61425775e-01 7.44339324e-01 -9.20593037e-02 -1.14497514e+02] [-1.36808503e-01 9.47155728e-04 9.90597061e-01 -2.89923156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters 0.02827142589723819 Centerline is valid? [True, True] Translation: X:214.84, Y:-114.54, Z:-29.00 [[ 7.35625619e-01 6.69554546e-01 1.02721267e-01 2.14843144e+02] [-6.62990642e-01 7.42762563e-01 -9.35263844e-02 -1.14539698e+02] [-1.38918527e-01 6.97165839e-04 9.90303568e-01 -2.89997050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters 0.028213186670307294 Centerline is valid? [True, True] Translation: X:214.89, Y:-114.58, Z:-29.01 [[ 7.35002991e-01 6.70334593e-01 1.02088867e-01 2.14889209e+02] [-6.63847004e-01 7.42058731e-01 -9.30376024e-02 -1.14581751e+02] [-1.38122259e-01 6.11527312e-04 9.90414998e-01 -2.90055153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters 0.028203521200641252 Centerline is valid? [True, True] Translation: X:214.93, Y:-114.62, Z:-29.01 [[ 7.33856225e-01 6.71775570e-01 1.00859431e-01 2.14933925e+02] [-6.65445740e-01 7.40754631e-01 -9.20029518e-02 -1.14624836e+02] [-1.36517426e-01 4.00460278e-04 9.90637589e-01 -2.90122805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters 0.028173805062536788 Centerline is valid? [True, True] Translation: X:214.98, Y:-114.67, Z:-29.02 [[ 7.33771026e-01 6.71879522e-01 1.00786853e-01 2.14980111e+02] [-6.65547392e-01 7.40660319e-01 -9.20269601e-02 -1.14667616e+02] [-1.36479853e-01 4.48289823e-04 9.90642745e-01 -2.90189150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters 0.028084859125643655 Centerline is valid? [True, True] Translation: X:215.02, Y:-114.71, Z:-29.02 [[ 7.32989048e-01 6.72990269e-01 9.90512665e-02 2.15024550e+02] [-6.66872442e-01 7.39651271e-01 -9.05380821e-02 -1.14710974e+02] [-1.34194643e-01 3.08862678e-04 9.90954945e-01 -2.90246668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters 0.027692300237223848 Centerline is valid? [True, True] Translation: X:215.07, Y:-114.75, Z:-29.03 [[ 7.32540744e-01 6.73711244e-01 9.74536663e-02 2.15070440e+02] [-6.67785269e-01 7.38994657e-01 -8.91612654e-02 -1.14752266e+02] [-1.32086686e-01 2.36136975e-04 9.91238141e-01 -2.90298991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters 0.02789671164816821 Centerline is valid? [True, True] Translation: X:215.11, Y:-114.80, Z:-29.04 [[ 7.31179653e-01 6.74988281e-01 9.88288184e-02 2.15113223e+02] [-6.68892933e-01 7.37828446e-01 -9.05065142e-02 -1.14797078e+02] [-1.34009550e-01 7.06235331e-05 9.90980038e-01 -2.90385587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters 0.02785712118308506 Centerline is valid? [True, True] Translation: X:215.16, Y:-114.84, Z:-29.05 [[ 7.30583133e-01 6.75674867e-01 9.85482666e-02 2.15160298e+02] [-6.69608496e-01 7.37199752e-01 -9.03381847e-02 -1.14838856e+02] [-1.33688999e-01 1.07974278e-05 9.91023336e-01 -2.90451185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters 0.02788579477888308 Centerline is valid? [True, True] Translation: X:215.20, Y:-114.88, Z:-29.05 [[ 7.28059564e-01 6.78419673e-01 9.83667572e-02 2.15204348e+02] [-6.72387179e-01 7.34674467e-01 -9.02713107e-02 -1.14883036e+02] [-1.33509378e-01 -4.17655299e-04 9.91047462e-01 -2.90516309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters 0.027853647907503686 Centerline is valid? [True, True] Translation: X:215.25, Y:-114.93, Z:-29.06 [[ 7.27378591e-01 6.79230514e-01 9.78074308e-02 2.15250910e+02] [-6.73260848e-01 7.33924838e-01 -8.98563441e-02 -1.14925279e+02] [-1.32816474e-01 -4.90332785e-04 9.91140527e-01 -2.90582553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters 0.02787399681956916 Centerline is valid? [True, True] Translation: X:215.29, Y:-114.97, Z:-29.06 [[ 7.24609969e-01 6.82111434e-01 9.83075994e-02 2.15294737e+02] [-6.76093418e-01 7.31247624e-01 -9.04135060e-02 -1.14969060e+02] [-1.33559285e-01 -9.50593065e-04 9.91040369e-01 -2.90648420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters 0.027881285125394294 Centerline is valid? [True, True] Translation: X:215.34, Y:-115.01, Z:-29.07 [[ 7.21464108e-01 6.85490470e-01 9.79405727e-02 2.15339174e+02] [-6.79536817e-01 7.28080042e-01 -9.01618864e-02 -1.15011636e+02] [-1.33113690e-01 -1.50566008e-03 9.91099631e-01 -2.90702531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters 0.028080957209867318 Centerline is valid? [True, True] Translation: X:215.39, Y:-115.05, Z:-29.08 [[ 7.18343803e-01 6.88972880e-01 9.64289979e-02 2.15385294e+02] [-6.83222131e-01 7.24784213e-01 -8.88558675e-02 -1.15053552e+02] [-1.31109498e-01 -2.05336361e-03 9.91365767e-01 -2.90763989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters 0.02827847916327209 Centerline is valid? [True, True] Translation: X:215.43, Y:-115.09, Z:-29.08 [[ 7.16703264e-01 6.90335635e-01 9.88592034e-02 2.15431453e+02] [-6.84289670e-01 7.23485637e-01 -9.11930933e-02 -1.15093895e+02] [-1.34477056e-01 -2.28994410e-03 9.90914062e-01 -2.90848414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters 0.028000845502623564 Centerline is valid? [True, True] Translation: X:215.48, Y:-115.13, Z:-29.09 [[ 7.17753839e-01 6.89290640e-01 9.85283716e-02 2.15479386e+02] [-6.83263986e-01 7.24482100e-01 -9.09725895e-02 -1.15133228e+02] [-1.34088596e-01 -2.02496257e-03 9.90967279e-01 -2.90898608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters 0.027895238893348065 Centerline is valid? [True, True] Translation: X:215.53, Y:-115.17, Z:-29.10 [[ 7.18743666e-01 6.88151341e-01 9.92737378e-02 2.15527999e+02] [-6.82009810e-01 7.25565042e-01 -9.17495963e-02 -1.15172954e+02] [-1.35167161e-01 -1.76122187e-03 9.90821244e-01 -2.90988499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters 0.027887128982144144 Centerline is valid? [True, True] Translation: X:215.57, Y:-115.21, Z:-29.11 [[ 7.18438727e-01 6.88299643e-01 1.00445996e-01 2.15574892e+02] [-6.81999298e-01 7.25424414e-01 -9.29321113e-02 -1.15213125e+02] [-1.36831117e-01 -1.73807087e-03 9.90592865e-01 -2.91060274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters 0.02775904631147749 Centerline is valid? [True, True] Translation: X:215.62, Y:-115.25, Z:-29.11 [[ 7.19624344e-01 6.87290836e-01 9.88539860e-02 2.15622039e+02] [-6.81168494e-01 7.26380877e-01 -9.15440024e-02 -1.15253336e+02] [-1.34722999e-01 -1.45892816e-03 9.90882226e-01 -2.91118132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters 0.027611079560359145 Centerline is valid? [True, True] Translation: X:215.67, Y:-115.29, Z:-29.12 [[ 7.20276953e-01 6.86499250e-01 9.95986541e-02 2.15669939e+02] [-6.80263966e-01 7.27129429e-01 -9.23240467e-02 -1.15292859e+02] [-1.35801501e-01 -1.25449239e-03 9.90735272e-01 -2.91206483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters 0.027434713631200165 Centerline is valid? [True, True] Translation: X:215.72, Y:-115.33, Z:-29.13 [[ 7.21380411e-01 6.85366327e-01 9.94147952e-02 2.15716973e+02] [-6.79130029e-01 7.28197819e-01 -9.22515115e-02 -1.15333465e+02] [-1.35619717e-01 -9.67139468e-04 9.90760494e-01 -2.91264868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters 0.027636827310799778 Centerline is valid? [True, True] Translation: X:215.76, Y:-115.37, Z:-29.13 [[ 7.22069217e-01 6.84726670e-01 9.88202049e-02 2.15764086e+02] [-6.78547085e-01 7.28799550e-01 -9.17881766e-02 -1.15373167e+02] [-1.34869933e-01 -7.76745180e-04 9.90863007e-01 -2.91345691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters 0.027701515522358208 Centerline is valid? [True, True] Translation: X:215.81, Y:-115.41, Z:-29.14 [[ 7.23036897e-01 6.83451674e-01 1.00555731e-01 2.15809699e+02] [-6.77027074e-01 7.29995602e-01 -9.34920500e-02 -1.15414161e+02] [-1.37302539e-01 -4.80750521e-04 9.90529041e-01 -2.91412689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters 0.027637978659499435 Centerline is valid? [True, True] Translation: X:215.86, Y:-115.46, Z:-29.15 [[ 7.25038834e-01 6.81228745e-01 1.01222954e-01 2.15856599e+02] [-6.74684246e-01 7.32070623e-01 -9.42007022e-02 -1.15455433e+02] [-1.38274577e-01 5.63501106e-06 9.90393932e-01 -2.91495607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters 0.02761058474938381 Centerline is valid? [True, True] Translation: X:215.90, Y:-115.50, Z:-29.16 [[ 7.26455182e-01 6.79922109e-01 9.98438494e-02 2.15900840e+02] [-6.73530596e-01 7.33284272e-01 -9.30092033e-02 -1.15499239e+02] [-1.36452938e-01 3.19130276e-04 9.90646503e-01 -2.91568026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters 0.02760265504799687 Centerline is valid? [True, True] Translation: X:215.95, Y:-115.54, Z:-29.16 [[ 7.25284579e-01 6.81215666e-01 9.95364077e-02 2.15945090e+02] [-6.74867276e-01 7.32082783e-01 -9.27844738e-02 -1.15543187e+02] [-1.36075127e-01 1.21283696e-04 9.90698514e-01 -2.91638538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters 0.02777435458198823 Centerline is valid? [True, True] Translation: X:215.99, Y:-115.59, Z:-29.17 [[ 7.25059035e-01 6.81555902e-01 9.88481027e-02 2.15989801e+02] [-6.75285209e-01 7.31766039e-01 -9.22407260e-02 -1.15586430e+02] [-1.35200896e-01 1.29310143e-04 9.90818198e-01 -2.91707627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters 0.02778095706453537 Centerline is valid? [True, True] Translation: X:216.03, Y:-115.63, Z:-29.18 [[ 7.26830684e-01 6.79795860e-01 9.79527651e-02 2.16034695e+02] [-6.73612019e-01 7.33401204e-01 -9.14850886e-02 -1.15629267e+02] [-1.34029860e-01 5.12009648e-04 9.90977161e-01 -2.91797415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters 0.02794544433467347 Centerline is valid? [True, True] Translation: X:216.08, Y:-115.67, Z:-29.19 [[ 7.30026168e-01 6.76273706e-01 9.85680906e-02 2.16078700e+02] [-6.69971868e-01 7.36649451e-01 -9.21155977e-02 -1.15672343e+02] [-1.34905486e-01 1.20894910e-03 9.90857734e-01 -2.91871127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters 0.02838786619323129 Centerline is valid? [True, True] Translation: X:216.12, Y:-115.72, Z:-29.19 [[ 7.31438920e-01 6.74592013e-01 9.96128661e-02 2.16122238e+02] [-6.68127533e-01 7.38189035e-01 -9.31801932e-02 -1.15716364e+02] [-1.36391740e-01 1.60152136e-03 9.90653687e-01 -2.91941960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters 0.028383765679656493 Centerline is valid? [True, True] Translation: X:216.17, Y:-115.76, Z:-29.20 [[ 7.32618986e-01 6.73141504e-01 1.00746899e-01 2.16165146e+02] [-6.66502209e-01 7.39511105e-01 -9.43299039e-02 -1.15761482e+02] [-1.38000824e-01 1.95984810e-03 9.90430175e-01 -2.91996705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters 0.028601053135752758 Centerline is valid? [True, True] Translation: X:216.21, Y:-115.81, Z:-29.21 [[ 7.33896590e-01 6.71786595e-01 1.00491624e-01 2.16205831e+02] [-6.65156344e-01 7.40741250e-01 -9.41776950e-02 -1.15809010e+02] [-1.37705604e-01 2.27404805e-03 9.90470593e-01 -2.92065729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters 0.02910844525984599 Centerline is valid? [True, True] Translation: X:216.25, Y:-115.86, Z:-29.21 [[ 7.36025624e-01 6.69547097e-01 9.98647388e-02 2.16247326e+02] [-6.62966974e-01 7.42764541e-01 -9.36783212e-02 -1.15855787e+02] [-1.36898035e-01 2.74262119e-03 9.90581348e-01 -2.92129920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters 0.029794893028702682 Centerline is valid? [True, True] Translation: X:216.29, Y:-115.91, Z:-29.22 [[ 7.38067012e-01 6.67166688e-01 1.00725844e-01 2.16286085e+02] [-6.60436343e-01 7.44901210e-01 -9.45834256e-02 -1.15905405e+02] [-1.38133714e-01 3.28589824e-03 9.90408138e-01 -2.92208537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters 0.029547928349297467 Centerline is valid? [True, True] Translation: X:216.33, Y:-115.95, Z:-29.23 [[ 7.36931694e-01 6.68439767e-01 1.00597992e-01 2.16326567e+02] [-6.61725131e-01 7.43759757e-01 -9.45583108e-02 -1.15953509e+02] [-1.38027274e-01 3.11479641e-03 9.90423531e-01 -2.92279394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters 0.029424394391428417 Centerline is valid? [True, True] Translation: X:216.37, Y:-116.00, Z:-29.24 [[ 7.36536737e-01 6.68949226e-01 1.00102789e-01 2.16370213e+02] [-6.62292331e-01 7.43301738e-01 -9.41880808e-02 -1.15997895e+02] [-1.37413621e-01 3.07567207e-03 9.90508979e-01 -2.92351523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters 0.029372328553513134 Centerline is valid? [True, True] Translation: X:216.41, Y:-116.05, Z:-29.24 [[ 7.34763053e-01 6.70711062e-01 1.01340643e-01 2.16411691e+02] [-6.63890170e-01 7.41713227e-01 -9.54532908e-02 -1.16045590e+02] [-1.39187274e-01 2.85649464e-03 9.90261957e-01 -2.92411196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters 0.029351966085597602 Centerline is valid? [True, True] Translation: X:216.45, Y:-116.09, Z:-29.25 [[ 7.33341731e-01 6.72405878e-01 1.00400398e-01 2.16451130e+02] [-6.65713579e-01 7.40178122e-01 -9.46666751e-02 -1.16094521e+02] [-1.37968607e-01 2.58511526e-03 9.90433229e-01 -2.92475774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters 0.02918135350578979 Centerline is valid? [True, True] Translation: X:216.49, Y:-116.14, Z:-29.26 [[ 7.31031833e-01 6.74678389e-01 1.01987894e-01 2.16493094e+02] [-6.67778891e-01 7.38108340e-01 -9.62674956e-02 -1.16140827e+02] [-1.40227714e-01 2.26924075e-03 9.90116679e-01 -2.92557538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters 0.029284963295943663 Centerline is valid? [True, True] Translation: X:216.53, Y:-116.19, Z:-29.26 [[ 7.28961308e-01 6.77041329e-01 1.01145691e-01 2.16534329e+02] [-6.70264166e-01 7.35942608e-01 -9.55741902e-02 -1.16188585e+02] [-1.39145101e-01 1.87555422e-03 9.90270227e-01 -2.92624133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters 0.02916441855291714 Centerline is valid? [True, True] Translation: X:216.58, Y:-116.23, Z:-29.27 [[ 7.25924880e-01 6.80077397e-01 1.02605077e-01 2.16577456e+02] [-6.73117075e-01 7.33139000e-01 -9.70598300e-02 -1.16233828e+02] [-1.41231980e-01 1.39291627e-03 9.89975549e-01 -2.92707330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters 0.029169320143563503 Centerline is valid? [True, True] Translation: X:216.62, Y:-116.28, Z:-29.28 [[ 7.23976633e-01 6.82334271e-01 1.01379374e-01 2.16622277e+02] [-6.75547506e-01 7.31039607e-01 -9.60034377e-02 -1.16277338e+02] [-1.39618773e-01 1.01766240e-03 9.90204808e-01 -2.92777584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters 0.029215728138591385 Centerline is valid? [True, True] Translation: X:216.67, Y:-116.32, Z:-29.29 [[ 7.24151403e-01 6.82005940e-01 1.02335929e-01 2.16667156e+02] [-6.75071295e-01 7.31345696e-01 -9.70165926e-02 -1.16320275e+02] [-1.41008833e-01 1.17065374e-03 9.90007646e-01 -2.92851770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters 0.02892604583919753 Centerline is valid? [True, True] Translation: X:216.71, Y:-116.36, Z:-29.29 [[ 7.24740389e-01 6.81421373e-01 1.02060179e-01 2.16712136e+02] [-6.74503567e-01 7.31890064e-01 -9.68600646e-02 -1.16364053e+02] [-1.40699349e-01 1.35844596e-03 9.90051437e-01 -2.92915428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters 0.02899043935695375 Centerline is valid? [True, True] Translation: X:216.76, Y:-116.41, Z:-29.30 [[ 7.24797737e-01 6.81394450e-01 1.01832433e-01 2.16757594e+02] [-6.74492457e-01 7.31914978e-01 -9.67491120e-02 -1.16407109e+02] [-1.40456991e-01 1.43832932e-03 9.90085736e-01 -2.92991268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters 0.02862163547224716 Centerline is valid? [True, True] Translation: X:216.80, Y:-116.45, Z:-29.30 [[ 7.22369140e-01 6.84048818e-01 1.01291855e-01 2.16803534e+02] [-6.77231006e-01 7.29435549e-01 -9.63428462e-02 -1.16451121e+02] [-1.39789090e-01 9.97113860e-04 9.90180800e-01 -2.93048565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters 0.028562023286855486 Centerline is valid? [True, True] Translation: X:216.85, Y:-116.50, Z:-29.31 [[ 7.19449833e-01 6.87518514e-01 9.85405058e-02 2.16847533e+02] [-6.81084768e-01 7.26166741e-01 -9.38371065e-02 -1.16495420e+02] [-1.36071586e-01 3.96653004e-04 9.90698928e-01 -2.93109418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters 0.02878186704020982 Centerline is valid? [True, True] Translation: X:216.89, Y:-116.54, Z:-29.32 [[ 7.16276056e-01 6.90802490e-01 9.86941339e-02 2.16893601e+02] [-6.84364915e-01 7.23043497e-01 -9.40891325e-02 -1.16538148e+02] [-1.36357159e-01 -1.49009792e-04 9.90659731e-01 -2.93186707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters 0.029021827692987112 Centerline is valid? [True, True] Translation: X:216.94, Y:-116.58, Z:-29.33 [[ 7.12157209e-01 6.95115061e-01 9.82199626e-02 2.16939156e+02] [-6.88764288e-01 7.18897955e-01 -9.37522594e-02 -1.16581644e+02] [-1.35778738e-01 -8.84055150e-04 9.90738791e-01 -2.93256859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters 0.02946778104794269 Centerline is valid? [True, True] Translation: X:216.99, Y:-116.62, Z:-29.33 [[ 7.06117749e-01 7.01434924e-01 9.68853537e-02 2.16986695e+02] [-6.95299988e-01 7.12730739e-01 -9.25895295e-02 -1.16624300e+02] [-1.33998699e-01 -1.98527510e-03 9.90979519e-01 -2.93317498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters 0.029962403444661705 Centerline is valid? [True, True] Translation: X:217.03, Y:-116.67, Z:-29.34 [[ 7.01757427e-01 7.06011238e-01 9.53134039e-02 2.17034355e+02] [-7.00102170e-01 7.08195355e-01 -9.11936995e-02 -1.16665424e+02] [-1.31884287e-01 -2.73326493e-03 9.91261350e-01 -2.93372006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters 0.03030976309281632 Centerline is valid? [True, True] Translation: X:217.08, Y:-116.70, Z:-29.34 [[ 6.99114392e-01 7.08535258e-01 9.60044491e-02 2.17084657e+02] [-7.02550445e-01 7.05668322e-01 -9.19515700e-02 -1.16703651e+02] [-1.32898228e-01 -3.16330243e-03 9.91124641e-01 -2.93421971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters 0.03027668815854435 Centerline is valid? [True, True] Translation: X:217.14, Y:-116.74, Z:-29.35 [[ 6.98088000e-01 7.09500795e-01 9.63419229e-02 2.17137525e+02] [-7.03469811e-01 7.04696953e-01 -9.23711550e-02 -1.16739564e+02] [-1.33429267e-01 -3.29043945e-03 9.91052876e-01 -2.93479578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters 0.030192856272752335 Centerline is valid? [True, True] Translation: X:217.19, Y:-116.77, Z:-29.35 [[ 6.98323610e-01 7.09445741e-01 9.50309240e-02 2.17190584e+02] [-7.03565516e-01 7.04752939e-01 -9.12077824e-02 -1.16774822e+02] [-1.31680296e-01 -3.16793326e-03 9.91287175e-01 -2.93545574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters 0.029748739707602927 Centerline is valid? [True, True] Translation: X:217.24, Y:-116.81, Z:-29.36 [[ 6.99731405e-01 7.08011847e-01 9.53686801e-02 2.17239642e+02] [-7.02063565e-01 7.06194844e-01 -9.16274658e-02 -1.16813709e+02] [-1.32222201e-01 -2.84026017e-03 9.91216032e-01 -2.93616889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters 0.029088958900447236 Centerline is valid? [True, True] Translation: X:217.29, Y:-116.85, Z:-29.37 [[ 7.03660759e-01 7.04143561e-01 9.50966948e-02 2.17288891e+02] [-6.98182020e-01 7.10054702e-01 -9.14559268e-02 -1.16851687e+02] [-1.31921957e-01 -2.04085560e-03 9.91258005e-01 -2.93695217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters 0.029062043072621748 Centerline is valid? [True, True] Translation: X:217.34, Y:-116.89, Z:-29.38 [[ 7.04883353e-01 7.02787374e-01 9.60695904e-02 2.17337096e+02] [-6.96678159e-01 7.11397831e-01 -9.24806384e-02 -1.16891879e+02] [-1.33337923e-01 -1.74152290e-03 9.91069102e-01 -2.93768811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters 0.029164327076919978 Centerline is valid? [True, True] Translation: X:217.38, Y:-116.93, Z:-29.38 [[ 7.04645444e-01 7.03080246e-01 9.56711334e-02 2.17384692e+02] [-6.97011343e-01 7.11108440e-01 -9.21953079e-02 -1.16932571e+02] [-1.32853250e-01 -1.71886150e-03 9.91134229e-01 -2.93836523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters 0.02894016490744268 Centerline is valid? [True, True] Translation: X:217.43, Y:-116.97, Z:-29.39 [[ 7.04461588e-01 7.03495955e-01 9.39537722e-02 2.17431088e+02] [-6.97635135e-01 7.10697236e-01 -9.06347402e-02 -1.16974356e+02] [-1.30533859e-01 -1.69675958e-03 9.91442400e-01 -2.93903888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters 0.028836376328203454 Centerline is valid? [True, True] Translation: X:217.48, Y:-117.01, Z:-29.40 [[ 7.03534870e-01 7.04297533e-01 9.48876843e-02 2.17479910e+02] [-6.98313722e-01 7.09902641e-01 -9.16307018e-02 -1.17014215e+02] [-1.31896295e-01 -1.79597815e-03 9.91261894e-01 -2.93964231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters 0.028887254721196846 Centerline is valid? [True, True] Translation: X:217.53, Y:-117.06, Z:-29.40 [[ 7.02557115e-01 7.05213466e-01 9.53282110e-02 2.17526496e+02] [-6.99169014e-01 7.08992476e-01 -9.21540004e-02 -1.17055833e+02] [-1.32575226e-01 -1.90708263e-03 9.91171112e-01 -2.94027186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters 0.028902390410886623 Centerline is valid? [True, True] Translation: X:217.57, Y:-117.10, Z:-29.41 [[ 7.00671243e-01 7.07108377e-01 9.51711690e-02 2.17574984e+02] [-7.01088094e-01 7.07101790e-01 -9.21007193e-02 -1.17096052e+02] [-1.32420894e-01 -2.19104796e-03 9.91191155e-01 -2.94101450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters 0.02876652699090678 Centerline is valid? [True, True] Translation: X:217.62, Y:-117.14, Z:-29.42 [[ 6.99965633e-01 7.07998864e-01 9.37321778e-02 2.17620699e+02] [-7.02155504e-01 7.06209968e-01 -9.08026884e-02 -1.17138504e+02] [-1.30482799e-01 -2.25580335e-03 9.91448007e-01 -2.94154724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters 0.02902710433726651 Centerline is valid? [True, True] Translation: X:217.67, Y:-117.18, Z:-29.42 [[ 6.98124944e-01 7.09781903e-01 9.39745291e-02 2.17665379e+02] [-7.03911637e-01 7.04416965e-01 -9.11325766e-02 -1.17182104e+02] [-1.30881506e-01 -2.52783972e-03 9.91394796e-01 -2.94229964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters 0.029326044902236666 Centerline is valid? [True, True] Translation: X:217.71, Y:-117.23, Z:-29.43 [[ 6.96123298e-01 7.11516470e-01 9.56904760e-02 2.17709576e+02] [-7.05432090e-01 7.02663690e-01 -9.28940544e-02 -1.17225602e+02] [-1.33333873e-01 -2.83741696e-03 9.91067116e-01 -2.94294294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters 0.02937056562922323 Centerline is valid? [True, True] Translation: X:217.75, Y:-117.27, Z:-29.43 [[ 6.93729077e-01 7.14105314e-01 9.37740268e-02 2.17754704e+02] [-7.08274604e-01 7.00030963e-01 -9.11248421e-02 -1.17269696e+02] [-1.30717456e-01 -3.20180908e-03 9.91414492e-01 -2.94348483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters 0.030001962012914746 Centerline is valid? [True, True] Translation: X:217.80, Y:-117.31, Z:-29.44 [[ 6.90115569e-01 7.17385686e-01 9.53849005e-02 2.17800784e+02] [-7.11369872e-01 6.96665768e-01 -9.27885401e-02 -1.17312286e+02] [-1.33016565e-01 -3.81912826e-03 9.91106456e-01 -2.94414540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters 0.029976544364811848 Centerline is valid? [True, True] Translation: X:217.85, Y:-117.36, Z:-29.45 [[ 6.89003992e-01 7.18391573e-01 9.58490827e-02 2.17845883e+02] [-7.12313381e-01 6.95627650e-01 -9.33371347e-02 -1.17355006e+02] [-1.33727883e-01 -3.96492574e-03 9.91010158e-01 -2.94482547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters 0.030602547680896465 Centerline is valid? [True, True] Translation: X:217.89, Y:-117.40, Z:-29.45 [[ 6.85990985e-01 7.21401656e-01 9.48473520e-02 2.17893106e+02] [-7.15466508e-01 6.92502678e-01 -9.24538633e-02 -1.17396291e+02] [-1.32378415e-01 -4.43758705e-03 9.91189317e-01 -2.94541061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters 0.030662786438520363 Centerline is valid? [True, True] Translation: X:217.94, Y:-117.44, Z:-29.46 [[ 6.84344367e-01 7.22986533e-01 9.46744989e-02 2.17941138e+02] [-7.17076188e-01 6.90846321e-01 -9.23747898e-02 -1.17436195e+02] [-1.32191258e-01 -4.67266175e-03 9.91213215e-01 -2.94603445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters 0.030359206049494693 Centerline is valid? [True, True] Translation: X:217.99, Y:-117.47, Z:-29.47 [[ 6.85255279e-01 7.22215813e-01 9.39655343e-02 2.17989836e+02] [-7.16376042e-01 6.91653577e-01 -9.17643514e-02 -1.17474550e+02] [-1.31265264e-01 -4.43265128e-03 9.91337371e-01 -2.94667527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters 0.029859542854258115 Centerline is valid? [True, True] Translation: X:218.04, Y:-117.51, Z:-29.47 [[ 6.86193684e-01 7.21327909e-01 9.39376115e-02 2.18039425e+02] [-7.15472488e-01 6.92580951e-01 -9.18190932e-02 -1.17512271e+02] [-1.31291075e-01 -4.20409475e-03 9.91334948e-01 -2.94729461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters 0.03026553892923266 Centerline is valid? [True, True] Translation: X:218.09, Y:-117.55, Z:-29.48 [[ 6.84057148e-01 7.23440363e-01 9.32730345e-02 2.18087715e+02] [-7.17676576e-01 6.90372087e-01 -9.12508255e-02 -1.17550663e+02] [-1.30407630e-01 -4.51909255e-03 9.91450164e-01 -2.94802946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters 0.030400593478157215 Centerline is valid? [True, True] Translation: X:218.14, Y:-117.59, Z:-29.49 [[ 6.83042570e-01 7.24486946e-01 9.25824693e-02 2.18137336e+02] [-7.18807260e-01 6.89273000e-01 -9.06579013e-02 -1.17588935e+02] [-1.29495062e-01 -4.62574520e-03 9.91569277e-01 -2.94872339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters 0.029610050967322214 Centerline is valid? [True, True] Translation: X:218.19, Y:-117.63, Z:-29.49 [[ 6.84292314e-01 7.23367036e-01 9.21094973e-02 2.18186640e+02] [-7.17724191e-01 6.90450125e-01 -9.02807336e-02 -1.17627778e+02] [-1.28903121e-01 -4.33080224e-03 9.91647735e-01 -2.94936891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters 0.028432973864859656 Centerline is valid? [True, True] Translation: X:218.24, Y:-117.67, Z:-29.50 [[ 6.88938799e-01 7.18923796e-01 9.22599951e-02 2.18235648e+02] [-7.13216176e-01 6.95080246e-01 -9.04772717e-02 -1.17665293e+02] [-1.29174364e-01 -3.46801800e-03 9.91615831e-01 -2.95005542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters 0.02805988446714877 Centerline is valid? [True, True] Translation: X:218.28, Y:-117.71, Z:-29.51 [[ 6.90228405e-01 7.17742461e-01 9.18178064e-02 2.18282756e+02] [-7.12069094e-01 6.96301424e-01 -9.01217612e-02 -1.17705952e+02] [-1.28617084e-01 -3.17602273e-03 9.91689245e-01 -2.95069181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters 0.027808253212855176 Centerline is valid? [True, True] Translation: X:218.33, Y:-117.75, Z:-29.51 [[ 6.90302204e-01 7.17756741e-01 9.11489294e-02 2.18329024e+02] [-7.12155567e-01 6.96287058e-01 -8.95476484e-02 -1.17746738e+02] [-1.27739248e-01 -3.09727843e-03 9.91802950e-01 -2.95125272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters 0.027635595305808155 Centerline is valid? [True, True] Translation: X:218.38, Y:-117.79, Z:-29.52 [[ 6.89107414e-01 7.18957915e-01 9.07220359e-02 2.18375191e+02] [-7.13408847e-01 6.95046031e-01 -8.92122860e-02 -1.17788605e+02] [-1.27195870e-01 -3.24505532e-03 9.91872310e-01 -2.95185293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters 0.027859802413257247 Centerline is valid? [True, True] Translation: X:218.42, Y:-117.83, Z:-29.52 [[ 6.88358464e-01 7.19493566e-01 9.21500568e-02 2.18421990e+02] [-7.13759991e-01 6.94491121e-01 -9.07125040e-02 -1.17829407e+02] [-1.29264459e-01 -3.33030372e-03 9.91604563e-01 -2.95246328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters 0.027984970778558427 Centerline is valid? [True, True] Translation: X:218.47, Y:-117.87, Z:-29.53 [[ 6.87110577e-01 7.20743237e-01 9.16964597e-02 2.18470931e+02] [-7.15066096e-01 6.93193353e-01 -9.03518325e-02 -1.17869322e+02] [-1.28683849e-01 -3.48732960e-03 9.91679538e-01 -2.95311097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters 0.027924511253162466 Centerline is valid? [True, True] Translation: X:218.52, Y:-117.91, Z:-29.54 [[ 6.86040126e-01 7.21857736e-01 9.09414939e-02 2.18520094e+02] [-7.16271534e-01 6.92032121e-01 -8.97030277e-02 -1.17909637e+02] [-1.27687259e-01 -3.59892692e-03 9.91807951e-01 -2.95360505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters 0.027690516646763128 Centerline is valid? [True, True] Translation: X:218.57, Y:-117.95, Z:-29.54 [[ 6.86870463e-01 7.21132954e-01 9.04225102e-02 2.18568564e+02] [-7.15592969e-01 6.92788441e-01 -8.92797737e-02 -1.17948966e+02] [-1.27026257e-01 -3.38207311e-03 9.91893589e-01 -2.95448331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters 0.027378098605756216 Centerline is valid? [True, True] Translation: X:218.62, Y:-117.99, Z:-29.55 [[ 6.88594202e-01 7.19201022e-01 9.26710030e-02 2.18616447e+02] [-7.13356556e-01 6.94795291e-01 -9.15528666e-02 -1.17987963e+02] [-1.30232292e-01 -3.06469444e-03 9.91478773e-01 -2.95529739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters 0.026993127255438412 Centerline is valid? [True, True] Translation: X:218.66, Y:-118.03, Z:-29.56 [[ 6.90230790e-01 7.17551709e-01 9.32791643e-02 2.18663138e+02] [-7.11603493e-01 6.96499963e-01 -9.22402879e-02 -1.18028491e+02] [-1.31156111e-01 -2.71069245e-03 9.91358022e-01 -2.95605453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters 0.026754149495824973 Centerline is valid? [True, True] Translation: X:218.71, Y:-118.07, Z:-29.57 [[ 6.90756752e-01 7.17031153e-01 9.33886262e-02 2.18710809e+02] [-7.11052641e-01 6.97036444e-01 -9.24355797e-02 -1.18068026e+02] [-1.31374466e-01 -2.55372851e-03 9.91329525e-01 -2.95681318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters 0.026916196688191053 Centerline is valid? [True, True] Translation: X:218.76, Y:-118.11, Z:-29.57 [[ 6.90891621e-01 7.16807524e-01 9.41049491e-02 2.18758374e+02] [-7.10722320e-01 6.97266727e-01 -9.32356928e-02 -1.18109363e+02] [-1.32448296e-01 -2.46672878e-03 9.91186846e-01 -2.95746332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters 0.02650400140891432 Centerline is valid? [True, True] Translation: X:218.80, Y:-118.15, Z:-29.58 [[ 6.93477304e-01 7.14252219e-01 9.45145343e-02 2.18803980e+02] [-7.08076536e-01 6.99885775e-01 -9.37417780e-02 -1.18150433e+02] [-1.33104651e-01 -1.91572858e-03 9.91100137e-01 -2.95826955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters 0.026313441032590663 Centerline is valid? [True, True] Translation: X:218.85, Y:-118.19, Z:-29.59 [[ 6.94959785e-01 7.12619993e-01 9.59356187e-02 2.18849514e+02] [-7.06228036e-01 7.01548508e-01 -9.52452226e-02 -1.18193187e+02] [-1.35177140e-01 -1.56082424e-03 9.90820218e-01 -2.95901809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters 0.02617680202522287 Centerline is valid? [True, True] Translation: X:218.89, Y:-118.24, Z:-29.60 [[ 6.94516450e-01 7.13233300e-01 9.45788583e-02 2.18894579e+02] [-7.07014095e-01 7.00924919e-01 -9.39964155e-02 -1.18236167e+02] [-1.33334052e-01 -1.58652911e-03 9.91069883e-01 -2.95963662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters 0.02605407674697773 Centerline is valid? [True, True] Translation: X:218.94, Y:-118.28, Z:-29.60 [[ 6.94042106e-01 7.13698345e-01 9.45527770e-02 2.18938374e+02] [-7.07474651e-01 7.00451338e-01 -9.40613672e-02 -1.18280954e+02] [-1.33361061e-01 -1.61114349e-03 9.91066209e-01 -2.96039873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters 0.02630644539865068 Centerline is valid? [True, True] Translation: X:218.98, Y:-118.32, Z:-29.61 [[ 6.93009971e-01 7.14486415e-01 9.61579028e-02 2.18982052e+02] [-7.08042229e-01 6.99647197e-01 -9.57601235e-02 -1.18323904e+02] [-1.35695915e-01 -1.72113551e-03 9.90749038e-01 -2.96125740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters 0.026325583050938312 Centerline is valid? [True, True] Translation: X:219.03, Y:-118.37, Z:-29.62 [[ 6.92053350e-01 7.15472963e-01 9.57110231e-02 2.19027165e+02] [-7.09085678e-01 6.98637997e-01 -9.54067581e-02 -1.18367281e+02] [-1.35128313e-01 -1.84074916e-03 9.90826398e-01 -2.96199533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters 0.02627404988106064 Centerline is valid? [True, True] Translation: X:219.07, Y:-118.41, Z:-29.63 [[ 6.89168961e-01 7.18572484e-01 9.32723398e-02 2.19073342e+02] [-7.12523061e-01 6.95448219e-01 -9.30734289e-02 -1.18409799e+02] [-1.31746088e-01 -2.31537472e-03 9.91280791e-01 -2.96260156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters 0.026832577850486452 Centerline is valid? [True, True] Translation: X:219.12, Y:-118.45, Z:-29.63 [[ 6.87253600e-01 7.20089485e-01 9.56745691e-02 2.19118159e+02] [-7.13723611e-01 6.93876331e-01 -9.55732374e-02 -1.18452517e+02] [-1.35207602e-01 -2.60214742e-03 9.90813874e-01 -2.96346388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters 0.026900651722241244 Centerline is valid? [True, True] Translation: X:219.16, Y:-118.49, Z:-29.64 [[ 6.87246319e-01 7.20255354e-01 9.44707476e-02 2.19163816e+02] [-7.14038929e-01 6.93704389e-01 -9.44596636e-02 -1.18494258e+02] [-1.33569851e-01 -2.53873534e-03 9.91036150e-01 -2.96423701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters 0.02698951078957685 Centerline is valid? [True, True] Translation: X:219.26, Y:-118.75, Z:-27.77 [[ 7.66327470e-01 -6.39557408e-01 -6.08977102e-02 2.19264976e+02] [-6.36476620e-01 -7.68679832e-01 6.34730556e-02 -1.18754897e+02] [-8.74055046e-02 -9.88117738e-03 -9.96123808e-01 -2.77655973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters 0.027013358996866847 Centerline is valid? [True, True] Translation: X:219.23, Y:-118.57, Z:-29.66 [[ 7.40821943e-01 6.63742966e-01 1.03092792e-01 2.19225812e+02] [-6.57808191e-01 7.47957547e-01 -8.85883306e-02 -1.18572555e+02] [-1.35908913e-01 -2.18710371e-03 9.90718923e-01 -2.96570131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters 0.02677328380641443 Centerline is valid? [True, True] Translation: X:219.27, Y:-118.61, Z:-29.66 [[ 7.41848662e-01 6.62750012e-01 1.02093023e-01 2.19271345e+02] [-6.56908280e-01 7.48838270e-01 -8.78222998e-02 -1.18613886e+02] [-1.34655393e-01 -1.91489678e-03 9.90890639e-01 -2.96638781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters 0.026814232801778047 Centerline is valid? [True, True] Translation: X:219.32, Y:-118.66, Z:-29.67 [[ 7.41991162e-01 6.62435596e-01 1.03093146e-01 2.19317449e+02] [-6.56463280e-01 7.49116683e-01 -8.87702513e-02 -1.18656153e+02] [-1.36033370e-01 -1.81012298e-03 9.90702602e-01 -2.96709923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters 0.02714307678428216 Centerline is valid? [True, True] Translation: X:219.36, Y:-118.70, Z:-29.68 [[ 7.40620139e-01 6.63767840e-01 1.04374630e-01 2.19363896e+02] [-6.57644975e-01 7.47935978e-01 -8.99714390e-02 -1.18697230e+02] [-1.37785689e-01 -2.00679157e-03 9.90460033e-01 -2.96787512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters 0.027193381859009495 Centerline is valid? [True, True] Translation: X:219.41, Y:-118.74, Z:-29.68 [[ 7.37462305e-01 6.67634508e-01 1.02046613e-01 2.19411593e+02] [-6.61808128e-01 7.44484647e-01 -8.80489183e-02 -1.18738595e+02] [-1.34756633e-01 -2.60251963e-03 9.90875308e-01 -2.96836139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters 0.027310630747377117 Centerline is valid? [True, True] Translation: X:219.46, Y:-118.78, Z:-29.69 [[ 7.35846133e-01 6.69432920e-01 1.01931517e-01 2.19459912e+02] [-6.63624190e-01 7.42867011e-01 -8.80428210e-02 -1.18777400e+02] [-1.34660324e-01 -2.85825079e-03 9.90887697e-01 -2.96905137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters 0.02767909202350756 Centerline is valid? [True, True] Translation: X:219.51, Y:-118.82, Z:-29.70 [[ 7.33956584e-01 6.71311566e-01 1.03191639e-01 2.19508932e+02] [-6.65364253e-01 7.41168456e-01 -8.92173276e-02 -1.18815216e+02] [-1.36375012e-01 -3.17838279e-03 9.90652186e-01 -2.96968591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters 0.027461897303663347 Centerline is valid? [True, True] Translation: X:219.56, Y:-118.85, Z:-29.70 [[ 7.34132386e-01 6.71154362e-01 1.02963404e-01 2.19560643e+02] [-6.65220282e-01 7.41311233e-01 -8.91046200e-02 -1.18849446e+02] [-1.36130882e-01 -3.07875731e-03 9.90686078e-01 -2.97043131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters 0.027591201962551333 Centerline is valid? [True, True] Translation: X:219.61, Y:-118.89, Z:-29.71 [[ 7.34263992e-01 6.71213968e-01 1.01627746e-01 2.19610020e+02] [-6.65422822e-01 7.41257639e-01 -8.80317025e-02 -1.18887503e+02] [-1.34420451e-01 -2.98691217e-03 9.90919886e-01 -2.97113262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters 0.027297911918133203 Centerline is valid? [True, True] Translation: X:219.66, Y:-118.92, Z:-29.72 [[ 7.35097150e-01 6.70307440e-01 1.01587972e-01 2.19660073e+02] [-6.64500860e-01 7.42078388e-01 -8.80810595e-02 -1.18923672e+02] [-1.34427628e-01 -2.75715899e-03 9.90919578e-01 -2.97182213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters 0.027193905075793307 Centerline is valid? [True, True] Translation: X:219.71, Y:-118.96, Z:-29.73 [[ 7.37030183e-01 6.68030937e-01 1.02572791e-01 2.19709685e+02] [-6.62077091e-01 7.44129945e-01 -8.90199477e-02 -1.18960242e+02] [-1.35795564e-01 -2.30070649e-03 9.90734208e-01 -2.97264109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters 0.027083527851334825 Centerline is valid? [True, True] Translation: X:219.76, Y:-119.00, Z:-29.74 [[ 7.39988002e-01 6.64727386e-01 1.02738795e-01 2.19757538e+02] [-6.58710700e-01 7.47084225e-01 -8.92489423e-02 -1.18999431e+02] [-1.36080749e-01 -1.63199716e-03 9.90696405e-01 -2.97359275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters 0.02716190982103415 Centerline is valid? [True, True] Translation: X:219.81, Y:-119.04, Z:-29.74 [[ 7.43010228e-01 6.61211577e-01 1.03610093e-01 2.19805997e+02] [-6.55045525e-01 7.50198900e-01 -9.00942337e-02 -1.19039057e+02] [-1.37299528e-01 -9.28390911e-04 9.90529140e-01 -2.97439717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters 0.027054667406546506 Centerline is valid? [True, True] Translation: X:219.85, Y:-119.08, Z:-29.75 [[ 7.45646932e-01 6.58490904e-01 1.01982268e-01 2.19851391e+02] [-6.52479895e-01 7.52588605e-01 -8.87714958e-02 -1.19081413e+02] [-1.35205916e-01 -3.49186370e-04 9.90817460e-01 -2.97510660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters 0.026701526525665202 Centerline is valid? [True, True] Translation: X:219.90, Y:-119.12, Z:-29.76 [[ 7.46473006e-01 6.57650241e-01 1.01361786e-01 2.19895423e+02] [-6.51693535e-01 7.53323399e-01 -8.83141775e-02 -1.19124865e+02] [-1.34438046e-01 -1.32671330e-04 9.90921992e-01 -2.97579949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters 0.026692274199557473 Centerline is valid? [True, True] Translation: X:219.94, Y:-119.17, Z:-29.76 [[ 7.44034344e-01 6.60455733e-01 1.01050083e-01 2.19938376e+02] [-6.54549910e-01 7.50864767e-01 -8.81278519e-02 -1.19170771e+02] [-1.34079492e-01 -5.72174272e-04 9.90970415e-01 -2.97645306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters 0.02685430002504129 Centerline is valid? [True, True] Translation: X:219.98, Y:-119.21, Z:-29.77 [[ 7.40410880e-01 6.64486553e-01 1.01239068e-01 2.19982193e+02] [-6.58583342e-01 7.47299203e-01 -8.83848538e-02 -1.19213828e+02] [-1.34386422e-01 -1.23325633e-03 9.90928236e-01 -2.97711832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters 0.02697659330928476 Centerline is valid? [True, True] Translation: X:220.03, Y:-119.26, Z:-29.78 [[ 7.36441283e-01 6.68886532e-01 1.01217804e-01 2.20027515e+02] [-6.63016367e-01 7.43361895e-01 -8.84442778e-02 -1.19256562e+02] [-1.34400645e-01 -1.97504307e-03 9.90925106e-01 -2.97775901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters 0.02720620068662888 Centerline is valid? [True, True] Translation: X:220.08, Y:-119.29, Z:-29.78 [[ 7.32302942e-01 6.73550861e-01 1.00307719e-01 2.20076112e+02] [-6.67818486e-01 7.39135794e-01 -8.77311136e-02 -1.19294554e+02] [-1.33232393e-01 -2.74159666e-03 9.91081033e-01 -2.97837601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters 0.027493398742012877 Centerline is valid? [True, True] Translation: X:220.13, Y:-119.33, Z:-29.79 [[ 7.29484835e-01 6.76427858e-01 1.01475261e-01 2.20125111e+02] [-6.70576773e-01 7.36501760e-01 -8.88366418e-02 -1.19332127e+02] [-1.34828288e-01 -3.24197028e-03 9.90863675e-01 -2.97895750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters 0.027811901452755375 Centerline is valid? [True, True] Translation: X:220.18, Y:-119.37, Z:-29.80 [[ 7.28088158e-01 6.77980216e-01 1.01145741e-01 2.20175894e+02] [-6.72170807e-01 7.35072027e-01 -8.86313856e-02 -1.19368310e+02] [-1.34439731e-01 -3.45575205e-03 9.90915746e-01 -2.97986541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters 0.027764418622537236 Centerline is valid? [True, True] Translation: X:220.23, Y:-119.41, Z:-29.81 [[ 7.28643843e-01 6.77130417e-01 1.02822903e-01 2.20227249e+02] [-6.71105207e-01 7.35855681e-01 -9.01898989e-02 -1.19405073e+02] [-1.36733141e-01 -3.28867073e-03 9.90602460e-01 -2.98057895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters 0.02734041842953416 Centerline is valid? [True, True] Translation: X:220.28, Y:-119.44, Z:-29.81 [[ 7.32594250e-01 6.73142364e-01 1.00920876e-01 2.20276742e+02] [-6.67289138e-01 7.39508933e-01 -8.86100725e-02 -1.19440599e+02] [-1.34279083e-01 -2.42817491e-03 9.90940579e-01 -2.98135707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters 0.027002466207361235 Centerline is valid? [True, True] Translation: X:220.33, Y:-119.48, Z:-29.82 [[ 7.35555036e-01 6.70006097e-01 1.00252773e-01 2.20325709e+02] [-6.64192619e-01 7.42353429e-01 -8.80883116e-02 -1.19478474e+02] [-1.33442696e-01 -1.79335058e-03 9.91054908e-01 -2.98205532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters 0.026949383329299026 Centerline is valid? [True, True] Translation: X:220.38, Y:-119.51, Z:-29.83 [[ 7.37831635e-01 6.67417528e-01 1.00788499e-01 2.20376220e+02] [-6.61505962e-01 7.44682640e-01 -8.86432627e-02 -1.19514916e+02] [-1.34217513e-01 -1.26838931e-03 9.90951084e-01 -2.98275771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters 0.027227916541008982 Centerline is valid? [True, True] Translation: X:220.43, Y:-119.55, Z:-29.83 [[ 7.36380197e-01 6.68875705e-01 1.01732479e-01 2.20425192e+02] [-6.62854519e-01 7.43372779e-01 -8.95589136e-02 -1.19553467e+02] [-1.35528937e-01 -1.48442285e-03 9.90772276e-01 -2.98344793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters 0.027371093315115943 Centerline is valid? [True, True] Translation: X:220.47, Y:-119.59, Z:-29.84 [[ 7.34948416e-01 6.70213950e-01 1.03267067e-01 2.20474712e+02] [-6.64009939e-01 7.42166017e-01 -9.09967228e-02 -1.19590174e+02] [-1.37628581e-01 -1.69246153e-03 9.90482463e-01 -2.98422812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters 0.027393310429380778 Centerline is valid? [True, True] Translation: X:220.53, Y:-119.63, Z:-29.85 [[ 7.38175297e-01 6.66918136e-01 1.01574757e-01 2.20525585e+02] [-6.60875553e-01 7.45130319e-01 -8.95785206e-02 -1.19626798e+02] [-1.35427971e-01 -1.00362256e-03 9.90786686e-01 -2.98481602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters 0.02726356733251366 Centerline is valid? [True, True] Translation: X:220.57, Y:-119.66, Z:-29.85 [[ 7.39063776e-01 6.66000230e-01 1.01135694e-01 2.20574624e+02] [-6.59996088e-01 7.45951105e-01 -8.92306733e-02 -1.19664882e+02] [-1.34869932e-01 -8.02004054e-04 9.90862987e-01 -2.98548838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters 0.02734540917138387 Centerline is valid? [True, True] Translation: X:220.62, Y:-119.70, Z:-29.86 [[ 7.41395141e-01 6.63499681e-01 1.00505812e-01 2.20623366e+02] [-6.57536258e-01 7.48176513e-01 -8.87579539e-02 -1.19702438e+02] [-1.34086962e-01 -2.81500098e-04 9.90969529e-01 -2.98631208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters 0.02742059233615876 Centerline is valid? [True, True] Translation: X:220.67, Y:-119.74, Z:-29.87 [[ 7.44209326e-01 6.60197089e-01 1.01450888e-01 2.20671852e+02] [-6.54078235e-01 7.51092310e-01 -8.96772252e-02 -1.19741322e+02] [-1.35403625e-01 3.81809709e-04 9.90790448e-01 -2.98696571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters 0.02766188620091253 Centerline is valid? [True, True] Translation: X:220.72, Y:-119.78, Z:-29.88 [[ 7.48541122e-01 6.55390300e-01 1.00745931e-01 2.20718449e+02] [-6.49301827e-01 7.55289246e-01 -8.91363751e-02 -1.19782372e+02] [-1.34511434e-01 1.30772503e-03 9.90911179e-01 -2.98777182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters 0.028198039761545137 Centerline is valid? [True, True] Translation: X:220.76, Y:-119.83, Z:-29.89 [[ 7.52509202e-01 6.50578824e-01 1.02357682e-01 2.20763056e+02] [-6.44238335e-01 7.59435368e-01 -9.06360295e-02 -1.19825173e+02] [-1.36699925e-01 2.26170362e-03 9.90609921e-01 -2.98864539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters 0.028682054263406098 Centerline is valid? [True, True] Translation: X:220.81, Y:-119.87, Z:-29.89 [[ 7.55321371e-01 6.47244583e-01 1.02781688e-01 2.20805825e+02] [-6.40815590e-01 7.62276860e-01 -9.10459702e-02 -1.19869761e+02] [-1.37277113e-01 2.90485900e-03 9.90528423e-01 -2.98934731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters 0.029474893958517927 Centerline is valid? [True, True] Translation: X:220.85, Y:-119.92, Z:-29.90 [[ 7.59117562e-01 6.43053923e-01 1.01104793e-01 2.20845855e+02] [-6.36787073e-01 7.65812158e-01 -8.96323710e-02 -1.19917288e+02] [-1.35065728e-01 3.65928160e-03 9.90829884e-01 -2.98995794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters 0.030015019913423042 Centerline is valid? [True, True] Translation: X:220.89, Y:-119.97, Z:-29.91 [[ 7.61157659e-01 6.40739272e-01 1.00459957e-01 2.20885133e+02] [-6.34525892e-01 7.67747698e-01 -8.91087220e-02 -1.19965967e+02] [-1.34223359e-01 4.08134227e-03 9.90942699e-01 -2.99060191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters 0.030041757794380414 Centerline is valid? [True, True] Translation: X:220.92, Y:-120.02, Z:-29.91 [[ 7.62474588e-01 6.39386799e-01 9.90808970e-02 2.20922360e+02] [-6.33322013e-01 7.68873116e-01 -8.79622558e-02 -1.20016736e+02] [-1.32422543e-01 4.31887161e-03 9.91183947e-01 -2.99124327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters 0.029966499053632457 Centerline is valid? [True, True] Translation: X:220.96, Y:-120.07, Z:-29.92 [[ 7.62641372e-01 6.39103949e-01 9.96206792e-02 2.20959646e+02] [-6.32959816e-01 7.69107484e-01 -8.85186390e-02 -1.20068089e+02] [-1.33191622e-01 4.45208954e-03 9.91080305e-01 -2.99179469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters 0.029827591038420108 Centerline is valid? [True, True] Translation: X:221.00, Y:-120.12, Z:-29.92 [[ 7.61268096e-01 6.40673967e-01 1.00038764e-01 2.20999792e+02] [-6.34480800e-01 7.67801247e-01 -8.89683071e-02 -1.20115866e+02] [-1.33809566e-01 4.25605886e-03 9.90997924e-01 -2.99244523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters 0.02879941646716925 Centerline is valid? [True, True] Translation: X:221.04, Y:-120.16, Z:-29.93 [[ 7.56922564e-01 6.45858166e-01 9.96767905e-02 2.21038095e+02] [-6.39745238e-01 7.63449927e-01 -8.87143683e-02 -1.20164987e+02] [-1.33395138e-01 3.38215500e-03 9.91057162e-01 -2.99313002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters 0.027906165042503185 Centerline is valid? [True, True] Translation: X:221.08, Y:-120.21, Z:-29.94 [[ 7.51127486e-01 6.52315690e-01 1.01448220e-01 2.21076166e+02] [-6.46036653e-01 7.57943889e-01 -9.03200074e-02 -1.20214360e+02] [-1.35809216e-01 2.30257145e-03 9.90732333e-01 -2.99401637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters 0.027878926062619873 Centerline is valid? [True, True] Translation: X:221.12, Y:-120.26, Z:-29.95 [[ 7.49437079e-01 6.54124985e-01 1.02296478e-01 2.21119688e+02] [-6.47745000e-01 7.56383682e-01 -9.11599716e-02 -1.20258824e+02] [-1.37005402e-01 2.05663043e-03 9.90568165e-01 -2.99490622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters 0.02742046360926209 Centerline is valid? [True, True] Translation: X:221.16, Y:-120.30, Z:-29.95 [[ 7.47450237e-01 6.56520224e-01 1.01485662e-01 2.21163822e+02] [-6.50251759e-01 7.54306575e-01 -9.05220478e-02 -1.20303107e+02] [-1.35980857e-01 1.66949565e-03 9.90710058e-01 -2.99546605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters 0.027681629926764335 Centerline is valid? [True, True] Translation: X:221.21, Y:-120.35, Z:-29.96 [[ 7.43204683e-01 6.60744793e-01 1.05181357e-01 2.21206549e+02] [-6.54042873e-01 7.50609997e-01 -9.38751981e-02 -1.20347962e+02] [-1.40977726e-01 9.75370073e-04 9.90012288e-01 -2.99637591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters 0.027818932477190975 Centerline is valid? [True, True] Translation: X:221.25, Y:-120.39, Z:-29.97 [[ 7.43045808e-01 6.61300886e-01 1.02781640e-01 2.21250384e+02] [-6.54896366e-01 7.50120193e-01 -9.18174527e-02 -1.20391545e+02] [-1.37817547e-01 9.13250454e-04 9.90457212e-01 -2.99697645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters 0.027784229626399044 Centerline is valid? [True, True] Translation: X:221.29, Y:-120.44, Z:-29.98 [[ 7.42444770e-01 6.61941128e-01 1.03003431e-01 2.21293697e+02] [-6.55502512e-01 7.49555333e-01 -9.21046058e-02 -1.20437555e+02] [-1.38174598e-01 8.63574765e-04 9.90407509e-01 -2.99777025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters 0.02785004939613136 Centerline is valid? [True, True] Translation: X:221.34, Y:-120.48, Z:-29.98 [[ 7.40937038e-01 6.63315253e-01 1.05000860e-01 2.21338352e+02] [-6.56622785e-01 7.48339757e-01 -9.39900288e-02 -1.20480034e+02] [-1.40921338e-01 6.94736054e-04 9.90020552e-01 -2.99834243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters 0.027743874088435358 Centerline is valid? [True, True] Translation: X:221.38, Y:-120.52, Z:-29.99 [[ 7.37401831e-01 6.67025941e-01 1.06371681e-01 2.21381242e+02] [-6.60181966e-01 7.45034490e-01 -9.53067716e-02 -1.20524900e+02] [-1.42822660e-01 5.47223156e-05 9.89748294e-01 -2.99928612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters 0.027869921941517755 Centerline is valid? [True, True] Translation: X:221.43, Y:-120.57, Z:-30.00 [[ 7.34247569e-01 6.70123705e-01 1.08695571e-01 2.21426726e+02] [-6.62995832e-01 7.42249271e-01 -9.74810057e-02 -1.20565825e+02] [-1.46003541e-01 -4.89518912e-04 9.89283946e-01 -3.00003188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters 0.027868626536574258 Centerline is valid? [True, True] Translation: X:221.47, Y:-120.61, Z:-30.01 [[ 7.33840282e-01 6.70637558e-01 1.08276070e-01 2.21474179e+02] [-6.63557219e-01 7.41785005e-01 -9.71947706e-02 -1.20606079e+02] [-1.45500029e-01 -5.21930012e-04 9.89358110e-01 -3.00076259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters 0.0281265012689982 Centerline is valid? [True, True] Translation: X:221.52, Y:-120.64, Z:-30.02 [[ 7.35774451e-01 6.68368853e-01 1.09174329e-01 2.21521432e+02] [-6.61129526e-01 7.43830005e-01 -9.81054186e-02 -1.20644911e+02] [-1.46777748e-01 5.08815622e-06 9.89169496e-01 -3.00166947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters 0.028076902522014797 Centerline is valid? [True, True] Translation: X:221.57, Y:-120.68, Z:-30.02 [[ 7.38697096e-01 6.65235540e-01 1.08573835e-01 2.21570918e+02] [-6.58028255e-01 7.46633237e-01 -9.76607643e-02 -1.20684066e+02] [-1.46032245e-01 6.97071903e-04 9.89279585e-01 -3.00233179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters 0.028305348669092994 Centerline is valid? [True, True] Translation: X:221.62, Y:-120.72, Z:-30.03 [[ 7.38714937e-01 6.65024526e-01 1.09738879e-01 2.21618512e+02] [-6.57643031e-01 7.46821062e-01 -9.88126757e-02 -1.20722936e+02] [-1.47668159e-01 8.25390623e-04 9.89036619e-01 -3.00322558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters 0.028244006444250718 Centerline is valid? [True, True] Translation: X:221.67, Y:-120.76, Z:-30.04 [[ 7.37489608e-01 6.66405478e-01 1.09603002e-01 2.21667992e+02] [-6.59043199e-01 7.45589266e-01 -9.87861759e-02 -1.20762144e+02] [-1.47550470e-01 6.20665235e-04 9.89054333e-01 -3.00385836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters 0.028650737982756 Centerline is valid? [True, True] Translation: X:221.71, Y:-120.80, Z:-30.05 [[ 7.37508935e-01 6.66249730e-01 1.10416794e-01 2.21714963e+02] [-6.58759790e-01 7.45728340e-01 -9.96231965e-02 -1.20802025e+02] [-1.48714860e-01 7.34853256e-04 9.88879846e-01 -3.00473136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters 0.0286536223509834 Centerline is valid? [True, True] Translation: X:221.76, Y:-120.84, Z:-30.05 [[ 7.37674100e-01 6.66166678e-01 1.09812932e-01 2.21762892e+02] [-6.58744185e-01 7.45802447e-01 -9.91706071e-02 -1.20841416e+02] [-1.47962908e-01 8.16957677e-04 9.88992574e-01 -3.00537677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters 0.028714093091077808 Centerline is valid? [True, True] Translation: X:221.81, Y:-120.88, Z:-30.06 [[ 7.37233185e-01 6.66840002e-01 1.08681379e-01 2.21808835e+02] [-6.59564411e-01 7.45200550e-01 -9.82391371e-02 -1.20882597e+02] [-1.46499210e-01 7.42782034e-04 9.89210508e-01 -3.00619223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters 0.028785456597180473 Centerline is valid? [True, True] Translation: X:221.86, Y:-120.92, Z:-30.07 [[ 7.33932799e-01 6.70375436e-01 1.09267658e-01 2.21856677e+02] [-6.63045332e-01 7.42022077e-01 -9.88641727e-02 -1.20923068e+02] [-1.47355128e-01 1.10248093e-04 9.89083644e-01 -3.00690810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters 0.02874434370818797 Centerline is valid? [True, True] Translation: X:221.90, Y:-120.96, Z:-30.08 [[ 7.30459849e-01 6.74420696e-01 1.07634258e-01 2.21902474e+02] [-6.67338169e-01 7.38347033e-01 -9.74855185e-02 -1.20964723e+02] [-1.45217686e-01 -6.19191499e-04 9.89399535e-01 -3.00759417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters 0.02875141782501283 Centerline is valid? [True, True] Translation: X:221.95, Y:-121.00, Z:-30.08 [[ 7.26752927e-01 6.78537872e-01 1.06848211e-01 2.21950974e+02] [-6.71589435e-01 7.34564161e-01 -9.68665283e-02 -1.21004191e+02] [-1.44214474e-01 -1.36009653e-03 9.89545520e-01 -3.00838377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters 0.02867961391716647 Centerline is valid? [True, True] Translation: X:222.00, Y:-121.04, Z:-30.09 [[ 7.25226814e-01 6.80126287e-01 1.07118168e-01 2.22001242e+02] [-6.73144841e-01 7.33093213e-01 -9.72129795e-02 -1.21041032e+02] [-1.44644705e-01 -1.60458295e-03 9.89482357e-01 -3.00891766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters 0.0289641671449724 Centerline is valid? [True, True] Translation: X:222.05, Y:-121.08, Z:-30.10 [[ 7.25393996e-01 6.79802847e-01 1.08035362e-01 2.22051818e+02] [-6.72683385e-01 7.33393404e-01 -9.81385662e-02 -1.21077040e+02] [-1.45947299e-01 -1.48446613e-03 9.89291253e-01 -3.00990499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters 0.028929816020931958 Centerline is valid? [True, True] Translation: X:222.10, Y:-121.11, Z:-30.11 [[ 7.26846969e-01 6.78169041e-01 1.08536793e-01 2.22103537e+02] [-6.70950412e-01 7.34905141e-01 -9.86913304e-02 -1.21113751e+02] [-1.46693652e-01 -1.08931148e-03 9.89181372e-01 -3.01067403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters 0.028780832236096548 Centerline is valid? [True, True] Translation: X:222.15, Y:-121.15, Z:-30.11 [[ 7.28371214e-01 6.76728788e-01 1.07301083e-01 2.22153400e+02] [-6.69643976e-01 7.36232055e-01 -9.76693741e-02 -1.21150469e+02] [-1.45094174e-01 -7.13963112e-04 9.89417592e-01 -3.01141088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters 0.028651347183989713 Centerline is valid? [True, True] Translation: X:222.20, Y:-121.19, Z:-30.12 [[ 7.29774395e-01 6.75450234e-01 1.05812631e-01 2.22202515e+02] [-6.68535246e-01 7.37405473e-01 -9.64043221e-02 -1.21188738e+02] [-1.43143135e-01 -3.86067671e-04 9.89701922e-01 -3.01193171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters 0.028618018516864772 Centerline is valid? [True, True] Translation: X:222.25, Y:-121.23, Z:-30.13 [[ 7.30064928e-01 6.75161542e-01 1.05650809e-01 2.22250961e+02] [-6.68251342e-01 7.37669862e-01 -9.63499825e-02 -1.21228923e+02] [-1.42987220e-01 -2.59551782e-04 9.89724501e-01 -3.01273784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters 0.028901182449996458 Centerline is valid? [True, True] Translation: X:222.30, Y:-121.27, Z:-30.14 [[ 7.29983788e-01 6.74926306e-01 1.07694711e-01 2.22299938e+02] [-6.67726782e-01 7.37885128e-01 -9.83182709e-02 -1.21267115e+02] [-1.45823913e-01 -1.39899175e-04 9.89310551e-01 -3.01363562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters 0.02878189529619839 Centerline is valid? [True, True] Translation: X:222.35, Y:-121.31, Z:-30.14 [[ 7.29433562e-01 6.75503287e-01 1.07805330e-01 2.22349222e+02] [-6.68281061e-01 7.37356953e-01 -9.85147102e-02 -1.21305648e+02] [-1.46038020e-01 -1.84324596e-04 9.89278961e-01 -3.01435271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters 0.028440027749656552 Centerline is valid? [True, True] Translation: X:222.40, Y:-121.34, Z:-30.15 [[ 7.28949984e-01 6.76323221e-01 1.05918938e-01 2.22397921e+02] [-6.69347223e-01 7.36604933e-01 -9.68889401e-02 -1.21343686e+02] [-1.43548653e-01 -2.69356019e-04 9.89643224e-01 -3.01505102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters 0.028743371150196206 Centerline is valid? [True, True] Translation: X:222.45, Y:-121.38, Z:-30.16 [[ 7.28641416e-01 6.76601636e-01 1.06263415e-01 2.22446836e+02] [-6.69569335e-01 7.36349211e-01 -9.72971994e-02 -1.21383523e+02] [-1.44078426e-01 -2.55954664e-04 9.89566239e-01 -3.01582004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters 0.028571504786826622 Centerline is valid? [True, True] Translation: X:222.50, Y:-121.42, Z:-30.17 [[ 7.29214829e-01 6.76101715e-01 1.05509259e-01 2.22495529e+02] [-6.69149777e-01 7.36808295e-01 -9.67063209e-02 -1.21421351e+02] [-1.43123407e-01 -8.18141305e-05 9.89704847e-01 -3.01650620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters 0.028559787630486166 Centerline is valid? [True, True] Translation: X:222.54, Y:-121.46, Z:-30.18 [[ 7.29459420e-01 6.75655091e-01 1.06673110e-01 2.22543459e+02] [-6.68530029e-01 7.37217873e-01 -9.78642326e-02 -1.21459643e+02] [-1.44763791e-01 7.38087191e-05 9.89466240e-01 -3.01750011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters 0.028682772523093796 Centerline is valid? [True, True] Translation: X:222.59, Y:-121.50, Z:-30.18 [[ 7.30025458e-01 6.74938859e-01 1.07332977e-01 2.22589256e+02] [-6.67703733e-01 7.37873604e-01 -9.85609955e-02 -1.21500597e+02] [-1.45720816e-01 2.85406409e-04 9.89325711e-01 -3.01826267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters 0.028434092809402466 Centerline is valid? [True, True] Translation: X:222.63, Y:-121.54, Z:-30.19 [[ 7.31517966e-01 6.73476809e-01 1.06350616e-01 2.22633652e+02] [-6.66345822e-01 7.39208076e-01 -9.77479702e-02 -1.21543456e+02] [-1.44446225e-01 6.38107660e-04 9.89512446e-01 -3.01904226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters 0.028253772668388372 Centerline is valid? [True, True] Translation: X:222.68, Y:-121.59, Z:-30.20 [[ 7.31631031e-01 6.73279103e-01 1.06823607e-01 2.22676574e+02] [-6.66068864e-01 7.39388051e-01 -9.82729789e-02 -1.21588476e+02] [-1.45149242e-01 7.47682174e-04 9.89409490e-01 -3.01976133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters 0.028229456969775326 Centerline is valid? [True, True] Translation: X:222.72, Y:-121.64, Z:-30.21 [[ 7.27892893e-01 6.77435524e-01 1.06080383e-01 2.22717414e+02] [-6.70356490e-01 7.35582158e-01 -9.76783739e-02 -1.21635796e+02] [-1.44201637e-01 -1.22788527e-05 9.89548325e-01 -3.02060026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters 0.02811601318960831 Centerline is valid? [True, True] Translation: X:222.76, Y:-121.68, Z:-30.21 [[ 7.25427732e-01 6.79922929e-01 1.07048664e-01 2.22761853e+02] [-6.72726838e-01 7.33283447e-01 -9.86609743e-02 -1.21679206e+02] [-1.45578872e-01 -4.43102577e-04 9.89346550e-01 -3.02133319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters 0.02805322573901617 Centerline is valid? [True, True] Translation: X:222.81, Y:-121.72, Z:-30.22 [[ 7.24217927e-01 6.81312500e-01 1.06403346e-01 2.22805124e+02] [-6.74205042e-01 7.31992386e-01 -9.81565483e-02 -1.21722946e+02] [-1.44761723e-01 -6.50940577e-04 9.89466331e-01 -3.02211468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters 0.028173722697120526 Centerline is valid? [True, True] Translation: X:222.85, Y:-121.77, Z:-30.23 [[ 7.24785953e-01 6.80590599e-01 1.07152976e-01 2.22848934e+02] [-6.73360710e-01 7.32663798e-01 -9.89399468e-02 -1.21766105e+02] [-1.45844704e-01 -4.42320131e-04 9.89307398e-01 -3.02291787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters 0.02829006182278746 Centerline is valid? [True, True] Translation: X:222.89, Y:-121.81, Z:-30.24 [[ 7.24251745e-01 6.81056540e-01 1.07802591e-01 2.22893338e+02] [-6.73729625e-01 7.32230679e-01 -9.96324549e-02 -1.21809292e+02] [-1.46791699e-01 -4.70819730e-04 9.89167314e-01 -3.02373371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters 0.027966119030239475 Centerline is valid? [True, True] Translation: X:222.94, Y:-121.85, Z:-30.24 [[ 7.23244173e-01 6.82275414e-01 1.06855634e-01 2.22935414e+02] [-6.75077162e-01 7.31094963e-01 -9.88482698e-02 -1.21854353e+02] [-1.45563360e-01 -6.44362794e-04 9.89348722e-01 -3.02436273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters 0.02789628563973596 Centerline is valid? [True, True] Translation: X:222.98, Y:-121.90, Z:-30.25 [[ 7.24532469e-01 6.81049943e-01 1.05941850e-01 2.22980217e+02] [-6.73948727e-01 7.32236893e-01 -9.80930479e-02 -1.21897494e+02] [-1.44380796e-01 -3.27776674e-04 9.89522146e-01 -3.02506638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters 0.0278850936198628 Centerline is valid? [True, True] Translation: X:223.03, Y:-121.94, Z:-30.26 [[ 7.28399558e-01 6.77069162e-01 1.04935380e-01 2.23025382e+02] [-6.70048634e-01 7.35919203e-01 -9.72509882e-02 -1.21938695e+02] [-1.43069607e-01 5.25768595e-04 9.89712489e-01 -3.02595936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters 0.028123882256192254 Centerline is valid? [True, True] Translation: X:223.07, Y:-121.98, Z:-30.27 [[ 7.29003588e-01 6.76299333e-01 1.05702320e-01 2.23069635e+02] [-6.69153901e-01 7.36626533e-01 -9.80530825e-02 -1.21981618e+02] [-1.44176368e-01 7.49929152e-04 9.89551723e-01 -3.02664221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters 0.02818110432424333 Centerline is valid? [True, True] Translation: X:223.11, Y:-122.02, Z:-30.28 [[ 7.28882312e-01 6.76273301e-01 1.06700499e-01 2.23114747e+02] [-6.68977827e-01 7.36650346e-01 -9.90703519e-02 -1.22023759e+02] [-1.45599593e-01 8.30359137e-04 9.89343251e-01 -3.02759287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters 0.028162263331208276 Centerline is valid? [True, True] Translation: X:223.16, Y:-122.07, Z:-30.28 [[ 7.27762307e-01 6.77431587e-01 1.06997523e-01 2.23158947e+02] [-6.70093753e-01 7.35585478e-01 -9.94402698e-02 -1.22068051e+02] [-1.46069804e-01 6.70508499e-04 9.89274059e-01 -3.02838206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters 0.028311773708449013 Centerline is valid? [True, True] Translation: X:223.20, Y:-122.11, Z:-30.29 [[ 7.25452919e-01 6.80027260e-01 1.06211994e-01 2.23203684e+02] [-6.72810208e-01 7.33186795e-01 -9.88106699e-02 -1.22110258e+02] [-1.45067180e-01 2.21975382e-04 9.89421783e-01 -3.02910486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters 0.028209841541387472 Centerline is valid? [True, True] Translation: X:223.25, Y:-122.15, Z:-30.30 [[ 7.21747259e-01 6.84079262e-01 1.05434613e-01 2.23248592e+02] [-6.76997677e-01 7.29407495e-01 -9.81776523e-02 -1.22152018e+02] [-1.44066093e-01 -5.19536407e-04 9.89567931e-01 -3.02982491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters 0.027994136413376756 Centerline is valid? [True, True] Translation: X:223.30, Y:-122.19, Z:-30.30 [[ 7.19842327e-01 6.86181766e-01 1.04793164e-01 2.23296667e+02] [-6.79195221e-01 7.27429607e-01 -9.76730133e-02 -1.22192691e+02] [-1.43251091e-01 -8.65846801e-04 9.89685998e-01 -3.03044594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters 0.02798711170114886 Centerline is valid? [True, True] Translation: X:223.34, Y:-122.23, Z:-30.31 [[ 7.17535676e-01 6.88868598e-01 1.02968964e-01 2.23343392e+02] [-6.82137912e-01 7.24885061e-01 -9.60703800e-02 -1.22233764e+02] [-1.40820531e-01 -1.30510873e-03 9.90034280e-01 -3.03110832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters 0.02800552748538135 Centerline is valid? [True, True] Translation: X:223.39, Y:-122.27, Z:-30.32 [[ 7.17131262e-01 6.89266456e-01 1.03123736e-01 2.23392767e+02] [-6.82506367e-01 7.24506740e-01 -9.63070278e-02 -1.22272938e+02] [-1.41095046e-01 -1.31782602e-03 9.89995177e-01 -3.03187521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters 0.028058991259009017 Centerline is valid? [True, True] Translation: X:223.44, Y:-122.31, Z:-30.33 [[ 7.18363731e-01 6.88033026e-01 1.02781835e-01 2.23439553e+02] [-6.81291074e-01 7.25678689e-01 -9.60880498e-02 -1.22312975e+02] [-1.40698339e-01 -9.98177172e-04 9.90052009e-01 -3.03259408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters 0.027801072528259186 Centerline is valid? [True, True] Translation: X:223.49, Y:-122.35, Z:-30.34 [[ 7.19052868e-01 6.87350258e-01 1.02530947e-01 2.23490299e+02] [-6.80621395e-01 7.26325678e-01 -9.59454333e-02 -1.22350798e+02] [-1.40418978e-01 -7.94917385e-04 9.90091854e-01 -3.03351336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters 0.02759155435822199 Centerline is valid? [True, True] Translation: X:223.54, Y:-122.39, Z:-30.34 [[ 7.20687566e-01 6.85729066e-01 1.01907214e-01 2.23539455e+02] [-6.79053288e-01 7.27856772e-01 -9.54523513e-02 -1.22389412e+02] [-1.39628308e-01 -4.09106167e-04 9.90203902e-01 -3.03421256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters 0.027591898829518187 Centerline is valid? [True, True] Translation: X:223.59, Y:-122.43, Z:-30.35 [[ 7.22103391e-01 6.84354903e-01 1.01119034e-01 2.23586596e+02] [-6.77761186e-01 7.29149064e-01 -9.47703459e-02 -1.22428662e+02] [-1.38587400e-01 -1.00568148e-04 9.90350202e-01 -3.03508766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters 0.027480681838185198 Centerline is valid? [True, True] Translation: X:223.63, Y:-122.47, Z:-30.36 [[ 7.23876062e-01 6.82536433e-01 1.00734623e-01 2.23634097e+02] [-6.75962853e-01 7.30851503e-01 -9.45002767e-02 -1.22469426e+02] [-1.38121933e-01 3.13624704e-04 9.90415182e-01 -3.03580864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters 0.027516989791399892 Centerline is valid? [True, True] Translation: X:223.68, Y:-122.51, Z:-30.36 [[ 7.25195372e-01 6.81221620e-01 1.00143782e-01 2.23679640e+02] [-6.74699006e-01 7.32076978e-01 -9.40454652e-02 -1.22513118e+02] [-1.37378761e-01 6.34426252e-04 9.90518386e-01 -3.03645630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters 0.027476377537733285 Centerline is valid? [True, True] Translation: X:223.72, Y:-122.56, Z:-30.37 [[ 7.25256797e-01 6.81183781e-01 9.99561629e-02 2.23724934e+02] [-6.74671596e-01 7.32112113e-01 -9.39685651e-02 -1.22556128e+02] [-1.37188980e-01 7.13756557e-04 9.90544635e-01 -3.03715214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters 0.027589448682473892 Centerline is valid? [True, True] Translation: X:223.77, Y:-122.60, Z:-30.38 [[ 7.25264512e-01 6.81342784e-01 9.88099050e-02 2.23767660e+02] [-6.74969617e-01 7.31964114e-01 -9.29760829e-02 -1.22601686e+02] [-1.35673888e-01 7.38569743e-04 9.90753274e-01 -3.03781765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters 0.027469496308004458 Centerline is valid? [True, True] Translation: X:223.81, Y:-122.65, Z:-30.39 [[ 7.21963836e-01 6.84981500e-01 9.78190397e-02 2.23810709e+02] [-6.78763791e-01 7.28560456e-01 -9.20835355e-02 -1.22645857e+02] [-1.34342602e-01 8.49603246e-05 9.90934941e-01 -3.03854914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters 0.027423734944897058 Centerline is valid? [True, True] Translation: X:223.85, Y:-122.69, Z:-30.39 [[ 7.16983841e-01 6.90366483e-01 9.65830789e-02 2.23854246e+02] [-6.84342631e-01 7.23459329e-01 -9.10041873e-02 -1.22689908e+02] [-1.32700170e-01 -8.47386654e-04 9.91155864e-01 -3.03913891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters 0.027888167280097187 Centerline is valid? [True, True] Translation: X:223.90, Y:-122.73, Z:-30.40 [[ 7.11164450e-01 6.96201664e-01 9.77157529e-02 2.23899070e+02] [-6.90077744e-01 7.17843759e-01 -9.21577186e-02 -1.22732305e+02] [-1.34305000e-01 -1.89217307e-03 9.90938235e-01 -3.03977147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters 0.028102816259789307 Centerline is valid? [True, True] Translation: X:223.95, Y:-122.77, Z:-30.41 [[ 7.07282353e-01 7.00350441e-01 9.62337415e-02 2.23946871e+02] [-6.94438490e-01 7.13794523e-01 -9.08436127e-02 -1.22771907e+02] [-1.32313482e-01 -2.57633005e-03 9.91204573e-01 -3.04057019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters 0.02845886372431827 Centerline is valid? [True, True] Translation: X:224.00, Y:-122.81, Z:-30.41 [[ 7.03709647e-01 7.03899389e-01 9.65317698e-02 2.23996645e+02] [-6.97972309e-01 7.10292520e-01 -9.12095987e-02 -1.22808685e+02] [-1.32768175e-01 -3.19142782e-03 9.91141981e-01 -3.04122937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters 0.028582355780011108 Centerline is valid? [True, True] Translation: X:224.05, Y:-122.85, Z:-30.42 [[ 7.00495298e-01 7.07033948e-01 9.70017212e-02 2.24047223e+02] [-7.01067520e-01 7.07169693e-01 -9.17352596e-02 -1.22845796e+02] [-1.33456620e-01 -3.74463811e-03 9.91047581e-01 -3.04189608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters 0.028231644945003024 Centerline is valid? [True, True] Translation: X:224.10, Y:-122.88, Z:-30.43 [[ 7.04269835e-01 7.03460253e-01 9.56434670e-02 2.24098913e+02] [-6.97617771e-01 7.10728398e-01 -9.05239713e-02 -1.22880583e+02] [-1.31656544e-01 -2.96928003e-03 9.91290945e-01 -3.04253824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters 0.027639343266872875 Centerline is valid? [True, True] Translation: X:224.15, Y:-122.92, Z:-30.43 [[ 7.10069858e-01 6.97449305e-01 9.67742946e-02 2.24148665e+02] [-6.91407231e-01 7.16631734e-01 -9.16242284e-02 -1.22917756e+02] [-1.33254785e-01 -1.85084419e-03 9.91080086e-01 -3.04337331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters 0.027350654081961828 Centerline is valid? [True, True] Translation: X:224.20, Y:-122.95, Z:-30.44 [[ 7.16723518e-01 6.90627312e-01 9.66504737e-02 2.24198287e+02] [-6.84526867e-01 7.23210656e-01 -9.15932098e-02 -1.22954719e+02] [-1.33155425e-01 -5.12838324e-04 9.91095036e-01 -3.04409058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters 0.02724949010082042 Centerline is valid? [True, True] Translation: X:224.24, Y:-123.00, Z:-30.45 [[ 7.20814735e-01 6.86569591e-01 9.51226256e-02 2.24242396e+02] [-6.80614898e-01 7.27064033e-01 -9.02288906e-02 -1.22998538e+02] [-1.31108652e-01 2.96437834e-04 9.91367961e-01 -3.04477511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters 0.027407715182589932 Centerline is valid? [True, True] Translation: X:224.29, Y:-123.04, Z:-30.45 [[ 7.22643055e-01 6.84480504e-01 9.62987775e-02 2.24288242e+02] [-6.78346980e-01 7.29030782e-01 -9.14302626e-02 -1.23040646e+02] [-1.32787005e-01 7.47459421e-04 9.91144315e-01 -3.04539112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters 0.0274828260286154 Centerline is valid? [True, True] Translation: X:224.33, Y:-123.09, Z:-30.46 [[ 7.21798071e-01 6.85265517e-01 9.70500687e-02 2.24327780e+02] [-6.79030749e-01 7.28293018e-01 -9.22308104e-02 -1.23089579e+02] [-1.33883481e-01 6.72040293e-04 9.90996853e-01 -3.04638176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters 0.027536274502808118 Centerline is valid? [True, True] Translation: X:224.37, Y:-123.14, Z:-30.47 [[ 7.17695824e-01 6.89552587e-01 9.71078454e-02 2.24369488e+02] [-6.83336005e-01 7.24235615e-01 -9.23833232e-02 -1.23136238e+02] [-1.34032120e-01 -5.41618774e-05 9.90976987e-01 -3.04703940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters 0.02773018704087878 Centerline is valid? [True, True] Translation: X:224.41, Y:-123.18, Z:-30.48 [[ 7.12897713e-01 6.94506207e-01 9.71492629e-02 2.24412155e+02] [-6.88316512e-01 7.19486134e-01 -9.25207150e-02 -1.23182317e+02] [-1.34153758e-01 -9.11635594e-04 9.90960109e-01 -3.04777082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters 0.02800700739231932 Centerline is valid? [True, True] Translation: X:224.46, Y:-123.23, Z:-30.48 [[ 7.09973095e-01 6.97666453e-01 9.59151934e-02 2.24456698e+02] [-6.91649500e-01 7.16421319e-01 -9.14410302e-02 -1.23226462e+02] [-1.32511029e-01 -1.41902431e-03 9.91180515e-01 -3.04822692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters 0.028185783814497236 Centerline is valid? [True, True] Translation: X:224.50, Y:-123.27, Z:-30.49 [[ 7.07282654e-01 7.00540526e-01 9.48378563e-02 2.24501250e+02] [-6.94671559e-01 7.13610182e-01 -9.05092997e-02 -1.23270332e+02] [-1.31082692e-01 -1.86550379e-03 9.91369683e-01 -3.04919300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters 0.028556805665406148 Centerline is valid? [True, True] Translation: X:224.55, Y:-123.31, Z:-30.50 [[ 7.05030908e-01 7.02715413e-01 9.55116122e-02 2.24546555e+02] [-6.96769394e-01 7.11467593e-01 -9.12484304e-02 -1.23312953e+02] [-1.32075095e-01 -2.21660442e-03 9.91237235e-01 -3.04989025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters 0.028712061246464055 Centerline is valid? [True, True] Translation: X:224.59, Y:-123.35, Z:-30.50 [[ 7.02106489e-01 7.05542699e-01 9.62079928e-02 2.24592852e+02] [-6.99524158e-01 7.08662242e-01 -9.19988047e-02 -1.23353506e+02] [-1.33088057e-01 -2.70685728e-03 9.91100521e-01 -3.05040552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters 0.029131435254949718 Centerline is valid? [True, True] Translation: X:224.64, Y:-123.39, Z:-30.51 [[ 7.00335310e-01 7.07313171e-01 9.61172766e-02 2.24638815e+02] [-7.01311787e-01 7.06894038e-01 -9.19923712e-02 -1.23394268e+02] [-1.33012146e-01 -2.98267321e-03 9.91109920e-01 -3.05122752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters 0.028877434480077947 Centerline is valid? [True, True] Translation: X:224.69, Y:-123.43, Z:-30.52 [[ 6.99416377e-01 7.08406220e-01 9.47489293e-02 2.24687608e+02] [-7.02573842e-01 7.05798216e-01 -9.07682474e-02 -1.23434415e+02] [-1.31174416e-01 -3.08332053e-03 9.91354511e-01 -3.05182961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters 0.028932001294545776 Centerline is valid? [True, True] Translation: X:224.74, Y:-123.47, Z:-30.52 [[ 6.99611711e-01 7.08325155e-01 9.39091571e-02 2.24735043e+02] [-7.02583108e-01 7.05880041e-01 -9.00574518e-02 -1.23473958e+02] [-1.30078558e-01 -2.97373952e-03 9.91499231e-01 -3.05249279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters 0.028959539194580847 Centerline is valid? [True, True] Translation: X:224.79, Y:-123.51, Z:-30.53 [[ 6.99242750e-01 7.08731840e-01 9.35882284e-02 2.24787316e+02] [-7.03021564e-01 7.05471694e-01 -8.98352365e-02 -1.23509660e+02] [-1.29692938e-01 -2.97790490e-03 9.91549733e-01 -3.05315074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters 0.02903503301300338 Centerline is valid? [True, True] Translation: X:224.84, Y:-123.55, Z:-30.54 [[ 6.98390344e-01 7.09680563e-01 9.27600426e-02 2.24838810e+02] [-7.04067277e-01 7.04516960e-01 -8.91354150e-02 -1.23546538e+02] [-1.28608695e-01 -3.05799742e-03 9.91690704e-01 -3.05370527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters 0.028862084037455965 Centerline is valid? [True, True] Translation: X:224.89, Y:-123.58, Z:-30.55 [[ 6.99932020e-01 7.07986483e-01 9.40760719e-02 2.24891110e+02] [-7.02185239e-01 7.06220734e-01 -9.04884799e-02 -1.23581768e+02] [-1.30503093e-01 -2.72304459e-03 9.91444163e-01 -3.05455495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters 0.028187376808149922 Centerline is valid? [True, True] Translation: X:224.94, Y:-123.62, Z:-30.55 [[ 7.05340931e-01 7.02899275e-01 9.17974949e-02 2.24940973e+02] [-6.97330046e-01 7.11287333e-01 -8.83240454e-02 -1.23618673e+02] [-1.27377303e-01 -1.71458687e-03 9.91852853e-01 -3.05515018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters 0.028042937626681457 Centerline is valid? [True, True] Translation: X:224.99, Y:-123.66, Z:-30.56 [[ 7.12142287e-01 6.96029358e-01 9.16323963e-02 2.24989715e+02] [-6.90419720e-01 7.18013176e-01 -8.81912083e-02 -1.23657640e+02] [-1.27176938e-01 -4.60124701e-04 9.91879940e-01 -3.05592122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters 0.028031059457255342 Centerline is valid? [True, True] Translation: X:225.04, Y:-123.70, Z:-30.57 [[ 7.16118337e-01 6.92076301e-01 9.05810133e-02 2.25036647e+02] [-6.86553194e-01 7.21824288e-01 -8.72605762e-02 -1.23698163e+02] [-1.25774552e-01 3.00214763e-04 9.92058805e-01 -3.05650213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters 0.027776414637528335 Centerline is valid? [True, True] Translation: X:225.08, Y:-123.74, Z:-30.57 [[ 7.15624064e-01 6.92854249e-01 8.85166010e-02 2.25081041e+02] [-6.87577881e-01 7.21077627e-01 -8.53446751e-02 -1.23742232e+02] [-1.22958761e-01 2.12646279e-04 9.92411758e-01 -3.05698594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters 0.02769309813147433 Centerline is valid? [True, True] Translation: X:225.13, Y:-123.79, Z:-30.58 [[ 7.13133552e-01 6.95381681e-01 8.87967056e-02 2.25125560e+02] [-6.90086889e-01 7.18640577e-01 -8.56493281e-02 -1.23786921e+02] [-1.23371890e-01 -1.98032783e-04 9.92360488e-01 -3.05753659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters 0.0276408389835742 Centerline is valid? [True, True] Translation: X:225.17, Y:-123.83, Z:-30.58 [[ 7.07993197e-01 7.00869466e-01 8.67618822e-02 2.25169605e+02] [-6.95845582e-01 7.13288766e-01 -8.37738748e-02 -1.23831389e+02] [-1.20600827e-01 -1.06153896e-03 9.92700516e-01 -3.05818041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters 0.02807823811242237 Centerline is valid? [True, True] Translation: X:225.22, Y:-123.87, Z:-30.59 [[ 7.04697232e-01 7.03959755e-01 8.85577443e-02 2.25215400e+02] [-6.98737887e-01 7.10238155e-01 -8.55986426e-02 -1.23872549e+02] [-1.23155088e-01 -1.55752465e-03 9.92386214e-01 -3.05880783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters 0.028384848470647324 Centerline is valid? [True, True] Translation: X:225.26, Y:-123.91, Z:-30.59 [[ 7.01229414e-01 7.07631599e-01 8.68033943e-02 2.25263917e+02] [-7.02633892e-01 7.06578446e-01 -8.39792380e-02 -1.23911084e+02] [-1.20759770e-01 -2.10229497e-03 9.92679535e-01 -3.05944076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters 0.02831776463090032 Centerline is valid? [True, True] Translation: X:225.31, Y:-123.95, Z:-30.60 [[ 7.00727607e-01 7.08077590e-01 8.72178184e-02 2.25312735e+02] [-7.03025452e-01 7.06131418e-01 -8.44608447e-02 -1.23951374e+02] [-1.21392073e-01 -2.13230063e-03 9.92602346e-01 -3.06010348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters 0.028046439806576878 Centerline is valid? [True, True] Translation: X:225.36, Y:-123.99, Z:-30.61 [[ 7.02908390e-01 7.05861784e-01 8.76295491e-02 2.25362847e+02] [-7.00733389e-01 7.08347567e-01 -8.49496472e-02 -1.23989108e+02] [-1.22034887e-01 -1.69313122e-03 9.92524367e-01 -3.06074878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters 0.027590622903575373 Centerline is valid? [True, True] Translation: X:225.41, Y:-124.03, Z:-30.61 [[ 7.10938098e-01 6.97864704e-01 8.69015260e-02 2.25412269e+02] [-6.92752327e-01 7.16229565e-01 -8.43174009e-02 -1.24027901e+02] [-1.21083580e-01 -2.56781764e-04 9.92642282e-01 -3.06133088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters 0.02756509337638859 Centerline is valid? [True, True] Translation: X:225.46, Y:-124.07, Z:-30.62 [[ 7.13878899e-01 6.94852229e-01 8.69327150e-02 2.25458028e+02] [-6.89709743e-01 7.19152488e-01 -8.43810972e-02 -1.24070401e+02] [-1.21150272e-01 2.79544284e-04 9.92634139e-01 -3.06204014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters 0.027637268987226557 Centerline is valid? [True, True] Translation: X:225.50, Y:-124.12, Z:-30.63 [[ 7.16259711e-01 6.92586050e-01 8.54200800e-02 2.25501043e+02] [-6.87595201e-01 7.21334911e-01 -8.29987095e-02 -1.24116707e+02] [-1.19100234e-01 7.14194533e-04 9.92881979e-01 -3.06254967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters 0.027455304824149093 Centerline is valid? [True, True] Translation: X:225.54, Y:-124.16, Z:-30.63 [[ 7.14702381e-01 6.94156380e-01 8.57171313e-02 2.25543721e+02] [-6.89131404e-01 7.19824042e-01 -8.33741901e-02 -1.24163038e+02] [-1.19575978e-01 5.17365115e-04 9.92824918e-01 -3.06322565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters 0.027329468435049815 Centerline is valid? [True, True] Translation: X:225.58, Y:-124.21, Z:-30.64 [[ 7.09620436e-01 6.99129022e-01 8.75068420e-02 2.25584541e+02] [-6.93917539e-01 7.14995485e-01 -8.52050768e-02 -1.24211204e+02] [-1.22136339e-01 -2.59268687e-04 9.92513298e-01 -3.06389799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters 0.02735287248329044 Centerline is valid? [True, True] Translation: X:225.63, Y:-124.26, Z:-30.65 [[ 7.03345436e-01 7.05585759e-01 8.63361704e-02 2.25626779e+02] [-7.00550852e-01 7.08623355e-01 -8.41513218e-02 -1.24257010e+02] [-1.20555801e-01 -1.29542958e-03 9.92705707e-01 -3.06454705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters 0.027327213162099573 Centerline is valid? [True, True] Translation: X:225.67, Y:-124.30, Z:-30.65 [[ 7.01563046e-01 7.07482492e-01 8.53101181e-02 2.25671433e+02] [-7.02571761e-01 7.06729177e-01 -8.32273432e-02 -1.24300646e+02] [-1.19173038e-01 -1.54725147e-03 9.92872294e-01 -3.06514307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters 0.027222576892784376 Centerline is valid? [True, True] Translation: X:225.72, Y:-124.34, Z:-30.66 [[ 7.03467330e-01 7.05587572e-01 8.53222932e-02 2.25717392e+02] [-7.00651014e-01 7.08621778e-01 -8.33266607e-02 -1.24341924e+02] [-1.19255491e-01 -1.16356775e-03 9.92862918e-01 -3.06592288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters 0.027142970069884677 Centerline is valid? [True, True] Translation: X:225.76, Y:-124.39, Z:-30.67 [[ 7.04546126e-01 7.04338627e-01 8.67286280e-02 2.25762661e+02] [-6.99217949e-01 7.09863559e-01 -8.47820010e-02 -1.24385916e+02] [-1.21280731e-01 -9.09382996e-04 9.92617830e-01 -3.06662986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters 0.02732224051553407 Centerline is valid? [True, True] Translation: X:225.81, Y:-124.43, Z:-30.67 [[ 7.02827152e-01 7.05740118e-01 8.92461782e-02 2.25807293e+02] [-7.00316082e-01 7.08469926e-01 -8.73369821e-02 -1.24428939e+02] [-1.24865445e-01 -1.11773152e-03 9.92173055e-01 -3.06724091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters 0.027104491255942293 Centerline is valid? [True, True] Translation: X:225.85, Y:-124.47, Z:-30.68 [[ 7.02767193e-01 7.05898096e-01 8.84655310e-02 2.25850473e+02] [-7.00560171e-01 7.08312583e-01 -8.66529427e-02 -1.24474165e+02] [-1.23829396e-01 -1.07858211e-03 9.92302936e-01 -3.06776084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters 0.027139909443662964 Centerline is valid? [True, True] Translation: X:225.89, Y:-124.52, Z:-30.69 [[ 7.05446062e-01 7.03127942e-01 8.92017394e-02 2.25892652e+02] [-6.97666527e-01 7.11063160e-01 -8.74677080e-02 -1.24520639e+02] [-1.24929060e-01 -5.29317565e-04 9.92165535e-01 -3.06854704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters 0.026983923257895493 Centerline is valid? [True, True] Translation: X:225.94, Y:-124.57, Z:-30.69 [[ 7.06510072e-01 7.02021555e-01 8.94944433e-02 2.25935957e+02] [-6.96503373e-01 7.12155647e-01 -8.78486551e-02 -1.24565604e+02] [-1.25405623e-01 -2.67221957e-04 9.92105518e-01 -3.06920950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters 0.026877918142513595 Centerline is valid? [True, True] Translation: X:225.98, Y:-124.61, Z:-30.70 [[ 7.06315097e-01 7.02169121e-01 8.98749641e-02 2.25976758e+02] [-6.96592939e-01 7.12010164e-01 -8.83164941e-02 -1.24613456e+02] [-1.26005003e-01 -2.26992216e-04 9.92029580e-01 -3.06990999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters 0.026968135237863757 Centerline is valid? [True, True] Translation: X:226.02, Y:-124.66, Z:-30.71 [[ 7.04602030e-01 7.03643849e-01 9.17677075e-02 2.26018604e+02] [-6.97829305e-01 7.10552705e-01 -9.02724475e-02 -1.24659104e+02] [-1.28725445e-01 -4.32045780e-04 9.91680177e-01 -3.07067478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters 0.027056585637288237 Centerline is valid? [True, True] Translation: X:226.06, Y:-124.71, Z:-30.71 [[ 7.04408374e-01 7.04183477e-01 8.90756583e-02 2.26058914e+02] [-6.98701289e-01 7.10017900e-01 -8.76988627e-02 -1.24707084e+02] [-1.25001402e-01 -4.61464030e-04 9.92156458e-01 -3.07129137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters 0.027337835767050674 Centerline is valid? [True, True] Translation: X:226.10, Y:-124.75, Z:-30.72 [[ 7.04576646e-01 7.03787617e-01 9.08556012e-02 2.26100383e+02] [-6.98075191e-01 7.10410340e-01 -8.94884164e-02 -1.24753598e+02] [-1.27525598e-01 -3.72592910e-04 9.91835210e-01 -3.07210654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters 0.027279230186051506 Centerline is valid? [True, True] Translation: X:226.14, Y:-124.80, Z:-30.73 [[ 7.04558523e-01 7.03763713e-01 9.11807237e-02 2.26143289e+02] [-6.97998796e-01 7.10434052e-01 -8.98951565e-02 -1.24799814e+02] [-1.28042840e-01 -3.07636688e-04 9.91768590e-01 -3.07285847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters 0.027348185832012036 Centerline is valid? [True, True] Translation: X:226.19, Y:-124.84, Z:-30.74 [[ 7.04503799e-01 7.03864333e-01 9.08262026e-02 2.26187308e+02] [-6.98132964e-01 7.10334383e-01 -8.96405519e-02 -1.24844105e+02] [-1.27611762e-01 -2.56656747e-04 9.91824164e-01 -3.07350715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters 0.027584465832087724 Centerline is valid? [True, True] Translation: X:226.23, Y:-124.89, Z:-30.74 [[ 7.03406057e-01 7.04968332e-01 9.07720714e-02 2.26229832e+02] [-6.99240704e-01 7.09238676e-01 -8.96824280e-02 -1.24889478e+02] [-1.27602335e-01 -3.88364067e-04 9.91825334e-01 -3.07428077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters 0.027804970459385535 Centerline is valid? [True, True] Translation: X:226.27, Y:-124.93, Z:-30.75 [[ 7.01981427e-01 7.06125557e-01 9.27834762e-02 2.26273290e+02] [-7.00137280e-01 7.08086439e-01 -9.17681020e-02 -1.24933762e+02] [-1.30498523e-01 -5.41667440e-04 9.91448356e-01 -3.07489769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters 0.028046374952947664 Centerline is valid? [True, True] Translation: X:226.32, Y:-124.98, Z:-30.76 [[ 7.00300288e-01 7.07730035e-01 9.32614855e-02 2.26317128e+02] [-7.01682137e-01 7.06482545e-01 -9.23287175e-02 -1.24977913e+02] [-1.31231418e-01 -7.82091097e-04 9.91351453e-01 -3.07568613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters 0.028282915687986878 Centerline is valid? [True, True] Translation: X:226.36, Y:-125.02, Z:-30.76 [[ 6.96894928e-01 7.11169763e-01 9.26014473e-02 2.26362173e+02] [-7.05224891e-01 7.03019024e-01 -9.17720323e-02 -1.25021513e+02] [-1.30366074e-01 -1.34938178e-03 9.91465010e-01 -3.07629085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters 0.028630589613097206 Centerline is valid? [True, True] Translation: X:226.41, Y:-125.06, Z:-30.77 [[ 6.92529426e-01 7.15522937e-01 9.18146068e-02 2.26407222e+02] [-7.09704682e-01 6.98586140e-01 -9.10860536e-02 -1.25064040e+02] [-1.29314572e-01 -2.08148399e-03 9.91601436e-01 -3.07676612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters 0.029497739957600154 Centerline is valid? [True, True] Translation: X:226.45, Y:-125.11, Z:-30.77 [[ 6.87920520e-01 7.19984378e-01 9.15852264e-02 2.26452965e+02] [-7.14223551e-01 6.93984411e-01 -9.09414967e-02 -1.25105073e+02] [-1.29035176e-01 -2.85180395e-03 9.91635916e-01 -3.07745908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters 0.029752667408816574 Centerline is valid? [True, True] Translation: X:226.50, Y:-125.14, Z:-30.78 [[ 6.84282506e-01 7.23616087e-01 9.02064921e-02 2.26501278e+02] [-7.18049470e-01 6.90194184e-01 -8.96490177e-02 -1.25144476e+02] [-1.27131468e-01 -3.42746937e-03 9.91879954e-01 -3.07794013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters 0.03059013265243904 Centerline is valid? [True, True] Translation: X:226.55, Y:-125.18, Z:-30.79 [[ 6.79913151e-01 7.27657553e-01 9.07336376e-02 2.26548894e+02] [-7.22050267e-01 6.85928043e-01 -9.02559284e-02 -1.25183832e+02] [-1.27912154e-01 -4.14805458e-03 9.91776827e-01 -3.07865765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters 0.030617634378372352 Centerline is valid? [True, True] Translation: X:226.59, Y:-125.23, Z:-30.79 [[ 6.78452749e-01 7.29080011e-01 9.02452524e-02 2.26594982e+02] [-7.23535645e-01 6.84414727e-01 -8.98479320e-02 -1.25225765e+02] [-1.27271511e-01 -4.33808049e-03 9.91858429e-01 -3.07929419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters 0.03137316761144712 Centerline is valid? [True, True] Translation: X:226.65, Y:-125.26, Z:-30.80 [[ 6.74180055e-01 7.33063341e-01 8.99966249e-02 2.26647137e+02] [-7.27574955e-01 6.80141840e-01 -8.96758733e-02 -1.25261061e+02] [-1.26948565e-01 -5.02160515e-03 9.91896590e-01 -3.07979693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters 0.03172529900019987 Centerline is valid? [True, True] Translation: X:226.70, Y:-125.30, Z:-30.80 [[ 6.72641291e-01 7.34287218e-01 9.15203545e-02 2.26699819e+02] [-7.28617606e-01 6.78818074e-01 -9.12272206e-02 -1.25296300e+02] [-1.29112653e-01 -5.32014615e-03 9.91615661e-01 -3.08041742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters 0.030805257374404493 Centerline is valid? [True, True] Translation: X:226.75, Y:-125.33, Z:-30.81 [[ 6.77391328e-01 7.29925211e-01 9.13792906e-02 2.26751273e+02] [-7.24223533e-01 6.83512689e-01 -9.11629199e-02 -1.25331481e+02] [-1.29001018e-01 -4.42606125e-03 9.91634584e-01 -3.08112807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters 0.029725869462079512 Centerline is valid? [True, True] Translation: X:226.80, Y:-125.37, Z:-30.82 [[ 6.86788252e-01 7.21322117e-01 8.95338006e-02 2.26799286e+02] [-7.15772761e-01 6.92594381e-01 -8.93441529e-02 -1.25368347e+02] [-1.26456521e-01 -2.72534108e-03 9.91968407e-01 -3.08181675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters 0.02886676093589472 Centerline is valid? [True, True] Translation: X:226.85, Y:-125.41, Z:-30.82 [[ 6.95215527e-01 7.13365719e-01 8.82310692e-02 2.26848099e+02] [-7.07912413e-01 7.00790834e-01 -8.80467126e-02 -1.25406710e+02] [-1.24641031e-01 -1.24842736e-03 9.92201116e-01 -3.08231794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters 0.028871708816729763 Centerline is valid? [True, True] Translation: X:226.89, Y:-125.45, Z:-30.83 [[ 6.97472409e-01 7.11263334e-01 8.73882681e-02 2.26892907e+02] [-7.05894656e-01 7.02925141e-01 -8.72294762e-02 -1.25448915e+02] [-1.23470539e-01 -8.46758543e-04 9.92347877e-01 -3.08303806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters 0.028692458498159403 Centerline is valid? [True, True] Translation: X:226.94, Y:-125.49, Z:-30.84 [[ 6.97584140e-01 7.11157371e-01 8.73588106e-02 2.26936770e+02] [-7.05781266e-01 7.03032433e-01 -8.72823150e-02 -1.25493407e+02] [-1.23487539e-01 -7.69453327e-04 9.92345825e-01 -3.08373059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters 0.028679827332291533 Centerline is valid? [True, True] Translation: X:226.85, Y:-125.90, Z:-28.91 [[ 7.53721372e-01 -6.53425913e-01 -7.02756673e-02 2.26852608e+02] [-6.49564791e-01 -7.56946431e-01 7.13980646e-02 -1.25904259e+02] [-9.98482611e-02 -8.16564808e-03 -9.94969169e-01 -2.89102490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters 0.028814170222494506 Centerline is valid? [True, True] Translation: X:226.97, Y:-125.54, Z:-30.84 [[ 7.51297168e-01 6.53498498e-01 9.21535633e-02 2.26966678e+02] [-6.48605694e-01 7.56927787e-01 -7.98184086e-02 -1.25540516e+02] [-1.21914803e-01 1.96018411e-04 9.92540550e-01 -3.08439306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters 0.02877664824515952 Centerline is valid? [True, True] Translation: X:227.02, Y:-125.58, Z:-30.85 [[ 7.52384320e-01 6.52226986e-01 9.22918962e-02 2.27015301e+02] [-6.47299432e-01 7.58023575e-01 -8.00231600e-02 -1.25580218e+02] [-1.22152698e-01 4.67678858e-04 9.92511209e-01 -3.08491376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters 0.028615111630903998 Centerline is valid? [True, True] Translation: X:227.06, Y:-125.62, Z:-30.86 [[ 7.51095086e-01 6.53795892e-01 9.16902568e-02 2.27063028e+02] [-6.48934086e-01 7.56670904e-01 -7.95845198e-02 -1.25620570e+02] [-1.21411382e-01 2.74608834e-04 9.92602237e-01 -3.08554825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters 0.02854693845874618 Centerline is valid? [True, True] Translation: X:227.11, Y:-125.66, Z:-30.86 [[ 7.49682753e-01 6.55001297e-01 9.45995233e-02 2.27109027e+02] [-6.49823359e-01 7.55627738e-01 -8.21968592e-02 -1.25661576e+02] [-1.25321073e-01 1.48587746e-04 9.92116226e-01 -3.08627987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters 0.02808125656588764 Centerline is valid? [True, True] Translation: X:227.16, Y:-125.70, Z:-30.87 [[ 7.50634093e-01 6.54048094e-01 9.36458772e-02 2.27155989e+02] [-6.48957565e-01 7.56452880e-01 -8.14439636e-02 -1.25703689e+02] [-1.24106963e-01 3.62415336e-04 9.92268779e-01 -3.08685634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters 0.028201513763801544 Centerline is valid? [True, True] Translation: X:227.20, Y:-125.74, Z:-30.87 [[ 7.51963709e-01 6.52380137e-01 9.46083348e-02 2.27202282e+02] [-6.47160001e-01 7.57891583e-01 -8.23667433e-02 -1.25744643e+02] [-1.25437288e-01 7.10071691e-04 9.92101297e-01 -3.08748414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters 0.028034944951515196 Centerline is valid? [True, True] Translation: X:227.25, Y:-125.79, Z:-30.88 [[ 7.53645257e-01 6.50522959e-01 9.40143925e-02 2.27246084e+02] [-6.45344437e-01 7.59485834e-01 -8.19257295e-02 -1.25790237e+02] [-1.24697167e-01 1.07127229e-03 9.92194270e-01 -3.08825218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters 0.028232496657916703 Centerline is valid? [True, True] Translation: X:227.29, Y:-125.84, Z:-30.89 [[ 7.56057792e-01 6.47483359e-01 9.56133589e-02 2.27288102e+02] [-6.42091055e-01 7.62077765e-01 -8.34059779e-02 -1.25836097e+02] [-1.26868798e-01 1.66725696e-03 9.91918106e-01 -3.08895540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters 0.028267473831364378 Centerline is valid? [True, True] Translation: X:227.33, Y:-125.88, Z:-30.90 [[ 7.58356140e-01 6.44953686e-01 9.45024169e-02 2.27331284e+02] [-6.39657558e-01 7.64218709e-01 -8.25104453e-02 -1.25881213e+02] [-1.25435931e-01 2.12311757e-03 9.92099450e-01 -3.08958575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters 0.02819037350311784 Centerline is valid? [True, True] Translation: X:227.37, Y:-125.93, Z:-30.90 [[ 7.59387385e-01 6.43747817e-01 9.44433565e-02 2.27366355e+02] [-6.38439840e-01 7.65234015e-01 -8.25316447e-02 -1.25934357e+02] [-1.25400835e-01 2.37708848e-03 9.92103311e-01 -3.09024039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters 0.028057895299563672 Centerline is valid? [True, True] Translation: X:227.41, Y:-125.98, Z:-30.91 [[ 7.59392168e-01 6.43699890e-01 9.47311295e-02 2.27407153e+02] [-6.38350132e-01 7.65274112e-01 -8.28531392e-02 -1.25982343e+02] [-1.25827838e-01 2.44639595e-03 9.92049077e-01 -3.09097112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters 0.028737760749870295 Centerline is valid? [True, True] Translation: X:227.44, Y:-126.03, Z:-30.92 [[ 7.61133024e-01 6.41563741e-01 9.52496006e-02 2.27442743e+02] [-6.36127626e-01 7.67064320e-01 -8.33904856e-02 -1.26034791e+02] [-1.26562882e-01 2.88035013e-03 9.91954404e-01 -3.09182507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters 0.02871682664794371 Centerline is valid? [True, True] Translation: X:227.48, Y:-126.09, Z:-30.92 [[ 7.60570831e-01 6.42080456e-01 9.62533095e-02 2.27478370e+02] [-6.36522843e-01 7.66631836e-01 -8.43463057e-02 -1.26088653e+02] [-1.27947966e-01 2.88390963e-03 9.91776689e-01 -3.09240160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters 0.028367679279562484 Centerline is valid? [True, True] Translation: X:227.51, Y:-126.14, Z:-30.93 [[ 7.60217804e-01 6.42963501e-01 9.30957961e-02 2.27513001e+02] [-6.37763216e-01 7.65892052e-01 -8.16544216e-02 -1.26142411e+02] [-1.23802143e-01 2.70207068e-03 9.92303244e-01 -3.09308409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters 0.027756649918610772 Centerline is valid? [True, True] Translation: X:227.55, Y:-126.20, Z:-30.94 [[ 7.55936435e-01 6.47758748e-01 9.47032813e-02 2.27547278e+02] [-6.42404988e-01 7.61842884e-01 -8.31339391e-02 -1.26197775e+02] [-1.25999757e-01 2.00611325e-03 9.92028244e-01 -3.09378597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters 0.027198791224411965 Centerline is valid? [True, True] Translation: X:227.58, Y:-126.25, Z:-30.94 [[ 7.48971616e-01 6.55754059e-01 9.50164872e-02 2.27582804e+02] [-6.50423918e-01 7.54974259e-01 -8.34421702e-02 -1.26250924e+02] [-1.26452544e-01 6.94821300e-04 9.91972415e-01 -3.09441562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters 0.026928663570805766 Centerline is valid? [True, True] Translation: X:227.62, Y:-126.30, Z:-30.95 [[ 7.44349156e-01 6.61020824e-01 9.48462140e-02 2.27621839e+02] [-6.55742334e-01 7.50367544e-01 -8.33698985e-02 -1.26300579e+02] [-1.26278760e-01 -1.38364212e-04 9.91994786e-01 -3.09491289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters 0.02708672113242836 Centerline is valid? [True, True] Translation: X:227.66, Y:-126.35, Z:-30.96 [[ 7.42082169e-01 6.63589547e-01 9.46729516e-02 2.27663641e+02] [-6.58340987e-01 7.48096685e-01 -8.32976349e-02 -1.26348239e+02] [-1.26099961e-01 -5.13394769e-04 9.92017407e-01 -3.09569532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters 0.027108749586721118 Centerline is valid? [True, True] Translation: X:227.71, Y:-126.40, Z:-30.96 [[ 7.40259934e-01 6.65610501e-01 9.47517369e-02 2.27706198e+02] [-6.60358021e-01 7.46298893e-01 -8.34580443e-02 -1.26395531e+02] [-1.26263667e-01 -7.89423133e-04 9.91996403e-01 -3.09631594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters 0.027607012949192326 Centerline is valid? [True, True] Translation: X:227.75, Y:-126.44, Z:-30.97 [[ 7.36830412e-01 6.69110489e-01 9.68095903e-02 2.27749010e+02] [-6.63644135e-01 7.43161716e-01 -8.53646635e-02 -1.26440436e+02] [-1.29063573e-01 -1.34783666e-03 9.91635406e-01 -3.09700043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters 0.027841760089536646 Centerline is valid? [True, True] Translation: X:227.79, Y:-126.48, Z:-30.98 [[ 7.33847336e-01 6.72427743e-01 9.64832471e-02 2.27793630e+02] [-6.67016157e-01 7.40160429e-01 -8.51585904e-02 -1.26483931e+02] [-1.28676080e-01 -1.86247991e-03 9.91684929e-01 -3.09766571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters 0.027961588944546215 Centerline is valid? [True, True] Translation: X:227.84, Y:-126.53, Z:-30.98 [[ 7.31605684e-01 6.74967879e-01 9.57678672e-02 2.27838810e+02] [-6.69647824e-01 7.37843738e-01 -8.46073844e-02 -1.26526233e+02] [-1.27768988e-01 -2.23150057e-03 9.91801445e-01 -3.09827504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters 0.028085618014554795 Centerline is valid? [True, True] Translation: X:227.89, Y:-126.57, Z:-30.99 [[ 7.31553527e-01 6.75014112e-01 9.58404127e-02 2.27885104e+02] [-6.69675723e-01 7.37801596e-01 -8.47539382e-02 -1.26568800e+02] [-1.27921314e-01 -2.17995523e-03 9.91781924e-01 -3.09895094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters 0.02802026236030173 Centerline is valid? [True, True] Translation: X:227.93, Y:-126.61, Z:-31.00 [[ 7.31423022e-01 6.75148668e-01 9.58886796e-02 2.27931814e+02] [-6.69794063e-01 7.37678599e-01 -8.48893270e-02 -1.26609893e+02] [-1.28047943e-01 -2.13566022e-03 9.91765680e-01 -3.09963659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters 0.02813146662975809 Centerline is valid? [True, True] Translation: X:227.98, Y:-126.65, Z:-31.00 [[ 7.32359811e-01 6.74103612e-01 9.60907287e-02 2.27976905e+02] [-6.68705515e-01 7.38634384e-01 -8.51597419e-02 -1.26652056e+02] [-1.28382406e-01 -1.88882780e-03 9.91722940e-01 -3.10040821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters 0.028207087705280704 Centerline is valid? [True, True] Translation: X:228.02, Y:-126.70, Z:-31.01 [[ 7.32784810e-01 6.73685752e-01 9.57806303e-02 2.28020113e+02] [-6.68308648e-01 7.39015863e-01 -8.49653159e-02 -1.26696914e+02] [-1.28023328e-01 -1.74973063e-03 9.91769613e-01 -3.10123892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters 0.028372310682573447 Centerline is valid? [True, True] Translation: X:228.07, Y:-126.74, Z:-31.02 [[ 7.29780742e-01 6.76813981e-01 9.66586940e-02 2.28065569e+02] [-6.71353824e-01 7.36150623e-01 -8.58271701e-02 -1.26739332e+02] [-1.29244386e-01 -2.25716797e-03 9.91610203e-01 -3.10190619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters 0.029107882221612754 Centerline is valid? [True, True] Translation: X:228.11, Y:-126.78, Z:-31.03 [[ 7.26846179e-01 6.79844614e-01 9.74983756e-02 2.28110880e+02] [-6.74304876e-01 7.33351003e-01 -8.66558761e-02 -1.26781564e+02] [-1.30413062e-01 -2.75813755e-03 9.91455912e-01 -3.10250391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters 0.02947810051335372 Centerline is valid? [True, True] Translation: X:228.16, Y:-126.82, Z:-31.03 [[ 7.24552821e-01 6.82206048e-01 9.80720067e-02 2.28156973e+02] [-6.76611132e-01 7.31153230e-01 -8.72486635e-02 -1.26822163e+02] [-1.31227230e-01 -3.14034628e-03 9.91347342e-01 -3.10319998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters 0.029469543095024007 Centerline is valid? [True, True] Translation: X:228.21, Y:-126.86, Z:-31.04 [[ 7.23117211e-01 6.83610797e-01 9.88826444e-02 2.28207508e+02] [-6.77924545e-01 7.29839005e-01 -8.80530438e-02 -1.26858607e+02] [-1.32362422e-01 -3.36230028e-03 9.91195684e-01 -3.10384957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters 0.029025222932062465 Centerline is valid? [True, True] Translation: X:228.26, Y:-126.90, Z:-31.04 [[ 7.24773338e-01 6.81864127e-01 9.88176150e-02 2.28256482e+02] [-6.76158309e-01 7.31472780e-01 -8.80767482e-02 -1.26896260e+02] [-1.32338771e-01 -2.98067268e-03 9.91200063e-01 -3.10436402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters 0.029121539271238266 Centerline is valid? [True, True] Translation: X:228.30, Y:-126.94, Z:-31.05 [[ 7.25850627e-01 6.80598850e-01 9.96296757e-02 2.28304113e+02] [-6.74775219e-01 7.32651253e-01 -8.88850111e-02 -1.26935323e+02] [-1.33488843e-01 -2.71039517e-03 9.91046610e-01 -3.10508420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters 0.02885017139345122 Centerline is valid? [True, True] Translation: X:228.35, Y:-126.97, Z:-31.06 [[ 7.25039954e-01 6.81599126e-01 9.86898994e-02 2.28353445e+02] [-6.75883157e-01 7.31720417e-01 -8.81316527e-02 -1.26973615e+02] [-1.32283872e-01 -2.80387138e-03 9.91207907e-01 -3.10570520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters 0.02881027624773025 Centerline is valid? [True, True] Translation: X:228.40, Y:-127.01, Z:-31.06 [[ 7.24406874e-01 6.82571694e-01 9.65948384e-02 2.28402935e+02] [-6.77094460e-01 7.30813061e-01 -8.63444434e-02 -1.27011771e+02] [-1.29529043e-01 -2.85532155e-03 9.91571517e-01 -3.10638793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters 0.028772815039965993 Centerline is valid? [True, True] Translation: X:228.45, Y:-127.05, Z:-31.07 [[ 7.25055995e-01 6.81832379e-01 9.69454025e-02 2.28451129e+02] [-6.76302021e-01 7.31503477e-01 -8.67077899e-02 -1.27050809e+02] [-1.30036078e-01 -2.69636874e-03 9.91505597e-01 -3.10689818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters 0.02822678188781045 Centerline is valid? [True, True] Translation: X:228.50, Y:-127.09, Z:-31.08 [[ 7.27300022e-01 6.79473629e-01 9.66967715e-02 2.28501205e+02] [-6.73940327e-01 7.33696608e-01 -8.65662964e-02 -1.27088028e+02] [-1.29765609e-01 -2.20818449e-03 9.91542239e-01 -3.10766162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters 0.028128589150312893 Centerline is valid? [True, True] Translation: X:228.55, Y:-127.13, Z:-31.08 [[ 7.30080277e-01 6.76474438e-01 9.67735741e-02 2.28549142e+02] [-6.70895226e-01 7.36464343e-01 -8.67171679e-02 -1.27127241e+02] [-1.29932234e-01 -1.61443493e-03 9.91521562e-01 -3.10825140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters 0.02790665244815827 Centerline is valid? [True, True] Translation: X:228.60, Y:-127.17, Z:-31.09 [[ 7.32259099e-01 6.74202858e-01 9.61619362e-02 2.28595447e+02] [-6.68663971e-01 7.38545329e-01 -8.62513274e-02 -1.27167660e+02] [-1.29170840e-01 -1.14170281e-03 9.91621697e-01 -3.10890066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters 0.02802667962165131 Centerline is valid? [True, True] Translation: X:228.64, Y:-127.21, Z:-31.10 [[ 7.35842348e-01 6.70097078e-01 9.74984407e-02 2.28641272e+02] [-6.64354981e-01 7.42273384e-01 -8.75367522e-02 -1.27209607e+02] [-1.31028619e-01 -3.60325417e-04 9.91378521e-01 -3.10983528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters 0.027992759725352118 Centerline is valid? [True, True] Translation: X:228.69, Y:-127.25, Z:-31.10 [[ 7.35643246e-01 6.70348451e-01 9.72726541e-02 2.28686826e+02] [-6.64622554e-01 7.42046389e-01 -8.74300665e-02 -1.27252233e+02] [-1.30789431e-01 -3.32261941e-04 9.91410114e-01 -3.11045545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters 0.02781708632664048 Centerline is valid? [True, True] Translation: X:228.73, Y:-127.30, Z:-31.11 [[ 7.36650843e-01 6.69237983e-01 9.72936664e-02 2.28730587e+02] [-6.63487284e-01 7.43048126e-01 -8.75448846e-02 -1.27297646e+02] [-1.30882239e-01 -6.30974195e-05 9.91397920e-01 -3.11108063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters 0.027860180093915856 Centerline is valid? [True, True] Translation: X:228.77, Y:-127.34, Z:-31.12 [[ 7.36175763e-01 6.69973416e-01 9.58168439e-02 2.28773396e+02] [-6.64391010e-01 7.42385080e-01 -8.63074715e-02 -1.27342009e+02] [-1.28956707e-01 -1.22381023e-04 9.91650217e-01 -3.11187985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters 0.027963131505432556 Centerline is valid? [True, True] Translation: X:228.82, Y:-127.39, Z:-31.12 [[ 7.32547494e-01 6.73780503e-01 9.69226668e-02 2.28816975e+02] [-6.68089892e-01 7.38931181e-01 -8.73876720e-02 -1.27386578e+02] [-1.30499290e-01 -7.37433874e-04 9.91448128e-01 -3.11245612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters 0.028309218235182915 Centerline is valid? [True, True] Translation: X:228.86, Y:-127.43, Z:-31.13 [[ 7.28386744e-01 6.78028177e-01 9.86435121e-02 2.28860468e+02] [-6.72159873e-01 7.35034462e-01 -8.90249622e-02 -1.27430520e+02] [-1.32867814e-01 -1.45960822e-03 9.91132692e-01 -3.11320650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters 0.028379785294062213 Centerline is valid? [True, True] Translation: X:228.90, Y:-127.48, Z:-31.14 [[ 7.26619346e-01 6.79994945e-01 9.81386856e-02 2.28903151e+02] [-6.74193072e-01 7.33214722e-01 -8.86559256e-02 -1.27476241e+02] [-1.32242310e-01 -1.74531120e-03 9.91215882e-01 -3.11392249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters 0.02826354817521247 Centerline is valid? [True, True] Translation: X:228.95, Y:-127.52, Z:-31.15 [[ 7.25560410e-01 6.81026515e-01 9.88178999e-02 2.28947511e+02] [-6.75140299e-01 7.32256353e-01 -8.93655955e-02 -1.27518940e+02] [-1.33220375e-01 -1.87580836e-03 9.91084665e-01 -3.11456019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters 0.02845096555177161 Centerline is valid? [True, True] Translation: X:228.99, Y:-127.56, Z:-31.15 [[ 7.22684329e-01 6.84112924e-01 9.85741779e-02 2.28990612e+02] [-6.78272868e-01 7.29372242e-01 -8.92303128e-02 -1.27564303e+02] [-1.32940879e-01 -2.37484159e-03 9.91121124e-01 -3.11510040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters 0.02870181590677076 Centerline is valid? [True, True] Translation: X:229.03, Y:-127.61, Z:-31.16 [[ 7.20939327e-01 6.86107105e-01 9.74860404e-02 2.29034767e+02] [-6.80402589e-01 7.27495722e-01 -8.83305806e-02 -1.27608352e+02] [-1.31524916e-01 -2.64876500e-03 9.91309326e-01 -3.11592553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters 0.028555569733555095 Centerline is valid? [True, True] Translation: X:229.08, Y:-127.65, Z:-31.17 [[ 7.20228001e-01 6.86764995e-01 9.81094695e-02 2.29078785e+02] [-6.80980489e-01 7.26874442e-01 -8.89894325e-02 -1.27652485e+02] [-1.32428093e-01 -2.71795344e-03 9.91188889e-01 -3.11653570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters 0.02857087503005064 Centerline is valid? [True, True] Translation: X:229.12, Y:-127.70, Z:-31.17 [[ 7.20120022e-01 6.86909631e-01 9.78892898e-02 2.29124316e+02] [-6.81141254e-01 7.26737914e-01 -8.88740492e-02 -1.27695740e+02] [-1.32188299e-01 -2.67645142e-03 9.91221010e-01 -3.11721678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters 0.02863062661701144 Centerline is valid? [True, True] Translation: X:229.17, Y:-127.74, Z:-31.18 [[ 7.19239463e-01 6.87945803e-01 9.70832975e-02 2.29170970e+02] [-6.82269430e-01 7.25756760e-01 -8.82357621e-02 -1.27737683e+02] [-1.31160282e-01 -2.77432393e-03 9.91357294e-01 -3.11791543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters 0.02860122192402043 Centerline is valid? [True, True] Translation: X:229.22, Y:-127.78, Z:-31.19 [[ 7.18325471e-01 6.88972654e-01 9.65670717e-02 2.29217458e+02] [-6.83353660e-01 7.24781624e-01 -8.78599584e-02 -1.27780329e+02] [-1.30523148e-01 -2.87741594e-03 9.91441087e-01 -3.11853471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters 0.02873968905025286 Centerline is valid? [True, True] Translation: X:229.27, Y:-127.82, Z:-31.19 [[ 7.18960488e-01 6.88120814e-01 9.79058842e-02 2.29265298e+02] [-6.82324261e-01 7.25591127e-01 -8.91690453e-02 -1.27820085e+02] [-1.32398717e-01 -2.69453979e-03 9.91192877e-01 -3.11920894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters 0.02859400424522173 Centerline is valid? [True, True] Translation: X:229.31, Y:-127.86, Z:-31.20 [[ 7.20701419e-01 6.86378299e-01 9.73359901e-02 2.29312241e+02] [-6.80625063e-01 7.27241004e-01 -8.87132761e-02 -1.27859836e+02] [-1.31677591e-01 -2.31353043e-03 9.91289897e-01 -3.12013726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters 0.028241895980778548 Centerline is valid? [True, True] Translation: X:229.36, Y:-127.90, Z:-31.21 [[ 7.23299672e-01 6.83837346e-01 9.59378363e-02 2.29357349e+02] [-6.78215955e-01 7.29632356e-01 -8.75199605e-02 -1.27901835e+02] [-1.29848767e-01 -1.76341260e-03 9.91532243e-01 -3.12060395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters 0.02818796025540919 Centerline is valid? [True, True] Translation: X:229.40, Y:-127.94, Z:-31.21 [[ 7.23762599e-01 6.83233748e-01 9.67437154e-02 2.29403501e+02] [-6.77500434e-01 7.30197964e-01 -8.83407940e-02 -1.27943320e+02] [-1.30999476e-01 -1.60614648e-03 9.91381136e-01 -3.12138424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters 0.02813015007251738 Centerline is valid? [True, True] Translation: X:229.45, Y:-127.99, Z:-31.22 [[ 7.25098022e-01 6.81834592e-01 9.66149445e-02 2.29447262e+02] [-6.76091826e-01 7.31505260e-01 -8.83170265e-02 -1.27987556e+02] [-1.30891944e-01 -1.28207304e-03 9.91395812e-01 -3.12215919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters 0.028460402537541573 Centerline is valid? [True, True] Translation: X:229.49, Y:-128.03, Z:-31.23 [[ 7.22090077e-01 6.84831408e-01 9.79380619e-02 2.29488735e+02] [-6.78945355e-01 7.28699357e-01 -8.96127852e-02 -1.28033527e+02] [-1.32737053e-01 -1.78608934e-03 9.91149678e-01 -3.12279486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters 0.028902727025752892 Centerline is valid? [True, True] Translation: X:229.53, Y:-128.08, Z:-31.23 [[ 7.17679267e-01 6.89670385e-01 9.63910288e-02 2.29531369e+02] [-6.84001847e-01 7.24118865e-01 -8.82799170e-02 -1.28079122e+02] [-1.30682607e-01 -2.57497558e-03 9.91420913e-01 -3.12344935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters 0.029370499779902783 Centerline is valid? [True, True] Translation: X:229.58, Y:-128.12, Z:-31.24 [[ 7.13398206e-01 6.94076631e-01 9.65434070e-02 2.29576595e+02] [-6.88419079e-01 7.19893446e-01 -8.85019653e-02 -1.28121237e+02] [-1.30928112e-01 -3.32518005e-03 9.91386288e-01 -3.12410008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters 0.030634091806734366 Centerline is valid? [True, True] Translation: X:229.62, Y:-128.16, Z:-31.25 [[ 7.07398513e-01 7.00013766e-01 9.78165149e-02 2.29622669e+02] [-6.94249975e-01 7.14115687e-01 -8.97538725e-02 -1.28163155e+02] [-1.32681254e-01 -4.41735701e-03 9.91148915e-01 -3.12484180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters 0.03128304774515499 Centerline is valid? [True, True] Translation: X:229.67, Y:-128.20, Z:-31.26 [[ 7.04849167e-01 7.02688203e-01 9.70409234e-02 2.29670104e+02] [-6.97030154e-01 7.11481579e-01 -8.91231022e-02 -1.28202186e+02] [-1.31668582e-01 -4.82210543e-03 9.91282065e-01 -3.12552848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters 0.03229089479660829 Centerline is valid? [True, True] Translation: X:229.72, Y:-128.24, Z:-31.26 [[ 6.99616081e-01 7.07782395e-01 9.78847312e-02 2.29722443e+02] [-7.02067345e-01 7.06406780e-01 -8.99494560e-02 -1.28237063e+02] [-1.32811079e-01 -5.79158749e-03 9.91124450e-01 -3.12619070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters 0.03295797491214214 Centerline is valid? [True, True] Translation: X:229.77, Y:-128.27, Z:-31.27 [[ 6.96994304e-01 7.10398761e-01 9.76347282e-02 2.29773140e+02] [-7.04727649e-01 7.03771952e-01 -8.97996675e-02 -1.28273261e+02] [-1.32506156e-01 -6.21603568e-03 9.91162691e-01 -3.12691160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters 0.03320053638364691 Centerline is valid? [True, True] Translation: X:229.83, Y:-128.31, Z:-31.27 [[ 6.93956328e-01 7.13446351e-01 9.70511123e-02 2.29826063e+02] [-7.07862985e-01 7.00677780e-01 -8.93344459e-02 -1.28306472e+02] [-1.31736892e-01 -6.70468606e-03 9.91262043e-01 -3.12744525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters 0.0329584017561984 Centerline is valid? [True, True] Translation: X:229.88, Y:-128.34, Z:-31.28 [[ 6.94763217e-01 7.12764331e-01 9.62864542e-02 2.29880515e+02] [-7.07256467e-01 7.01373568e-01 -8.86758565e-02 -1.28338981e+02] [-1.30737762e-01 -6.49049415e-03 9.91395739e-01 -3.12807727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters 0.031986222429869565 Centerline is valid? [True, True] Translation: X:229.93, Y:-128.37, Z:-31.29 [[ 6.97466219e-01 7.09806441e-01 9.85681964e-02 2.29934046e+02] [-7.03993033e-01 7.04371044e-01 -9.08583593e-02 -1.28372045e+02] [-1.33920432e-01 -6.02068722e-03 9.90973798e-01 -3.12879377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters 0.030539642901443547 Centerline is valid? [True, True] Translation: X:229.99, Y:-128.40, Z:-31.29 [[ 7.00628027e-01 7.06929262e-01 9.68059201e-02 2.29988477e+02] [-7.01285264e-01 7.07264280e-01 -8.93096715e-02 -1.28403382e+02] [-1.31602990e-01 -5.31570626e-03 9.91288251e-01 -3.12939918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters 0.030273478050918002 Centerline is valid? [True, True] Translation: X:230.04, Y:-128.44, Z:-31.30 [[ 7.02559569e-01 7.05054396e-01 9.64797950e-02 2.30041708e+02] [-6.99422718e-01 7.09136279e-01 -8.90707583e-02 -1.28437595e+02] [-1.31217053e-01 -4.90264688e-03 9.91341540e-01 -3.13005722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters 0.029891519136046478 Centerline is valid? [True, True] Translation: X:230.09, Y:-128.47, Z:-31.31 [[ 7.03935483e-01 7.03551673e-01 9.74160124e-02 2.30091828e+02] [-6.97790296e-01 7.10628953e-01 -8.99732969e-02 -1.28474893e+02] [-1.32527502e-01 -4.64055190e-03 9.91168465e-01 -3.13076860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters 0.029330661567247875 Centerline is valid? [True, True] Translation: X:230.15, Y:-128.51, Z:-31.31 [[ 7.06640944e-01 7.00656799e-01 9.86844790e-02 2.30145925e+02] [-6.94704164e-01 7.13486735e-01 -9.12293995e-02 -1.28507228e+02] [-1.34330566e-01 -4.09008947e-03 9.90928136e-01 -3.13144850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters 0.02907720472388647 Centerline is valid? [True, True] Translation: X:230.20, Y:-128.54, Z:-31.32 [[ 7.06946152e-01 7.00509182e-01 9.75398598e-02 2.30195307e+02] [-6.94681923e-01 7.13632432e-01 -9.02539629e-02 -1.28544427e+02] [-1.32831337e-01 -3.95448562e-03 9.91130767e-01 -3.13204283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters 0.02871052087265691 Centerline is valid? [True, True] Translation: X:230.25, Y:-128.58, Z:-31.33 [[ 7.08691008e-01 6.98789787e-01 9.72105351e-02 2.30247244e+02] [-6.92974671e-01 7.15318228e-01 -9.00329811e-02 -1.28578902e+02] [-1.32450595e-01 -3.55887444e-03 9.91183219e-01 -3.13262913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters 0.028655806816292453 Centerline is valid? [True, True] Translation: X:230.30, Y:-128.61, Z:-31.33 [[ 7.11093132e-01 6.96168373e-01 9.84690544e-02 2.30300435e+02] [-6.90164174e-01 7.17872072e-01 -9.12858196e-02 -1.28613114e+02] [-1.34238485e-01 -3.04709427e-03 9.90944370e-01 -3.13332305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters 0.0283249740033409 Centerline is valid? [True, True] Translation: X:230.35, Y:-128.65, Z:-31.34 [[ 7.15027403e-01 6.92190365e-01 9.80219913e-02 2.30351337e+02] [-6.86191799e-01 7.21711541e-01 -9.09574971e-02 -1.28648743e+02] [-1.33703506e-01 -2.22478358e-03 9.91018881e-01 -3.13400320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters 0.028261316476202995 Centerline is valid? [True, True] Translation: X:230.40, Y:-128.69, Z:-31.35 [[ 7.19937159e-01 6.87242992e-01 9.68894023e-02 2.30401576e+02] [-6.81326728e-01 7.26426574e-01 -8.99906798e-02 -1.28685379e+02] [-1.32228501e-01 -1.22570501e-03 9.91218503e-01 -3.13463588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters 0.027952063072080903 Centerline is valid? [True, True] Translation: X:230.45, Y:-128.73, Z:-31.36 [[ 7.22604385e-01 6.84439063e-01 9.68817370e-02 2.30448736e+02] [-6.78487296e-01 7.29069782e-01 -9.00679874e-02 -1.28725605e+02] [-1.32279596e-01 -6.49505188e-04 9.91212231e-01 -3.13550231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters 0.028029698411974894 Centerline is valid? [True, True] Translation: X:230.49, Y:-128.77, Z:-31.36 [[ 7.21767360e-01 6.85174884e-01 9.79145377e-02 2.30494604e+02] [-6.79090131e-01 7.28378230e-01 -9.11139247e-02 -1.28767126e+02] [-1.33747790e-01 -7.29739390e-04 9.91015134e-01 -3.13621289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters 0.027862370734023645 Centerline is valid? [True, True] Translation: X:230.54, Y:-128.81, Z:-31.37 [[ 7.20225547e-01 6.87148807e-01 9.54027205e-02 2.30540333e+02] [-6.81380102e-01 7.26516002e-01 -8.88574998e-02 -1.28808431e+02] [-1.30369928e-01 -1.00807405e-03 9.91464909e-01 -3.13682198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters 0.028061276106237064 Centerline is valid? [True, True] Translation: X:230.59, Y:-128.85, Z:-31.38 [[ 7.17163570e-01 6.90421064e-01 9.48428562e-02 2.30585938e+02] [-6.84737517e-01 7.23406117e-01 -8.84201488e-02 -1.28850857e+02] [-1.29657036e-01 -1.53075220e-03 9.91557719e-01 -3.13751205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters 0.028191454166269253 Centerline is valid? [True, True] Translation: X:230.63, Y:-128.89, Z:-31.38 [[ 7.15640933e-01 6.91806027e-01 9.62417562e-02 2.30633770e+02] [-6.85952659e-01 7.22081296e-01 -8.98195518e-02 -1.28889888e+02] [-1.31632079e-01 -1.73874069e-03 9.91297116e-01 -3.13834939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters 0.02839642685002102 Centerline is valid? [True, True] Translation: X:230.68, Y:-128.93, Z:-31.39 [[ 7.13446414e-01 6.94147186e-01 9.56760095e-02 2.30682489e+02] [-6.88372564e-01 7.19830042e-01 -8.93751880e-02 -1.28927922e+02] [-1.30910001e-01 -2.09633266e-03 9.91392040e-01 -3.13896407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters 0.02888969215650453 Centerline is valid? [True, True] Translation: X:230.73, Y:-128.97, Z:-31.40 [[ 7.11907129e-01 6.95429648e-01 9.78051334e-02 2.30732699e+02] [-6.89394348e-01 7.18590435e-01 -9.14506358e-02 -1.28965089e+02] [-1.33879317e-01 -2.32194655e-03 9.90994923e-01 -3.13962272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters 0.028502969987979805 Centerline is valid? [True, True] Translation: X:230.78, Y:-129.00, Z:-31.40 [[ 7.13976189e-01 6.93488626e-01 9.64962494e-02 2.30784476e+02] [-6.87585676e-01 7.20465147e-01 -9.03100815e-02 -1.29000700e+02] [-1.32151199e-01 -1.87019102e-03 9.91227806e-01 -3.14030596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters 0.028513402436508687 Centerline is valid? [True, True] Translation: X:230.83, Y:-129.04, Z:-31.41 [[ 7.15993062e-01 6.91313154e-01 9.71599628e-02 2.30832689e+02] [-6.85296928e-01 7.22553885e-01 -9.10164993e-02 -1.29039981e+02] [-1.33124212e-01 -1.41624208e-03 9.91098350e-01 -3.14107429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters 0.028554214584139113 Centerline is valid? [True, True] Translation: X:230.88, Y:-129.08, Z:-31.42 [[ 7.18944102e-01 6.88260239e-01 9.70423706e-02 2.30882605e+02] [-6.82220717e-01 7.25463447e-01 -9.09817535e-02 -1.29077838e+02] [-1.33019816e-01 -7.93520680e-04 9.91113061e-01 -3.14175536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters 0.02829895963862789 Centerline is valid? [True, True] Translation: X:230.93, Y:-129.12, Z:-31.42 [[ 7.19287665e-01 6.88218919e-01 9.47627244e-02 2.30929397e+02] [-6.82455860e-01 7.25502703e-01 -8.88809765e-02 -1.29118587e+02] [-1.29920182e-01 -7.40386477e-04 9.91524179e-01 -3.14238655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters 0.02824804890759652 Centerline is valid? [True, True] Translation: X:230.98, Y:-129.16, Z:-31.43 [[ 7.19720467e-01 6.87641448e-01 9.56644629e-02 2.30975236e+02] [-6.81751346e-01 7.26050207e-01 -8.98120210e-02 -1.29161408e+02] [-1.31215671e-01 -5.79826684e-04 9.91353676e-01 -3.14311076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters 0.027953609651162784 Centerline is valid? [True, True] Translation: X:231.02, Y:-129.20, Z:-31.44 [[ 7.19787122e-01 6.87681273e-01 9.48734185e-02 2.31020125e+02] [-6.81876807e-01 7.26012535e-01 -8.91617547e-02 -1.29204769e+02] [-1.30194160e-01 -5.14500915e-04 9.91488384e-01 -3.14373758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters 0.027817159760036292 Centerline is valid? [True, True] Translation: X:231.06, Y:-129.25, Z:-31.44 [[ 7.20021936e-01 6.87602444e-01 9.36551662e-02 2.31063690e+02] [-6.81935603e-01 7.26087247e-01 -8.80973571e-02 -1.29248764e+02] [-1.28577780e-01 -4.34762579e-04 9.91699332e-01 -3.14436154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters 0.027638661682365572 Centerline is valid? [True, True] Translation: X:231.11, Y:-129.29, Z:-31.45 [[ 7.19365429e-01 6.88337999e-01 9.32961893e-02 2.31110285e+02] [-6.82710160e-01 7.25389927e-01 -8.78424285e-02 -1.29290867e+02] [-1.28141397e-01 -5.03450038e-04 9.91755781e-01 -3.14501246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters 0.027748726581892282 Centerline is valid? [True, True] Translation: X:231.15, Y:-129.33, Z:-31.46 [[ 7.19861640e-01 6.87669376e-01 9.43930543e-02 2.31154817e+02] [-6.81889868e-01 7.26023916e-01 -8.89689903e-02 -1.29333587e+02] [-1.29712865e-01 -3.20304086e-04 9.91551547e-01 -3.14570223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters 0.027438163424305897 Centerline is valid? [True, True] Translation: X:231.20, Y:-129.37, Z:-31.46 [[ 7.20857698e-01 6.86857154e-01 9.26899637e-02 2.31200763e+02] [-6.81268178e-01 7.26792431e-01 -8.74438737e-02 -1.29374719e+02] [-1.27427814e-01 -1.12133202e-04 9.91847841e-01 -3.14630683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters 0.02756594186579784 Centerline is valid? [True, True] Translation: X:231.25, Y:-129.42, Z:-31.47 [[ 7.20699798e-01 6.86885503e-01 9.37022287e-02 2.31247474e+02] [-6.81162832e-01 7.26765645e-01 -8.84810387e-02 -1.29415723e+02] [-1.28875903e-01 -5.82087531e-05 9.91660727e-01 -3.14700391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters 0.02753970205326892 Centerline is valid? [True, True] Translation: X:231.29, Y:-129.46, Z:-31.48 [[ 7.21297848e-01 6.86184427e-01 9.42355914e-02 2.31292648e+02] [-6.80379120e-01 7.27427602e-01 -8.90692878e-02 -1.29459432e+02] [-1.29667528e-01 1.29556959e-04 9.91557520e-01 -3.14764774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters 0.027489360006594514 Centerline is valid? [True, True] Translation: X:231.34, Y:-129.50, Z:-31.48 [[ 7.21399287e-01 6.85966713e-01 9.50407112e-02 2.31337169e+02] [-6.80047062e-01 7.27632882e-01 -8.99243126e-02 -1.29503158e+02] [-1.30839832e-01 2.39178667e-04 9.91403491e-01 -3.14820515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters 0.027552387724316993 Centerline is valid? [True, True] Translation: X:231.38, Y:-129.55, Z:-31.49 [[ 7.20049306e-01 6.87268031e-01 9.58730979e-02 2.31380931e+02] [-6.81243744e-01 7.26403916e-01 -9.07981905e-02 -1.29548286e+02] [-1.32045287e-01 6.62258602e-05 9.91243682e-01 -3.14894358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters 0.02746514889328669 Centerline is valid? [True, True] Translation: X:231.42, Y:-129.60, Z:-31.50 [[ 7.16761784e-01 6.90769635e-01 9.53407445e-02 2.31423049e+02] [-6.84830537e-01 7.23074724e-01 -9.03884877e-02 -1.29595264e+02] [-1.31376105e-01 -5.05239593e-04 9.91332469e-01 -3.14967498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters 0.027508767899581628 Centerline is valid? [True, True] Translation: X:231.47, Y:-129.64, Z:-31.50 [[ 7.15510629e-01 6.91969126e-01 9.60378443e-02 2.31466456e+02] [-6.85940606e-01 7.21926790e-01 -9.11438170e-02 -1.29638828e+02] [-1.32401000e-01 -6.61887247e-04 9.91196013e-01 -3.15039598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters 0.027762119993520736 Centerline is valid? [True, True] Translation: X:231.51, Y:-129.68, Z:-31.51 [[ 7.14094641e-01 6.93278367e-01 9.71285200e-02 2.31511946e+02] [-6.87112055e-01 7.20669396e-01 -9.22639982e-02 -1.29679945e+02] [-1.33962186e-01 -8.52950262e-04 9.90986077e-01 -3.15111200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters 0.027595640446603186 Centerline is valid? [True, True] Translation: X:231.56, Y:-129.72, Z:-31.52 [[ 7.11774024e-01 6.95774604e-01 9.63090764e-02 2.31560609e+02] [-6.89724119e-01 7.18259099e-01 -9.15669541e-02 -1.29719664e+02] [-1.32884832e-01 -1.25171342e-03 9.91130695e-01 -3.15189292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters 0.027604196336584116 Centerline is valid? [True, True] Translation: X:231.61, Y:-129.76, Z:-31.52 [[ 7.11754833e-01 6.95963291e-01 9.50797276e-02 2.31608746e+02] [-6.90056381e-01 7.18076354e-01 -9.04905581e-02 -1.29759148e+02] [-1.31252611e-01 -1.20328067e-03 9.91348226e-01 -3.15235728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters 0.02755922254232801 Centerline is valid? [True, True] Translation: X:231.66, Y:-129.80, Z:-31.53 [[ 7.16912641e-01 6.90656252e-01 9.50274005e-02 2.31657315e+02] [-6.84698086e-01 7.23183181e-01 -9.05241320e-02 -1.29798394e+02] [-1.31243276e-01 -1.67184705e-04 9.91350178e-01 -3.15306717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters 0.027835055843508053 Centerline is valid? [True, True] Translation: X:231.70, Y:-129.84, Z:-31.54 [[ 7.19871449e-01 6.87417554e-01 9.61363786e-02 2.31703203e+02] [-6.81278587e-01 7.26262256e-01 -9.16658184e-02 -1.29839119e+02] [-1.32832916e-01 4.91949323e-04 9.91138323e-01 -3.15383241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters 0.028127624851167824 Centerline is valid? [True, True] Translation: X:231.75, Y:-129.88, Z:-31.54 [[ 7.21813724e-01 6.85379533e-01 9.61241110e-02 2.31750039e+02] [-6.79213283e-01 7.28185442e-01 -9.17348292e-02 -1.29881582e+02] [-1.32869353e-01 9.26685704e-04 9.91133127e-01 -3.15441166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters 0.02814333198066766 Centerline is valid? [True, True] Translation: X:231.79, Y:-129.93, Z:-31.55 [[ 7.20990218e-01 6.86335124e-01 9.54840487e-02 2.31794214e+02] [-6.80247095e-01 7.27284976e-01 -9.12165193e-02 -1.29925308e+02] [-1.32049215e-01 8.13471303e-04 9.91242827e-01 -3.15507553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters 0.028156699203597785 Centerline is valid? [True, True] Translation: X:231.84, Y:-129.97, Z:-31.56 [[ 7.19508813e-01 6.87725393e-01 9.66480823e-02 2.31837546e+02] [-6.81488429e-01 7.25970654e-01 -9.24128318e-02 -1.29968930e+02] [-1.33718323e-01 6.27297195e-04 9.91019181e-01 -3.15580166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters 0.028192490450585 Centerline is valid? [True, True] Translation: X:231.88, Y:-130.01, Z:-31.56 [[ 7.18734270e-01 6.88662069e-01 9.57371586e-02 2.31883053e+02] [-6.82539910e-01 7.25082268e-01 -9.16240973e-02 -1.30011683e+02] [-1.32515357e-01 5.08947016e-04 9.91180822e-01 -3.15637892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters 0.028111961717083023 Centerline is valid? [True, True] Translation: X:231.93, Y:-130.05, Z:-31.57 [[ 7.18504694e-01 6.89003168e-01 9.50033640e-02 2.31928678e+02] [-6.82966949e-01 7.24758154e-01 -9.10041978e-02 -1.30053796e+02] [-1.31556643e-01 5.02785684e-04 9.91308528e-01 -3.15708501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters 0.028357856715337443 Centerline is valid? [True, True] Translation: X:231.97, Y:-130.10, Z:-31.58 [[ 7.19551580e-01 6.87931865e-01 9.48434134e-02 2.31974624e+02] [-6.81895618e-01 7.25774877e-01 -9.09351103e-02 -1.30096854e+02] [-1.31392127e-01 7.59194249e-04 9.91330183e-01 -3.15773545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters 0.028402673077019727 Centerline is valid? [True, True] Translation: X:232.02, Y:-130.14, Z:-31.58 [[ 7.21012490e-01 6.86714008e-01 9.25465334e-02 2.32018624e+02] [-6.80946280e-01 7.26926974e-01 -8.88219474e-02 -1.30140929e+02] [-1.28269847e-01 1.02251589e-03 9.91738777e-01 -3.15844029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters 0.02827956324283201 Centerline is valid? [True, True] Translation: X:232.06, Y:-130.19, Z:-31.59 [[ 7.21226344e-01 6.86506459e-01 9.24199312e-02 2.32061512e+02] [-6.80742339e-01 7.27122846e-01 -8.87819502e-02 -1.30187099e+02] [-1.28150026e-01 1.11772113e-03 9.91754164e-01 -3.15920746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters 0.028369240341235988 Centerline is valid? [True, True] Translation: X:232.10, Y:-130.24, Z:-31.60 [[ 7.21305445e-01 6.86228209e-01 9.38578786e-02 2.32099726e+02] [-6.80268024e-01 7.27385231e-01 -9.02559786e-02 -1.30236229e+02] [-1.30207033e-01 1.25361518e-03 9.91486035e-01 -3.15987828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters 0.02844994348041409 Centerline is valid? [True, True] Translation: X:232.14, Y:-130.28, Z:-31.61 [[ 7.21890328e-01 6.85723919e-01 9.30433289e-02 2.32142452e+02] [-6.79852411e-01 7.27860404e-01 -8.95540715e-02 -1.30282679e+02] [-1.29131924e-01 1.39248657e-03 9.91626445e-01 -3.16059853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters 0.02843460096177649 Centerline is valid? [True, True] Translation: X:232.18, Y:-130.33, Z:-31.61 [[ 7.20921307e-01 6.86775415e-01 9.28008539e-02 2.32181026e+02] [-6.80931253e-01 7.26868571e-01 -8.94131397e-02 -1.30333203e+02] [-1.28860770e-01 1.26883584e-03 9.91661884e-01 -3.16125450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters 0.02813446814563575 Centerline is valid? [True, True] Translation: X:232.22, Y:-130.38, Z:-31.62 [[ 7.19584485e-01 6.88349945e-01 9.15014825e-02 2.32223063e+02] [-6.82670281e-01 7.25378023e-01 -8.82497125e-02 -1.30378423e+02] [-1.27119849e-01 1.03778119e-03 9.91886822e-01 -3.16182751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters 0.02791860064444285 Centerline is valid? [True, True] Translation: X:232.26, Y:-130.42, Z:-31.62 [[ 7.18354346e-01 6.89772682e-01 9.04471100e-02 2.32263646e+02] [-6.84224966e-01 7.24025518e-01 -8.73111934e-02 -1.30424914e+02] [-1.25710892e-01 8.34204497e-04 9.92066568e-01 -3.16241670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters 0.028025475124454 Centerline is valid? [True, True] Translation: X:232.31, Y:-130.47, Z:-31.63 [[ 7.18347164e-01 6.89596185e-01 9.18392761e-02 2.32305669e+02] [-6.83863681e-01 7.24193497e-01 -8.87369449e-02 -1.30470535e+02] [-1.27702065e-01 9.38387351e-04 9.91812130e-01 -3.16320568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters 0.028044288842390772 Centerline is valid? [True, True] Translation: X:232.35, Y:-130.51, Z:-31.64 [[ 7.18191912e-01 6.89804536e-01 9.14881356e-02 2.32350389e+02] [-6.84107067e-01 7.23995016e-01 -8.84801485e-02 -1.30514517e+02] [-1.27270962e-01 9.58046891e-04 9.91867524e-01 -3.16380723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters 0.027914014423479405 Centerline is valid? [True, True] Translation: X:232.39, Y:-130.56, Z:-31.64 [[ 7.18269033e-01 6.89716434e-01 9.15469107e-02 2.32393235e+02] [-6.83998998e-01 7.24078832e-01 -8.86296518e-02 -1.30561124e+02] [-1.27416508e-01 1.04193909e-03 9.91848753e-01 -3.16438284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters 0.02781233970768201 Centerline is valid? [True, True] Translation: X:232.44, Y:-130.61, Z:-31.65 [[ 7.18018077e-01 6.89961227e-01 9.16708592e-02 2.32436455e+02] [-6.84218260e-01 7.23845540e-01 -8.88425999e-02 -1.30607270e+02] [-1.27653492e-01 1.06771705e-03 9.91818253e-01 -3.16506436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters 0.02770809200209241 Centerline is valid? [True, True] Translation: X:232.48, Y:-130.65, Z:-31.66 [[ 7.16782958e-01 6.91409407e-01 9.04169459e-02 2.32477526e+02] [-6.85823149e-01 7.22462653e-01 -8.77172930e-02 -1.30654100e+02] [-1.25971428e-01 8.64226194e-04 9.92033494e-01 -3.16572975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters 0.027604253452533548 Centerline is valid? [True, True] Translation: X:232.52, Y:-130.70, Z:-31.66 [[ 7.16915615e-01 6.91387760e-01 8.95263442e-02 2.32519852e+02] [-6.85901150e-01 7.22483303e-01 -8.69338252e-02 -1.30701228e+02] [-1.24786271e-01 9.17994325e-04 9.92183221e-01 -3.16628692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters 0.027497881598395515 Centerline is valid? [True, True] Translation: X:232.56, Y:-130.75, Z:-31.67 [[ 7.16509098e-01 6.91747824e-01 8.99981088e-02 2.32560541e+02] [-6.86194034e-01 7.22138551e-01 -8.74852040e-02 -1.30748911e+02] [-1.25508803e-01 9.27779346e-04 9.92092072e-01 -3.16705596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters 0.027307389260192574 Centerline is valid? [True, True] Translation: X:232.60, Y:-130.80, Z:-31.68 [[ 7.15866446e-01 6.92392988e-01 9.01508845e-02 2.32602094e+02] [-6.86813578e-01 7.21520041e-01 -8.77265082e-02 -1.30796304e+02] [-1.25786889e-01 8.83612090e-04 9.92056892e-01 -3.16753957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters 0.027368823344089185 Centerline is valid? [True, True] Translation: X:232.64, Y:-130.84, Z:-31.68 [[ 7.15664820e-01 6.92676071e-01 8.95752536e-02 2.32643393e+02] [-6.87158603e-01 7.21248265e-01 -8.72582075e-02 -1.30844329e+02] [-1.25047669e-01 8.95223251e-04 9.92150331e-01 -3.16824476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters 0.02744122319630875 Centerline is valid? [True, True] Translation: X:232.68, Y:-130.89, Z:-31.69 [[ 7.16106335e-01 6.92048120e-01 9.08906782e-02 2.32682086e+02] [-6.86349719e-01 7.21850549e-01 -8.86332210e-02 -1.30893637e+02] [-1.26947940e-01 1.08801963e-03 9.91908784e-01 -3.16893264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters 0.027604532426388488 Centerline is valid? [True, True] Translation: X:232.72, Y:-130.94, Z:-31.70 [[ 7.17311395e-01 6.90701107e-01 9.16315620e-02 2.32722081e+02] [-6.84887323e-01 7.23139008e-01 -8.94389686e-02 -1.30941109e+02] [-1.28037951e-01 1.39829613e-03 9.91768283e-01 -3.16958658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters 0.027347279796470034 Centerline is valid? [True, True] Translation: X:232.76, Y:-130.99, Z:-31.70 [[ 7.16662313e-01 6.91457777e-01 9.10014956e-02 2.32763138e+02] [-6.85719617e-01 7.22415681e-01 -8.89055116e-02 -1.30988295e+02] [-1.27215315e-01 1.31371880e-03 9.91874255e-01 -3.17018047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters 0.027164835719798865 Centerline is valid? [True, True] Translation: X:232.80, Y:-131.04, Z:-31.71 [[ 7.14836264e-01 6.93452034e-01 9.01853223e-02 2.32802233e+02] [-6.87822320e-01 7.20502088e-01 -8.81884150e-02 -1.31036524e+02] [-1.26133149e-01 1.00879948e-03 9.92012808e-01 -3.17080450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters 0.02689072502416713 Centerline is valid? [True, True] Translation: X:232.84, Y:-131.09, Z:-31.71 [[ 7.10562577e-01 6.97815118e-01 9.03044032e-02 2.32841052e+02] [-6.92194970e-01 7.16277861e-01 -8.83863667e-02 -1.31085541e+02] [-1.26360388e-01 2.95790804e-04 9.91984357e-01 -3.17138131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters 0.02668346948061064 Centerline is valid? [True, True] Translation: X:232.88, Y:-131.13, Z:-31.72 [[ 7.07672264e-01 7.00793198e-01 8.99380938e-02 2.32882325e+02] [-6.95231999e-01 7.13364468e-01 -8.81113127e-02 -1.31133075e+02] [-1.25906449e-01 -1.73908654e-04 9.92042104e-01 -3.17190829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters 0.026674850742094594 Centerline is valid? [True, True] Translation: X:232.92, Y:-131.18, Z:-31.73 [[ 7.04250127e-01 7.04273925e-01 8.96102493e-02 2.32922374e+02] [-6.98769246e-01 7.09927964e-01 -8.78853032e-02 -1.31181389e+02] [-1.25512149e-01 -7.23650442e-04 9.92091819e-01 -3.17272164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters 0.026707016400749184 Centerline is valid? [True, True] Translation: X:232.96, Y:-131.23, Z:-31.73 [[ 7.01888025e-01 7.06489570e-01 9.06955807e-02 2.32962580e+02] [-7.00856268e-01 7.07722654e-01 -8.90456975e-02 -1.31229280e+02] [-1.27097174e-01 -1.06445752e-03 9.91889699e-01 -3.17341731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters 0.0266452178490686 Centerline is valid? [True, True] Translation: X:233.00, Y:-131.28, Z:-31.74 [[ 7.00883622e-01 7.07351832e-01 9.17362214e-02 2.33002873e+02] [-7.01584139e-01 7.06860672e-01 -9.01536797e-02 -1.31276079e+02] [-1.28615098e-01 -1.17344038e-03 9.91693894e-01 -3.17397601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters 0.026405291782447146 Centerline is valid? [True, True] Translation: X:233.04, Y:-131.32, Z:-31.75 [[ 7.01238878e-01 7.07178513e-01 9.03470374e-02 2.33044772e+02] [-7.01572776e-01 7.07034241e-01 -8.88719384e-02 -1.31321266e+02] [-1.26726774e-01 -1.06456347e-03 9.91937090e-01 -3.17464208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters 0.026394010128289888 Centerline is valid? [True, True] Translation: X:233.09, Y:-131.37, Z:-31.76 [[ 7.00754341e-01 7.07540620e-01 9.12667793e-02 2.33086248e+02] [-7.01811316e-01 7.06671853e-01 -8.98652823e-02 -1.31367936e+02] [-1.28079002e-01 -1.07857185e-03 9.91763382e-01 -3.17553509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters 0.02645499872306704 Centerline is valid? [True, True] Translation: X:233.13, Y:-131.41, Z:-31.76 [[ 7.00162552e-01 7.08078640e-01 9.16353631e-02 2.33127872e+02] [-7.02294389e-01 7.06132712e-01 -9.03282081e-02 -1.31414945e+02] [-1.28666202e-01 -1.11057259e-03 9.91687337e-01 -3.17632849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters 0.026381791961000323 Centerline is valid? [True, True] Translation: X:233.17, Y:-131.46, Z:-31.77 [[ 6.98588004e-01 7.09481796e-01 9.27921454e-02 2.33170448e+02] [-7.03549183e-01 7.04722534e-01 -9.15679935e-02 -1.31459866e+02] [-1.30358540e-01 -1.31553629e-03 9.91466046e-01 -3.17713586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters 0.026357648415250765 Centerline is valid? [True, True] Translation: X:233.21, Y:-131.51, Z:-31.78 [[ 6.97902156e-01 7.10014442e-01 9.38726438e-02 2.33212311e+02] [-7.03935200e-01 7.04185785e-01 -9.27233274e-02 -1.31505632e+02] [-1.31938683e-01 -1.36844822e-03 9.91256935e-01 -3.17784769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters 0.026549304023281282 Centerline is valid? [True, True] Translation: X:233.26, Y:-131.55, Z:-31.79 [[ 6.98524937e-01 7.09219725e-01 9.52380930e-02 2.33256958e+02] [-7.02941872e-01 7.04986532e-01 -9.41632340e-02 -1.31548344e+02] [-1.33923996e-01 -1.17147629e-03 9.90990914e-01 -3.17860728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters 0.026480087644932673 Centerline is valid? [True, True] Translation: X:233.30, Y:-131.59, Z:-31.79 [[ 6.98876047e-01 7.08733372e-01 9.62770948e-02 2.33300963e+02] [-7.02300101e-01 7.05475695e-01 -9.52817515e-02 -1.31592029e+02] [-1.35450507e-01 -1.02527955e-03 9.90783583e-01 -3.17928609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters 0.02633149173607427 Centerline is valid? [True, True] Translation: X:233.35, Y:-131.63, Z:-31.80 [[ 7.00649140e-01 7.07030457e-01 9.59099368e-02 2.33346294e+02] [-7.00618197e-01 7.07182818e-01 -9.50084410e-02 -1.31634270e+02] [-1.34999721e-01 -6.28664517e-04 9.90845437e-01 -3.18001201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters 0.02643342106412501 Centerline is valid? [True, True] Translation: X:233.39, Y:-131.68, Z:-31.81 [[ 7.04268439e-01 7.03310186e-01 9.67509616e-02 2.33392249e+02] [-6.96736393e-01 7.10883083e-01 -9.59356031e-02 -1.31676096e+02] [-1.36251109e-01 1.54501337e-04 9.90674322e-01 -3.18090970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters 0.02656630896518428 Centerline is valid? [True, True] Translation: X:233.44, Y:-131.72, Z:-31.82 [[ 7.06273642e-01 7.01205797e-01 9.74062252e-02 2.33436808e+02] [-6.94507956e-01 7.12958639e-01 -9.66885589e-02 -1.31718295e+02] [-1.37245188e-01 6.39182222e-04 9.90536900e-01 -3.18171194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters 0.026529355112338213 Centerline is valid? [True, True] Translation: X:233.48, Y:-131.76, Z:-31.83 [[ 7.08838688e-01 6.98662812e-01 9.70463279e-02 2.33481059e+02] [-6.91978080e-01 7.15450102e-01 -9.64234843e-02 -1.31762008e+02] [-1.36799308e-01 1.19476452e-03 9.90598063e-01 -3.18252053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters 0.026578202929491514 Centerline is valid? [True, True] Translation: X:233.52, Y:-131.81, Z:-31.83 [[ 7.10105314e-01 6.97343816e-01 9.72730434e-02 2.33522201e+02] [-6.90601460e-01 7.16735151e-01 -9.67488856e-02 -1.31807493e+02] [-1.37186247e-01 1.52499201e-03 9.90544097e-01 -3.18332979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters 0.026667308781304157 Centerline is valid? [True, True] Translation: X:233.56, Y:-131.85, Z:-31.84 [[ 7.11039790e-01 6.96425705e-01 9.70239896e-02 2.33563932e+02] [-6.89696939e-01 7.17626732e-01 -9.65919519e-02 -1.31854363e+02] [-1.36896127e-01 1.76357251e-03 9.90583838e-01 -3.18394092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters 0.02712517637099156 Centerline is valid? [True, True] Translation: X:233.60, Y:-131.90, Z:-31.85 [[ 7.13044880e-01 6.94329791e-01 9.73300545e-02 2.33603238e+02] [-6.87525009e-01 7.19653456e-01 -9.69962132e-02 -1.31901994e+02] [-1.37391271e-01 2.24580672e-03 9.90514308e-01 -3.18478064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters 0.027510773636433047 Centerline is valid? [True, True] Translation: X:233.64, Y:-131.95, Z:-31.85 [[ 7.14757037e-01 6.92709593e-01 9.63109413e-02 2.33640992e+02] [-6.86020333e-01 7.21211955e-01 -9.60698639e-02 -1.31952269e+02] [-1.36009119e-01 2.59534730e-03 9.90704186e-01 -3.18548648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters 0.02762403259604472 Centerline is valid? [True, True] Translation: X:233.68, Y:-132.00, Z:-31.86 [[ 7.14548513e-01 6.92942491e-01 9.61827773e-02 2.33684125e+02] [-6.86259514e-01 7.20988099e-01 -9.60418724e-02 -1.31997453e+02] [-1.35898132e-01 2.62023107e-03 9.90719351e-01 -3.18620860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters 0.027401914757366468 Centerline is valid? [True, True] Translation: X:233.72, Y:-132.05, Z:-31.87 [[ 7.11780181e-01 6.95714766e-01 9.66950849e-02 2.33719599e+02] [-6.88971857e-01 7.18314859e-01 -9.66516658e-02 -1.32049645e+02] [-1.36699507e-01 2.17454796e-03 9.90610174e-01 -3.18690529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters 0.027327776766108834 Centerline is valid? [True, True] Translation: X:233.97, Y:-132.17, Z:-29.99 [[ 7.47156755e-01 -6.62054100e-01 -5.86613335e-02 2.33968900e+02] [-6.59228689e-01 -7.49420448e-01 6.15347711e-02 -1.32172970e+02] [-8.47013503e-02 -7.30488598e-03 -9.96379606e-01 -2.99889778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters 0.02758014231947229 Centerline is valid? [True, True] Translation: X:233.79, Y:-132.15, Z:-31.88 [[ 7.62036848e-01 6.39187789e-01 1.03628239e-01 2.33793326e+02] [-6.33010775e-01 7.69048167e-01 -8.86694716e-02 -1.32151825e+02] [-1.36371551e-01 1.97161289e-03 9.90655799e-01 -3.18849749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters 0.027441183900720808 Centerline is valid? [True, True] Translation: X:233.84, Y:-132.19, Z:-31.89 [[ 7.61768001e-01 6.39737372e-01 1.02203756e-01 2.33837618e+02] [-6.33722320e-01 7.68591190e-01 -8.75420162e-02 -1.32194686e+02] [-1.34556806e-01 1.91790522e-03 9.90904025e-01 -3.18918410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters 0.027506402065933903 Centerline is valid? [True, True] Translation: X:233.88, Y:-132.24, Z:-31.90 [[ 7.60709154e-01 6.41147475e-01 1.01249680e-01 2.33880773e+02] [-6.35246282e-01 7.67415776e-01 -8.68054611e-02 -1.32238751e+02] [-1.33355704e-01 1.71522642e-03 9.91066756e-01 -3.18982807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters 0.027530950145304704 Centerline is valid? [True, True] Translation: X:233.92, Y:-132.28, Z:-31.90 [[ 7.60316260e-01 6.41727844e-01 1.00521441e-01 2.33924807e+02] [-6.35905879e-01 7.66930639e-01 -8.62618535e-02 -1.32281635e+02] [-1.32449606e-01 1.66411479e-03 9.91188344e-01 -3.19048203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters 0.027572842341554073 Centerline is valid? [True, True] Translation: X:233.97, Y:-132.33, Z:-31.91 [[ 7.60523269e-01 6.41393686e-01 1.01086583e-01 2.33967734e+02] [-6.35491789e-01 7.67209825e-01 -8.68289736e-02 -1.32325972e+02] [-1.33246175e-01 1.79576115e-03 9.91081345e-01 -3.19113888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters 0.027949351089917265 Centerline is valid? [True, True] Translation: X:234.01, Y:-132.37, Z:-31.92 [[ 7.62227403e-01 6.39444222e-01 1.00600557e-01 2.34012204e+02] [-6.33571374e-01 7.68834372e-01 -8.64928984e-02 -1.32368882e+02] [-1.32652550e-01 2.18962450e-03 9.91160182e-01 -3.19176820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters 0.02843804983428238 Centerline is valid? [True, True] Translation: X:234.05, Y:-132.41, Z:-31.92 [[ 7.65174066e-01 6.35910640e-01 1.00629550e-01 2.34054892e+02] [-6.29992778e-01 7.71757363e-01 -8.66006475e-02 -1.32414781e+02] [-1.32731870e-01 2.86867972e-03 9.91147830e-01 -3.19241555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters 0.02854275714630987 Centerline is valid? [True, True] Translation: X:234.10, Y:-132.46, Z:-31.93 [[ 7.66080178e-01 6.34879305e-01 1.00246838e-01 2.34098201e+02] [-6.28985966e-01 7.72605092e-01 -8.63598627e-02 -1.32460229e+02] [-1.32279307e-01 3.10472474e-03 9.91207620e-01 -3.19300495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters 0.028727889340740196 Centerline is valid? [True, True] Translation: X:234.14, Y:-132.51, Z:-31.94 [[ 7.65687360e-01 6.35441559e-01 9.96839641e-02 2.34141503e+02] [-6.29607359e-01 7.72142901e-01 -8.59646043e-02 -1.32506472e+02] [-1.31595747e-01 3.06025354e-03 9.91298741e-01 -3.19369463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters 0.028413685487024942 Centerline is valid? [True, True] Translation: X:234.18, Y:-132.55, Z:-31.94 [[ 7.63622410e-01 6.37785307e-01 1.00552064e-01 2.34184847e+02] [-6.31856434e-01 7.70209277e-01 -8.68050522e-02 -1.32552047e+02] [-1.32809119e-01 2.75181468e-03 9.91137814e-01 -3.19425473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters 0.028387154867141995 Centerline is valid? [True, True] Translation: X:234.23, Y:-132.59, Z:-31.95 [[ 7.61928363e-01 6.39676388e-01 1.01386825e-01 2.34230680e+02] [-6.33652427e-01 7.68640227e-01 -8.76173713e-02 -1.32594238e+02] [-1.33976756e-01 2.51415223e-03 9.90981285e-01 -3.19509546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters 0.02834244771647667 Centerline is valid? [True, True] Translation: X:234.28, Y:-132.63, Z:-31.96 [[ 7.61593495e-01 6.40243484e-01 1.00317641e-01 2.34278219e+02] [-6.34339038e-01 7.68168100e-01 -8.67856874e-02 -1.32634972e+02] [-1.32624783e-01 2.46001900e-03 9.91163264e-01 -3.19586245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters 0.029104121317852987 Centerline is valid? [True, True] Translation: X:234.32, Y:-132.68, Z:-31.97 [[ 7.63706204e-01 6.37569510e-01 1.01281557e-01 2.34324660e+02] [-6.31514672e-01 7.70386897e-01 -8.77111637e-02 -1.32676650e+02] [-1.33947948e-01 3.02477028e-03 9.90983753e-01 -3.19660504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters 0.029674599111567654 Centerline is valid? [True, True] Translation: X:234.37, Y:-132.72, Z:-31.97 [[ 7.66733115e-01 6.33985911e-01 1.00906867e-01 2.34370292e+02] [-6.27932966e-01 7.73335707e-01 -8.74761386e-02 -1.32718775e+02] [-1.33493523e-01 3.70810398e-03 9.91042749e-01 -3.19731343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters 0.029469412067318287 Centerline is valid? [True, True] Translation: X:234.41, Y:-132.76, Z:-31.98 [[ 7.66965891e-01 6.33897835e-01 9.96837806e-02 2.34413761e+02] [-6.27979048e-01 7.73407722e-01 -8.65032456e-02 -1.32763937e+02] [-1.31930426e-01 3.74571325e-03 9.91251902e-01 -3.19801533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters 0.029415661621262315 Centerline is valid? [True, True] Translation: X:234.46, Y:-132.81, Z:-31.99 [[ 7.66316462e-01 6.34815206e-01 9.88369041e-02 2.34456329e+02] [-6.28992804e-01 7.72655488e-01 -8.58577354e-02 -1.32809186e+02] [-1.30870672e-01 3.62649463e-03 9.91392816e-01 -3.19876384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters 0.02915406726557332 Centerline is valid? [True, True] Translation: X:234.50, Y:-132.86, Z:-31.99 [[ 7.64925977e-01 6.36497942e-01 9.87857272e-02 2.34499664e+02] [-6.30683781e-01 7.71270878e-01 -8.59022791e-02 -1.32855596e+02] [-1.30867178e-01 3.40632879e-03 9.91394058e-01 -3.19938995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters 0.029066103811474012 Centerline is valid? [True, True] Translation: X:234.54, Y:-132.90, Z:-32.00 [[ 7.63336755e-01 6.38396995e-01 9.88244625e-02 2.34543858e+02] [-6.32581221e-01 7.69700789e-01 -8.60330992e-02 -1.32899965e+02] [-1.30988539e-01 3.15772763e-03 9.91378854e-01 -3.20028182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters 0.028608247549208692 Centerline is valid? [True, True] Translation: X:234.59, Y:-132.94, Z:-32.01 [[ 7.62178234e-01 6.40062649e-01 9.69749718e-02 2.34588555e+02] [-6.34465222e-01 7.68317300e-01 -8.45127722e-02 -1.32943827e+02] [-1.28601017e-01 2.88654834e-03 9.91692213e-01 -3.20090115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters 0.028197406855844043 Centerline is valid? [True, True] Translation: X:234.63, Y:-132.99, Z:-32.02 [[ 7.58794632e-01 6.43879065e-01 9.82367327e-02 2.34633247e+02] [-6.38153725e-01 7.65123688e-01 -8.57062739e-02 -1.32987152e+02] [-1.30347727e-01 2.34332375e-03 9.91465571e-01 -3.20154844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters 0.02805226307275696 Centerline is valid? [True, True] Translation: X:234.68, Y:-133.03, Z:-32.02 [[ 7.54165561e-01 6.49155549e-01 9.91533167e-02 2.34678479e+02] [-6.43354760e-01 7.60654165e-01 -8.66019293e-02 -1.33030375e+02] [-1.31639506e-01 1.52143424e-03 9.91296487e-01 -3.20237398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters 0.02762910464932728 Centerline is valid? [True, True] Translation: X:234.72, Y:-133.07, Z:-32.03 [[ 7.48256458e-01 6.56153103e-01 9.78538576e-02 2.34724045e+02] [-6.50550730e-01 7.54627705e-01 -8.55615278e-02 -1.33074110e+02] [-1.29984694e-01 3.63067317e-04 9.91515934e-01 -3.20305748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters 0.027600988214554367 Centerline is valid? [True, True] Translation: X:234.77, Y:-133.12, Z:-32.04 [[ 7.43222828e-01 6.61915837e-01 9.74025307e-02 2.34770860e+02] [-6.56400938e-01 7.49577954e-01 -8.52683939e-02 -1.33117162e+02] [-1.29451290e-01 -5.61695663e-04 9.91585623e-01 -3.20371661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters 0.02823002208360544 Centerline is valid? [True, True] Translation: X:234.82, Y:-133.16, Z:-32.05 [[ 7.36556552e-01 6.69326670e-01 9.73974072e-02 2.34818181e+02] [-6.63862529e-01 7.42966112e-01 -8.53691975e-02 -1.33159009e+02] [-1.29502854e-01 -1.77924736e-03 9.91577453e-01 -3.20457753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters 0.02930443909268367 Centerline is valid? [True, True] Translation: X:234.87, Y:-133.20, Z:-32.05 [[ 7.29848090e-01 6.76448367e-01 9.86882611e-02 2.34867778e+02] [-6.70888028e-01 7.36483952e-01 -8.66062555e-02 -1.33198691e+02] [-1.31266981e-01 -2.99936272e-03 9.91342516e-01 -3.20518492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters 0.030351188563424693 Centerline is valid? [True, True] Translation: X:234.92, Y:-133.24, Z:-32.06 [[ 7.25041444e-01 6.81666147e-01 9.82149118e-02 2.34917466e+02] [-6.76193691e-01 7.31653226e-01 -8.62881733e-02 -1.33237083e+02] [-1.30678984e-01 -3.84980198e-03 9.91417259e-01 -3.20606012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters 0.030559976979187865 Centerline is valid? [True, True] Translation: X:234.97, Y:-133.28, Z:-32.07 [[ 7.23086646e-01 6.83618541e-01 9.90524736e-02 2.34967845e+02] [-6.78059914e-01 7.29827514e-01 -8.71008201e-02 -1.33275937e+02] [-1.31834956e-01 -4.18207184e-03 9.91262858e-01 -3.20665188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters 0.030512808987079244 Centerline is valid? [True, True] Translation: X:235.02, Y:-133.31, Z:-32.07 [[ 7.22250533e-01 6.84369240e-01 9.99645443e-02 2.35020564e+02] [-6.78700812e-01 7.29123025e-01 -8.80046744e-02 -1.33312592e+02] [-1.33114143e-01 -4.28459437e-03 9.91091452e-01 -3.20728580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters 0.030760053202118894 Centerline is valid? [True, True] Translation: X:235.07, Y:-133.35, Z:-32.08 [[ 7.21183264e-01 6.85677407e-01 9.86974801e-02 2.35071820e+02] [-6.80151385e-01 7.27892285e-01 -8.69880219e-02 -1.33350480e+02] [-1.31486856e-01 -4.39492216e-03 9.91308172e-01 -3.20805016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters 0.030575280007386928 Centerline is valid? [True, True] Translation: X:235.12, Y:-133.39, Z:-32.09 [[ 7.20512863e-01 6.86260690e-01 9.95363188e-02 2.35120385e+02] [-6.80632168e-01 7.27341947e-01 -8.78267797e-02 -1.33389877e+02] [-1.32669006e-01 -4.46729603e-03 9.91150331e-01 -3.20873489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters 0.031533109939420115 Centerline is valid? [True, True] Translation: X:235.17, Y:-133.43, Z:-32.09 [[ 7.16995065e-01 6.89941937e-01 9.94896990e-02 2.35172323e+02] [-6.84341776e-01 7.23846895e-01 -8.78749496e-02 -1.33425927e+02] [-1.32643923e-01 -5.07905205e-03 9.91150742e-01 -3.20941322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters 0.03203789493286949 Centerline is valid? [True, True] Translation: X:235.22, Y:-133.46, Z:-32.10 [[ 7.14436438e-01 6.92690480e-01 9.87951157e-02 2.35222993e+02] [-6.87182690e-01 7.21214133e-01 -8.73505838e-02 -1.33462622e+02] [-1.31759352e-01 -5.48385347e-03 9.91266564e-01 -3.21028647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters 0.032959362875401806 Centerline is valid? [True, True] Translation: X:235.28, Y:-133.50, Z:-32.11 [[ 7.08846805e-01 6.98113602e-01 1.00864297e-01 2.35277955e+02] [-6.92413471e-01 7.15956951e-01 -8.92705339e-02 -1.33495572e+02] [-1.34535468e-01 -6.56066515e-03 9.90887060e-01 -3.21080421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters 0.033274254331833356 Centerline is valid? [True, True] Translation: X:235.33, Y:-133.53, Z:-32.12 [[ 7.07946290e-01 6.99145833e-01 1.00035768e-01 2.35328326e+02] [-6.93537689e-01 7.14948290e-01 -8.86251478e-02 -1.33533002e+02] [-1.33482304e-01 -6.63673100e-03 9.91028974e-01 -3.21159231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters 0.03377472219393175 Centerline is valid? [True, True] Translation: X:235.38, Y:-133.57, Z:-32.12 [[ 7.06065900e-01 7.00837358e-01 1.01478780e-01 2.35379608e+02] [-6.95070554e-01 7.13286820e-01 -8.99935381e-02 -1.33569062e+02] [-1.35454310e-01 -6.99354352e-03 9.90758911e-01 -3.21245736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters 0.03380649133430079 Centerline is valid? [True, True] Translation: X:235.43, Y:-133.60, Z:-32.13 [[ 7.04789622e-01 7.02257947e-01 1.00525442e-01 2.35432965e+02] [-6.96601795e-01 7.11886850e-01 -8.92359375e-02 -1.33603669e+02] [-1.34229386e-01 -7.13364040e-03 9.90924610e-01 -3.21314982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters 0.03426956615424621 Centerline is valid? [True, True] Translation: X:235.48, Y:-133.64, Z:-32.14 [[ 7.03692559e-01 7.03338580e-01 1.00655970e-01 2.35482772e+02] [-6.97667624e-01 7.10817613e-01 -8.94326992e-02 -1.33640685e+02] [-1.34449504e-01 -7.29128645e-03 9.90893621e-01 -3.21391964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters 0.034364947884362985 Centerline is valid? [True, True] Translation: X:235.54, Y:-133.68, Z:-32.15 [[ 7.01969644e-01 7.04924520e-01 1.01587596e-01 2.35535317e+02] [-6.99156048e-01 7.09241348e-01 -9.03190458e-02 -1.33675532e+02] [-1.35718233e-01 -7.62435348e-03 9.90718139e-01 -3.21456549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters 0.03474104751414747 Centerline is valid? [True, True] Translation: X:235.59, Y:-133.71, Z:-32.15 [[ 7.01680946e-01 7.05143616e-01 1.02060425e-01 2.35587797e+02] [-6.99311347e-01 7.09023345e-01 -9.08269553e-02 -1.33710254e+02] [-1.36409271e-01 -7.64046911e-03 9.90623104e-01 -3.21542512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters 0.03364010185106494 Centerline is valid? [True, True] Translation: X:235.64, Y:-133.74, Z:-32.16 [[ 7.02857546e-01 7.04277416e-01 9.99229278e-02 2.35640936e+02] [-6.98667913e-01 7.09887819e-01 -8.90080467e-02 -1.33743354e+02] [-1.33620426e-01 -7.25296616e-03 9.91006042e-01 -3.21601293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters 0.03294837532029897 Centerline is valid? [True, True] Translation: X:235.69, Y:-133.78, Z:-32.17 [[ 7.04972772e-01 7.02108801e-01 1.00282712e-01 2.35692644e+02] [-6.96427447e-01 7.12037056e-01 -8.93982195e-02 -1.33778662e+02] [-1.34172283e-01 -6.81632227e-03 9.90934577e-01 -3.21673544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters 0.03240037511326688 Centerline is valid? [True, True] Translation: X:235.74, Y:-133.81, Z:-32.17 [[ 7.06320203e-01 7.00922636e-01 9.90920255e-02 2.35743262e+02] [-6.95358057e-01 7.13207896e-01 -8.83836506e-02 -1.33814407e+02] [-1.32623316e-01 -6.47728025e-03 9.91145348e-01 -3.21734444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters 0.032149019270924506 Centerline is valid? [True, True] Translation: X:235.79, Y:-133.85, Z:-32.18 [[ 7.06678882e-01 7.00663666e-01 9.83635349e-02 2.35791343e+02] [-6.95168326e-01 7.13463672e-01 -8.78099479e-02 -1.33853105e+02] [-1.31704049e-01 -6.32577814e-03 9.91268898e-01 -3.21814961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters 0.032281555003378176 Centerline is valid? [True, True] Translation: X:235.84, Y:-133.89, Z:-32.19 [[ 7.06514601e-01 7.00542943e-01 1.00382789e-01 2.35841748e+02] [-6.94806760e-01 7.13581745e-01 -8.96920247e-02 -1.33888960e+02] [-1.34464440e-01 -6.37791510e-03 9.90897894e-01 -3.21894252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters 0.03184888703266399 Centerline is valid? [True, True] Translation: X:235.89, Y:-133.93, Z:-32.20 [[ 7.08222156e-01 6.98942582e-01 9.95019804e-02 2.35890806e+02] [-6.93280894e-01 7.15152924e-01 -8.89825662e-02 -1.33926702e+02] [-1.33352837e-01 -5.96339710e-03 9.91050684e-01 -3.21960373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters 0.03121867674916544 Centerline is valid? [True, True] Translation: X:235.94, Y:-133.97, Z:-32.20 [[ 7.09077135e-01 6.98097004e-01 9.93488289e-02 2.35938884e+02] [-6.92434102e-01 7.15980194e-01 -8.89234315e-02 -1.33965565e+02] [-1.33208975e-01 -5.73894505e-03 9.91071356e-01 -3.22015865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters 0.031354235000321154 Centerline is valid? [True, True] Translation: X:235.99, Y:-134.01, Z:-32.21 [[ 7.08774187e-01 6.98464344e-01 9.89278167e-02 2.35987785e+02] [-6.92842398e-01 7.15621954e-01 -8.86263553e-02 -1.34005353e+02] [-1.32697267e-01 -5.72531279e-03 9.91140079e-01 -3.22094076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters 0.03225369878308655 Centerline is valid? [True, True] Translation: X:236.04, Y:-134.04, Z:-32.22 [[ 7.05275455e-01 7.01935450e-01 9.93637607e-02 2.36037553e+02] [-6.96285685e-01 7.12212335e-01 -8.91057553e-02 -1.34042717e+02] [-1.33314584e-01 -6.34146206e-03 9.91053484e-01 -3.22169209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters 0.033726413483230404 Centerline is valid? [True, True] Translation: X:236.09, Y:-134.08, Z:-32.22 [[ 6.99527636e-01 7.07718705e-01 9.89713138e-02 2.36086235e+02] [-7.02161063e-01 7.06456003e-01 -8.88243041e-02 -1.34080419e+02] [-1.32781500e-01 -7.35874744e-03 9.91118016e-01 -3.22222121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters 0.034801740057919694 Centerline is valid? [True, True] Translation: X:236.14, Y:-134.11, Z:-32.23 [[ 6.97048085e-01 7.09997919e-01 1.00134519e-01 2.36137857e+02] [-7.04325665e-01 7.04159967e-01 -8.99116127e-02 -1.34114394e+02] [-1.34347777e-01 -7.85459405e-03 9.90903113e-01 -3.22300394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters 0.033868774645029506 Centerline is valid? [True, True] Translation: X:236.19, Y:-134.15, Z:-32.24 [[ 6.98767256e-01 7.08424560e-01 9.92923179e-02 2.36190279e+02] [-7.02822338e-01 7.05747367e-01 -8.92267613e-02 -1.34147722e+02] [-1.33285721e-01 -7.43611985e-03 9.91049757e-01 -3.22370791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters 0.03346241774413916 Centerline is valid? [True, True] Translation: X:236.24, Y:-134.18, Z:-32.24 [[ 7.00505078e-01 7.06724071e-01 9.91651349e-02 2.36244400e+02] [-7.01109562e-01 7.07454149e-01 -8.91852513e-02 -1.34179380e+02] [-1.33184150e-01 -7.05090290e-03 9.91066227e-01 -3.22445097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters 0.03284950757978375 Centerline is valid? [True, True] Translation: X:236.30, Y:-134.21, Z:-32.25 [[ 7.02492519e-01 7.04629784e-01 1.00005640e-01 2.36297170e+02] [-6.98887900e-01 7.09543912e-01 -9.00174440e-02 -1.34213242e+02] [-1.34387365e-01 -6.65615056e-03 9.90906520e-01 -3.22511191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters 0.03189767711308592 Centerline is valid? [True, True] Translation: X:236.35, Y:-134.25, Z:-32.26 [[ 7.05066541e-01 7.01992912e-01 1.00434671e-01 2.36349910e+02] [-6.96165463e-01 7.12157548e-01 -9.04725049e-02 -1.34246990e+02] [-1.35036366e-01 -6.13001318e-03 9.90821681e-01 -3.22573733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters 0.03129056148864854 Centerline is valid? [True, True] Translation: X:236.40, Y:-134.28, Z:-32.26 [[ 7.07544446e-01 6.99500555e-01 1.00398359e-01 2.36400758e+02] [-6.93648278e-01 7.14609879e-01 -9.04698165e-02 -1.34281274e+02] [-1.35029346e-01 -5.62973228e-03 9.90825606e-01 -3.22639264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters 0.030385485123491932 Centerline is valid? [True, True] Translation: X:236.45, Y:-134.31, Z:-32.27 [[ 7.11326463e-01 6.95611842e-01 1.00691749e-01 2.36453317e+02] [-6.89676948e-01 7.18401419e-01 -9.08025755e-02 -1.34313477e+02] [-1.35500442e-01 -4.85450304e-03 9.90765393e-01 -3.22722133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters 0.02936766504406529 Centerline is valid? [True, True] Translation: X:236.51, Y:-134.35, Z:-32.28 [[ 7.17080376e-01 6.89805378e-01 9.98212134e-02 2.36506623e+02] [-6.83909406e-01 7.23985496e-01 -9.00717831e-02 -1.34345704e+02] [-1.34401111e-01 -3.67995865e-03 9.90920178e-01 -3.22789246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters 0.028831805418204084 Centerline is valid? [True, True] Translation: X:236.56, Y:-134.38, Z:-32.29 [[ 7.22324615e-01 6.84501164e-01 9.85155206e-02 2.36555047e+02] [-6.78706489e-01 7.29007002e-01 -8.89173431e-02 -1.34382957e+02] [-1.32682529e-01 -2.63593744e-03 9.91155083e-01 -3.22854749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters 0.028309431456512994 Centerline is valid? [True, True] Translation: X:236.60, Y:-134.42, Z:-32.29 [[ 7.29329579e-01 6.77063215e-01 9.83044666e-02 2.36604115e+02] [-6.71222126e-01 7.35923793e-01 -8.87526247e-02 -1.34420325e+02] [-1.32435733e-01 -1.25421868e-03 9.91190801e-01 -3.22926565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters 0.027823182700477074 Centerline is valid? [True, True] Translation: X:236.65, Y:-134.46, Z:-32.30 [[ 7.36397471e-01 6.69487365e-01 9.74958105e-02 2.36651307e+02] [-6.63665822e-01 7.42823424e-01 -8.80967456e-02 -1.34460910e+02] [-1.31401830e-01 1.69583488e-04 9.91329174e-01 -3.23005864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters 0.027980458285476448 Centerline is valid? [True, True] Translation: X:236.69, Y:-134.51, Z:-32.31 [[ 7.39171062e-01 6.66437614e-01 9.74014749e-02 2.36692989e+02] [-6.60595642e-01 7.45560431e-01 -8.80513578e-02 -1.34507725e+02] [-1.31299422e-01 7.42025810e-04 9.91342479e-01 -3.23066731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters 0.02779078372901071 Centerline is valid? [True, True] Translation: X:236.74, Y:-134.55, Z:-32.31 [[ 7.39047218e-01 6.66717911e-01 9.64180246e-02 2.36737169e+02] [-6.60984332e-01 7.45309774e-01 -8.72528151e-02 -1.34551167e+02] [-1.30034311e-01 7.53146747e-04 9.91509209e-01 -3.23131945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters 0.027745356673289794 Centerline is valid? [True, True] Translation: X:236.78, Y:-134.60, Z:-32.32 [[ 7.37352476e-01 6.68348701e-01 9.80884301e-02 2.36777596e+02] [-6.62416979e-01 7.43847918e-01 -8.88482982e-02 -1.34598432e+02] [-1.32344519e-01 5.37071091e-04 9.91203632e-01 -3.23201083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters 0.02788536429815683 Centerline is valid? [True, True] Translation: X:236.82, Y:-134.64, Z:-32.33 [[ 7.34853251e-01 6.70947765e-01 9.90948807e-02 2.36820658e+02] [-6.64904936e-01 7.41504604e-01 -8.98462486e-02 -1.34644622e+02] [-1.33761450e-01 1.35132622e-04 9.91013550e-01 -3.23265493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters 0.02771027175365218 Centerline is valid? [True, True] Translation: X:236.86, Y:-134.69, Z:-32.33 [[ 7.30814629e-01 6.75421610e-01 9.85678788e-02 2.36860896e+02] [-6.69470667e-01 7.37431543e-01 -8.94636503e-02 -1.34693300e+02] [-1.33112746e-01 -6.06959177e-04 9.91100716e-01 -3.23325327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters 0.027808614601958284 Centerline is valid? [True, True] Translation: X:236.90, Y:-134.74, Z:-32.34 [[ 7.29705539e-01 6.76747634e-01 9.76855461e-02 2.36904590e+02] [-6.70902728e-01 7.36214672e-01 -8.87552046e-02 -1.34736786e+02] [-1.31982407e-01 -7.72334948e-04 9.91251758e-01 -3.23378706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters 0.028022497891115876 Centerline is valid? [True, True] Translation: X:236.95, Y:-134.78, Z:-32.34 [[ 7.29046601e-01 6.77431360e-01 9.78662670e-02 2.36949760e+02] [-6.71559359e-01 7.35585520e-01 -8.90054496e-02 -1.34780745e+02] [-1.32284092e-01 -8.33887094e-04 9.91211493e-01 -3.23447508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters 0.028265751530706363 Centerline is valid? [True, True] Translation: X:236.99, Y:-134.82, Z:-32.35 [[ 7.28797916e-01 6.77554955e-01 9.88578783e-02 2.36993450e+02] [-6.71551041e-01 7.35471721e-01 -9.00030386e-02 -1.34823944e+02] [-1.33689179e-01 -7.94084207e-04 9.91022993e-01 -3.23517836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters 0.028252099766121246 Centerline is valid? [True, True] Translation: X:237.04, Y:-134.87, Z:-32.36 [[ 7.28191296e-01 6.78204346e-01 9.88751787e-02 2.37037097e+02] [-6.72192543e-01 7.34872876e-01 -9.01057235e-02 -1.34869672e+02] [-1.33770780e-01 -8.48954225e-04 9.91011936e-01 -3.23593460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters 0.028239397648175874 Centerline is valid? [True, True] Translation: X:237.08, Y:-134.92, Z:-32.36 [[ 7.25726256e-01 6.80878342e-01 9.86209137e-02 2.37080893e+02] [-6.74909076e-01 7.32395440e-01 -8.99703221e-02 -1.34915346e+02] [-1.33488351e-01 -1.26632474e-03 9.91049573e-01 -3.23646883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters 0.028360164225432943 Centerline is valid? [True, True] Translation: X:237.12, Y:-134.96, Z:-32.37 [[ 7.24055754e-01 6.82984298e-01 9.63105091e-02 2.37122764e+02] [-6.77300216e-01 7.30431403e-01 -8.79453420e-02 -1.34962060e+02] [-1.30413508e-01 -1.55379768e-03 9.91458472e-01 -3.23704658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters 0.02857645540823236 Centerline is valid? [True, True] Translation: X:237.17, Y:-135.01, Z:-32.38 [[ 7.22785957e-01 6.84035970e-01 9.83628602e-02 2.37166002e+02] [-6.78110257e-01 7.29446176e-01 -8.98596432e-02 -1.35006807e+02] [-1.33217640e-01 -1.75157627e-03 9.91085260e-01 -3.23771857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters 0.028696817767376852 Centerline is valid? [True, True] Translation: X:237.21, Y:-135.05, Z:-32.39 [[ 7.21015211e-01 6.85801548e-01 9.90621128e-02 2.37208541e+02] [-6.79795711e-01 7.27785766e-01 -9.05851499e-02 -1.35052310e+02] [-1.34219432e-01 -2.02872843e-03 9.90949559e-01 -3.23850775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters 0.029208339397968557 Centerline is valid? [True, True] Translation: X:237.25, Y:-135.10, Z:-32.39 [[ 7.16538051e-01 6.90556151e-01 9.85161067e-02 2.37251026e+02] [-6.84649624e-01 7.23273217e-01 -9.01706462e-02 -1.35097348e+02] [-1.33521956e-01 -2.83831636e-03 9.91041791e-01 -3.23908915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters 0.03003409754618256 Centerline is valid? [True, True] Translation: X:237.30, Y:-135.14, Z:-32.40 [[ 7.10612765e-01 6.96916886e-01 9.66247982e-02 2.37295988e+02] [-6.91283187e-01 7.17141346e-01 -8.85203073e-02 -1.35140533e+02] [-1.30984935e-01 -3.89143810e-03 9.91376721e-01 -3.23962337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters 0.03109175918368874 Centerline is valid? [True, True] Translation: X:237.34, Y:-135.18, Z:-32.40 [[ 7.06300325e-01 7.01293566e-01 9.65773563e-02 2.37342030e+02] [-6.95696217e-01 7.12857454e-01 -8.85495505e-02 -1.35182261e+02] [-1.30945118e-01 -4.64592520e-03 9.91378733e-01 -3.24029578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters 0.031465519943316964 Centerline is valid? [True, True] Translation: X:237.39, Y:-135.22, Z:-32.41 [[ 7.03730895e-01 7.03965727e-01 9.58909935e-02 2.37390940e+02] [-6.98463751e-01 7.10215939e-01 -8.79869759e-02 -1.35219926e+02] [-1.30043127e-01 -5.05722970e-03 9.91495441e-01 -3.24091581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters 0.031768453260434024 Centerline is valid? [True, True] Translation: X:237.44, Y:-135.26, Z:-32.42 [[ 7.02187327e-01 7.05592738e-01 9.52462417e-02 2.37440683e+02] [-7.00170076e-01 7.08597998e-01 -8.74685164e-02 -1.35256281e+02] [-1.29208446e-01 -5.26928461e-03 9.91603455e-01 -3.24165892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters 0.03197967096613155 Centerline is valid? [True, True] Translation: X:237.49, Y:-135.29, Z:-32.42 [[ 7.01206406e-01 7.06339404e-01 9.69237937e-02 2.37491013e+02] [-7.00720274e-01 7.07852350e-01 -8.90850634e-02 -1.35291888e+02] [-1.31532026e-01 -5.44945018e-03 9.91296943e-01 -3.24245108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters 0.03162354422346055 Centerline is valid? [True, True] Translation: X:237.54, Y:-135.33, Z:-32.43 [[ 7.01678316e-01 7.05935859e-01 9.64474184e-02 2.37540468e+02] [-7.00358366e-01 7.08255987e-01 -8.87221282e-02 -1.35328986e+02] [-1.30941593e-01 -5.29336277e-03 9.91375953e-01 -3.24300279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters 0.031277860918456524 Centerline is valid? [True, True] Translation: X:237.59, Y:-135.36, Z:-32.44 [[ 7.03037872e-01 7.04757689e-01 9.51543515e-02 2.37593679e+02] [-6.99308359e-01 7.09430838e-01 -8.76111022e-02 -1.35362948e+02] [-1.29250029e-01 -4.94831051e-03 9.91599689e-01 -3.24366018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters 0.03104657935156097 Centerline is valid? [True, True] Translation: X:237.64, Y:-135.40, Z:-32.44 [[ 7.03932708e-01 7.03831583e-01 9.53931137e-02 2.37643235e+02] [-6.98335811e-01 7.10351113e-01 -8.79112724e-02 -1.35400827e+02] [-1.29637334e-01 -4.73280734e-03 9.91550181e-01 -3.24443730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters 0.029895176134995642 Centerline is valid? [True, True] Translation: X:237.69, Y:-135.44, Z:-32.45 [[ 7.09432604e-01 6.98328003e-01 9.50966932e-02 2.37693104e+02] [-6.92807712e-01 7.15768541e-01 -8.77090032e-02 -1.35437194e+02] [-1.29316874e-01 -3.66009590e-03 9.91596566e-01 -3.24503278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters 0.029431246523211645 Centerline is valid? [True, True] Translation: X:237.74, Y:-135.48, Z:-32.46 [[ 7.12713950e-01 6.94739899e-01 9.68261240e-02 2.37739710e+02] [-6.88979248e-01 7.19254626e-01 -8.93329704e-02 -1.35478130e+02] [-1.31705816e-01 -3.04233591e-03 9.91284178e-01 -3.24574357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters 0.029084582747034217 Centerline is valid? [True, True] Translation: X:237.79, Y:-135.52, Z:-32.46 [[ 7.14493051e-01 6.92971941e-01 9.63824086e-02 2.37786094e+02] [-6.87237034e-01 7.20959713e-01 -8.90075908e-02 -1.35519630e+02] [-1.31167597e-01 -2.64225552e-03 9.91356687e-01 -3.24638749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters 0.02899755968485966 Centerline is valid? [True, True] Translation: X:237.83, Y:-135.56, Z:-32.47 [[ 7.15189279e-01 6.92407556e-01 9.52684216e-02 2.37830248e+02] [-6.86790234e-01 7.21502427e-01 -8.80535240e-02 -1.35563611e+02] [-1.29705323e-01 -2.45448520e-03 9.91549547e-01 -3.24712888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters 0.029313871168887885 Centerline is valid? [True, True] Translation: X:237.87, Y:-135.61, Z:-32.48 [[ 7.11915236e-01 6.95687961e-01 9.58903356e-02 2.37874864e+02] [-6.90021152e-01 7.18337664e-01 -8.86668498e-02 -1.35606365e+02] [-1.30566100e-01 -3.04307844e-03 9.91434936e-01 -3.24772712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters 0.029525566536051123 Centerline is valid? [True, True] Translation: X:237.92, Y:-135.65, Z:-32.48 [[ 7.09679744e-01 6.97935701e-01 9.61270977e-02 2.37918699e+02] [-6.92250076e-01 7.16152339e-01 -8.89699971e-02 -1.35649931e+02] [-1.30936983e-01 -3.40378591e-03 9.91384850e-01 -3.24849774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters 0.029998327403039527 Centerline is valid? [True, True] Translation: X:237.97, Y:-135.69, Z:-32.49 [[ 7.06659450e-01 7.00992680e-01 9.61336749e-02 2.37965671e+02] [-6.95323252e-01 7.13157752e-01 -8.90595023e-02 -1.35690253e+02] [-1.30988535e-01 -3.90924055e-03 9.91376176e-01 -3.24931276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters 0.030087316716276014 Centerline is valid? [True, True] Translation: X:238.01, Y:-135.73, Z:-32.50 [[ 7.04063918e-01 7.03444908e-01 9.72587300e-02 2.38012605e+02] [-6.97653269e-01 7.10736442e-01 -9.01866212e-02 -1.35731288e+02] [-1.32566643e-01 -4.35572503e-03 9.91164524e-01 -3.24986661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters 0.030514445182368833 Centerline is valid? [True, True] Translation: X:238.06, Y:-135.77, Z:-32.51 [[ 7.01755442e-01 7.05691688e-01 9.76654536e-02 2.38060208e+02] [-6.99862487e-01 7.08503162e-01 -9.06408845e-02 -1.35770128e+02] [-1.33160801e-01 -4.74465325e-03 9.91083089e-01 -3.25064174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters 0.03058335901144574 Centerline is valid? [True, True] Translation: X:238.11, Y:-135.81, Z:-32.51 [[ 7.00716424e-01 7.06620516e-01 9.84070032e-02 2.38108505e+02] [-7.00704217e-01 7.07575590e-01 -9.13804412e-02 -1.35809207e+02] [-1.34201688e-01 -4.92242612e-03 9.90941813e-01 -3.25128016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters 0.030917737702348538 Centerline is valid? [True, True] Translation: X:238.16, Y:-135.85, Z:-32.52 [[ 7.00550335e-01 7.06856920e-01 9.78903656e-02 2.38155760e+02] [-7.00993917e-01 7.07339709e-01 -9.09838729e-02 -1.35849753e+02] [-1.33554323e-01 -4.88176824e-03 9.91029470e-01 -3.25198157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters 0.03078907253634557 Centerline is valid? [True, True] Translation: X:238.21, Y:-135.89, Z:-32.53 [[ 6.99267473e-01 7.07873681e-01 9.96988111e-02 2.38206225e+02] [-7.01789602e-01 7.06320562e-01 -9.27503027e-02 -1.35885717e+02] [-1.36074818e-01 -5.11031917e-03 9.90685383e-01 -3.25253960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters 0.03021698407153439 Centerline is valid? [True, True] Translation: X:238.26, Y:-135.92, Z:-32.53 [[ 7.01322812e-01 7.06015951e-01 9.84265702e-02 2.38257297e+02] [-7.00058938e-01 7.08180752e-01 -9.16379025e-02 -1.35921991e+02] [-1.34401623e-01 -4.63664878e-03 9.90916094e-01 -3.25332086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters 0.029736904653845573 Centerline is valid? [True, True] Translation: X:238.31, Y:-135.96, Z:-32.54 [[ 7.04610072e-01 7.02675620e-01 9.88515014e-02 2.38307373e+02] [-6.96626715e-01 7.11499231e-01 -9.20872662e-02 -1.35959220e+02] [-1.35040244e-01 -3.97698140e-03 9.90832133e-01 -3.25404652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters 0.02886326788086865 Centerline is valid? [True, True] Translation: X:238.36, Y:-136.00, Z:-32.55 [[ 7.10278382e-01 6.96834531e-01 9.96305966e-02 2.38355664e+02] [-6.90621863e-01 7.17226335e-01 -9.28860958e-02 -1.35995986e+02] [-1.36183927e-01 -2.83208236e-03 9.90679523e-01 -3.25494513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters 0.02824758477193866 Centerline is valid? [True, True] Translation: X:238.40, Y:-136.04, Z:-32.56 [[ 7.17397302e-01 6.89598141e-01 9.89722999e-02 2.38400181e+02] [-6.83396773e-01 7.24190826e-01 -9.22848753e-02 -1.36037431e+02] [-1.35314310e-01 -1.43242985e-03 9.90801688e-01 -3.25570133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters 0.028362670408886934 Centerline is valid? [True, True] Translation: X:238.44, Y:-136.08, Z:-32.57 [[ 7.21304675e-01 6.85491000e-01 9.91042655e-02 2.38443186e+02] [-6.79230631e-01 7.28080818e-01 -9.24341522e-02 -1.36081320e+02] [-1.35518694e-01 -6.41466675e-04 9.90774582e-01 -3.25653373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters 0.02794342046792373 Centerline is valid? [True, True] Translation: X:238.49, Y:-136.13, Z:-32.57 [[ 7.22915512e-01 6.84043157e-01 9.73556421e-02 2.38486051e+02] [-6.77979668e-01 7.29441474e-01 -9.08774252e-02 -1.36126839e+02] [-1.33179324e-01 -3.08445523e-04 9.91091909e-01 -3.25715748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters 0.028084851135774382 Centerline is valid? [True, True] Translation: X:238.53, Y:-136.17, Z:-32.58 [[ 7.22595424e-01 6.84334263e-01 9.76855720e-02 2.38528243e+02] [-6.78226374e-01 7.29168366e-01 -9.12276240e-02 -1.36173861e+02] [-1.33659418e-01 -3.32267637e-04 9.91027270e-01 -3.25779313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters 0.028058297288129624 Centerline is valid? [True, True] Translation: X:238.57, Y:-136.22, Z:-32.59 [[ 7.22229446e-01 6.84736463e-01 9.75735778e-02 2.38569968e+02] [-6.78633176e-01 7.28790686e-01 -9.12203340e-02 -1.36221490e+02] [-1.33572604e-01 -3.34655648e-04 9.91038974e-01 -3.25850092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters 0.028132188237872252 Centerline is valid? [True, True] Translation: X:238.61, Y:-136.27, Z:-32.59 [[ 7.21144812e-01 6.85858688e-01 9.77139724e-02 2.38614593e+02] [-6.79734745e-01 7.27734593e-01 -9.14496494e-02 -1.36266309e+02] [-1.33831374e-01 -4.71141848e-04 9.91004007e-01 -3.25911049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters 0.02800531703607451 Centerline is valid? [True, True] Translation: X:238.66, Y:-136.31, Z:-32.60 [[ 7.19322793e-01 6.87778202e-01 9.76517476e-02 2.38659034e+02] [-6.81666412e-01 7.25920501e-01 -9.14895034e-02 -1.36310878e+02] [-1.33811892e-01 -7.55431299e-04 9.91006462e-01 -3.25969349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters 0.02790949281828819 Centerline is valid? [True, True] Translation: X:238.70, Y:-136.36, Z:-32.60 [[ 7.18693543e-01 6.88545479e-01 9.68747391e-02 2.38701677e+02] [-6.82525209e-01 7.25192697e-01 -9.08564316e-02 -1.36356032e+02] [-1.32811639e-01 -8.21520816e-04 9.91140956e-01 -3.26038752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters 0.02801711354720138 Centerline is valid? [True, True] Translation: X:238.75, Y:-136.40, Z:-32.61 [[ 7.17926510e-01 6.89401963e-01 9.64699974e-02 2.38747287e+02] [-6.83428120e-01 7.24378425e-01 -9.05643528e-02 -1.36399517e+02] [-1.32316027e-01 -9.11759268e-04 9.91207162e-01 -3.26108165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters 0.027988889936163264 Centerline is valid? [True, True] Translation: X:238.79, Y:-136.44, Z:-32.62 [[ 7.15553480e-01 6.91915770e-01 9.61029932e-02 2.38792505e+02] [-6.85997148e-01 7.21977061e-01 -9.03163082e-02 -1.36442611e+02] [-1.31875435e-01 -1.30023072e-03 9.91265443e-01 -3.26177752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters 0.027982473285565832 Centerline is valid? [True, True] Translation: X:238.84, Y:-136.49, Z:-32.62 [[ 7.15540000e-01 6.91955405e-01 9.59178082e-02 2.38838598e+02] [-6.86047190e-01 7.21939190e-01 -9.02388984e-02 -1.36485515e+02] [-1.31688118e-01 -1.23460142e-03 9.91290429e-01 -3.26246413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters 0.027849741808612105 Centerline is valid? [True, True] Translation: X:238.88, Y:-136.53, Z:-32.63 [[ 7.17111108e-01 6.90320293e-01 9.59664114e-02 2.38883888e+02] [-6.84379876e-01 7.23503375e-01 -9.03717412e-02 -1.36528277e+02] [-1.31817469e-01 -8.70901273e-04 9.91273623e-01 -3.26314982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters 0.027657428857433393 Centerline is valid? [True, True] Translation: X:238.93, Y:-136.57, Z:-32.64 [[ 7.17192330e-01 6.90224164e-01 9.60508417e-02 2.38931597e+02] [-6.84266867e-01 7.23595139e-01 -9.04927060e-02 -1.36569581e+02] [-1.31962174e-01 -8.23733857e-04 9.91254410e-01 -3.26377068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters 0.027341025035442928 Centerline is valid? [True, True] Translation: X:238.98, Y:-136.61, Z:-32.65 [[ 7.19323612e-01 6.88073566e-01 9.55421856e-02 2.38977440e+02] [-6.82147949e-01 7.25640848e-01 -9.01084654e-02 -1.36610744e+02] [-1.31330566e-01 -3.56759146e-04 9.91338567e-01 -3.26450374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters 0.027154584792640518 Centerline is valid? [True, True] Translation: X:239.02, Y:-136.65, Z:-32.65 [[ 7.21870340e-01 6.85438938e-01 9.52715822e-02 2.39024935e+02] [-6.79512663e-01 7.28130089e-01 -8.99394992e-02 -1.36652336e+02] [-1.31018141e-01 1.86410262e-04 9.91379953e-01 -3.26515129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters 0.02734657505607973 Centerline is valid? [True, True] Translation: X:239.07, Y:-136.70, Z:-32.66 [[ 7.23635925e-01 6.83285920e-01 9.73211168e-02 2.39069536e+02] [-6.77068057e-01 7.30150610e-01 -9.19724554e-02 -1.36695455e+02] [-1.33902557e-01 6.61553327e-04 9.90994282e-01 -3.26596728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters 0.027149612742788213 Centerline is valid? [True, True] Translation: X:239.11, Y:-136.74, Z:-32.67 [[ 7.24001364e-01 6.82889600e-01 9.73849027e-02 2.39111275e+02] [-6.76648046e-01 7.30521152e-01 -9.21209476e-02 -1.36741964e+02] [-1.34050168e-01 8.00387572e-04 9.90974224e-01 -3.26671073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters 0.026876821600806525 Centerline is valid? [True, True] Translation: X:239.15, Y:-136.79, Z:-32.67 [[ 7.20274016e-01 6.87008037e-01 9.60484192e-02 2.39149756e+02] [-6.80961169e-01 7.26649810e-01 -9.09502046e-02 -1.36790821e+02] [-1.32277087e-01 1.03825339e-04 9.91212773e-01 -3.26729689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters 0.026880275602895982 Centerline is valid? [True, True] Translation: X:239.19, Y:-136.84, Z:-32.68 [[ 7.15601422e-01 6.91759289e-01 9.68694490e-02 2.39189559e+02] [-6.85639766e-01 7.22127809e-01 -9.18125212e-02 -1.36838113e+02] [-1.33464287e-01 -7.16375615e-04 9.91053364e-01 -3.26786705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters 0.026865332243678347 Centerline is valid? [True, True] Translation: X:239.23, Y:-136.89, Z:-32.69 [[ 7.11369455e-01 6.96372566e-01 9.49670928e-02 2.39231654e+02] [-6.90522181e-01 7.17678918e-01 -9.00893298e-02 -1.36885019e+02] [-1.30891618e-01 -1.49008668e-03 9.91395564e-01 -3.26851155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters 0.027011130789600758 Centerline is valid? [True, True] Translation: X:239.28, Y:-136.93, Z:-32.69 [[ 7.08253711e-01 6.99545271e-01 9.49373201e-02 2.39276160e+02] [-6.93714261e-01 7.14585467e-01 -9.01561662e-02 -1.36927767e+02] [-1.30909149e-01 -2.00593351e-03 9.91392340e-01 -3.26913611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters 0.027343264268624674 Centerline is valid? [True, True] Translation: X:239.32, Y:-136.97, Z:-32.70 [[ 7.03362326e-01 7.04725738e-01 9.29681261e-02 2.39322899e+02] [-6.99169204e-01 7.09474126e-01 -8.83679183e-02 -1.36968571e+02] [-1.28233626e-01 -2.84578617e-03 9.91739905e-01 -3.26978436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters 0.027737710883853742 Centerline is valid? [True, True] Translation: X:239.37, Y:-137.01, Z:-32.70 [[ 7.00439371e-01 7.07456380e-01 9.42876337e-02 2.39369962e+02] [-7.01753615e-01 7.06749156e-01 -8.97078275e-02 -1.37008417e+02] [-1.30102080e-01 -3.33179355e-03 9.91495006e-01 -3.27042220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters 0.027738615439833227 Centerline is valid? [True, True] Translation: X:239.42, Y:-137.05, Z:-32.71 [[ 7.00286647e-01 7.07634595e-01 9.40844941e-02 2.39418213e+02] [-7.01946802e-01 7.06570885e-01 -8.96006205e-02 -1.37048164e+02] [-1.29881863e-01 -3.29619163e-03 9.91523997e-01 -3.27120017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters 0.027644880009365966 Centerline is valid? [True, True] Translation: X:239.47, Y:-137.09, Z:-32.72 [[ 7.00954043e-01 7.07016413e-01 9.37615126e-02 2.39465517e+02] [-7.01350739e-01 7.07190310e-01 -8.93812373e-02 -1.37088794e+02] [-1.29501235e-01 -3.10756646e-03 9.91574391e-01 -3.27191669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters 0.027974705133520673 Centerline is valid? [True, True] Translation: X:239.51, Y:-137.13, Z:-32.73 [[ 6.99381209e-01 7.08362631e-01 9.53326129e-02 2.39511671e+02] [-7.02509995e-01 7.05840625e-01 -9.09325034e-02 -1.37130151e+02] [-1.31702818e-01 -3.37562923e-03 9.91283498e-01 -3.27250374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters 0.027901372284804004 Centerline is valid? [True, True] Translation: X:239.56, Y:-137.17, Z:-32.73 [[ 6.98707203e-01 7.09128476e-01 9.45782697e-02 2.39558262e+02] [-7.03364102e-01 7.05070944e-01 -9.02989658e-02 -1.37171944e+02] [-1.30717958e-01 -3.43042199e-03 9.91413661e-01 -3.27324750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters 0.027963599915065376 Centerline is valid? [True, True] Translation: X:239.60, Y:-137.22, Z:-32.74 [[ 6.97727369e-01 7.10182600e-01 9.38999080e-02 2.39604262e+02] [-7.04497898e-01 7.04008658e-01 -8.97469879e-02 -1.37215126e+02] [-1.29843097e-01 -3.53335804e-03 9.91528258e-01 -3.27390881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters 0.02824514088423624 Centerline is valid? [True, True] Translation: X:239.65, Y:-137.26, Z:-32.75 [[ 6.97085128e-01 7.10634905e-01 9.52384148e-02 2.39650668e+02] [-7.04777577e-01 7.03551749e-01 -9.11235600e-02 -1.37256494e+02] [-1.31760736e-01 -3.60102074e-03 9.91275008e-01 -3.27464483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters 0.02779470853453674 Centerline is valid? [True, True] Translation: X:239.70, Y:-137.30, Z:-32.75 [[ 6.98947895e-01 7.09060554e-01 9.33004348e-02 2.39698438e+02] [-7.03415393e-01 7.05140440e-01 -8.93518068e-02 -1.37295779e+02] [-1.29145751e-01 -3.17670478e-03 9.91620534e-01 -3.27522975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters 0.027667883811512226 Centerline is valid? [True, True] Translation: X:239.75, Y:-137.34, Z:-32.76 [[ 7.00998119e-01 7.07049333e-01 9.31819619e-02 2.39745480e+02] [-7.01389912e-01 7.07158908e-01 -8.93222786e-02 -1.37335477e+02] [-1.29049712e-01 -2.74213884e-03 9.91634334e-01 -3.27589616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters 0.027190706989653764 Centerline is valid? [True, True] Translation: X:239.79, Y:-137.38, Z:-32.77 [[ 7.04305524e-01 7.03877627e-01 9.22497423e-02 2.39791701e+02] [-6.98293431e-01 7.10318216e-01 -8.85116736e-02 -1.37376791e+02] [-1.27828059e-01 -2.07812834e-03 9.91794166e-01 -3.27657803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters 0.02688286787188502 Centerline is valid? [True, True] Translation: X:239.84, Y:-137.42, Z:-32.77 [[ 7.07535909e-01 7.00710359e-01 9.16402208e-02 2.39840001e+02] [-6.95162892e-01 7.13444414e-01 -8.80092116e-02 -1.37415599e+02] [-1.27049170e-01 -1.43520340e-03 9.91895382e-01 -3.27721664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters 0.0268239800115061 Centerline is valid? [True, True] Translation: X:239.88, Y:-137.46, Z:-32.78 [[ 7.11797004e-01 6.96457643e-01 9.10591932e-02 2.39884882e+02] [-6.90935211e-01 7.17597645e-01 -8.75337332e-02 -1.37458467e+02] [-1.26307400e-01 -6.09753819e-04 9.91990962e-01 -3.27788832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters 0.026775401050997634 Centerline is valid? [True, True] Translation: X:239.93, Y:-137.50, Z:-32.79 [[ 7.14961021e-01 6.93194345e-01 9.11720250e-02 2.39929941e+02] [-6.87620752e-01 7.20750719e-01 -8.77274354e-02 -1.37502450e+02] [-1.26524465e-01 2.99203803e-05 9.91963487e-01 -3.27856701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters 0.026881564834564543 Centerline is valid? [True, True] Translation: X:239.97, Y:-137.55, Z:-32.79 [[ 7.16249192e-01 6.91769814e-01 9.18782857e-02 2.39973607e+02] [-6.86085098e-01 7.22117996e-01 -8.85033249e-02 -1.37547626e+02] [-1.27570892e-01 3.54112287e-04 9.91829392e-01 -3.27916722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters 0.026916418418976153 Centerline is valid? [True, True] Translation: X:240.01, Y:-137.59, Z:-32.80 [[ 7.17023137e-01 6.90897639e-01 9.24027807e-02 2.40014397e+02] [-6.85128044e-01 7.22952360e-01 -8.91035895e-02 -1.37594930e+02] [-1.28364268e-01 5.81598882e-04 9.91726916e-01 -3.27983966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters 0.02687654418038069 Centerline is valid? [True, True] Translation: X:240.06, Y:-137.64, Z:-32.81 [[ 7.16025699e-01 6.91897944e-01 9.26522198e-02 2.40055350e+02] [-6.86093683e-01 7.21995163e-01 -8.94340175e-02 -1.37643025e+02] [-1.28773667e-01 4.68952116e-04 9.91673899e-01 -3.28051685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters 0.02691050087534112 Centerline is valid? [True, True] Translation: X:240.09, Y:-137.69, Z:-32.81 [[ 7.13138746e-01 6.95043916e-01 9.13623751e-02 2.40093101e+02] [-6.89414741e-01 7.18967283e-01 -8.82800189e-02 -1.37692157e+02] [-1.27045049e-01 -3.06661063e-05 9.91896948e-01 -3.28132191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters 0.026883364347993637 Centerline is valid? [True, True] Translation: X:240.13, Y:-137.74, Z:-32.82 [[ 7.11101164e-01 6.97077652e-01 9.17490146e-02 2.40133234e+02] [-6.91406436e-01 7.16995562e-01 -8.87384072e-02 -1.37740542e+02] [-1.27641197e-01 -3.33874480e-04 9.91820353e-01 -3.28196002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters 0.027057747350434556 Centerline is valid? [True, True] Translation: X:240.17, Y:-137.79, Z:-32.83 [[ 7.07440212e-01 7.00883049e-01 9.10565610e-02 2.40174038e+02] [-6.95316597e-01 7.13275587e-01 -8.81632962e-02 -1.37788143e+02] [-1.26740582e-01 -9.42877237e-04 9.91935449e-01 -3.28269110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters 0.027308043730006937 Centerline is valid? [True, True] Translation: X:240.22, Y:-137.83, Z:-32.83 [[ 7.03101239e-01 7.05210660e-01 9.12500506e-02 2.40216612e+02] [-6.99644498e-01 7.08995894e-01 -8.84443266e-02 -1.37833411e+02] [-1.27067793e-01 -1.65728019e-03 9.91892650e-01 -3.28338917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters 0.027559556164050387 Centerline is valid? [True, True] Translation: X:240.26, Y:-137.88, Z:-32.84 [[ 6.99734656e-01 7.08678389e-01 9.02571497e-02 2.40258336e+02] [-7.03251451e-01 7.05528235e-01 -8.75631565e-02 -1.37878874e+02] [-1.25733084e-01 -2.20249632e-03 9.92061662e-01 -3.28401348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters 0.028333247528442667 Centerline is valid? [True, True] Translation: X:240.30, Y:-137.93, Z:-32.85 [[ 7.08487556e-01 6.99506627e-01 9.34658353e-02 2.40296771e+02] [-6.93593249e-01 7.14625921e-01 -9.07645204e-02 -1.37928362e+02] [-1.30283492e-01 -5.21739177e-04 9.91476646e-01 -3.28468546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters 0.02851840402413621 Centerline is valid? [True, True] Translation: X:240.34, Y:-137.97, Z:-32.85 [[ 7.11558195e-01 6.96010893e-01 9.61965256e-02 2.40341676e+02] [-6.89701165e-01 7.18031198e-01 -9.35066956e-02 -1.37970217e+02] [-1.34153785e-01 1.88599856e-04 9.90960507e-01 -3.28532280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters 0.02853485272597204 Centerline is valid? [True, True] Translation: X:240.39, Y:-138.01, Z:-32.86 [[ 7.14489647e-01 6.93028018e-01 9.60037020e-02 2.40386583e+02] [-6.86705241e-01 7.20910196e-01 -9.34045027e-02 -1.38014177e+02] [-1.33941985e-01 8.10304809e-04 9.90988844e-01 -3.28586795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters 0.02887847836914844 Centerline is valid? [True, True] Translation: X:240.43, Y:-138.06, Z:-32.87 [[ 7.17451641e-01 6.89898777e-01 9.64511280e-02 2.40429958e+02] [-6.83475025e-01 7.23904347e-01 -9.39382025e-02 -1.38058487e+02] [-1.34629242e-01 1.47418040e-03 9.90894946e-01 -3.28663343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters 0.029230203198885696 Centerline is valid? [True, True] Translation: X:240.47, Y:-138.10, Z:-32.87 [[ 7.19512267e-01 6.87632343e-01 9.72823643e-02 2.40472010e+02] [-6.81064038e-01 7.26056360e-01 -9.48363734e-02 -1.38103286e+02] [-1.35845037e-01 1.98041416e-03 9.90728118e-01 -3.28734463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters 0.02933754406583983 Centerline is valid? [True, True] Translation: X:240.51, Y:-138.15, Z:-32.88 [[ 7.20074752e-01 6.87135312e-01 9.66303012e-02 2.40513164e+02] [-6.80638766e-01 7.26526359e-01 -9.42884961e-02 -1.38151163e+02] [-1.34993416e-01 2.12443645e-03 9.90844218e-01 -3.28805898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters 0.029376478924304773 Centerline is valid? [True, True] Translation: X:240.55, Y:-138.20, Z:-32.89 [[ 7.20363707e-01 6.86828216e-01 9.66598761e-02 2.40554396e+02] [-6.80311485e-01 7.26816288e-01 -9.44159244e-02 -1.38198280e+02] [-1.35101493e-01 2.25498143e-03 9.90829199e-01 -3.28876389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters 0.030010954407696088 Centerline is valid? [True, True] Translation: X:240.60, Y:-138.25, Z:-32.90 [[ 7.23119712e-01 6.83918803e-01 9.67106652e-02 2.40595025e+02] [-6.77356132e-01 7.29552482e-01 -9.45613362e-02 -1.38245342e+02] [-1.35227782e-01 2.87160410e-03 9.90810376e-01 -3.28961609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters 0.03015491838945406 Centerline is valid? [True, True] Translation: X:240.64, Y:-138.29, Z:-32.90 [[ 7.24869714e-01 6.82353855e-01 9.46420272e-02 2.40638312e+02] [-6.76045691e-01 7.31015218e-01 -9.26227552e-02 -1.38290291e+02] [-1.32386256e-01 3.15709542e-03 9.91193176e-01 -3.29014887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters 0.030331958152204935 Centerline is valid? [True, True] Translation: X:240.68, Y:-138.34, Z:-32.91 [[ 7.25737071e-01 6.81573610e-01 9.36115277e-02 2.40680998e+02] [-6.75383905e-01 7.31741972e-01 -9.17075127e-02 -1.38336762e+02] [-1.31004904e-01 3.33182261e-03 9.91376121e-01 -3.29089843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters 0.030363915428291588 Centerline is valid? [True, True] Translation: X:240.72, Y:-138.38, Z:-32.92 [[ 7.24020763e-01 6.83333948e-01 9.40672659e-02 2.40723523e+02] [-6.77085919e-01 7.30099392e-01 -9.22471420e-02 -1.38381933e+02] [-1.31714057e-01 3.09722494e-03 9.91282913e-01 -3.29167770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters 0.02981061639982361 Centerline is valid? [True, True] Translation: X:240.77, Y:-138.43, Z:-32.92 [[ 7.21723058e-01 6.85838675e-01 9.34940634e-02 2.40765653e+02] [-6.79676936e-01 7.27748656e-01 -9.17668615e-02 -1.38427387e+02] [-1.30977442e-01 2.68450137e-03 9.91381714e-01 -3.29220043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters 0.02938573436268206 Centerline is valid? [True, True] Translation: X:240.81, Y:-138.47, Z:-32.93 [[ 7.17917230e-01 6.89935715e-01 9.26475023e-02 2.40809138e+02] [-6.83908639e-01 7.23867935e-01 -9.10175048e-02 -1.38471889e+02] [-1.29860783e-01 1.98060773e-03 9.91530259e-01 -3.29273716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters 0.029172869783522626 Centerline is valid? [True, True] Translation: X:240.85, Y:-138.51, Z:-32.93 [[ 7.10416206e-01 6.97639256e-01 9.27808311e-02 2.40854703e+02] [-6.91648545e-01 7.16448922e-01 -9.12317476e-02 -1.38513556e+02] [-1.30119575e-01 6.40785179e-04 9.91498102e-01 -3.29340291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters 0.02944533849962637 Centerline is valid? [True, True] Translation: X:240.90, Y:-138.56, Z:-32.94 [[ 7.02481811e-01 7.05270818e-01 9.54587805e-02 2.40900516e+02] [-6.98984986e-01 7.08937621e-01 -9.39544497e-02 -1.38555807e+02] [-1.33937652e-01 -7.22962358e-04 9.90989497e-01 -3.29391232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters 0.029592931964939527 Centerline is valid? [True, True] Translation: X:240.95, Y:-138.59, Z:-32.94 [[ 6.98428057e-01 7.09614109e-01 9.29842172e-02 2.40948745e+02] [-7.03678319e-01 7.04589033e-01 -9.16030468e-02 -1.38594827e+02] [-1.30518474e-01 -1.45283965e-03 9.91444813e-01 -3.29444396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters 0.02963000482585214 Centerline is valid? [True, True] Translation: X:240.99, Y:-138.64, Z:-32.95 [[ 6.97270964e-01 7.10894214e-01 9.18837291e-02 2.40994520e+02] [-7.05098333e-01 7.03297110e-01 -9.06063750e-02 -1.38637185e+02] [-1.29033109e-01 -1.60986986e-03 9.91638979e-01 -3.29518726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters 0.029665641159040027 Centerline is valid? [True, True] Translation: X:241.04, Y:-138.68, Z:-32.96 [[ 6.95780188e-01 7.12335505e-01 9.20220557e-02 2.41042561e+02] [-7.06521653e-01 7.01836772e-01 -9.08421666e-02 -1.38677258e+02] [-1.29294563e-01 -1.80939517e-03 9.91604579e-01 -3.29590325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters 0.02988333765310447 Centerline is valid? [True, True] Translation: X:241.09, Y:-138.71, Z:-32.97 [[ 6.95426175e-01 7.12227605e-01 9.54687027e-02 2.41093547e+02] [-7.05952998e-01 7.01946335e-01 -9.43488623e-02 -1.38713683e+02] [-1.34211770e-01 -1.78374845e-03 9.90951068e-01 -3.29658652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters 0.029684487665828572 Centerline is valid? [True, True] Translation: X:241.14, Y:-138.75, Z:-32.97 [[ 6.98143136e-01 7.09987501e-01 9.22708478e-02 2.41143102e+02] [-7.04098336e-01 7.04213165e-01 -9.12652847e-02 -1.38752167e+02] [-1.29775557e-01 -1.25151834e-03 9.91542605e-01 -3.29731619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters 0.029472788804767985 Centerline is valid? [True, True] Translation: X:241.19, Y:-138.79, Z:-32.98 [[ 7.01445079e-01 7.06598845e-01 9.32355824e-02 2.41191756e+02] [-7.00549738e-01 7.07614099e-01 -9.22624040e-02 -1.38791972e+02] [-1.31167321e-01 -5.99153591e-04 9.91360063e-01 -3.29816035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters 0.02973707767285487 Centerline is valid? [True, True] Translation: X:241.24, Y:-138.83, Z:-32.99 [[ 7.02372693e-01 7.05365192e-01 9.55643618e-02 2.41237785e+02] [-6.98983274e-01 7.08844027e-01 -9.46706330e-02 -1.38833011e+02] [-1.34517596e-01 -3.03823100e-04 9.90911158e-01 -3.29887004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters 0.02989068129178657 Centerline is valid? [True, True] Translation: X:241.29, Y:-138.87, Z:-33.00 [[ 7.05219408e-01 7.02493603e-01 9.57513630e-02 2.41285206e+02] [-6.96047561e-01 7.11689989e-01 -9.49481573e-02 -1.38874557e+02] [-1.34845760e-01 3.11780675e-04 9.90866552e-01 -3.29961011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters 0.029763020807459326 Centerline is valid? [True, True] Translation: X:241.33, Y:-138.92, Z:-33.00 [[ 7.05619741e-01 7.02176509e-01 9.51258702e-02 2.41329828e+02] [-6.95798125e-01 7.12002777e-01 -9.44299475e-02 -1.38919028e+02] [-1.34036375e-01 4.43232928e-04 9.90976313e-01 -3.30037972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters 0.029873884470754362 Centerline is valid? [True, True] Translation: X:241.37, Y:-138.96, Z:-33.01 [[ 7.03922605e-01 7.03730803e-01 9.62077114e-02 2.41373833e+02] [-6.97206428e-01 7.10466683e-01 -9.56048617e-02 -1.38962991e+02] [-1.35632460e-01 2.21788487e-04 9.90759197e-01 -3.30114012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters 0.030103549848413368 Centerline is valid? [True, True] Translation: X:241.42, Y:-139.01, Z:-33.02 [[ 7.00097159e-01 7.07530832e-01 9.62501411e-02 2.41416233e+02] [-7.01023547e-01 7.06682335e-01 -9.57395668e-02 -1.39008844e+02] [-1.35756970e-01 -4.46616575e-04 9.90742068e-01 -3.30181455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters 0.03006562955318311 Centerline is valid? [True, True] Translation: X:241.46, Y:-139.05, Z:-33.03 [[ 6.96510376e-01 7.11165480e-01 9.54827517e-02 2.41458615e+02] [-7.04782039e-01 7.03023834e-01 -9.50776926e-02 -1.39054924e+02] [-1.34742623e-01 -1.07192902e-03 9.90880052e-01 -3.30252500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters 0.030155049914382514 Centerline is valid? [True, True] Translation: X:241.50, Y:-139.10, Z:-33.03 [[ 6.95150455e-01 7.12354887e-01 9.65212935e-02 2.41501811e+02] [-7.05828471e-01 7.01818329e-01 -9.62143528e-02 -1.39099695e+02] [-1.36279177e-01 -1.24402595e-03 9.90669692e-01 -3.30311994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters 0.03030362621458586 Centerline is valid? [True, True] Translation: X:241.55, Y:-139.14, Z:-33.04 [[ 6.92289229e-01 7.15284460e-01 9.54136537e-02 2.41545757e+02] [-7.08922696e-01 6.98831265e-01 -9.52022828e-02 -1.39144669e+02] [-1.34774758e-01 -1.73338960e-03 9.90874745e-01 -3.30359181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters 0.030703258037602918 Centerline is valid? [True, True] Translation: X:241.59, Y:-139.19, Z:-33.04 [[ 6.87766619e-01 7.19791948e-01 9.42158664e-02 2.41591422e+02] [-7.13618229e-01 6.94185309e-01 -9.41051596e-02 -1.39186890e+02] [-1.33139406e-01 -2.51177221e-03 9.91094138e-01 -3.30417870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters 0.03084183385965745 Centerline is valid? [True, True] Translation: X:241.64, Y:-139.23, Z:-33.05 [[ 6.86068116e-01 7.21420884e-01 9.41405782e-02 2.41637239e+02] [-7.15260365e-01 6.92491352e-01 -9.41187403e-02 -1.39228610e+02] [-1.33090761e-01 -2.76315755e-03 9.91100002e-01 -3.30483205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters 0.030942836909211686 Centerline is valid? [True, True] Translation: X:241.78, Y:-139.45, Z:-31.19 [[ 7.69519162e-01 -6.35882253e-01 -5.91102262e-02 2.41778767e+02] [-6.32948866e-01 -7.71718911e-01 6.18518802e-02 -1.39453234e+02] [-8.49469924e-02 -1.01824564e-02 -9.96333441e-01 -3.11901734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters 0.030681057920988335 Centerline is valid? [True, True] Translation: X:241.72, Y:-139.30, Z:-33.06 [[ 7.39796289e-01 6.65238796e-01 1.00790849e-01 2.41718056e+02] [-6.59593940e-01 7.46626548e-01 -8.65137677e-02 -1.39301861e+02] [-1.32805438e-01 -2.47846880e-03 9.91139028e-01 -3.30588412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters 0.030494941301632526 Centerline is valid? [True, True] Translation: X:241.77, Y:-139.34, Z:-33.07 [[ 7.41580213e-01 6.63367751e-01 1.00010073e-01 2.41768696e+02] [-6.57782588e-01 7.48290695e-01 -8.59249801e-02 -1.39337173e+02] [-1.31836468e-01 -2.06461976e-03 9.91269329e-01 -3.30668635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters 0.030201157095675224 Centerline is valid? [True, True] Translation: X:241.82, Y:-139.37, Z:-33.07 [[ 7.43243678e-01 6.61652498e-01 9.90192256e-02 2.41820863e+02] [-6.56152106e-01 7.49808739e-01 -8.51543812e-02 -1.39371029e+02] [-1.30588090e-01 -1.68121788e-03 9.91435285e-01 -3.30724363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters 0.029861628128828487 Centerline is valid? [True, True] Translation: X:241.87, Y:-139.41, Z:-33.08 [[ 7.45457455e-01 6.59217996e-01 9.86144824e-02 2.41871130e+02] [-6.53730834e-01 7.51950944e-01 -8.48868288e-02 -1.39407728e+02] [-1.30112178e-01 -1.18780850e-03 9.91498568e-01 -3.30804909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters 0.02993352323775829 Centerline is valid? [True, True] Translation: X:241.92, Y:-139.44, Z:-33.09 [[ 7.46958021e-01 6.57250127e-01 1.00379210e-01 2.41920477e+02] [-6.51535090e-01 7.53672101e-01 -8.64892517e-02 -1.39444587e+02] [-1.32498082e-01 -7.96737350e-04 9.91182942e-01 -3.30886142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters 0.02975122872415992 Centerline is valid? [True, True] Translation: X:241.97, Y:-139.48, Z:-33.09 [[ 7.47854805e-01 6.56258478e-01 1.00189824e-01 2.41969626e+02] [-6.50545040e-01 7.54535951e-01 -8.64097788e-02 -1.39483414e+02] [-1.32303974e-01 -5.56025123e-04 9.91209034e-01 -3.30948946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters 0.02971670322257057 Centerline is valid? [True, True] Translation: X:242.02, Y:-139.52, Z:-33.10 [[ 7.48373575e-01 6.55856608e-01 9.89398947e-02 2.42015500e+02] [-6.50270109e-01 7.54885383e-01 -8.54215631e-02 -1.39524098e+02] [-1.30712577e-01 -4.10415576e-04 9.91420221e-01 -3.31030301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters 0.02975434576509053 Centerline is valid? [True, True] Translation: X:242.06, Y:-139.57, Z:-33.11 [[ 7.46153916e-01 6.58579521e-01 9.76081355e-02 2.42062482e+02] [-6.53155873e-01 7.52510698e-01 -8.43507837e-02 -1.39565107e+02] [-1.29002865e-01 -8.14659370e-04 9.91643886e-01 -3.31093543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters 0.029678501339796267 Centerline is valid? [True, True] Translation: X:242.11, Y:-139.61, Z:-33.12 [[ 7.40166097e-01 6.65066776e-01 9.91984480e-02 2.42108765e+02] [-6.59510915e-01 7.46781448e-01 -8.58068862e-02 -1.39606258e+02] [-1.31146870e-01 -1.91111107e-03 9.91361108e-01 -3.31153833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters 0.0299431025625446 Centerline is valid? [True, True] Translation: X:242.16, Y:-139.64, Z:-33.12 [[ 7.35222625e-01 6.70740862e-01 9.77465548e-02 2.42157334e+02] [-6.65386477e-01 7.41686427e-01 -8.46290773e-02 -1.39644494e+02] [-1.29261473e-01 -2.81802338e-03 9.91606540e-01 -3.31230179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters 0.02997727145777536 Centerline is valid? [True, True] Translation: X:242.21, Y:-139.68, Z:-33.13 [[ 7.33725516e-01 6.72428932e-01 9.73971173e-02 2.42206263e+02] [-6.67117419e-01 7.40155430e-01 -8.44055088e-02 -1.39682971e+02] [-1.28845711e-01 -3.04483793e-03 9.91659978e-01 -3.31296949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters 0.029262339324215313 Centerline is valid? [True, True] Translation: X:242.26, Y:-139.72, Z:-33.14 [[ 7.35123639e-01 6.70771588e-01 9.82787426e-02 2.42256530e+02] [-6.65338681e-01 7.41658987e-01 -8.52431001e-02 -1.39720272e+02] [-1.30067962e-01 -2.72443095e-03 9.91501338e-01 -3.31357945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters 0.0285004225667137 Centerline is valid? [True, True] Translation: X:242.30, Y:-139.76, Z:-33.14 [[ 7.36753376e-01 6.68768303e-01 9.97166974e-02 2.42304293e+02] [-6.63151104e-01 7.43467087e-01 -8.65292097e-02 -1.39758770e+02] [-1.32004075e-01 -2.37655063e-03 9.91246325e-01 -3.31444389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters 0.028258514806440847 Centerline is valid? [True, True] Translation: X:242.35, Y:-139.80, Z:-33.15 [[ 7.38403652e-01 6.66901304e-01 1.00013486e-01 2.42352151e+02] [-6.61222154e-01 7.45143415e-01 -8.68709031e-02 -1.39798141e+02] [-1.32458709e-01 -1.98534027e-03 9.91186536e-01 -3.31522199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters 0.027908979978023142 Centerline is valid? [True, True] Translation: X:242.40, Y:-139.84, Z:-33.16 [[ 7.41450581e-01 6.63356605e-01 1.01039847e-01 2.42396547e+02] [-6.57515477e-01 7.48302293e-01 -8.78468883e-02 -1.39840568e+02] [-1.33882163e-01 -1.30113691e-03 9.90996404e-01 -3.31600470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters 0.02765986047780767 Centerline is valid? [True, True] Translation: X:242.44, Y:-139.88, Z:-33.17 [[ 7.43957013e-01 6.60422353e-01 1.01834568e-01 2.42441099e+02] [-6.54449285e-01 7.50894006e-01 -8.86246315e-02 -1.39884198e+02] [-1.34996654e-01 -7.12643848e-04 9.90845798e-01 -3.31675653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters 0.02777901912585986 Centerline is valid? [True, True] Translation: X:242.49, Y:-139.93, Z:-33.17 [[ 7.44388192e-01 6.59950680e-01 1.01741433e-01 2.42487166e+02] [-6.53971150e-01 7.51308720e-01 -8.86393946e-02 -1.39926063e+02] [-1.34936855e-01 -5.53843294e-04 9.90854045e-01 -3.31740321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters 0.027718616268531393 Centerline is valid? [True, True] Translation: X:242.53, Y:-139.97, Z:-33.18 [[ 7.43398192e-01 6.61107708e-01 1.01467856e-01 2.42531779e+02] [-6.55158197e-01 7.50290692e-01 -8.84964050e-02 -1.39969927e+02] [-1.34636044e-01 -6.89430182e-04 9.90894879e-01 -3.31806462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters 0.027877640063364264 Centerline is valid? [True, True] Translation: X:242.57, Y:-140.02, Z:-33.19 [[ 7.40029543e-01 6.64948507e-01 1.00993851e-01 2.42574446e+02] [-6.59077286e-01 7.46888058e-01 -8.81780052e-02 -1.40016392e+02] [-1.34064934e-01 -1.30842443e-03 9.90971685e-01 -3.31879096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters 0.027946769744880653 Centerline is valid? [True, True] Translation: X:242.62, Y:-140.06, Z:-33.19 [[ 7.38163780e-01 6.67071296e-01 1.00648503e-01 2.42619307e+02] [-6.61247270e-01 7.44992129e-01 -8.79703163e-02 -1.40060112e+02] [-1.33664815e-01 -1.61704669e-03 9.91025278e-01 -3.31942327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters 0.028355875731127782 Centerline is valid? [True, True] Translation: X:242.66, Y:-140.10, Z:-33.20 [[ 7.35045559e-01 6.70715903e-01 9.92381152e-02 2.42664067e+02] [-6.65075201e-01 7.41711157e-01 -8.68305046e-02 -1.40104523e+02] [-1.31844618e-01 -2.17643261e-03 9.91268006e-01 -3.32018600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters 0.028713277724941737 Centerline is valid? [True, True] Translation: X:242.71, Y:-140.15, Z:-33.21 [[ 7.31896504e-01 6.74251450e-01 9.85519621e-02 2.42707274e+02] [-6.68708572e-01 7.38496824e-01 -8.63208348e-02 -1.40148297e+02] [-1.30982259e-01 -2.72462465e-03 9.91380968e-01 -3.32095070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters 0.02952681530912846 Centerline is valid? [True, True] Translation: X:242.75, Y:-140.19, Z:-33.22 [[ 7.26536206e-01 6.80208783e-01 9.72684562e-02 2.42753110e+02] [-6.74852323e-01 7.33009157e-01 -8.52755413e-02 -1.40188971e+02] [-1.29303841e-01 -3.68607543e-03 9.91598169e-01 -3.32157139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters 0.030789616646862424 Centerline is valid? [True, True] Translation: X:242.80, Y:-140.23, Z:-33.22 [[ 7.20835794e-01 6.86281699e-01 9.70215788e-02 2.42799798e+02] [-6.80997124e-01 7.27320628e-01 -8.51329548e-02 -1.40228180e+02] [-1.28990985e-01 -4.70453502e-03 9.91634607e-01 -3.32236408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters 0.0318371109709474 Centerline is valid? [True, True] Translation: X:242.85, Y:-140.26, Z:-33.23 [[ 7.16777203e-01 6.90597602e-01 9.64644653e-02 2.42850517e+02] [-6.85404011e-01 7.23219049e-01 -8.47086121e-02 -1.40264046e+02] [-1.28264503e-01 -5.39992934e-03 9.91725294e-01 -3.32302472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters 0.03217209884797776 Centerline is valid? [True, True] Translation: X:242.90, Y:-140.30, Z:-33.24 [[ 7.16204346e-01 6.91410146e-01 9.48859540e-02 2.42900158e+02] [-6.86388998e-01 7.22442047e-01 -8.33524627e-02 -1.40302236e+02] [-1.26180341e-01 -5.43127886e-03 9.91992451e-01 -3.32375365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters 0.031167919132880997 Centerline is valid? [True, True] Translation: X:242.95, Y:-140.33, Z:-33.24 [[ 7.19452813e-01 6.87857287e-01 9.61249266e-02 2.42953156e+02] [-6.82661075e-01 7.25830030e-01 -8.45258830e-02 -1.40333943e+02] [-1.27912103e-01 -4.80836140e-03 9.91773852e-01 -3.32440589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters 0.03043030555093023 Centerline is valid? [True, True] Translation: X:243.00, Y:-140.37, Z:-33.25 [[ 7.23083742e-01 6.83851225e-01 9.74546239e-02 2.43003675e+02] [-6.78466551e-01 7.29609862e-01 -8.57472414e-02 -1.40369497e+02] [-1.29742211e-01 -4.11726632e-03 9.91539211e-01 -3.32497397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters 0.029448945963698563 Centerline is valid? [True, True] Translation: X:243.05, Y:-140.41, Z:-33.26 [[ 7.27675886e-01 6.79013420e-01 9.71008735e-02 2.43052855e+02] [-6.73622595e-01 7.34118765e-01 -8.54531364e-02 -1.40406591e+02] [-1.29307400e-01 -3.22715560e-03 9.91599305e-01 -3.32569320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters 0.0290252942450544 Centerline is valid? [True, True] Translation: X:243.10, Y:-140.44, Z:-33.27 [[ 7.31524088e-01 6.74575629e-01 9.90970748e-02 2.43102834e+02] [-6.68915384e-01 7.38201611e-01 -8.72387017e-02 -1.40442730e+02] [-1.32002722e-01 -2.47034607e-03 9.91246276e-01 -3.32660432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters 0.028758091217545967 Centerline is valid? [True, True] Translation: X:243.15, Y:-140.48, Z:-33.27 [[ 7.33516273e-01 6.72479692e-01 9.86151135e-02 2.43149687e+02] [-6.66844802e-01 7.40112815e-01 -8.68966635e-02 -1.40483464e+02] [-1.31422551e-01 -2.02085913e-03 9.91324381e-01 -3.32735813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters 0.028360294658367254 Centerline is valid? [True, True] Translation: X:243.20, Y:-140.52, Z:-33.28 [[ 7.35047329e-01 6.70976445e-01 9.74476008e-02 2.43197398e+02] [-6.65451035e-01 7.41476783e-01 -8.59482416e-02 -1.40522747e+02] [-1.29924379e-01 -1.67058149e-03 9.91522498e-01 -3.32805877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters 0.028622242458496358 Centerline is valid? [True, True] Translation: X:243.24, Y:-140.56, Z:-33.29 [[ 7.34666724e-01 6.71404732e-01 9.73678134e-02 2.43243927e+02] [-6.65881308e-01 7.41088965e-01 -8.59606289e-02 -1.40564716e+02] [-1.29872585e-01 -1.68299343e-03 9.91529263e-01 -3.32886098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters 0.028587075464072083 Centerline is valid? [True, True] Translation: X:243.29, Y:-140.60, Z:-33.29 [[ 7.33347848e-01 6.72939900e-01 9.67100061e-02 2.43292119e+02] [-6.67492548e-01 7.39694790e-01 -8.54711461e-02 -1.40604916e+02] [-1.29052832e-01 -1.87312732e-03 9.91635950e-01 -3.32949139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters 0.02915928001606213 Centerline is valid? [True, True] Translation: X:243.34, Y:-140.64, Z:-33.30 [[ 7.29645924e-01 6.76943872e-01 9.67668386e-02 2.43339515e+02] [-6.71513208e-01 7.36030349e-01 -8.56115525e-02 -1.40644211e+02] [-1.29177546e-01 -2.51408994e-03 9.91618294e-01 -3.33029082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters 0.029540702556047925 Centerline is valid? [True, True] Translation: X:243.39, Y:-140.69, Z:-33.31 [[ 7.27797330e-01 6.78986476e-01 9.63764040e-02 2.43386466e+02] [-6.73607112e-01 7.34145419e-01 -8.53461330e-02 -1.40685150e+02] [-1.28703166e-01 -2.80514344e-03 9.91679195e-01 -3.33088360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters 0.02968564029600832 Centerline is valid? [True, True] Translation: X:243.44, Y:-140.72, Z:-33.32 [[ 7.27558443e-01 6.79216072e-01 9.65621063e-02 2.43436666e+02] [-6.73807167e-01 7.33933064e-01 -8.55929906e-02 -1.40722671e+02] [-1.29006257e-01 -2.79033634e-03 9.91639854e-01 -3.33161004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters 0.02987395120032272 Centerline is valid? [True, True] Translation: X:243.49, Y:-140.76, Z:-33.32 [[ 7.26467986e-01 6.80066512e-01 9.87613508e-02 2.43488392e+02] [-6.74402655e-01 7.33144527e-01 -8.76365357e-02 -1.40757870e+02] [-1.32005017e-01 -2.93977953e-03 9.91244689e-01 -3.33205144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters 0.02992747504912962 Centerline is valid? [True, True] Translation: X:243.54, Y:-140.79, Z:-33.33 [[ 7.27144624e-01 6.79506558e-01 9.76295788e-02 2.43540155e+02] [-6.73956669e-01 7.33664297e-01 -8.67127863e-02 -1.40793056e+02] [-1.30549243e-01 -2.74536941e-03 9.91438025e-01 -3.33276867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters 0.02966148342049162 Centerline is valid? [True, True] Translation: X:243.59, Y:-140.83, Z:-33.33 [[ 7.27837367e-01 6.78622563e-01 9.86112808e-02 2.43591226e+02] [-6.72940652e-01 7.34482752e-01 -8.76696419e-02 -1.40830500e+02] [-1.31922882e-01 -2.55029826e-03 9.91256702e-01 -3.33338177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters 0.02952514050091293 Centerline is valid? [True, True] Translation: X:243.64, Y:-140.86, Z:-33.34 [[ 7.29993224e-01 6.76500170e-01 9.72492306e-02 2.43643313e+02] [-6.70944146e-01 7.36439571e-01 -8.65489023e-02 -1.40864581e+02] [-1.30168529e-01 -2.06868964e-03 9.91489725e-01 -3.33400602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters 0.02911552071048284 Centerline is valid? [True, True] Translation: X:243.70, Y:-140.90, Z:-33.35 [[ 7.32504088e-01 6.73805417e-01 9.70773969e-02 2.43695038e+02] [-6.68234852e-01 7.38907255e-01 -8.64768762e-02 -1.40898879e+02] [-1.29999781e-01 -1.52583457e-03 9.91512849e-01 -3.33475388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters 0.029132915773178187 Centerline is valid? [True, True] Translation: X:243.75, Y:-140.94, Z:-33.36 [[ 7.35717541e-01 6.70030243e-01 9.88897061e-02 2.43745865e+02] [-6.64203188e-01 7.42333361e-01 -8.81776914e-02 -1.40936095e+02] [-1.32490848e-01 -8.08983839e-04 9.91183899e-01 -3.33564109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters 0.029141988143693696 Centerline is valid? [True, True] Translation: X:243.79, Y:-140.98, Z:-33.36 [[ 7.38304172e-01 6.67133204e-01 9.91979691e-02 2.43794931e+02] [-6.61230653e-01 7.44938414e-01 -8.85481961e-02 -1.40975091e+02] [-1.32969820e-01 -2.17235184e-04 9.91120063e-01 -3.33626623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters 0.02914400739909225 Centerline is valid? [True, True] Translation: X:243.84, Y:-141.01, Z:-33.37 [[ 7.42563740e-01 6.62307362e-01 9.97399144e-02 2.43844215e+02] [-6.56283573e-01 7.49231896e-01 -8.91259635e-02 -1.41012231e+02] [-1.33757107e-01 7.24041350e-04 9.91013881e-01 -3.33692616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters 0.029145177114609334 Centerline is valid? [True, True] Translation: X:243.89, Y:-141.05, Z:-33.38 [[ 7.45031030e-01 6.59742726e-01 9.83275158e-02 2.43891607e+02] [-6.53855874e-01 7.51490533e-01 -8.79458584e-02 -1.41052851e+02] [-1.31913838e-01 1.23036969e-03 9.91260423e-01 -3.33773223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters 0.02926405254758509 Centerline is valid? [True, True] Translation: X:243.94, Y:-141.09, Z:-33.38 [[ 7.46402399e-01 6.58180403e-01 9.83972373e-02 2.43938982e+02] [-6.52259797e-01 7.52858603e-01 -8.80969995e-02 -1.41093181e+02] [-1.32062925e-01 1.57524976e-03 9.91240083e-01 -3.33836710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters 0.029320353055591775 Centerline is valid? [True, True] Translation: X:243.99, Y:-141.14, Z:-33.39 [[ 7.46449018e-01 6.58124955e-01 9.84144647e-02 2.43985463e+02] [-6.52191061e-01 7.52906921e-01 -8.81929041e-02 -1.41135280e+02] [-1.32138883e-01 1.64647253e-03 9.91229845e-01 -3.33903181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters 0.029337839275292356 Centerline is valid? [True, True] Translation: X:244.03, Y:-141.18, Z:-33.40 [[ 7.44400284e-01 6.60128229e-01 1.00493473e-01 2.44029088e+02] [-6.53945379e-01 7.51151644e-01 -9.01479284e-02 -1.41179727e+02] [-1.34995030e-01 1.38890091e-03 9.90845302e-01 -3.33981192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters 0.02920041239650822 Centerline is valid? [True, True] Translation: X:244.07, Y:-141.22, Z:-33.41 [[ 7.43016355e-01 6.61730850e-01 1.00194699e-01 2.44072926e+02] [-6.55588461e-01 7.49740586e-01 -8.99601218e-02 -1.41224049e+02] [-1.34649421e-01 1.15535311e-03 9.90892627e-01 -3.34052334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters 0.02921745964098398 Centerline is valid? [True, True] Translation: X:244.12, Y:-141.27, Z:-33.41 [[ 7.42755153e-01 6.62024039e-01 1.00194582e-01 2.44120369e+02] [-6.55873033e-01 7.49481697e-01 -9.00430467e-02 -1.41265788e+02] [-1.34704667e-01 1.16501279e-03 9.90885107e-01 -3.34121266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters 0.029141257629087935 Centerline is valid? [True, True] Translation: X:244.16, Y:-141.31, Z:-33.42 [[ 7.41890139e-01 6.63171678e-01 9.90068070e-02 2.44164075e+02] [-6.57164554e-01 7.48466633e-01 -8.90642926e-02 -1.41309224e+02] [-1.33168208e-01 1.01215627e-03 9.91092934e-01 -3.34190623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters 0.02907014031134307 Centerline is valid? [True, True] Translation: X:244.21, Y:-141.35, Z:-33.43 [[ 7.42423739e-01 6.62646183e-01 9.85242451e-02 2.44210186e+02] [-6.56682217e-01 7.48931695e-01 -8.87117882e-02 -1.41351854e+02] [-1.32572458e-01 1.16261782e-03 9.91172635e-01 -3.34250686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters 0.029031769832838807 Centerline is valid? [True, True] Translation: X:244.25, Y:-141.40, Z:-33.43 [[ 7.42740100e-01 6.62293915e-01 9.85084496e-02 2.44254441e+02] [-6.56316533e-01 7.49243014e-01 -8.87891550e-02 -1.41395629e+02] [-1.32611285e-01 1.29454172e-03 9.91167277e-01 -3.34325726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters 0.02916349306744205 Centerline is valid? [True, True] Translation: X:244.30, Y:-141.44, Z:-33.44 [[ 7.44683072e-01 6.60357535e-01 9.68248313e-02 2.44299020e+02] [-6.54555534e-01 7.50949470e-01 -8.73610121e-02 -1.41439857e+02] [-1.30400058e-01 1.67903774e-03 9.91460037e-01 -3.34399334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters 0.02928479678190985 Centerline is valid? [True, True] Translation: X:244.34, Y:-141.49, Z:-33.45 [[ 7.45841652e-01 6.58978462e-01 9.73016812e-02 2.44340209e+02] [-6.53095429e-01 7.52159157e-01 -8.78803965e-02 -1.41486358e+02] [-1.31097639e-01 1.99757689e-03 9.91367449e-01 -3.34462950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters 0.03023057124876354 Centerline is valid? [True, True] Translation: X:244.38, Y:-141.53, Z:-33.45 [[ 7.50490515e-01 6.53389525e-01 9.92275911e-02 2.44382230e+02] [-6.47211613e-01 7.57015569e-01 -8.96914519e-02 -1.41531527e+02] [-1.33720287e-01 3.09133473e-03 9.91014293e-01 -3.34542979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters 0.030702145716662393 Centerline is valid? [True, True] Translation: X:244.43, Y:-141.58, Z:-33.46 [[ 7.52799802e-01 6.50737970e-01 9.91592295e-02 2.44425124e+02] [-6.44541381e-01 7.59293911e-01 -8.96613945e-02 -1.41575734e+02] [-1.33637073e-01 3.58485328e-03 9.91023855e-01 -3.34624882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters 0.03115807797311707 Centerline is valid? [True, True] Translation: X:244.47, Y:-141.62, Z:-33.47 [[ 7.54389886e-01 6.48622114e-01 1.00922016e-01 2.44465835e+02] [-6.42173625e-01 7.61099639e-01 -9.13256544e-02 -1.41622790e+02] [-1.36047549e-01 4.08569348e-03 9.90693884e-01 -3.34676548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters 0.030849408366832577 Centerline is valid? [True, True] Translation: X:244.51, Y:-141.67, Z:-33.48 [[ 7.54432978e-01 6.48697969e-01 1.00109070e-01 2.44506577e+02] [-6.42349675e-01 7.61035105e-01 -9.06226451e-02 -1.41669409e+02] [-1.34973243e-01 4.06368331e-03 9.90840911e-01 -3.34754634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters 0.030839459343148034 Centerline is valid? [True, True] Translation: X:244.55, Y:-141.72, Z:-33.48 [[ 7.52781136e-01 6.50170061e-01 1.02953647e-01 2.44547455e+02] [-6.43456031e-01 7.59778325e-01 -9.32804012e-02 -1.41715864e+02] [-1.38870073e-01 3.97358143e-03 9.90302637e-01 -3.34826812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters 0.030867219979419425 Centerline is valid? [True, True] Translation: X:244.59, Y:-141.76, Z:-33.49 [[ 7.51760451e-01 6.51240453e-01 1.03644089e-01 2.44592191e+02] [-6.44433679e-01 7.58861594e-01 -9.39910358e-02 -1.41759949e+02] [-1.39862283e-01 3.86700194e-03 9.90163415e-01 -3.34896473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters 0.02997966749754858 Centerline is valid? [True, True] Translation: X:244.63, Y:-141.81, Z:-33.50 [[ 7.50532240e-01 6.52964710e-01 1.01678138e-01 2.44634005e+02] [-6.46418487e-01 7.57380038e-01 -9.22963562e-02 -1.41805506e+02] [-1.37275255e-01 3.54476295e-03 9.90526597e-01 -3.34964804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters 0.03014043781473413 Centerline is valid? [True, True] Translation: X:244.67, Y:-141.85, Z:-33.50 [[ 7.51118573e-01 6.52327579e-01 1.01437761e-01 2.44673975e+02] [-6.45795582e-01 7.57928056e-01 -9.21581669e-02 -1.41853065e+02] [-1.36999839e-01 3.71365311e-03 9.90564108e-01 -3.35032565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters 0.030338057100925075 Centerline is valid? [True, True] Translation: X:244.72, Y:-141.90, Z:-33.51 [[ 7.51838717e-01 6.51709694e-01 1.00065070e-01 2.44717189e+02] [-6.45337575e-01 7.58458806e-01 -9.09926095e-02 -1.41898841e+02] [-1.35196000e-01 3.83601692e-03 9.90811449e-01 -3.35093093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters 0.03011011390414128 Centerline is valid? [True, True] Translation: X:244.76, Y:-141.95, Z:-33.52 [[ 7.50034257e-01 6.53836001e-01 9.97351348e-02 2.44756215e+02] [-6.47512624e-01 7.56628158e-01 -9.07812376e-02 -1.41948076e+02] [-1.34818453e-01 3.50927934e-03 9.90864103e-01 -3.35168607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters 0.02977684127869048 Centerline is valid? [True, True] Translation: X:244.80, Y:-142.00, Z:-33.52 [[ 7.47601220e-01 6.56806042e-01 9.84796335e-02 2.44796585e+02] [-6.50656648e-01 7.54053611e-01 -8.97166572e-02 -1.41995431e+02] [-1.33185366e-01 2.99585415e-03 9.91086617e-01 -3.35238679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters 0.029497380632844034 Centerline is valid? [True, True] Translation: X:244.84, Y:-142.04, Z:-33.53 [[ 7.45417859e-01 6.59337104e-01 9.81162492e-02 2.44836573e+02] [-6.53244380e-01 7.51842969e-01 -8.94646870e-02 -1.42043530e+02] [-1.32755400e-01 2.59468705e-03 9.91145434e-01 -3.35301484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters 0.02922146598178032 Centerline is valid? [True, True] Translation: X:244.88, Y:-142.09, Z:-33.54 [[ 7.41189961e-01 6.63944320e-01 9.90726106e-02 2.44880152e+02] [-6.57761412e-01 7.47779724e-01 -9.04179747e-02 -1.42088182e+02] [-1.34116990e-01 1.85075490e-03 9.90963777e-01 -3.35360842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters 0.029084061361224087 Centerline is valid? [True, True] Translation: X:244.92, Y:-142.13, Z:-33.54 [[ 7.36969097e-01 6.68648739e-01 9.89212515e-02 2.44921940e+02] [-6.62515645e-01 7.43577667e-01 -9.03619043e-02 -1.42133550e+02] [-1.33976007e-01 1.05705426e-03 9.90984012e-01 -3.35439775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters 0.029371921002674987 Centerline is valid? [True, True] Translation: X:244.97, Y:-142.18, Z:-33.55 [[ 7.37636940e-01 6.67576863e-01 1.01157682e-01 2.44966916e+02] [-6.61139951e-01 7.44539670e-01 -9.24913229e-02 -1.42175588e+02] [-1.37060974e-01 1.34563141e-03 9.90561699e-01 -3.35503352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters 0.029635357416809217 Centerline is valid? [True, True] Translation: X:245.01, Y:-142.22, Z:-33.56 [[ 7.40526719e-01 6.64647934e-01 9.93141585e-02 2.45012041e+02] [-6.58406769e-01 7.47154232e-01 -9.08904871e-02 -1.42218462e+02] [-1.34613168e-01 1.91771999e-03 9.90896371e-01 -3.35568156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters 0.029795600241901646 Centerline is valid? [True, True] Translation: X:245.06, Y:-142.26, Z:-33.56 [[ 7.43246499e-01 6.61800607e-01 9.80030588e-02 2.45055013e+02] [-6.55687040e-01 7.49675834e-01 -8.97811231e-02 -1.42262385e+02] [-1.32887727e-01 2.47016980e-03 9.91128019e-01 -3.35632548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters 0.030283447531842714 Centerline is valid? [True, True] Translation: X:245.10, Y:-142.31, Z:-33.57 [[ 7.44451832e-01 6.60271785e-01 9.91596696e-02 2.45097402e+02] [-6.53989121e-01 7.51021409e-01 -9.09124460e-02 -1.42306759e+02] [-1.34497958e-01 2.83059177e-03 9.90909828e-01 -3.35703903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters 0.029875625236417017 Centerline is valid? [True, True] Translation: X:245.14, Y:-142.35, Z:-33.58 [[ 7.44513541e-01 6.60364715e-01 9.80715613e-02 2.45138680e+02] [-6.54215223e-01 7.50939765e-01 -8.99550472e-02 -1.42353960e+02] [-1.33048974e-01 2.81284226e-03 9.91105473e-01 -3.35768471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters 0.03030712891343281 Centerline is valid? [True, True] Translation: X:245.18, Y:-142.40, Z:-33.58 [[ 7.46680164e-01 6.57919237e-01 9.80357619e-02 2.45178057e+02] [-6.51748136e-01 7.53081364e-01 -8.99601399e-02 -1.42402757e+02] [-1.33015412e-01 3.27682693e-03 9.91108552e-01 -3.35845294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters 0.030645956058802958 Centerline is valid? [True, True] Translation: X:245.22, Y:-142.45, Z:-33.59 [[ 7.48484290e-01 6.56003858e-01 9.71092519e-02 2.45220228e+02] [-6.49922765e-01 7.54748743e-01 -8.91893178e-02 -1.42448410e+02] [-1.31801622e-01 3.64328962e-03 9.91269418e-01 -3.35908172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters 0.030302399216725454 Centerline is valid? [True, True] Translation: X:245.26, Y:-142.50, Z:-33.60 [[ 7.46368897e-01 6.58457941e-01 9.67812455e-02 2.45257319e+02] [-6.52427987e-01 7.52610467e-01 -8.89674482e-02 -1.42499772e+02] [-1.31419901e-01 3.25974300e-03 9.91321433e-01 -3.35961403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters 0.029550353264463057 Centerline is valid? [True, True] Translation: X:245.30, Y:-142.55, Z:-33.61 [[ 7.39022505e-01 6.66487496e-01 9.81842904e-02 2.45296293e+02] [-6.60339477e-01 7.45513718e-01 -9.03386450e-02 -1.42548130e+02] [-1.33407313e-01 1.92732881e-03 9.91059420e-01 -3.36060065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters 0.029599649158448656 Centerline is valid? [True, True] Translation: X:245.34, Y:-142.59, Z:-33.61 [[ 7.36213144e-01 6.69488725e-01 9.88688724e-02 2.45339686e+02] [-6.63269931e-01 7.42820790e-01 -9.10509324e-02 -1.42592063e+02] [-1.34399427e-01 1.45614299e-03 9.90926170e-01 -3.36133466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters 0.029542575824300546 Centerline is valid? [True, True] Translation: X:245.38, Y:-142.64, Z:-33.62 [[ 7.28811506e-01 6.77448253e-01 9.94869550e-02 2.45382861e+02] [-6.71212402e-01 7.35570433e-01 -9.17063237e-02 -1.42636494e+02] [-1.35305951e-01 5.97458234e-05 9.90803864e-01 -3.36184204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters 0.02998426969795761 Centerline is valid? [True, True] Translation: X:245.43, Y:-142.68, Z:-33.63 [[ 7.26353820e-01 6.80114743e-01 9.92676406e-02 2.45428468e+02] [-6.73919094e-01 7.33105586e-01 -9.15928745e-02 -1.42678918e+02] [-1.35067326e-01 -3.69524108e-04 9.90836354e-01 -3.36267579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters 0.030232090642024114 Centerline is valid? [True, True] Translation: X:245.47, Y:-142.72, Z:-33.63 [[ 7.26433263e-01 6.79719527e-01 1.01370994e-01 2.45474777e+02] [-6.73239512e-01 7.33472094e-01 -9.36335772e-02 -1.42719082e+02] [-1.37997366e-01 -2.28413775e-04 9.90432570e-01 -3.36344600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters 0.030148417661221175 Centerline is valid? [True, True] Translation: X:245.52, Y:-142.76, Z:-33.64 [[ 7.29128775e-01 6.76901745e-01 1.00872480e-01 2.45522441e+02] [-6.70446681e-01 7.36073292e-01 -9.32596170e-02 -1.42759466e+02] [-1.37377136e-01 3.68650607e-04 9.90518746e-01 -3.36412737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters 0.030349142807475766 Centerline is valid? [True, True] Translation: X:245.57, Y:-142.80, Z:-33.65 [[ 7.32585927e-01 6.73203361e-01 1.00573822e-01 2.45570300e+02] [-6.66737720e-01 7.39456518e-01 -9.30852825e-02 -1.42799483e+02] [-1.37035293e-01 1.13660752e-03 9.90565514e-01 -3.36497736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters 0.030533530008545754 Centerline is valid? [True, True] Translation: X:245.62, Y:-142.84, Z:-33.66 [[ 7.34606405e-01 6.70976019e-01 1.00720464e-01 2.45615664e+02] [-6.64456975e-01 7.41477263e-01 -9.33187919e-02 -1.42841066e+02] [-1.37296605e-01 1.62816754e-03 9.90528642e-01 -3.36558884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters 0.030794176817105896 Centerline is valid? [True, True] Translation: X:245.66, Y:-142.88, Z:-33.66 [[ 7.37343014e-01 6.67857628e-01 1.01446879e-01 2.45659929e+02] [-6.61201993e-01 7.44285520e-01 -9.40796938e-02 -1.42883426e+02] [-1.38337284e-01 2.29212609e-03 9.90382523e-01 -3.36640174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters 0.031029056964726996 Centerline is valid? [True, True] Translation: X:245.70, Y:-142.93, Z:-33.67 [[ 7.39841112e-01 6.65340973e-01 9.97823525e-02 2.45703117e+02] [-6.58868289e-01 7.46534424e-01 -9.26225217e-02 -1.42928390e+02] [-1.36116520e-01 2.78252162e-03 9.90688927e-01 -3.36708854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters 0.03139729427723045 Centerline is valid? [True, True] Translation: X:245.74, Y:-142.98, Z:-33.68 [[ 7.41302305e-01 6.63341570e-01 1.02219638e-01 2.45741434e+02] [-6.56515335e-01 7.48309487e-01 -9.49764487e-02 -1.42977843e+02] [-1.39493751e-01 3.29750073e-03 9.90217461e-01 -3.36786784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters 0.03108152686389496 Centerline is valid? [True, True] Translation: X:245.78, Y:-143.03, Z:-33.69 [[ 7.40557906e-01 6.64460150e-01 1.00332930e-01 2.45780405e+02] [-6.57888356e-01 7.47317412e-01 -9.32716300e-02 -1.43027405e+02] [-1.36955827e-01 3.06517687e-03 9.90572413e-01 -3.36852746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters 0.030901035318513313 Centerline is valid? [True, True] Translation: X:245.82, Y:-143.08, Z:-33.69 [[ 7.38298605e-01 6.66960490e-01 1.00393605e-01 2.45820397e+02] [-6.60397698e-01 7.45088423e-01 -9.33708885e-02 -1.43075656e+02] [-1.37076806e-01 2.63589109e-03 9.90556915e-01 -3.36919984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters 0.03044645053842831 Centerline is valid? [True, True] Translation: X:245.86, Y:-143.13, Z:-33.70 [[ 7.32594963e-01 6.73009731e-01 1.01796473e-01 2.45859509e+02] [-6.66305673e-01 7.39631895e-01 -9.47703012e-02 -1.43125923e+02] [-1.39073253e-01 1.60067765e-03 9.90280803e-01 -3.36974333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters 0.030016744911801042 Centerline is valid? [True, True] Translation: X:245.90, Y:-143.17, Z:-33.70 [[ 7.28591956e-01 6.77801172e-01 9.86880580e-02 2.45900705e+02] [-6.71533614e-01 7.35244881e-01 -9.19650539e-02 -1.43173344e+02] [-1.34893911e-01 7.32650284e-04 9.90859776e-01 -3.37026566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters 0.030138308057640978 Centerline is valid? [True, True] Translation: X:245.94, Y:-143.22, Z:-33.71 [[ 7.25661733e-01 6.80837188e-01 9.93769209e-02 2.45943838e+02] [-6.74496435e-01 7.32434751e-01 -9.27032576e-02 -1.43218739e+02] [-1.35902936e-01 2.41827622e-04 9.90722127e-01 -3.37103979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters 0.030025536822865857 Centerline is valid? [True, True] Translation: X:245.99, Y:-143.26, Z:-33.72 [[ 7.24190607e-01 6.82496310e-01 9.87256407e-02 2.45985912e+02] [-6.76240280e-01 7.30889039e-01 -9.21970519e-02 -1.43264986e+02] [-1.35081636e-01 5.98402262e-06 9.90834472e-01 -3.37159462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters 0.029881117173527736 Centerline is valid? [True, True] Translation: X:246.03, Y:-143.31, Z:-33.72 [[ 7.23327742e-01 6.83792875e-01 9.60431240e-02 2.46026216e+02] [-6.77872251e-01 7.29676146e-01 -8.97882674e-02 -1.43313226e+02] [-1.31476954e-01 -1.58623919e-04 9.91319215e-01 -3.37225931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters 0.029970437813207764 Centerline is valid? [True, True] Translation: X:246.07, Y:-143.36, Z:-33.73 [[ 7.19296860e-01 6.88234019e-01 9.45830981e-02 2.46070912e+02] [-6.82518252e-01 7.25488219e-01 -8.85193757e-02 -1.43357482e+02] [-1.29540969e-01 -8.82981757e-04 9.91573677e-01 -3.37283055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters 0.030239462208568053 Centerline is valid? [True, True] Translation: X:246.12, Y:-143.40, Z:-33.74 [[ 7.16387235e-01 6.91444699e-01 9.32392486e-02 2.46115243e+02] [-6.85905625e-01 7.22428090e-01 -8.73563297e-02 -1.43402157e+02] [-1.27760723e-01 -1.37236554e-03 9.91804070e-01 -3.37353882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters 0.03048486120636371 Centerline is valid? [True, True] Translation: X:246.16, Y:-143.45, Z:-33.74 [[ 7.13798100e-01 6.94301647e-01 9.18558374e-02 2.46160651e+02] [-6.88938089e-01 7.19681894e-01 -8.61526641e-02 -1.43445204e+02] [-1.25922920e-01 -1.78737715e-03 9.92038418e-01 -3.37427998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters 0.03060493640644864 Centerline is valid? [True, True] Translation: X:246.21, Y:-143.49, Z:-33.75 [[ 7.14704402e-01 6.93261021e-01 9.26648516e-02 2.46207979e+02] [-6.87781431e-01 7.20684920e-01 -8.70054547e-02 -1.43485807e+02] [-1.27099652e-01 -1.54998275e-03 9.91888742e-01 -3.37513395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters 0.030215288611707466 Centerline is valid? [True, True] Translation: X:246.26, Y:-143.53, Z:-33.76 [[ 7.18310954e-01 6.89573820e-01 9.22893297e-02 2.46256704e+02] [-6.84096407e-01 7.24214931e-01 -8.67458302e-02 -1.43525608e+02] [-1.26654964e-01 -8.24318873e-04 9.91946491e-01 -3.37563301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters 0.030035876756172548 Centerline is valid? [True, True] Translation: X:246.30, Y:-143.57, Z:-33.76 [[ 7.22380325e-01 6.85211391e-01 9.30162100e-02 2.46303761e+02] [-6.79598488e-01 7.28344252e-01 -8.75245405e-02 -1.43567528e+02] [-1.27720634e-01 1.23302825e-05 9.91810183e-01 -3.37636941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters 0.029683201103749616 Centerline is valid? [True, True] Translation: X:246.35, Y:-143.61, Z:-33.77 [[ 7.27090774e-01 6.80237959e-01 9.28187773e-02 2.46348823e+02] [-6.74596048e-01 7.32990725e-01 -8.74343740e-02 -1.43610951e+02] [-1.27511483e-01 9.57546317e-04 9.91836632e-01 -3.37686393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters 0.02945746565529836 Centerline is valid? [True, True] Translation: X:246.39, Y:-143.66, Z:-33.77 [[ 7.30301135e-01 6.76849875e-01 9.23823455e-02 2.46392597e+02] [-6.71221985e-01 7.36119315e-01 -8.71171730e-02 -1.43656446e+02] [-1.26969677e-01 1.61270904e-03 9.91905288e-01 -3.37738552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters 0.029552250494934075 Centerline is valid? [True, True] Translation: X:246.44, Y:-143.70, Z:-33.78 [[ 7.31245028e-01 6.75902188e-01 9.18528221e-02 2.46436036e+02] [-6.70319668e-01 7.36989052e-01 -8.67103215e-02 -1.43701578e+02] [-1.26302220e-01 1.83573826e-03 9.91990110e-01 -3.37803493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters 0.02905295803297923 Centerline is valid? [True, True] Translation: X:246.48, Y:-143.75, Z:-33.79 [[ 7.30050355e-01 6.77301709e-01 9.10432492e-02 2.46476611e+02] [-6.71816646e-01 7.35703525e-01 -8.60390448e-02 -1.43750045e+02] [-1.25255232e-01 1.64846493e-03 9.92123183e-01 -3.37850764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters 0.028888787673652647 Centerline is valid? [True, True] Translation: X:246.52, Y:-143.80, Z:-33.79 [[ 7.28254665e-01 6.79150980e-01 9.16465462e-02 2.46517471e+02] [-6.73595049e-01 7.33997246e-01 -8.67049779e-02 -1.43797873e+02] [-1.26154083e-01 1.41064492e-03 9.92009656e-01 -3.37915347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters 0.02871784042700222 Centerline is valid? [True, True] Translation: X:246.56, Y:-143.84, Z:-33.80 [[ 7.27505958e-01 6.80067602e-01 9.07917267e-02 2.46560238e+02] [-6.74610521e-01 7.33148241e-01 -8.59901316e-02 -1.43844113e+02] [-1.25042897e-01 1.30927906e-03 9.92150472e-01 -3.37982518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters 0.02838012886067231 Centerline is valid? [True, True] Translation: X:246.60, Y:-143.89, Z:-33.80 [[ 7.24477163e-01 6.83580011e-01 8.86070472e-02 2.46599468e+02] [-6.78398362e-01 7.29875195e-01 -8.40110796e-02 -1.43894044e+02] [-1.22100381e-01 7.53232914e-04 9.92517471e-01 -3.38042296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters 0.028346285392078844 Centerline is valid? [True, True] Translation: X:246.64, Y:-143.94, Z:-33.81 [[ 7.18539984e-01 6.89693133e-01 8.95749643e-02 2.46641023e+02] [-6.84432181e-01 7.24101745e-01 -8.50250130e-02 -1.43942643e+02] [-1.23502556e-01 -2.14116711e-04 9.92344231e-01 -3.38104117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters 0.02847750722822555 Centerline is valid? [True, True] Translation: X:246.68, Y:-143.99, Z:-33.82 [[ 7.12927813e-01 6.95837986e-01 8.68529225e-02 2.46684692e+02] [-6.90926119e-01 7.18197844e-01 -8.25406258e-02 -1.43988368e+02] [-1.19812485e-01 -1.16344479e-03 9.92795858e-01 -3.38168808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters 0.02854632034294242 Centerline is valid? [True, True] Translation: X:246.73, Y:-144.03, Z:-33.82 [[ 7.10987352e-01 6.98030205e-01 8.51517330e-02 2.46730110e+02] [-6.93313676e-01 7.16066884e-01 -8.10207676e-02 -1.44032847e+02] [-1.17529279e-01 -1.43212001e-03 9.93068385e-01 -3.38223053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters 0.02853511364504334 Centerline is valid? [True, True] Translation: X:246.78, Y:-144.08, Z:-33.83 [[ 7.09311738e-01 6.99545311e-01 8.66788153e-02 2.46777023e+02] [-6.94656474e-01 7.14586361e-01 -8.25755149e-02 -1.44075933e+02] [-1.19704813e-01 -1.64021822e-03 9.92808172e-01 -3.38289448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters 0.02804648020350583 Centerline is valid? [True, True] Translation: X:246.83, Y:-144.12, Z:-33.84 [[ 7.11032168e-01 6.97649134e-01 8.78575095e-02 2.46825401e+02] [-6.92599048e-01 7.16438473e-01 -8.38002030e-02 -1.44116264e+02] [-1.21407639e-01 -1.26538736e-03 9.92601926e-01 -3.38364706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters 0.02769008811730127 Centerline is valid? [True, True] Translation: X:246.87, Y:-144.16, Z:-33.84 [[ 7.13248884e-01 6.95526291e-01 8.67133656e-02 2.46872090e+02] [-6.90580001e-01 7.18500176e-01 -8.28055491e-02 -1.44160119e+02] [-1.19897005e-01 -8.21550550e-04 9.92785996e-01 -3.38416418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters 0.02718876864379379 Centerline is valid? [True, True] Translation: X:246.92, Y:-144.20, Z:-33.85 [[ 7.15579036e-01 6.93187356e-01 8.62434522e-02 2.46918144e+02] [-6.88268121e-01 7.20757348e-01 -8.24368844e-02 -1.44204396e+02] [-1.19304808e-01 -3.68512461e-04 9.92857607e-01 -3.38476392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters 0.027200542165634365 Centerline is valid? [True, True] Translation: X:246.96, Y:-144.25, Z:-33.86 [[ 7.16267114e-01 6.92364462e-01 8.71370979e-02 2.46963048e+02] [-6.87323002e-01 7.21547939e-01 -8.34006137e-02 -1.44249159e+02] [-1.20617214e-01 -1.54214897e-04 9.92699080e-01 -3.38552245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters 0.026894269635267195 Centerline is valid? [True, True] Translation: X:247.01, Y:-144.29, Z:-33.86 [[ 7.15417562e-01 6.93242204e-01 8.71375851e-02 2.47007294e+02] [-6.88194244e-01 7.20704652e-01 -8.35074049e-02 -1.44294091e+02] [-1.20691320e-01 -2.24920547e-04 9.92690060e-01 -3.38623472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters 0.026631445681549386 Centerline is valid? [True, True] Translation: X:247.05, Y:-144.34, Z:-33.87 [[ 7.13705728e-01 6.95144193e-01 8.60156101e-02 2.47052165e+02] [-6.90227557e-01 7.18870179e-01 -8.25323349e-02 -1.44338794e+02] [-1.19205930e-01 -4.66544210e-04 9.92869442e-01 -3.38695997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters 0.027009117115844854 Centerline is valid? [True, True] Translation: X:247.10, Y:-144.38, Z:-33.88 [[ 7.10200868e-01 6.98424532e-01 8.84188896e-02 2.47095160e+02] [-6.93240235e-01 7.15683057e-01 -8.49455061e-02 -1.44384838e+02] [-1.22607927e-01 -9.67159584e-04 9.92454715e-01 -3.38775862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters 0.027518742472779908 Centerline is valid? [True, True] Translation: X:247.14, Y:-144.43, Z:-33.88 [[ 7.06407199e-01 7.01875579e-01 9.14305236e-02 2.47141768e+02] [-6.96345244e-01 7.12297902e-01 -8.79488494e-02 -1.44428213e+02] [-1.26854920e-01 -1.53950985e-03 9.91920087e-01 -3.38839161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters 0.027466950371665765 Centerline is valid? [True, True] Translation: X:247.19, Y:-144.47, Z:-33.89 [[ 7.05236434e-01 7.03229830e-01 9.00520839e-02 2.47187769e+02] [-6.97863596e-01 7.10960602e-01 -8.67261426e-02 -1.44472154e+02] [-1.25011894e-01 -1.68163549e-03 9.92153818e-01 -3.38918779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters 0.027717880957762245 Centerline is valid? [True, True] Translation: X:247.23, Y:-144.52, Z:-33.90 [[ 7.03939367e-01 7.04422714e-01 9.08735844e-02 2.47233490e+02] [-6.98954257e-01 7.09778325e-01 -8.76223482e-02 -1.44516472e+02] [-1.26223273e-01 -1.83565834e-03 9.92000159e-01 -3.38985082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters 0.027751315635697566 Centerline is valid? [True, True] Translation: X:247.28, Y:-144.56, Z:-33.91 [[ 7.04664682e-01 7.03553327e-01 9.19804410e-02 2.47279095e+02] [-6.97929147e-01 7.10640611e-01 -8.87965508e-02 -1.44560597e+02] [-1.27838146e-01 -1.62403746e-03 9.91793714e-01 -3.39056809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters 0.027687737027040995 Centerline is valid? [True, True] Translation: X:247.32, Y:-144.61, Z:-33.91 [[ 7.02972229e-01 7.05232704e-01 9.20699643e-02 2.47324274e+02] [-6.99598211e-01 7.08973476e-01 -8.89885001e-02 -1.44605149e+02] [-1.28032763e-01 -1.85553802e-03 9.91768203e-01 -3.39138614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters 0.028373215235525155 Centerline is valid? [True, True] Translation: X:247.37, Y:-144.65, Z:-33.92 [[ 7.00653164e-01 7.07356253e-01 9.34466493e-02 2.47368048e+02] [-7.01555551e-01 7.06853804e-01 -9.04295791e-02 -1.44651713e+02] [-1.30019048e-01 -2.19824490e-03 9.91509059e-01 -3.39231085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters 0.028809637109322096 Centerline is valid? [True, True] Translation: X:247.41, Y:-144.70, Z:-33.93 [[ 6.97940098e-01 7.10111723e-01 9.28491316e-02 2.47413507e+02] [-7.04394073e-01 7.04084180e-01 -8.99692004e-02 -1.44696420e+02] [-1.29261789e-01 -2.60926547e-03 9.91607070e-01 -3.39306418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters 0.029637402163728538 Centerline is valid? [True, True] Translation: X:247.46, Y:-144.74, Z:-33.94 [[ 6.93567835e-01 7.14564395e-01 9.14405966e-02 2.47459399e+02] [-7.09043182e-01 6.99561873e-01 -8.87183861e-02 -1.44741713e+02] [-1.27363355e-01 -3.30311256e-03 9.91850627e-01 -3.39384789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters 0.03139107665489963 Centerline is valid? [True, True] Translation: X:247.51, Y:-144.78, Z:-33.94 [[ 6.84423692e-01 7.23237354e-01 9.21517205e-02 2.47506689e+02] [-7.17691754e-01 6.90582412e-01 -8.95236230e-02 -1.44784611e+02] [-1.28385186e-01 -4.86444127e-03 9.91712449e-01 -3.39449596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters 0.0333810445937352 Centerline is valid? [True, True] Translation: X:247.55, Y:-144.83, Z:-33.95 [[ 6.77652757e-01 7.29600529e-01 9.20315633e-02 2.47554451e+02] [-7.24113391e-01 6.83847406e-01 -8.95126914e-02 -1.44826515e+02] [-1.28244053e-01 -5.98276525e-03 9.91724594e-01 -3.39509097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters 0.03471765541071518 Centerline is valid? [True, True] Translation: X:247.61, Y:-144.86, Z:-33.96 [[ 6.72092258e-01 7.34748142e-01 9.18540435e-02 2.47609605e+02] [-7.29316051e-01 6.78305158e-01 -8.94438955e-02 -1.44860991e+02] [-1.28023808e-01 -6.87607855e-03 9.91747258e-01 -3.39586937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters 0.03457381158831694 Centerline is valid? [True, True] Translation: X:247.67, Y:-144.89, Z:-33.97 [[ 6.71654404e-01 7.35256567e-01 9.09842979e-02 2.47666483e+02] [-7.29919365e-01 6.77754385e-01 -8.86944969e-02 -1.44893726e+02] [-1.26878218e-01 -6.83915147e-03 9.91894724e-01 -3.39651685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters 0.03446501178784974 Centerline is valid? [True, True] Translation: X:247.72, Y:-144.93, Z:-33.97 [[ 6.71422934e-01 7.35381598e-01 9.16795970e-02 2.47719782e+02] [-7.29950704e-01 6.77618621e-01 -8.94705185e-02 -1.44930294e+02] [-1.27918775e-01 -6.84902838e-03 9.91760998e-01 -3.39716040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters 0.034258366668279486 Centerline is valid? [True, True] Translation: X:247.78, Y:-144.96, Z:-33.98 [[ 6.70409166e-01 7.36308621e-01 9.16578711e-02 2.47778932e+02] [-7.30876446e-01 6.76610077e-01 -8.95456507e-02 -1.44959211e+02] [-1.27949874e-01 -6.95835405e-03 9.91756226e-01 -3.39785582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters 0.03406461167018733 Centerline is valid? [True, True] Translation: X:247.84, Y:-144.99, Z:-33.99 [[ 6.70979099e-01 7.35594425e-01 9.32088602e-02 2.47836451e+02] [-7.29957677e-01 6.77387276e-01 -9.11497038e-02 -1.44989653e+02] [-1.30187710e-01 -6.87897691e-03 9.91465501e-01 -3.39869331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters 0.032102902018041155 Centerline is valid? [True, True] Translation: X:247.89, Y:-145.02, Z:-33.99 [[ 6.77751120e-01 7.29457045e-01 9.24437032e-02 2.47893193e+02] [-7.23844685e-01 6.84003796e-01 -9.04857951e-02 -1.45021430e+02] [-1.29237345e-01 -5.58803421e-03 9.91597944e-01 -3.39944727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters 0.030803704265540282 Centerline is valid? [True, True] Translation: X:247.94, Y:-145.06, Z:-34.00 [[ 6.82317737e-01 7.25111101e-01 9.30397614e-02 2.47944806e+02] [-7.19374767e-01 6.88615608e-01 -9.11509138e-02 -1.45057560e+02] [-1.30163171e-01 -4.73657140e-03 9.91481273e-01 -3.40011732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters 0.02919955886045616 Centerline is valid? [True, True] Translation: X:248.00, Y:-145.09, Z:-34.01 [[ 6.88361600e-01 7.19418300e-01 9.27125488e-02 2.47995802e+02] [-7.13663548e-01 6.94567722e-01 -9.08846545e-02 -1.45094077e+02] [-1.29779227e-01 -3.60406036e-03 9.91536365e-01 -3.40079636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters 0.02875963112548121 Centerline is valid? [True, True] Translation: X:248.04, Y:-145.13, Z:-34.01 [[ 6.90635854e-01 7.17297211e-01 9.22324629e-02 2.48043460e+02] [-7.11572429e-01 6.96760301e-01 -9.04973011e-02 -1.45134036e+02] [-1.29177380e-01 -3.12939681e-03 9.91616565e-01 -3.40145089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters 0.028570393246839035 Centerline is valid? [True, True] Translation: X:248.09, Y:-145.18, Z:-34.02 [[ 6.92377448e-01 7.15646699e-01 9.19960456e-02 2.48088360e+02] [-7.09926081e-01 6.98457020e-01 -9.03479416e-02 -1.45176567e+02] [-1.28912490e-01 -2.75551488e-03 9.91652145e-01 -3.40230243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters 0.02789451161674598 Centerline is valid? [True, True] Translation: X:248.13, Y:-145.22, Z:-34.03 [[ 6.92256095e-01 7.15965912e-01 9.04119054e-02 2.48132935e+02] [-7.10433774e-01 6.98129984e-01 -8.88728152e-02 -1.45219311e+02] [-1.26749168e-01 -2.70892326e-03 9.91931101e-01 -3.40302024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters 0.028354818035174232 Centerline is valid? [True, True] Translation: X:248.18, Y:-145.26, Z:-34.04 [[ 6.90700414e-01 7.17208798e-01 9.24363444e-02 2.48176618e+02] [-7.11424985e-01 6.96852119e-01 -9.09484188e-02 -1.45262729e+02] [-1.29643469e-01 -2.94341436e-03 9.91556306e-01 -3.40371159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters 0.02856349345919897 Centerline is valid? [True, True] Translation: X:248.22, Y:-145.31, Z:-34.04 [[ 6.87600170e-01 7.20358239e-01 9.10495133e-02 2.48220848e+02] [-7.14764073e-01 6.93593744e-01 -8.96662603e-02 -1.45305177e+02] [-1.27743202e-01 -3.42438512e-03 9.91801365e-01 -3.40446394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters 0.028836485101644 Centerline is valid? [True, True] Translation: X:248.27, Y:-145.35, Z:-34.05 [[ 6.86449157e-01 7.21488362e-01 9.07860076e-02 2.48265391e+02] [-7.15925890e-01 6.92417378e-01 -8.94890801e-02 -1.45348048e+02] [-1.27427139e-01 -3.56634967e-03 9.91841522e-01 -3.40528824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters 0.028527483818602952 Centerline is valid? [True, True] Translation: X:248.31, Y:-145.39, Z:-34.06 [[ 6.86935458e-01 7.21044792e-01 9.06315864e-02 2.48312183e+02] [-7.15486782e-01 6.92880013e-01 -8.94200895e-02 -1.45388645e+02] [-1.27272705e-01 -3.41987192e-03 9.91861867e-01 -3.40584895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters 0.02789222869599982 Centerline is valid? [True, True] Translation: X:248.36, Y:-145.43, Z:-34.06 [[ 6.89417928e-01 7.18304370e-01 9.34973367e-02 2.48357866e+02] [-7.12351265e-01 6.95722754e-01 -9.23337665e-02 -1.45429839e+02] [-1.31371973e-01 -2.94639216e-03 9.91328767e-01 -3.40648659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters 0.02747613570121536 Centerline is valid? [True, True] Translation: X:248.40, Y:-145.47, Z:-34.07 [[ 6.92680675e-01 7.15103547e-01 9.39169790e-02 2.48402615e+02] [-7.09055870e-01 6.99014793e-01 -9.28336777e-02 -1.45472090e+02] [-1.32035050e-01 -2.28829070e-03 9.91242407e-01 -3.40723181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters 0.02701981197222612 Centerline is valid? [True, True] Translation: X:248.45, Y:-145.52, Z:-34.08 [[ 6.96230424e-01 7.11598886e-01 9.42879733e-02 2.48445931e+02] [-7.05459337e-01 7.02584209e-01 -9.32874783e-02 -1.45516106e+02] [-1.32628507e-01 -1.56675046e-03 9.91164580e-01 -3.40796667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters 0.026973960694079546 Centerline is valid? [True, True] Translation: X:248.49, Y:-145.56, Z:-34.09 [[ 7.00478389e-01 7.07246868e-01 9.55609457e-02 2.48487806e+02] [-7.00886602e-01 7.06966335e-01 -9.46391669e-02 -1.45562915e+02] [-1.34491626e-01 -6.84695342e-04 9.90914494e-01 -3.40869782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters 0.02714570346836853 Centerline is valid? [True, True] Translation: X:248.53, Y:-145.61, Z:-34.09 [[ 7.00577604e-01 7.07214436e-01 9.50724049e-02 2.48527065e+02] [-7.00905199e-01 7.06998854e-01 -9.42577441e-02 -1.45612421e+02] [-1.33876519e-01 -6.01878415e-04 9.90997838e-01 -3.40936142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters 0.02725511265529627 Centerline is valid? [True, True] Translation: X:248.57, Y:-145.66, Z:-34.10 [[ 6.98517843e-01 7.09375365e-01 9.41244651e-02 2.48567979e+02] [-7.03198734e-01 7.04830272e-01 -9.34121426e-02 -1.45660793e+02] [-1.32606045e-01 -9.38156358e-04 9.91168380e-01 -3.41005082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters 0.027575431565575795 Centerline is valid? [True, True] Translation: X:248.61, Y:-145.71, Z:-34.11 [[ 6.94827625e-01 7.13193992e-01 9.25683620e-02 2.48606170e+02] [-7.07245536e-01 7.00964908e-01 -9.19344853e-02 -1.45710860e+02] [-1.30454296e-01 -1.58994079e-03 9.91453049e-01 -3.41063324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters 0.028429389454448863 Centerline is valid? [True, True] Translation: X:248.64, Y:-145.76, Z:-34.11 [[ 6.87890638e-01 7.19997816e-01 9.17039560e-02 2.48644999e+02] [-7.14207254e-01 6.93970767e-01 -9.11733098e-02 -1.45760757e+02] [-1.29284449e-01 -2.77836442e-03 9.91603657e-01 -3.41136433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters 0.03069796436739865 Centerline is valid? [True, True] Translation: X:248.69, Y:-145.81, Z:-34.12 [[ 6.75999248e-01 7.31279451e-01 9.08591268e-02 2.48687355e+02] [-7.25683182e-01 6.82061031e-01 -9.04249356e-02 -1.45807335e+02] [-1.28097367e-01 -4.80775177e-03 9.91749943e-01 -3.41194074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters 0.03452365769106151 Centerline is valid? [True, True] Translation: X:248.73, Y:-145.85, Z:-34.13 [[ 6.63135297e-01 7.42892898e-01 9.14424362e-02 2.48734372e+02] [-7.37320242e-01 6.69373533e-01 -9.10930013e-02 -1.45848317e+02] [-1.28881490e-01 -7.01537467e-03 9.91635188e-01 -3.41258605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters 0.03638352521925944 Centerline is valid? [True, True] Translation: X:248.78, Y:-145.89, Z:-34.13 [[ 6.55747306e-01 7.49467847e-01 9.10682074e-02 2.48783187e+02] [-7.43991851e-01 6.61989851e-01 -9.08050837e-02 -1.45887901e+02] [-1.28341720e-01 -8.20881523e-03 9.91696031e-01 -3.41329539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters 0.03799919735147168 Centerline is valid? [True, True] Translation: X:248.84, Y:-145.92, Z:-34.14 [[ 6.51437827e-01 7.53231435e-01 9.09459324e-02 2.48837091e+02] [-7.47795512e-01 6.57695623e-01 -9.07652999e-02 -1.45922478e+02] [-1.28182019e-01 -8.88101027e-03 9.91710894e-01 -3.41388135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters 0.03836415419053851 Centerline is valid? [True, True] Translation: X:248.89, Y:-145.95, Z:-34.15 [[ 6.50597273e-01 7.53689085e-01 9.31447885e-02 2.48893805e+02] [-7.47981682e-01 6.57167486e-01 -9.30284834e-02 -1.45952999e+02] [-1.31326279e-01 -9.14651798e-03 9.91297004e-01 -3.41478643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters 0.03760375817583148 Centerline is valid? [True, True] Translation: X:248.95, Y:-145.98, Z:-34.15 [[ 6.51386837e-01 7.52967921e-01 9.34585408e-02 2.48950522e+02] [-7.47204197e-01 6.57995946e-01 -9.34196092e-02 -1.45983315e+02] [-1.31837310e-01 -8.98031021e-03 9.91230688e-01 -3.41536672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters 0.03615850467119766 Centerline is valid? [True, True] Translation: X:249.13, Y:-146.17, Z:-32.29 [[ 7.94767396e-01 -6.03872107e-01 -6.06899122e-02 2.49125989e+02] [-6.00717290e-01 -7.96962809e-01 6.31586750e-02 -1.46166794e+02] [-8.65073650e-02 -1.37389761e-02 -9.96156472e-01 -3.22913428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters 0.034683483328589795 Centerline is valid? [True, True] Translation: X:249.04, Y:-146.05, Z:-34.17 [[ 7.13973413e-01 6.92799676e-01 1.01343843e-01 2.49036330e+02] [-6.87360399e-01 7.21090426e-01 -8.69728632e-02 -1.46049927e+02] [-1.33332847e-01 -7.56343250e-03 9.91042454e-01 -3.41667379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters 0.03249701475304908 Centerline is valid? [True, True] Translation: X:249.09, Y:-146.08, Z:-34.17 [[ 7.20211667e-01 6.86310172e-01 1.01358290e-01 2.49090575e+02] [-6.80794163e-01 7.27281711e-01 -8.70667569e-02 -1.46080879e+02] [-1.33470832e-01 -6.29763823e-03 9.91032732e-01 -3.41730495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters 0.030512766318640024 Centerline is valid? [True, True] Translation: X:249.15, Y:-146.11, Z:-34.18 [[ 7.26051962e-01 6.79881096e-01 1.03006035e-01 2.49146148e+02] [-6.74110106e-01 7.33304295e-01 -8.85459046e-02 -1.46110565e+02] [-1.35735454e-01 -5.14848128e-03 9.90731739e-01 -3.41792715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters 0.029696986007828382 Centerline is valid? [True, True] Translation: X:249.20, Y:-146.15, Z:-34.19 [[ 7.30211369e-01 6.75312723e-01 1.03653668e-01 2.49195253e+02] [-6.69418454e-01 7.37518964e-01 -8.91331157e-02 -1.46147214e+02] [-1.36639273e-01 -4.30166382e-03 9.90611531e-01 -3.41864998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters 0.02978056521061277 Centerline is valid? [True, True] Translation: X:249.24, Y:-146.18, Z:-34.19 [[ 7.30075343e-01 6.75518642e-01 1.03269344e-01 2.49244253e+02] [-6.69661002e-01 7.37330522e-01 -8.88698118e-02 -1.46184735e+02] [-1.36176854e-01 -4.27379380e-03 9.90675325e-01 -3.41936543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters 0.029933162776413374 Centerline is valid? [True, True] Translation: X:249.29, Y:-146.22, Z:-34.20 [[ 7.28971391e-01 6.77037812e-01 1.01096545e-01 2.49293716e+02] [-6.71428844e-01 7.35935076e-01 -8.70796890e-02 -1.46222018e+02] [-1.33356736e-01 -4.40053419e-03 9.91058331e-01 -3.42007724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters 0.03010445384986806 Centerline is valid? [True, True] Translation: X:249.34, Y:-146.26, Z:-34.21 [[ 7.27782074e-01 6.78232458e-01 1.01656211e-01 2.49343511e+02] [-6.72561512e-01 7.34833117e-01 -8.76430386e-02 -1.46258548e+02] [-1.34142704e-01 -4.58502248e-03 9.90951418e-01 -3.42069348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters 0.029963991625384157 Centerline is valid? [True, True] Translation: X:249.39, Y:-146.30, Z:-34.21 [[ 7.28919529e-01 6.77011708e-01 1.01643822e-01 2.49393302e+02] [-6.71319367e-01 7.35959687e-01 -8.77134318e-02 -1.46295458e+02] [-1.34188776e-01 -4.29943286e-03 9.90946460e-01 -3.42137884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters 0.02935166473429135 Centerline is valid? [True, True] Translation: X:249.44, Y:-146.33, Z:-34.22 [[ 7.31242323e-01 6.74905732e-01 9.89288477e-02 2.49444550e+02] [-6.69486477e-01 7.37894403e-01 -8.54383286e-02 -1.46329885e+02] [-1.30661861e-01 -3.75540387e-03 9.91419878e-01 -3.42216419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters 0.02928050027261966 Centerline is valid? [True, True] Translation: X:249.50, Y:-146.37, Z:-34.23 [[ 7.32619214e-01 6.73281434e-01 9.98058023e-02 2.49496019e+02] [-6.67747678e-01 7.39378107e-01 -8.62151593e-02 -1.46365531e+02] [-1.31841291e-01 -3.48221051e-03 9.91264722e-01 -3.42287303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters 0.02904366947055774 Centerline is valid? [True, True] Translation: X:249.55, Y:-146.40, Z:-34.23 [[ 7.32720534e-01 6.73320333e-01 9.87944717e-02 2.49547463e+02] [-6.67894101e-01 7.39342947e-01 -8.53784336e-02 -1.46401116e+02] [-1.30530031e-01 -3.42571332e-03 9.91438438e-01 -3.42338880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters 0.029235961005459596 Centerline is valid? [True, True] Translation: X:249.60, Y:-146.44, Z:-34.24 [[ 7.32524753e-01 6.73496045e-01 9.90482854e-02 2.49597550e+02] [-6.68032410e-01 7.39182987e-01 -8.56808622e-02 -1.46439539e+02] [-1.30920529e-01 -3.40411241e-03 9.91387022e-01 -3.42411813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters 0.029176354193692824 Centerline is valid? [True, True] Translation: X:249.65, Y:-146.48, Z:-34.25 [[ 7.33758666e-01 6.72046406e-01 9.97589492e-02 2.49648333e+02] [-6.66478077e-01 7.40502548e-01 -8.63883603e-02 -1.46475953e+02] [-1.31928743e-01 -3.09894458e-03 9.91254359e-01 -3.42480567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters 0.028600606187545057 Centerline is valid? [True, True] Translation: X:249.70, Y:-146.51, Z:-34.25 [[ 7.37385080e-01 6.68150231e-01 9.91892723e-02 2.49699188e+02] [-6.62599550e-01 7.44022757e-01 -8.59765835e-02 -1.46512120e+02] [-1.31244350e-01 -2.32491727e-03 9.91347323e-01 -3.42532519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters 0.0287910481533447 Centerline is valid? [True, True] Translation: X:249.75, Y:-146.55, Z:-34.26 [[ 7.38003023e-01 6.67204152e-01 1.00946313e-01 2.49747884e+02] [-6.61434008e-01 7.44871851e-01 -8.75841250e-02 -1.46550828e+02] [-1.33628559e-01 -2.13197561e-03 9.91029194e-01 -3.42611001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters 0.028465673550592777 Centerline is valid? [True, True] Translation: X:249.80, Y:-146.59, Z:-34.27 [[ 7.40513109e-01 6.64529512e-01 1.00204112e-01 2.49797404e+02] [-6.58808872e-01 7.47260362e-01 -8.70219542e-02 -1.46588045e+02] [-1.32707218e-01 -1.57445997e-03 9.91154032e-01 -3.42683655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters 0.027972476264237222 Centerline is valid? [True, True] Translation: X:249.85, Y:-146.62, Z:-34.28 [[ 7.44486055e-01 6.60251506e-01 9.90376788e-02 2.49849066e+02] [-6.54615382e-01 7.51044207e-01 -8.60889133e-02 -1.46622886e+02] [-1.31222010e-01 -7.39592458e-04 9.91352731e-01 -3.42753065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters 0.027813581666125162 Centerline is valid? [True, True] Translation: X:249.90, Y:-146.66, Z:-34.28 [[ 7.50280223e-01 6.53879570e-01 9.75761011e-02 2.49900380e+02] [-6.48344844e-01 7.56598520e-01 -8.48978429e-02 -1.46658087e+02] [-1.29338899e-01 4.34210438e-04 9.91600353e-01 -3.42824815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters 0.027898112056772183 Centerline is valid? [True, True] Translation: X:249.95, Y:-146.70, Z:-34.29 [[ 7.54299751e-01 6.49288869e-01 9.72411912e-02 2.49949410e+02] [-6.43743760e-01 7.60540812e-01 -8.46855649e-02 -1.46695685e+02] [-1.28941289e-01 1.27989051e-03 9.91651403e-01 -3.42895322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters 0.028530079625229125 Centerline is valid? [True, True] Translation: X:250.00, Y:-146.73, Z:-34.30 [[ 7.59986416e-01 6.42234886e-01 9.97747438e-02 2.49997550e+02] [-6.36323995e-01 7.66503454e-01 -8.69725710e-02 -1.46733400e+02] [-1.32334505e-01 2.60890896e-03 9.91201681e-01 -3.42975076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters 0.028829102176700903 Centerline is valid? [True, True] Translation: X:250.04, Y:-146.78, Z:-34.30 [[ 7.61287417e-01 6.40827452e-01 9.89022062e-02 2.50043360e+02] [-6.34998554e-01 7.67679528e-01 -8.62842902e-02 -1.46775427e+02] [-1.31218541e-01 2.88438642e-03 9.91349270e-01 -3.43047072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters 0.028687913757094483 Centerline is valid? [True, True] Translation: X:250.09, Y:-146.82, Z:-34.31 [[ 7.61946437e-01 6.40120354e-01 9.84050790e-02 2.50086323e+02] [-6.34334086e-01 7.68268589e-01 -8.59281224e-02 -1.46821281e+02] [-1.30605871e-01 3.05093089e-03 9.91429674e-01 -3.43099507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters 0.028524307048335976 Centerline is valid? [True, True] Translation: X:250.13, Y:-146.87, Z:-34.32 [[ 7.61492179e-01 6.40673900e-01 9.83189476e-02 2.50128516e+02] [-6.34891040e-01 7.67807159e-01 -8.59391323e-02 -1.46867677e+02] [-1.30548951e-01 3.02015821e-03 9.91437265e-01 -3.43168854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters 0.027918911608417266 Centerline is valid? [True, True] Translation: X:250.17, Y:-146.91, Z:-34.32 [[ 7.59412555e-01 6.43201416e-01 9.79005121e-02 2.50171248e+02] [-6.37478633e-01 7.65692496e-01 -8.56504196e-02 -1.46913543e+02] [-1.30052159e-01 2.63451936e-03 9.91503654e-01 -3.43234946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters 0.026999866229817607 Centerline is valid? [True, True] Translation: X:250.21, Y:-146.96, Z:-34.33 [[ 7.53161819e-01 6.50222519e-01 9.97895305e-02 2.50211652e+02] [-6.44331640e-01 7.59742374e-01 -8.73399278e-02 -1.46961571e+02] [-1.32604723e-01 1.48354698e-03 9.91167890e-01 -3.43301629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters 0.0269179154767003 Centerline is valid? [True, True] Translation: X:250.26, Y:-147.01, Z:-34.34 [[ 7.50510979e-01 6.53183339e-01 1.00423091e-01 2.50256900e+02] [-6.47232399e-01 7.57199093e-01 -8.79758840e-02 -1.47005476e+02] [-1.33504655e-01 1.02978836e-03 9.91047651e-01 -3.43377399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters 0.026561556654264625 Centerline is valid? [True, True] Translation: X:250.30, Y:-147.05, Z:-34.34 [[ 7.50093265e-01 6.53898223e-01 9.88797642e-02 2.50301642e+02] [-6.48124135e-01 7.56581919e-01 -8.67116228e-02 -1.47048389e+02] [-1.31511218e-01 9.55442617e-04 9.91314222e-01 -3.43448507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters 0.02688395002362692 Centerline is valid? [True, True] Translation: X:250.35, Y:-147.09, Z:-34.35 [[ 7.51936525e-01 6.51555569e-01 1.00333459e-01 2.50346797e+02] [-6.45577847e-01 7.58599527e-01 -8.80681642e-02 -1.47090746e+02] [-1.33494217e-01 1.44861079e-03 9.91048533e-01 -3.43514487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters 0.026949988854761346 Centerline is valid? [True, True] Translation: X:250.39, Y:-147.13, Z:-34.36 [[ 7.53743317e-01 6.49668433e-01 9.90047459e-02 2.50391713e+02] [-6.43821698e-01 7.60215503e-01 -8.69828157e-02 -1.47134867e+02] [-1.31774932e-01 1.82131233e-03 9.91277988e-01 -3.43578300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters 0.027121162094280934 Centerline is valid? [True, True] Translation: X:250.43, Y:-147.18, Z:-34.37 [[ 7.54883833e-01 6.48246329e-01 9.96348075e-02 2.50434398e+02] [-6.42300291e-01 7.61427650e-01 -8.76257377e-02 -1.47179205e+02] [-1.32667760e-01 2.15178695e-03 9.91158229e-01 -3.43657108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters 0.02759976999756091 Centerline is valid? [True, True] Translation: X:250.47, Y:-147.23, Z:-34.37 [[ 7.56976728e-01 6.45656715e-01 1.00566596e-01 2.50474711e+02] [-6.39564832e-01 7.63623047e-01 -8.85249561e-02 -1.47226308e+02] [-1.33951703e-01 2.69247361e-03 9.90984204e-01 -3.43720533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters 0.027855754590399937 Centerline is valid? [True, True] Translation: X:250.51, Y:-147.27, Z:-34.38 [[ 7.60069304e-01 6.42178915e-01 9.95032350e-02 2.50514403e+02] [-6.36176199e-01 7.66547563e-01 -8.76622926e-02 -1.47274286e+02] [-1.32568838e-01 3.32782787e-03 9.91168214e-01 -3.43795703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters 0.027939626248395192 Centerline is valid? [True, True] Translation: X:250.56, Y:-147.32, Z:-34.39 [[ 7.59511713e-01 6.42640696e-01 1.00771496e-01 2.50555811e+02] [-6.36476440e-01 7.66160365e-01 -8.88596462e-02 -1.47321234e+02] [-1.34311951e-01 3.35125883e-03 9.90933433e-01 -3.43864932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters 0.027272374115214524 Centerline is valid? [True, True] Translation: X:250.59, Y:-147.37, Z:-34.39 [[ 7.54295361e-01 6.48453452e-01 1.02696783e-01 2.50592914e+02] [-6.42092122e-01 7.61250435e-01 -9.06392975e-02 -1.47372009e+02] [-1.36953336e-01 2.42800627e-03 9.90574524e-01 -3.43942205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters 0.026874311192447507 Centerline is valid? [True, True] Translation: X:250.63, Y:-147.42, Z:-34.40 [[ 7.50306571e-01 6.53034868e-01 1.02885915e-01 2.50631718e+02] [-6.46681257e-01 7.57326025e-01 -9.08880883e-02 -1.47421492e+02] [-1.37271272e-01 1.65953717e-03 9.90532101e-01 -3.44002582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters 0.026793555848430628 Centerline is valid? [True, True] Translation: X:250.67, Y:-147.47, Z:-34.41 [[ 7.47175494e-01 6.56587626e-01 1.03060517e-01 2.50671980e+02] [-6.50234267e-01 7.54248989e-01 -9.11255220e-02 -1.47469288e+02] [-1.37565181e-01 1.07327736e-03 9.90492135e-01 -3.44082160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters 0.02673967617514477 Centerline is valid? [True, True] Translation: X:250.71, Y:-147.51, Z:-34.41 [[ 7.45262963e-01 6.58665166e-01 1.03649967e-01 2.50714774e+02] [-6.52247261e-01 7.52435797e-01 -9.17272153e-02 -1.47514788e+02] [-1.38407467e-01 7.55489387e-04 9.90375082e-01 -3.44145373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters 0.026647841547877252 Centerline is valid? [True, True] Translation: X:250.76, Y:-147.56, Z:-34.42 [[ 7.40231596e-01 6.64314411e-01 1.03651081e-01 2.50756509e+02] [-6.57941430e-01 7.47453211e-01 -9.17974514e-02 -1.47562056e+02] [-1.38456703e-01 -2.44966282e-04 9.90368457e-01 -3.44217574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters 0.026979432040982906 Centerline is valid? [True, True] Translation: X:250.80, Y:-147.61, Z:-34.43 [[ 7.34256720e-01 6.71085417e-01 1.02525275e-01 2.50801044e+02] [-6.64902501e-01 7.41378666e-01 -9.08974033e-02 -1.47607045e+02] [-1.37009974e-01 -1.42728265e-03 9.90568640e-01 -3.44282120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters 0.027700278366742805 Centerline is valid? [True, True] Translation: X:250.85, Y:-147.65, Z:-34.44 [[ 7.30246778e-01 6.75268156e-01 1.03694551e-01 2.50848195e+02] [-6.68970840e-01 7.37569142e-01 -9.20313907e-02 -1.47647550e+02] [-1.38627768e-01 -2.16300423e-03 9.90342195e-01 -3.44351005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters 0.027987620878141942 Centerline is valid? [True, True] Translation: X:250.90, Y:-147.69, Z:-34.44 [[ 7.30586406e-01 6.74888674e-01 1.03772737e-01 2.50896675e+02] [-6.68565398e-01 7.37916780e-01 -9.21907449e-02 -1.47687731e+02] [-1.38794133e-01 -2.02555601e-03 9.90319184e-01 -3.44432055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters 0.027645914331933658 Centerline is valid? [True, True] Translation: X:250.95, Y:-147.72, Z:-34.45 [[ 7.33799228e-01 6.71542960e-01 1.02804409e-01 2.50946630e+02] [-6.65291541e-01 7.40964471e-01 -9.14265723e-02 -1.47724376e+02] [-1.37571285e-01 -1.30615539e-03 9.90491007e-01 -3.44487845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters 0.027787151443959376 Centerline is valid? [True, True] Translation: X:251.00, Y:-147.76, Z:-34.46 [[ 7.34465843e-01 6.70690897e-01 1.03603310e-01 2.50996488e+02] [-6.64320245e-01 7.41736165e-01 -9.22283747e-02 -1.47763251e+02] [-1.38703053e-01 -1.08718506e-03 9.90333419e-01 -3.44559338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters 0.028061527584801554 Centerline is valid? [True, True] Translation: X:251.04, Y:-147.80, Z:-34.46 [[ 7.34409120e-01 6.70836515e-01 1.03061219e-01 2.51042646e+02] [-6.64520370e-01 7.41604544e-01 -9.18443138e-02 -1.47804840e+02] [-1.38043187e-01 -1.03497754e-03 9.90425670e-01 -3.44630633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters 0.02803947151225564 Centerline is valid? [True, True] Translation: X:251.09, Y:-147.85, Z:-34.47 [[ 7.37492661e-01 6.67586467e-01 1.02141490e-01 2.51089476e+02] [-6.61339989e-01 7.44532190e-01 -9.11111283e-02 -1.47845329e+02] [-1.36872184e-01 -3.56463488e-04 9.90588652e-01 -3.44711687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters 0.027929028235469347 Centerline is valid? [True, True] Translation: X:251.13, Y:-147.89, Z:-34.48 [[ 7.39408845e-01 6.65633472e-01 1.01027925e-01 2.51134850e+02] [-6.59493106e-01 7.46278819e-01 -9.02040272e-02 -1.47887671e+02] [-1.35437821e-01 7.04352096e-05 9.90785846e-01 -3.44784490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters 0.027995012729896573 Centerline is valid? [True, True] Translation: X:251.18, Y:-147.93, Z:-34.49 [[ 7.41534178e-01 6.63396039e-01 1.00163664e-01 2.51179940e+02] [-6.57328572e-01 7.48268269e-01 -8.95195237e-02 -1.47930827e+02] [-1.34336189e-01 5.41348446e-04 9.90935667e-01 -3.44857797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters 0.028231078278315874 Centerline is valid? [True, True] Translation: X:251.22, Y:-147.98, Z:-34.49 [[ 7.43435123e-01 6.61291409e-01 9.99894496e-02 2.51223899e+02] [-6.55212928e-01 7.50128445e-01 -8.94613645e-02 -1.47975784e+02] [-1.34164962e-01 9.94340577e-04 9.90958513e-01 -3.44928704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters 0.028044398821008964 Centerline is valid? [True, True] Translation: X:251.27, Y:-148.02, Z:-34.50 [[ 7.43510401e-01 6.61353320e-01 9.90155040e-02 2.51267601e+02] [-6.55381360e-01 7.50073795e-01 -8.86824387e-02 -1.48019321e+02] [-1.32919360e-01 1.04339987e-03 9.91126306e-01 -3.44993406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters 0.02808581352530279 Centerline is valid? [True, True] Translation: X:251.31, Y:-148.06, Z:-34.51 [[ 7.41668449e-01 6.63374708e-01 9.93071421e-02 2.51310800e+02] [-6.57373797e-01 7.48287002e-01 -8.90295119e-02 -1.48064833e+02] [-1.33370170e-01 7.48466963e-04 9.91066011e-01 -3.45091320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters 0.02792101097052771 Centerline is valid? [True, True] Translation: X:251.35, Y:-148.11, Z:-34.51 [[ 7.39087684e-01 6.66288072e-01 9.90434307e-02 2.51352192e+02] [-6.60332541e-01 7.45694387e-01 -8.88865370e-02 -1.48111963e+02] [-1.33080170e-01 2.93344535e-04 9.91105233e-01 -3.45138991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters 0.027916230589967846 Centerline is valid? [True, True] Translation: X:251.39, Y:-148.16, Z:-34.52 [[ 7.36456580e-01 6.69398813e-01 9.76572269e-02 2.51394484e+02] [-6.63625863e-01 7.42903215e-01 -8.77241527e-02 -1.48156781e+02] [-1.31272312e-01 -2.02831905e-04 9.91346327e-01 -3.45201987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters 0.02788296997884576 Centerline is valid? [True, True] Translation: X:251.44, Y:-148.20, Z:-34.53 [[ 7.33787078e-01 6.72151497e-01 9.88376924e-02 2.51439062e+02] [-6.66250780e-01 7.40413369e-01 -8.88703615e-02 -1.48199451e+02] [-1.32915095e-01 -6.38766758e-04 9.91127222e-01 -3.45264109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters 0.027854717844423633 Centerline is valid? [True, True] Translation: X:251.48, Y:-148.24, Z:-34.53 [[ 7.32255932e-01 6.73647115e-01 1.00004077e-01 2.51483441e+02] [-6.67607700e-01 7.39052658e-01 -9.00062626e-02 -1.48243284e+02] [-1.34540738e-01 -8.55871886e-04 9.90907694e-01 -3.45323541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters 0.02791436449223617 Centerline is valid? [True, True] Translation: X:251.53, Y:-148.29, Z:-34.54 [[ 7.30998765e-01 6.75137031e-01 9.91503636e-02 2.51528639e+02] [-6.69202625e-01 7.37691586e-01 -8.93250813e-02 -1.48286103e+02] [-1.33449059e-01 -1.05515944e-03 9.91055112e-01 -3.45399993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters 0.027995971454462115 Centerline is valid? [True, True] Translation: X:251.58, Y:-148.33, Z:-34.55 [[ 7.30385442e-01 6.75877824e-01 9.86218668e-02 2.51575231e+02] [-6.70000501e-01 7.37012843e-01 -8.89460429e-02 -1.48328381e+02] [-1.32802240e-01 -1.11180528e-03 9.91141932e-01 -3.45450368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters 0.027962459190821493 Centerline is valid? [True, True] Translation: X:251.62, Y:-148.37, Z:-34.55 [[ 7.30635993e-01 6.75511971e-01 9.92704544e-02 2.51620921e+02] [-6.69540037e-01 7.37348371e-01 -8.96298992e-02 -1.48370866e+02] [-1.33742978e-01 -9.78713299e-04 9.91015569e-01 -3.45534312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters 0.027949863206874013 Centerline is valid? [True, True] Translation: X:251.67, Y:-148.41, Z:-34.56 [[ 7.31122777e-01 6.74994069e-01 9.92093309e-02 2.51666589e+02] [-6.69011492e-01 7.37822709e-01 -8.96731434e-02 -1.48413569e+02] [-1.33727737e-01 -8.10104835e-04 9.91017778e-01 -3.45606795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters 0.027653890765107547 Centerline is valid? [True, True] Translation: X:251.71, Y:-148.45, Z:-34.57 [[ 7.31732703e-01 6.74299456e-01 9.94358815e-02 2.51713895e+02] [-6.68269617e-01 7.38457765e-01 -8.99769369e-02 -1.48454890e+02] [-1.34100598e-01 -6.10911167e-04 9.90967535e-01 -3.45672679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters 0.027491432101824826 Centerline is valid? [True, True] Translation: X:251.76, Y:-148.50, Z:-34.57 [[ 7.32584016e-01 6.73427218e-01 9.90779556e-02 2.51759223e+02] [-6.67419670e-01 7.39253435e-01 -8.97515664e-02 -1.48498204e+02] [-1.33684867e-01 -3.76013434e-04 9.91023822e-01 -3.45747578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters 0.02741216947145695 Centerline is valid? [True, True] Translation: X:251.81, Y:-148.54, Z:-34.58 [[ 7.35260389e-01 6.70532004e-01 9.88887832e-02 2.51805113e+02] [-6.64507984e-01 7.41880570e-01 -8.96791950e-02 -1.48541634e+02] [-1.33496437e-01 2.25173842e-04 9.91049267e-01 -3.45804190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters 0.027723776976632798 Centerline is valid? [True, True] Translation: X:251.85, Y:-148.59, Z:-34.59 [[ 7.38555606e-01 6.67039889e-01 9.79459223e-02 2.51848050e+02] [-6.61087011e-01 7.45021432e-01 -8.89214768e-02 -1.48588140e+02] [-1.32285983e-01 9.22678122e-04 9.91211162e-01 -3.45874204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters 0.027835514179293537 Centerline is valid? [True, True] Translation: X:251.89, Y:-148.63, Z:-34.59 [[ 7.40992438e-01 6.64376531e-01 9.76423720e-02 2.51889620e+02] [-6.58425011e-01 7.47396600e-01 -8.87402258e-02 -1.48633888e+02] [-1.31934500e-01 1.46565640e-03 9.91257353e-01 -3.45938775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters 0.027669058187015195 Centerline is valid? [True, True] Translation: X:251.93, Y:-148.68, Z:-34.60 [[ 7.39947653e-01 6.65555123e-01 9.75389645e-02 2.51932840e+02] [-6.59614970e-01 7.46347532e-01 -8.87324775e-02 -1.48678702e+02] [-1.31854320e-01 1.31922727e-03 9.91268227e-01 -3.46013737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters 0.027365115486936112 Centerline is valid? [True, True] Translation: X:251.97, Y:-148.73, Z:-34.61 [[ 7.37041802e-01 6.68838255e-01 9.70812527e-02 2.51972890e+02] [-6.62969888e-01 7.43407526e-01 -8.84091563e-02 -1.48726310e+02] [-1.31302360e-01 7.99296766e-04 9.91342046e-01 -3.46074999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters 0.02722102268674616 Centerline is valid? [True, True] Translation: X:252.02, Y:-148.77, Z:-34.61 [[ 7.34934934e-01 6.71125715e-01 9.72672495e-02 2.52018577e+02] [-6.65243089e-01 7.41343419e-01 -8.86654767e-02 -1.48769832e+02] [-1.31614117e-01 4.56990717e-04 9.91300921e-01 -3.46142346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters 0.027364932311589305 Centerline is valid? [True, True] Translation: X:252.06, Y:-148.81, Z:-34.62 [[ 7.36232904e-01 6.69505094e-01 9.86105461e-02 2.52063658e+02] [-6.63430267e-01 7.42806998e-01 -8.99891358e-02 -1.48812574e+02] [-1.33496789e-01 8.31741871e-04 9.91048897e-01 -3.46204934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters 0.02749786802454487 Centerline is valid? [True, True] Translation: X:252.11, Y:-148.85, Z:-34.63 [[ 7.38390310e-01 6.66971244e-01 9.96449208e-02 2.52109476e+02] [-6.60732491e-01 7.45082196e-01 -9.10225062e-02 -1.48854507e+02] [-1.34953051e-01 1.37149994e-03 9.90851045e-01 -3.46267760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters 0.027734418482507576 Centerline is valid? [True, True] Translation: X:252.15, Y:-148.90, Z:-34.63 [[ 7.42250669e-01 6.62776652e-01 9.89497555e-02 2.52154354e+02] [-6.56575003e-01 7.48813931e-01 -9.04818315e-02 -1.48897806e+02] [-1.34064201e-01 2.19226396e-03 9.90970224e-01 -3.46330133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters 0.02772345971963375 Centerline is valid? [True, True] Translation: X:252.20, Y:-148.94, Z:-34.64 [[ 7.43822218e-01 6.61257750e-01 9.72969480e-02 2.52197074e+02] [-6.55237370e-01 7.50154631e-01 -8.90618814e-02 -1.48944042e+02] [-1.31880615e-01 2.49360987e-03 9.91262470e-01 -3.46409807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters 0.027709139897668912 Centerline is valid? [True, True] Translation: X:252.24, Y:-148.99, Z:-34.65 [[ 7.43246490e-01 6.62055877e-01 9.62635486e-02 2.52237980e+02] [-6.56157900e-01 7.49450650e-01 -8.82073345e-02 -1.48992397e+02] [-1.30542963e-01 2.39570388e-03 9.91439759e-01 -3.46477449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters 0.027304449020189393 Centerline is valid? [True, True] Translation: X:252.28, Y:-149.04, Z:-34.65 [[ 7.41829205e-01 6.63699450e-01 9.58773736e-02 2.52278402e+02] [-6.57851322e-01 7.47996232e-01 -8.79390445e-02 -1.49040729e+02] [-1.30081010e-01 2.16269452e-03 9.91501010e-01 -3.46532538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters 0.02721383779939423 Centerline is valid? [True, True] Translation: X:252.32, Y:-149.09, Z:-34.66 [[ 7.39307839e-01 6.66760843e-01 9.40951559e-02 2.52316824e+02] [-6.61142562e-01 7.45269902e-01 -8.63903067e-02 -1.49090131e+02] [-1.27727961e-01 1.65871843e-03 9.91807853e-01 -3.46614961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters 0.026963151358070498 Centerline is valid? [True, True] Translation: X:252.36, Y:-149.14, Z:-34.67 [[ 7.36104799e-01 6.70100021e-01 9.54761038e-02 2.52359331e+02] [-6.64331492e-01 7.42269906e-01 -8.77442631e-02 -1.49137094e+02] [-1.29666471e-01 1.16119076e-03 9.91556987e-01 -3.46677253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters 0.02667993468081978 Centerline is valid? [True, True] Translation: X:252.40, Y:-149.18, Z:-34.67 [[ 7.32099623e-01 6.74543165e-01 9.49824206e-02 2.52401038e+02] [-6.68859020e-01 7.38235274e-01 -8.73858742e-02 -1.49184403e+02] [-1.29064918e-01 4.45316812e-04 9.91636047e-01 -3.46720074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters 0.026727785102783987 Centerline is valid? [True, True] Translation: X:252.44, Y:-149.23, Z:-34.68 [[ 7.26739839e-01 6.80382405e-01 9.44933303e-02 2.52444314e+02] [-6.74793121e-01 7.32857093e-01 -8.70328907e-02 -1.49230654e+02] [-1.28465755e-01 -5.13180356e-04 9.91713813e-01 -3.46773385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters 0.027154547812945944 Centerline is valid? [True, True] Translation: X:252.49, Y:-149.27, Z:-34.68 [[ 7.22557804e-01 6.84961959e-01 9.34737084e-02 2.52490182e+02] [-6.79518798e-01 7.28577777e-01 -8.61894822e-02 -1.49273842e+02] [-1.27139383e-01 -1.24025898e-03 9.91884085e-01 -3.46845345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters 0.027530160112207724 Centerline is valid? [True, True] Translation: X:252.54, Y:-149.32, Z:-34.69 [[ 7.17384500e-01 6.90505107e-01 9.25320258e-02 2.52537323e+02] [-6.85205374e-01 7.23324383e-01 -8.54133064e-02 -1.49315347e+02] [-1.25908995e-01 -2.12925919e-03 9.92039511e-01 -3.46921123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters 0.027650419787693184 Centerline is valid? [True, True] Translation: X:252.58, Y:-149.36, Z:-34.70 [[ 7.15978616e-01 6.91946611e-01 9.26526259e-02 2.52584631e+02] [-6.86633356e-01 7.21944950e-01 -8.56161451e-02 -1.49356915e+02] [-1.26131897e-01 -2.31905437e-03 9.92010769e-01 -3.46987679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters 0.027602963316988482 Centerline is valid? [True, True] Translation: X:252.64, Y:-149.39, Z:-34.70 [[ 7.14382319e-01 6.93637507e-01 9.23304469e-02 2.52635501e+02] [-6.88363964e-01 7.20319750e-01 -8.54079108e-02 -1.49394234e+02] [-1.25749575e-01 -2.54305109e-03 9.92058757e-01 -3.47041225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters 0.02734499445198714 Centerline is valid? [True, True] Translation: X:252.69, Y:-149.43, Z:-34.71 [[ 7.16377055e-01 6.91282357e-01 9.45125308e-02 2.52688807e+02] [-6.85722977e-01 7.22581651e-01 -8.75200387e-02 -1.49428176e+02] [-1.28794079e-01 -2.11206637e-03 9.91669110e-01 -3.47124104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters 0.02688912162107988 Centerline is valid? [True, True] Translation: X:252.74, Y:-149.47, Z:-34.72 [[ 7.19659217e-01 6.87924967e-01 9.40736504e-02 2.52738015e+02] [-6.82376707e-01 7.25780394e-01 -8.72057893e-02 -1.49467922e+02] [-1.28267851e-01 -1.43521773e-03 9.91738523e-01 -3.47182674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters 0.02640373820425304 Centerline is valid? [True, True] Translation: X:252.79, Y:-149.51, Z:-34.73 [[ 7.24297044e-01 6.83171907e-01 9.31125005e-02 2.52786343e+02] [-6.77685853e-01 7.30257405e-01 -8.64060606e-02 -1.49507575e+02] [-1.27026286e-01 -5.17370070e-04 9.91899216e-01 -3.47257715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters 0.0264963845909871 Centerline is valid? [True, True] Translation: X:252.83, Y:-149.55, Z:-34.73 [[ 7.25724156e-01 6.81456347e-01 9.45605454e-02 2.52831371e+02] [-6.75771051e-01 7.31858746e-01 -8.78422551e-02 -1.49550727e+02] [-1.29065624e-01 -1.52032717e-04 9.91636043e-01 -3.47314986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters 0.026400517833814002 Centerline is valid? [True, True] Translation: X:252.87, Y:-149.60, Z:-34.74 [[ 7.24417488e-01 6.82994056e-01 9.34795318e-02 2.52872708e+02] [-6.77439210e-01 7.30423847e-01 -8.69316987e-02 -1.49597441e+02] [-1.27653513e-01 -3.51857380e-04 9.91818762e-01 -3.47387727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters 0.026538405425627475 Centerline is valid? [True, True] Translation: X:252.91, Y:-149.64, Z:-34.75 [[ 7.23071664e-01 6.84460302e-01 9.31743687e-02 2.52914847e+02] [-6.78941642e-01 7.29049933e-01 -8.67435422e-02 -1.49643339e+02] [-1.27301278e-01 -5.38161414e-04 9.91863950e-01 -3.47459962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters 0.02684446747618653 Centerline is valid? [True, True] Translation: X:252.96, Y:-149.69, Z:-34.75 [[ 7.18531650e-01 6.89090157e-01 9.41648772e-02 2.52956939e+02] [-6.83479788e-01 7.24674456e-01 -8.77628155e-02 -1.49690133e+02] [-1.28715373e-01 -1.29942973e-03 9.91680727e-01 -3.47522721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters 0.027635281603713042 Centerline is valid? [True, True] Translation: X:253.00, Y:-149.73, Z:-34.76 [[ 7.12377867e-01 6.95629034e-01 9.28333013e-02 2.53002144e+02] [-6.90219765e-01 7.18397255e-01 -8.66144335e-02 -1.49733853e+02] [-1.26942704e-01 -2.37317403e-03 9.91907212e-01 -3.47581482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters 0.028964787777271694 Centerline is valid? [True, True] Translation: X:253.05, Y:-149.78, Z:-34.77 [[ 7.05014875e-01 7.02994173e-01 9.35586394e-02 2.53048711e+02] [-6.97551556e-01 7.11186217e-01 -8.73841619e-02 -1.49775401e+02] [-1.27968171e-01 -3.65484060e-03 9.91771541e-01 -3.47655518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters 0.02955267186410363 Centerline is valid? [True, True] Translation: X:253.10, Y:-149.82, Z:-34.77 [[ 7.01912353e-01 7.06064549e-01 9.37651377e-02 2.53096213e+02] [-7.00613286e-01 7.08135268e-01 -8.76667918e-02 -1.49816511e+02] [-1.28296815e-01 -4.15869706e-03 9.91727096e-01 -3.47722587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters 0.02943797637428672 Centerline is valid? [True, True] Translation: X:253.15, Y:-149.86, Z:-34.78 [[ 7.01444235e-01 7.06514632e-01 9.38779012e-02 2.53145084e+02] [-7.01042551e-01 7.07686078e-01 -8.78621462e-02 -1.49855374e+02] [-1.28511976e-01 -4.18200739e-03 9.91699139e-01 -3.47791563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters 0.02898584414201912 Centerline is valid? [True, True] Translation: X:253.19, Y:-149.90, Z:-34.79 [[ 7.03570359e-01 7.04274741e-01 9.47936662e-02 2.53192988e+02] [-6.98662796e-01 7.09917648e-01 -8.88100768e-02 -1.49895212e+02] [-1.29842390e-01 -3.74467022e-03 9.91527575e-01 -3.47857011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters 0.02856912191247807 Centerline is valid? [True, True] Translation: X:253.24, Y:-149.94, Z:-34.79 [[ 7.04472612e-01 7.03370561e-01 9.48060796e-02 2.53240990e+02] [-6.97737609e-01 7.10814667e-01 -8.89085908e-02 -1.49935290e+02] [-1.29925237e-01 -3.51610006e-03 9.91517559e-01 -3.47931184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters 0.028312709098865532 Centerline is valid? [True, True] Translation: X:253.29, Y:-149.98, Z:-34.80 [[ 7.06354654e-01 7.01383330e-01 9.55223934e-02 2.53287879e+02] [-6.95634126e-01 7.12777504e-01 -8.96738115e-02 -1.49976830e+02] [-1.30981930e-01 -3.10712258e-03 9.91379887e-01 -3.48005455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters 0.027753922547061646 Centerline is valid? [True, True] Translation: X:253.33, Y:-150.02, Z:-34.81 [[ 7.09284990e-01 6.98377551e-01 9.58310994e-02 2.53333860e+02] [-6.92551151e-01 7.15725218e-01 -9.00572872e-02 -1.50018506e+02] [-1.31482722e-01 -2.49165613e-03 9.91315331e-01 -3.48068269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters 0.02717609921600082 Centerline is valid? [True, True] Translation: X:253.38, Y:-150.06, Z:-34.81 [[ 7.14953858e-01 6.92514517e-01 9.62529274e-02 2.53380111e+02] [-6.86571178e-01 7.21402677e-01 -9.05438830e-02 -1.50060692e+02] [-1.32140073e-01 -1.34978734e-03 9.91230134e-01 -3.48140146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters 0.026976162772000392 Centerline is valid? [True, True] Translation: X:253.43, Y:-150.10, Z:-34.82 [[ 7.18556461e-01 6.88579120e-01 9.76494096e-02 2.53425172e+02] [-6.82411909e-01 7.25161001e-01 -9.19538371e-02 -1.50104018e+02] [-1.34129036e-01 -5.63096229e-04 9.90963715e-01 -3.48208231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters 0.026966947054395438 Centerline is valid? [True, True] Translation: X:253.47, Y:-150.15, Z:-34.83 [[ 7.20930613e-01 6.86554112e-01 9.43530732e-02 2.53467794e+02] [-6.80768516e-01 7.27078702e-01 -8.89426137e-02 -1.50148841e+02] [-1.29666027e-01 -1.11148672e-04 9.91557718e-01 -3.48278614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters 0.027021239339751025 Centerline is valid? [True, True] Translation: X:253.51, Y:-150.19, Z:-34.83 [[ 7.21089349e-01 6.86276743e-01 9.51545223e-02 2.53512008e+02] [-6.80377128e-01 7.27340520e-01 -8.97927114e-02 -1.50193322e+02] [-1.30832389e-01 7.60725343e-06 9.91404502e-01 -3.48346998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters 0.02716373636342242 Centerline is valid? [True, True] Translation: X:253.55, Y:-150.24, Z:-34.84 [[ 7.20954927e-01 6.86234262e-01 9.64703631e-02 2.53552703e+02] [-6.80155651e-01 7.27380595e-01 -9.11359452e-02 -1.50240701e+02] [-1.32711278e-01 9.00461353e-05 9.91154735e-01 -3.48420693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters 0.026943300911068797 Centerline is valid? [True, True] Translation: X:253.59, Y:-150.29, Z:-34.85 [[ 7.19747939e-01 6.87695819e-01 9.50650606e-02 2.53593831e+02] [-6.81793648e-01 7.25998932e-01 -8.99053503e-02 -1.50287727e+02] [-1.30844666e-01 -1.05563877e-04 9.91402876e-01 -3.48492248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters 0.026956763480121788 Centerline is valid? [True, True] Translation: X:253.64, Y:-150.33, Z:-34.85 [[ 7.19169961e-01 6.88351308e-01 9.46944754e-02 2.53637311e+02] [-6.82488033e-01 7.25377456e-01 -8.96528407e-02 -1.50332726e+02] [-1.30401888e-01 -1.52216342e-04 9.91461207e-01 -3.48549651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters 0.027075898439373 Centerline is valid? [True, True] Translation: X:253.68, Y:-150.38, Z:-34.86 [[ 7.20266609e-01 6.87056449e-01 9.57572317e-02 2.53680907e+02] [-6.81035212e-01 7.26604026e-01 -9.07613827e-02 -1.50378812e+02] [-1.31935783e-01 1.58346737e-04 9.91258253e-01 -3.48618301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters 0.02704485329357946 Centerline is valid? [True, True] Translation: X:253.72, Y:-150.43, Z:-34.87 [[ 7.23783420e-01 6.83330003e-01 9.59044745e-02 2.53723025e+02] [-6.77242516e-01 7.30109071e-01 -9.10127410e-02 -1.50426347e+02] [-1.32212463e-01 9.22925332e-04 9.91220971e-01 -3.48688055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters 0.027332336072587827 Centerline is valid? [True, True] Translation: X:253.76, Y:-150.47, Z:-34.88 [[ 7.29033951e-01 6.77847229e-01 9.50401582e-02 2.53764494e+02] [-6.71808206e-01 7.35200105e-01 -9.03024903e-02 -1.50474465e+02] [-1.31084827e-01 1.98482303e-03 9.91369169e-01 -3.48755067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters 0.027490079148187352 Centerline is valid? [True, True] Translation: X:253.81, Y:-150.52, Z:-34.88 [[ 7.30459836e-01 6.76316896e-01 9.49941247e-02 2.53805614e+02] [-6.70256239e-01 7.36607071e-01 -9.03692243e-02 -1.50523896e+02] [-1.31091577e-01 2.34068404e-03 9.91367500e-01 -3.48822153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters 0.02756497093315546 Centerline is valid? [True, True] Translation: X:253.84, Y:-150.58, Z:-34.89 [[ 7.30359273e-01 6.76423645e-01 9.50072941e-02 2.53844551e+02] [-6.70347455e-01 7.36508840e-01 -9.04931960e-02 -1.50575197e+02] [-1.31185449e-01 2.40464701e-03 9.91354929e-01 -3.48887567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters 0.02774551868827074 Centerline is valid? [True, True] Translation: X:253.88, Y:-150.63, Z:-34.90 [[ 7.30171349e-01 6.76518490e-01 9.57733433e-02 2.53884396e+02] [-6.70329186e-01 7.36421432e-01 -9.13359563e-02 -1.50625891e+02] [-1.32320006e-01 2.49123119e-03 9.91203919e-01 -3.48956451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters 0.027990502106353395 Centerline is valid? [True, True] Translation: X:253.92, Y:-150.68, Z:-34.90 [[ 7.29939266e-01 6.76793693e-01 9.55979328e-02 2.53922361e+02] [-6.70614327e-01 7.36168418e-01 -9.12824423e-02 -1.50678686e+02] [-1.32155560e-01 2.52129554e-03 9.91225782e-01 -3.49029106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters 0.027969266433303733 Centerline is valid? [True, True] Translation: X:253.96, Y:-150.73, Z:-34.91 [[ 7.30185875e-01 6.76579067e-01 9.52331588e-02 2.53964656e+02] [-6.70428696e-01 7.36365252e-01 -9.10581123e-02 -1.50727261e+02] [-1.31734402e-01 2.64230493e-03 9.91281527e-01 -3.49091224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters 0.028090984451101 Centerline is valid? [True, True] Translation: X:254.01, Y:-150.77, Z:-34.92 [[ 7.29783840e-01 6.76958076e-01 9.56206611e-02 2.54009233e+02] [-6.70743836e-01 7.36016708e-01 -9.15538782e-02 -1.50772949e+02] [-1.32356541e-01 2.67757176e-03 9.91198556e-01 -3.49160664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters 0.02788227047541426 Centerline is valid? [True, True] Translation: X:254.05, Y:-150.82, Z:-34.92 [[ 7.27748911e-01 6.79118020e-01 9.58135580e-02 2.54049836e+02] [-6.72880320e-01 7.34025229e-01 -9.18642396e-02 -1.50823629e+02] [-1.32716229e-01 2.38304273e-03 9.91151211e-01 -3.49226610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters 0.02728965541409463 Centerline is valid? [True, True] Translation: X:254.09, Y:-150.87, Z:-34.93 [[ 7.23329184e-01 6.84066732e-01 9.40616666e-02 2.54090040e+02] [-6.78081477e-01 7.29417806e-01 -9.03060066e-02 -1.50874762e+02] [-1.30385589e-01 1.53949622e-03 9.91462167e-01 -3.49298932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters 0.027074035071053625 Centerline is valid? [True, True] Translation: X:254.13, Y:-150.92, Z:-34.94 [[ 7.16908396e-01 6.90711666e-01 9.46559301e-02 2.54132950e+02] [-6.84690378e-01 7.23130145e-01 -9.10048298e-02 -1.50923111e+02] [-1.31306654e-01 4.32122053e-04 9.91341705e-01 -3.49384454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters 0.027530915943886757 Centerline is valid? [True, True] Translation: X:254.18, Y:-150.97, Z:-34.95 [[ 7.10207680e-01 6.97445685e-01 9.57839627e-02 2.54176465e+02] [-6.91321007e-01 7.16637289e-01 -9.22293951e-02 -1.50971834e+02] [-1.32967353e-01 -7.15440772e-04 9.91120160e-01 -3.49466718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters 0.028054310081115873 Centerline is valid? [True, True] Translation: X:254.22, Y:-151.02, Z:-34.95 [[ 7.03851024e-01 7.04022456e-01 9.45839165e-02 2.54224013e+02] [-6.98091553e-01 7.10175352e-01 -9.12093880e-02 -1.51016197e+02] [-1.31384624e-01 -1.83041205e-03 9.91329779e-01 -3.49537125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters 0.028200400086963614 Centerline is valid? [True, True] Translation: X:254.27, Y:-151.06, Z:-34.96 [[ 7.01027220e-01 7.07026817e-01 9.31338637e-02 2.54272353e+02] [-7.01286429e-01 7.07183117e-01 -8.99409991e-02 -1.51061607e+02] [-1.29453394e-01 -2.26242613e-03 9.91582927e-01 -3.49592575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters 0.028634086662071165 Centerline is valid? [True, True] Translation: X:254.32, Y:-151.10, Z:-34.97 [[ 6.98241901e-01 7.09765019e-01 9.32301695e-02 2.54322830e+02] [-7.04018580e-01 7.04433443e-01 -9.01740742e-02 -1.51102147e+02] [-1.29676853e-01 -2.67245449e-03 9.91552708e-01 -3.49662498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters 0.02888612484169394 Centerline is valid? [True, True] Translation: X:254.37, Y:-151.14, Z:-34.97 [[ 6.96108833e-01 7.11742652e-01 9.41004246e-02 2.54373937e+02] [-7.05889242e-01 7.02433995e-01 -9.11419774e-02 -1.51142306e+02] [-1.30968970e-01 -2.97974187e-03 9.91381990e-01 -3.49743515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters 0.029462569439204445 Centerline is valid? [True, True] Translation: X:254.43, Y:-151.18, Z:-34.98 [[ 6.94292651e-01 7.13340160e-01 9.54124254e-02 2.54426124e+02] [-7.07318872e-01 7.00810503e-01 -9.25454046e-02 -1.51181829e+02] [-1.32882384e-01 -3.23341477e-03 9.91126539e-01 -3.49826148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters 0.029601708174242698 Centerline is valid? [True, True] Translation: X:254.48, Y:-151.22, Z:-34.99 [[ 6.92781645e-01 7.14744175e-01 9.58872069e-02 2.54477516e+02] [-7.08657990e-01 6.99377598e-01 -9.31387629e-02 -1.51222492e+02] [-1.33631753e-01 -3.42640988e-03 9.91025133e-01 -3.49899404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters 0.029419077293457566 Centerline is valid? [True, True] Translation: X:254.53, Y:-151.26, Z:-35.00 [[ 6.92358929e-01 7.15285844e-01 9.48961204e-02 2.54527203e+02] [-7.09313324e-01 6.98823709e-01 -9.23040165e-02 -1.51264101e+02] [-1.32339415e-01 -3.40357251e-03 9.91198615e-01 -3.49980256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters 0.029175131288649285 Centerline is valid? [True, True] Translation: X:254.58, Y:-151.31, Z:-35.01 [[ 6.93057538e-01 7.14772254e-01 9.36582805e-02 2.54575471e+02] [-7.08933852e-01 6.99350099e-01 -9.12262766e-02 -1.51307983e+02] [-1.30705939e-01 -3.17246684e-03 9.91416105e-01 -3.50055210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters 0.02910060238448807 Centerline is valid? [True, True] Translation: X:254.62, Y:-151.35, Z:-35.01 [[ 6.93530771e-01 7.14325898e-01 9.35605802e-02 2.54622679e+02] [-7.08478632e-01 6.99806794e-01 -9.12604945e-02 -1.51352729e+02] [-1.30664064e-01 -2.99371085e-03 9.91422181e-01 -3.50125224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters 0.029591031013805294 Centerline is valid? [True, True] Translation: X:254.67, Y:-151.40, Z:-35.02 [[ 6.90799184e-01 7.17005649e-01 9.32705051e-02 2.54670390e+02] [-7.11201934e-01 6.97059076e-01 -9.11068251e-02 -1.51397242e+02] [-1.30339160e-01 -3.39764314e-03 9.91463645e-01 -3.50188704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters 0.030239345646157142 Centerline is valid? [True, True] Translation: X:254.72, Y:-151.44, Z:-35.03 [[ 6.86797261e-01 7.20844427e-01 9.32353705e-02 2.54717255e+02] [-7.15063198e-01 6.93085167e-01 -9.12007352e-02 -1.51441750e+02] [-1.30361594e-01 -4.03276702e-03 9.91458316e-01 -3.50258652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters 0.03236078900269245 Centerline is valid? [True, True] Translation: X:254.77, Y:-151.48, Z:-35.03 [[ 6.78282764e-01 7.28911807e-01 9.28443275e-02 2.54765460e+02] [-7.23237559e-01 6.84585782e-01 -9.09381123e-02 -1.51483753e+02] [-1.29845770e-01 -5.46675058e-03 9.91519133e-01 -3.50313016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters 0.03552568846863812 Centerline is valid? [True, True] Translation: X:254.82, Y:-151.52, Z:-35.04 [[ 6.68271337e-01 7.38058166e-01 9.31856406e-02 2.54816996e+02] [-7.32414567e-01 6.74698850e-01 -9.13803278e-02 -1.51523316e+02] [-1.30316242e-01 -7.18366680e-03 9.91446454e-01 -3.50379450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters 0.037110018420966055 Centerline is valid? [True, True] Translation: X:254.87, Y:-151.56, Z:-35.04 [[ 6.62079410e-01 7.43404541e-01 9.48711962e-02 2.54872659e+02] [-7.37594658e-01 6.68790355e-01 -9.31320662e-02 -1.51558418e+02] [-1.32683742e-01 -8.31566408e-03 9.91123541e-01 -3.50441302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters 0.03795843374556589 Centerline is valid? [True, True] Translation: X:254.93, Y:-151.60, Z:-35.05 [[ 6.60129431e-01 7.45220271e-01 9.42118970e-02 2.54926153e+02] [-7.39495383e-01 6.66763587e-01 -9.25899475e-02 -1.51596192e+02] [-1.31816968e-01 -8.54791337e-03 9.91237217e-01 -3.50506908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters 0.03676285403815995 Centerline is valid? [True, True] Translation: X:254.99, Y:-151.63, Z:-35.06 [[ 6.61503980e-01 7.44066077e-01 9.36918252e-02 2.54985255e+02] [-7.38379062e-01 6.68055713e-01 -9.21841931e-02 -1.51625460e+02] [-1.31182490e-01 -8.19987145e-03 9.91324325e-01 -3.50575662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters 0.03477105089134713 Centerline is valid? [True, True] Translation: X:255.05, Y:-151.65, Z:-35.07 [[ 6.65738122e-01 7.39932913e-01 9.63952088e-02 2.55045062e+02] [-7.33855937e-01 6.72638443e-01 -9.49367675e-02 -1.51653889e+02] [-1.35085962e-01 -7.53717088e-03 9.90805215e-01 -3.50657251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters 0.03233323922346576 Centerline is valid? [True, True] Translation: X:255.11, Y:-151.68, Z:-35.07 [[ 6.73526484e-01 7.33080586e-01 9.46304920e-02 2.55105073e+02] [-7.27145050e-01 6.80115526e-01 -9.32895895e-02 -1.51682456e+02] [-1.32748454e-01 -5.97708465e-03 9.91131738e-01 -3.50728331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters 0.03081928036196529 Centerline is valid? [True, True] Translation: X:255.16, Y:-151.72, Z:-35.08 [[ 6.80137811e-01 7.26836745e-01 9.55034276e-02 2.55157662e+02] [-7.20717001e-01 6.86793946e-01 -9.42394818e-02 -1.51718667e+02] [-1.34087894e-01 -4.73510905e-03 9.90958130e-01 -3.50813194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters 0.028817812641319662 Centerline is valid? [True, True] Translation: X:255.21, Y:-151.75, Z:-35.09 [[ 6.90594994e-01 7.16744283e-01 9.67273814e-02 2.55211707e+02] [-7.10356274e-01 6.97330691e-01 -9.55189600e-02 -1.51751704e+02] [-1.35913640e-01 -2.74598665e-03 9.90716883e-01 -3.50890973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters 0.02777407912059045 Centerline is valid? [True, True] Translation: X:255.26, Y:-151.79, Z:-35.10 [[ 6.97474969e-01 7.10376355e-01 9.43085486e-02 2.55262736e+02] [-7.04234501e-01 7.03820635e-01 -9.32216723e-02 -1.51788405e+02] [-1.32598774e-01 -1.39555072e-03 9.91168814e-01 -3.50957798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters 0.027624601540842036 Centerline is valid? [True, True] Translation: X:255.31, Y:-151.83, Z:-35.10 [[ 7.00569869e-01 7.07409399e-01 9.36685692e-02 2.55309255e+02] [-7.01312225e-01 7.06803623e-01 -9.26811766e-02 -1.51828726e+02] [-1.31768820e-01 -7.61273012e-04 9.91280182e-01 -3.51030835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters 0.0276509306943654 Centerline is valid? [True, True] Translation: X:255.36, Y:-151.87, Z:-35.11 [[ 7.04583324e-01 7.03052446e-01 9.63306676e-02 2.55357145e+02] [-6.96548650e-01 7.11137991e-01 -9.54082599e-02 -1.51867592e+02] [-1.35581408e-01 1.24072387e-04 9.90766202e-01 -3.51112792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters 0.027597583057368234 Centerline is valid? [True, True] Translation: X:255.40, Y:-151.91, Z:-35.12 [[ 7.07210730e-01 7.00547487e-01 9.53215734e-02 2.55402307e+02] [-6.94144908e-01 7.13605478e-01 -9.44990380e-02 -1.51909672e+02] [-1.34223061e-01 6.63748844e-04 9.90950922e-01 -3.51186494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters 0.027595323351592437 Centerline is valid? [True, True] Translation: X:255.45, Y:-151.95, Z:-35.12 [[ 7.07364779e-01 7.00322088e-01 9.58334101e-02 2.55449313e+02] [-6.93835504e-01 7.13826568e-01 -9.50995531e-02 -1.51951551e+02] [-1.35008752e-01 7.77451990e-04 9.90844101e-01 -3.51245099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters 0.027686071919811057 Centerline is valid? [True, True] Translation: X:255.49, Y:-152.00, Z:-35.13 [[ 7.04992253e-01 7.02708908e-01 9.58442217e-02 2.55493154e+02] [-6.96229096e-01 7.11477362e-01 -9.52103434e-02 -1.51996177e+02] [-1.35096150e-01 3.93018657e-04 9.90832416e-01 -3.51321610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters 0.027736745650215312 Centerline is valid? [True, True] Translation: X:255.54, Y:-152.04, Z:-35.14 [[ 7.03761376e-01 7.03946668e-01 9.58071756e-02 2.55538005e+02] [-6.97469107e-01 7.10252797e-01 -9.52775349e-02 -1.52040050e+02] [-1.35117618e-01 2.30103834e-04 9.90829540e-01 -3.51391875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters 0.027775114476259202 Centerline is valid? [True, True] Translation: X:255.58, Y:-152.08, Z:-35.15 [[ 7.00997173e-01 7.06534374e-01 9.70161919e-02 2.55581841e+02] [-6.99901704e-01 7.07678698e-01 -9.65839804e-02 -1.52082983e+02] [-1.36896194e-01 -1.96700835e-04 9.90585379e-01 -3.51461720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters 0.027703437807664162 Centerline is valid? [True, True] Translation: X:255.63, Y:-152.13, Z:-35.15 [[ 6.98494805e-01 7.09249883e-01 9.52345019e-02 2.55626308e+02] [-7.02872692e-01 7.04956863e-01 -9.48988963e-02 -1.52125801e+02] [-1.34443247e-01 -6.51344557e-04 9.90921081e-01 -3.51505620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters 0.027499119549209434 Centerline is valid? [True, True] Translation: X:255.67, Y:-152.17, Z:-35.16 [[ 6.96798055e-01 7.10975741e-01 9.47943379e-02 2.55671654e+02] [-7.04661043e-01 7.03215942e-01 -9.45523855e-02 -1.52169514e+02] [-1.33885342e-01 -9.13958692e-04 9.90996408e-01 -3.51574226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters 0.02734755090664976 Centerline is valid? [True, True] Translation: X:255.72, Y:-152.21, Z:-35.16 [[ 6.96039539e-01 7.11995668e-01 9.26883494e-02 2.55715524e+02] [-7.05955730e-01 7.02183122e-01 -9.25492841e-02 -1.52212684e+02] [-1.30978884e-01 -1.01591036e-03 9.91384638e-01 -3.51629553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters 0.02751349601161731 Centerline is valid? [True, True] Translation: X:255.76, Y:-152.26, Z:-35.17 [[ 6.94526693e-01 7.13234594e-01 9.44938402e-02 2.55758549e+02] [-7.06955056e-01 7.00924355e-01 -9.44436256e-02 -1.52257272e+02] [-1.33593495e-01 -1.20927905e-03 9.91035477e-01 -3.51699487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters 0.027449594369293177 Centerline is valid? [True, True] Translation: X:256.00, Y:-152.39, Z:-33.33 [[ 7.63920335e-01 -6.42432751e-01 -6.08759548e-02 2.55997975e+02] [-6.39373705e-01 -7.66283729e-01 6.33286035e-02 -1.52389287e+02] [-8.73326226e-02 -9.45552318e-03 -9.96134331e-01 -3.33251729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters 0.02791360861092616 Centerline is valid? [True, True] Translation: X:255.84, Y:-152.36, Z:-35.18 [[ 7.42765731e-01 6.62284073e-01 9.83812766e-02 2.55836915e+02] [-6.56916419e-01 7.49249873e-01 -8.41750925e-02 -1.52359577e+02] [-1.29459982e-01 -2.10590175e-03 9.91582411e-01 -3.51845303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters 0.028359135466976697 Centerline is valid? [True, True] Translation: X:255.88, Y:-152.40, Z:-35.19 [[ 7.39782702e-01 6.65684693e-01 9.79052786e-02 2.55882464e+02] [-6.60386974e-01 7.46228537e-01 -8.38571137e-02 -1.52401548e+02] [-1.28882110e-01 -2.61932850e-03 9.91656463e-01 -3.51910944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters 0.029041966315790247 Centerline is valid? [True, True] Translation: X:255.93, Y:-152.44, Z:-35.20 [[ 7.35484667e-01 6.70211660e-01 9.93913270e-02 2.55927942e+02] [-6.64781380e-01 7.42162218e-01 -8.52112639e-02 -1.52443727e+02] [-1.30874070e-01 -3.40192545e-03 9.91393163e-01 -3.51975413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters 0.030582390746997524 Centerline is valid? [True, True] Translation: X:255.98, Y:-152.48, Z:-35.21 [[ 7.30622241e-01 6.75315669e-01 1.00697006e-01 2.55975434e+02] [-6.69777821e-01 7.37516228e-01 -8.64146053e-02 -1.52484121e+02] [-1.32622813e-01 -4.30818883e-03 9.91157217e-01 -3.52058805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters 0.03114367180492357 Centerline is valid? [True, True] Translation: X:256.02, Y:-152.52, Z:-35.21 [[ 7.27539914e-01 6.78780717e-01 9.97116480e-02 2.56024009e+02] [-6.73372226e-01 7.34325157e-01 -8.56528342e-02 -1.52522223e+02] [-1.31360264e-01 -4.82719884e-03 9.91322944e-01 -3.52122329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters 0.03204324206374047 Centerline is valid? [True, True] Translation: X:256.07, Y:-152.56, Z:-35.22 [[ 7.23059788e-01 6.83588300e-01 9.94564221e-02 2.56074530e+02] [-6.78242973e-01 7.29846105e-01 -8.55051666e-02 -1.52558797e+02] [-1.31038214e-01 -5.63027173e-03 9.91361330e-01 -3.52181635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters 0.03229628092145092 Centerline is valid? [True, True] Translation: X:256.13, Y:-152.59, Z:-35.23 [[ 7.21609730e-01 6.85104241e-01 9.95569069e-02 2.56126634e+02] [-6.79755526e-01 7.28421363e-01 -8.56431101e-02 -1.52593533e+02] [-1.31193836e-01 -5.87345615e-03 9.91339336e-01 -3.52252243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters 0.03235475496134795 Centerline is valid? [True, True] Translation: X:256.18, Y:-152.63, Z:-35.23 [[ 7.21186608e-01 6.85228940e-01 1.01740734e-01 2.56177645e+02] [-6.79632563e-01 7.28303277e-01 -8.76008956e-02 -1.52628577e+02] [-1.34124779e-01 -5.96972335e-03 9.90946470e-01 -3.52333043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters 0.031270342601404294 Centerline is valid? [True, True] Translation: X:256.23, Y:-152.66, Z:-35.24 [[ 7.23369998e-01 6.82951630e-01 1.01552536e-01 2.56230600e+02] [-6.77343247e-01 7.30443049e-01 -8.75161555e-02 -1.52662313e+02] [-1.33947645e-01 -5.47936350e-03 9.90973261e-01 -3.52386350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters 0.030678518693868808 Centerline is valid? [True, True] Translation: X:256.28, Y:-152.70, Z:-35.25 [[ 7.27017445e-01 6.79445644e-01 9.89911732e-02 2.56279289e+02] [-6.74075990e-01 7.33711077e-01 -8.53792426e-02 -1.52700135e+02] [-1.30641475e-01 -4.65537434e-03 9.91418747e-01 -3.52454462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters 0.029758034891562958 Centerline is valid? [True, True] Translation: X:256.33, Y:-152.74, Z:-35.25 [[ 7.30292275e-01 6.75869650e-01 9.93650319e-02 2.56329395e+02] [-6.70417912e-01 7.37010414e-01 -8.57640600e-02 -1.52736250e+02] [-1.31198389e-01 -3.98326668e-03 9.91348131e-01 -3.52524537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters 0.029208735187339876 Centerline is valid? [True, True] Translation: X:256.38, Y:-152.77, Z:-35.26 [[ 7.33744361e-01 6.72060820e-01 9.97670683e-02 2.56379520e+02] [-6.66520382e-01 7.40488764e-01 -8.61798808e-02 -1.52773316e+02] [-1.31794514e-01 -3.26278289e-03 9.91271688e-01 -3.52593689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters 0.028686885332114182 Centerline is valid? [True, True] Translation: X:256.43, Y:-152.81, Z:-35.27 [[ 7.35638734e-01 6.69921642e-01 1.00203030e-01 2.56428746e+02] [-6.64307656e-01 7.42426288e-01 -8.65941346e-02 -1.52811200e+02] [-1.32404648e-01 -2.86364034e-03 9.91191610e-01 -3.52662294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters 0.028844285056822225 Centerline is valid? [True, True] Translation: X:256.48, Y:-152.85, Z:-35.27 [[ 7.35729588e-01 6.69924615e-01 9.95137367e-02 2.56477283e+02] [-6.64377379e-01 7.42423907e-01 -8.60781137e-02 -1.52849838e+02] [-1.31547224e-01 -2.78446044e-03 9.91305994e-01 -3.52741783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters 0.02867644960821059 Centerline is valid? [True, True] Translation: X:256.53, Y:-152.89, Z:-35.28 [[ 7.35133862e-01 6.70515838e-01 9.99335564e-02 2.56526788e+02] [-6.64915828e-01 7.41889779e-01 -8.65245503e-02 -1.52888272e+02] [-1.32155765e-01 -2.84027664e-03 9.91224892e-01 -3.52803562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters 0.028566024666094723 Centerline is valid? [True, True] Translation: X:256.57, Y:-152.93, Z:-35.29 [[ 7.35839358e-01 6.69919156e-01 9.87358277e-02 2.56574084e+02] [-6.64436031e-01 7.42429385e-01 -8.55766870e-02 -1.52928588e+02] [-1.30633842e-01 -2.63294705e-03 9.91427187e-01 -3.52867151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters 0.028406168969660844 Centerline is valid? [True, True] Translation: X:256.62, Y:-152.97, Z:-35.30 [[ 7.36749945e-01 6.68810449e-01 9.94590527e-02 2.56623436e+02] [-6.63225082e-01 7.43429127e-01 -8.62880273e-02 -1.52967146e+02] [-1.31651091e-01 -2.39103904e-03 9.91293233e-01 -3.52952130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters 0.028267039601842632 Centerline is valid? [True, True] Translation: X:256.67, Y:-153.01, Z:-35.30 [[ 7.38118116e-01 6.67225280e-01 9.99603556e-02 2.56671379e+02] [-6.61556355e-01 7.44853158e-01 -8.68156840e-02 -1.53005933e+02] [-1.32381406e-01 -2.04917939e-03 9.91196733e-01 -3.53016306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters 0.028179928763667088 Centerline is valid? [True, True] Translation: X:256.72, Y:-153.04, Z:-35.31 [[ 7.38727746e-01 6.66550455e-01 9.99590318e-02 2.56720152e+02] [-6.60864470e-01 7.45457584e-01 -8.68973120e-02 -1.53044256e+02] [-1.32436661e-01 -1.86591709e-03 9.91189714e-01 -3.53083202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters 0.028146085080928022 Centerline is valid? [True, True] Translation: X:256.77, Y:-153.09, Z:-35.31 [[ 7.40885028e-01 6.64009586e-01 1.00899182e-01 2.56767361e+02] [-6.58180381e-01 7.47722825e-01 -8.78018397e-02 -1.53085560e+02] [-1.33745884e-01 -1.35879341e-03 9.91014729e-01 -3.53148857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters 0.02822870881828859 Centerline is valid? [True, True] Translation: X:256.82, Y:-153.13, Z:-35.32 [[ 7.42386045e-01 6.62149233e-01 1.02085031e-01 2.56815896e+02] [-6.56150484e-01 7.49371384e-01 -8.89329581e-02 -1.53125915e+02] [-1.35386491e-01 -9.60555618e-04 9.90792398e-01 -3.53218449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters 0.02835506231084975 Centerline is valid? [True, True] Translation: X:256.86, Y:-153.17, Z:-35.33 [[ 7.44069984e-01 6.60132709e-01 1.02881801e-01 2.56863415e+02] [-6.54006603e-01 7.51148809e-01 -8.97264147e-02 -1.53166494e+02] [-1.36510884e-01 -5.22645410e-04 9.90638433e-01 -3.53295257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters 0.0283851299596269 Centerline is valid? [True, True] Translation: X:256.91, Y:-153.21, Z:-35.34 [[ 7.46568360e-01 6.57460101e-01 1.01891607e-01 2.56910441e+02] [-6.51415541e-01 7.53489359e-01 -8.89470582e-02 -1.53207342e+02] [-1.35253384e-01 3.12829028e-05 9.90811042e-01 -3.53364783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters 0.028125010289833927 Centerline is valid? [True, True] Translation: X:256.96, Y:-153.25, Z:-35.34 [[ 7.49818500e-01 6.54053760e-01 9.99294593e-02 2.56955689e+02] [-6.48205354e-01 7.56447776e-01 -8.72730240e-02 -1.53249350e+02] [-1.32672667e-01 6.64117343e-04 9.91159686e-01 -3.53433089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters 0.028338323117902582 Centerline is valid? [True, True] Translation: X:257.00, Y:-153.29, Z:-35.35 [[ 7.52589316e-01 6.50761934e-01 1.00589395e-01 2.57001270e+02] [-6.44795057e-01 7.59280692e-01 -8.79327326e-02 -1.53290398e+02] [-1.33598861e-01 1.31769035e-03 9.91034615e-01 -3.53494692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters 0.028577116444105582 Centerline is valid? [True, True] Translation: X:257.05, Y:-153.33, Z:-35.36 [[ 7.52500751e-01 6.50718713e-01 1.01527226e-01 2.57048024e+02] [-6.44628325e-01 7.59317589e-01 -8.88319865e-02 -1.53331443e+02] [-1.34896044e-01 1.39881084e-03 9.90858769e-01 -3.53568462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters 0.028713261741545263 Centerline is valid? [True, True] Translation: X:257.09, Y:-153.37, Z:-35.36 [[ 7.53674866e-01 6.49245847e-01 1.02244936e-01 2.57092293e+02] [-6.43043672e-01 7.60576628e-01 -8.95434407e-02 -1.53374458e+02] [-1.35900816e-01 1.73868158e-03 9.90720922e-01 -3.53627399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters 0.028749326497400966 Centerline is valid? [True, True] Translation: X:257.14, Y:-153.42, Z:-35.37 [[ 7.54727387e-01 6.48141943e-01 1.01481982e-01 2.57137014e+02] [-6.42011051e-01 7.61516954e-01 -8.89591935e-02 -1.53418328e+02] [-1.34938435e-01 1.98738552e-03 9.90851992e-01 -3.53704291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters 0.028570927941743336 Centerline is valid? [True, True] Translation: X:257.18, Y:-153.46, Z:-35.38 [[ 7.52405382e-01 6.50723906e-01 1.02198531e-01 2.57180114e+02] [-6.44516195e-01 7.59312721e-01 -8.96831442e-02 -1.53464338e+02] [-1.35959611e-01 1.60947189e-03 9.90713073e-01 -3.53769818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters 0.02805420391195529 Centerline is valid? [True, True] Translation: X:257.22, Y:-153.51, Z:-35.38 [[ 7.47420779e-01 6.56545037e-01 1.01542078e-01 2.57222543e+02] [-6.50457719e-01 7.54286570e-01 -8.91993628e-02 -1.53509476e+02] [-1.35155224e-01 6.20628969e-04 9.90824243e-01 -3.53836056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters 0.028190640178379044 Centerline is valid? [True, True] Translation: X:257.26, Y:-153.56, Z:-35.39 [[ 7.44389672e-01 6.59902415e-01 1.02043216e-01 2.57264438e+02] [-6.53773947e-01 7.51351313e-01 -8.97264205e-02 -1.53555977e+02] [-1.35880986e-01 7.82248876e-05 9.90725165e-01 -3.53917747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters 0.028658917567418254 Centerline is valid? [True, True] Translation: X:257.31, Y:-153.60, Z:-35.40 [[ 7.40823992e-01 6.63411237e-01 1.05191935e-01 2.57306961e+02] [-6.56917522e-01 7.48254820e-01 -9.25963993e-02 -1.53601003e+02] [-1.40139864e-01 -5.04790917e-04 9.90131589e-01 -3.53993558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters 0.0288882176388284 Centerline is valid? [True, True] Translation: X:257.35, Y:-153.65, Z:-35.41 [[ 7.38348874e-01 6.66114319e-01 1.05511392e-01 2.57349303e+02] [-6.59595586e-01 7.45849050e-01 -9.29669691e-02 -1.53645772e+02] [-1.40622201e-01 -9.52791509e-04 9.90062871e-01 -3.54080443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters 0.028994399346813107 Centerline is valid? [True, True] Translation: X:257.39, Y:-153.69, Z:-35.41 [[ 7.38071961e-01 6.66480608e-01 1.05135053e-01 2.57394804e+02] [-6.59999242e-01 7.45521762e-01 -9.27270352e-02 -1.53689112e+02] [-1.40181241e-01 -9.49830823e-04 9.90125405e-01 -3.54149510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters 0.029731747298015556 Centerline is valid? [True, True] Translation: X:257.44, Y:-153.74, Z:-35.42 [[ 7.37948417e-01 6.66232047e-01 1.07549957e-01 2.57435729e+02] [-6.59430415e-01 7.45744020e-01 -9.49599058e-02 -1.53736094e+02] [-1.43470070e-01 -8.46200856e-04 9.89654295e-01 -3.54245759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters 0.02990688858987456 Centerline is valid? [True, True] Translation: X:257.48, Y:-153.78, Z:-35.43 [[ 7.36888974e-01 6.67511598e-01 1.06878004e-01 2.57477544e+02] [-6.60795368e-01 7.44598702e-01 -9.44576880e-02 -1.53781627e+02] [-1.42632826e-01 -1.01966140e-03 9.89775145e-01 -3.54340512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters 0.02995509614588269 Centerline is valid? [True, True] Translation: X:257.52, Y:-153.83, Z:-35.44 [[ 7.37837992e-01 6.66696690e-01 1.05406928e-01 2.57518206e+02] [-6.60143841e-01 7.45328728e-01 -9.32480396e-02 -1.53829682e+02] [-1.40730971e-01 -7.81788015e-04 9.90047566e-01 -3.54405846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters 0.029989332125988484 Centerline is valid? [True, True] Translation: X:257.56, Y:-153.88, Z:-35.45 [[ 7.39811761e-01 6.64643571e-01 1.04534598e-01 2.57558055e+02] [-6.58165271e-01 7.47160508e-01 -9.25724114e-02 -1.53878486e+02] [-1.39631782e-01 -3.14883642e-04 9.90203447e-01 -3.54489984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters 0.030064926715129208 Centerline is valid? [True, True] Translation: X:257.60, Y:-153.93, Z:-35.46 [[ 7.42548497e-01 6.61651890e-01 1.04108152e-01 2.57599823e+02] [-6.55183458e-01 7.49811092e-01 -9.22928138e-02 -1.53926023e+02] [-1.39127161e-01 3.21951334e-04 9.90274472e-01 -3.54558239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters 0.030181551689011855 Centerline is valid? [True, True] Translation: X:257.64, Y:-153.97, Z:-35.46 [[ 7.44024998e-01 6.59956650e-01 1.04326517e-01 2.57642495e+02] [-6.53429899e-01 7.51303337e-01 -9.25886775e-02 -1.53971971e+02] [-1.39485374e-01 7.18224855e-04 9.90223871e-01 -3.54619920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters 0.030245363625400715 Centerline is valid? [True, True] Translation: X:257.68, Y:-154.02, Z:-35.47 [[ 7.43110090e-01 6.61158654e-01 1.03230948e-01 2.57683363e+02] [-6.54766608e-01 7.50245905e-01 -9.17157074e-02 -1.54019405e+02] [-1.38087230e-01 5.62689934e-04 9.90419911e-01 -3.54697464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters 0.030282577387509 Centerline is valid? [True, True] Translation: X:257.72, Y:-154.07, Z:-35.48 [[ 7.39874342e-01 6.64861196e-01 1.02691517e-01 2.57723528e+02] [-6.58557961e-01 7.46966925e-01 -9.13335952e-02 -1.54068603e+02] [-1.37431330e-01 -5.29323955e-05 9.90511296e-01 -3.54765621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters 0.030466817073339373 Centerline is valid? [True, True] Translation: X:257.77, Y:-154.11, Z:-35.48 [[ 7.35782841e-01 6.69533358e-01 1.01728528e-01 2.57765721e+02] [-6.63378849e-01 7.42781514e-01 -9.05766302e-02 -1.54114991e+02] [-1.36206145e-01 -8.39823361e-04 9.90680161e-01 -3.54822463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters 0.03051297571051583 Centerline is valid? [True, True] Translation: X:257.81, Y:-154.16, Z:-35.49 [[ 7.33953602e-01 6.71631123e-01 1.01112533e-01 2.57809496e+02] [-6.65557583e-01 7.40884821e-01 -9.01264974e-02 -1.54160283e+02] [-1.35444502e-01 -1.14754580e-03 9.90784270e-01 -3.54883658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters 0.030693839437187596 Centerline is valid? [True, True] Translation: X:257.86, Y:-154.20, Z:-35.49 [[ 7.32037196e-01 6.73725597e-01 1.01071088e-01 2.57855242e+02] [-6.67663551e-01 7.38980166e-01 -9.01870127e-02 -1.54203214e+02] [-1.35450828e-01 -1.46123340e-03 9.90782992e-01 -3.54947669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters 0.03087952681011368 Centerline is valid? [True, True] Translation: X:257.90, Y:-154.25, Z:-35.50 [[ 7.29474051e-01 6.76530011e-01 1.00869981e-01 2.57900750e+02] [-6.70505625e-01 7.36412597e-01 -9.01037947e-02 -1.54245665e+02] [-1.35239846e-01 -1.90550978e-03 9.90811058e-01 -3.55015292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters 0.03108780612356571 Centerline is valid? [True, True] Translation: X:257.95, Y:-154.29, Z:-35.51 [[ 7.27014424e-01 6.79327652e-01 9.98196852e-02 2.57947165e+02] [-6.73442066e-01 7.33831393e-01 -8.92595639e-02 -1.54288191e+02] [-1.33887309e-01 -2.32978468e-03 9.90993825e-01 -3.55065727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters 0.031105344638095996 Centerline is valid? [True, True] Translation: X:257.99, Y:-154.33, Z:-35.51 [[ 7.25846119e-01 6.80339828e-01 1.01415634e-01 2.57992899e+02] [-6.74260083e-01 7.32892586e-01 -9.07843416e-02 -1.54330655e+02] [-1.36090970e-01 -2.48505206e-03 9.90693228e-01 -3.55136598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters 0.031051882603738153 Centerline is valid? [True, True] Translation: X:258.04, Y:-154.37, Z:-35.52 [[ 7.25608403e-01 6.80789877e-01 1.00087912e-01 2.58040073e+02] [-6.74860468e-01 7.32474617e-01 -8.96899327e-02 -1.54372590e+02] [-1.34371853e-01 -2.46560637e-03 9.90927912e-01 -3.55197617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters 0.030947122918552224 Centerline is valid? [True, True] Translation: X:258.09, Y:-154.41, Z:-35.53 [[ 7.25220653e-01 6.81380723e-01 9.88701973e-02 2.58087004e+02] [-6.75587774e-01 7.31924998e-01 -8.86958642e-02 -1.54413923e+02] [-1.32801221e-01 -2.47142406e-03 9.91139611e-01 -3.55260715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters 0.030953319789152656 Centerline is valid? [True, True] Translation: X:258.14, Y:-154.45, Z:-35.53 [[ 7.24112899e-01 6.82466811e-01 9.94965388e-02 2.58135491e+02] [-6.76597280e-01 7.30911897e-01 -8.93527872e-02 -1.54453734e+02] [-1.33703516e-01 -2.61758168e-03 9.91017920e-01 -3.55322800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters 0.03074347826561435 Centerline is valid? [True, True] Translation: X:258.18, Y:-154.49, Z:-35.54 [[ 7.24209573e-01 6.82278222e-01 1.00084579e-01 2.58184350e+02] [-6.76324062e-01 7.31088256e-01 -8.99762505e-02 -1.54492577e+02] [-1.34559497e-01 -2.52794742e-03 9.90902292e-01 -3.55385639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters 0.030227284942131415 Centerline is valid? [True, True] Translation: X:258.23, Y:-154.53, Z:-35.54 [[ 7.25538569e-01 6.81089641e-01 9.85428099e-02 2.58232627e+02] [-6.75295206e-01 7.32196725e-01 -8.86811180e-02 -1.54531754e+02] [-1.32552513e-01 -2.20391562e-03 9.91173534e-01 -3.55446163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters 0.029458373040362716 Centerline is valid? [True, True] Translation: X:258.28, Y:-154.57, Z:-35.55 [[ 7.28069521e-01 6.78346988e-01 9.87934017e-02 2.58281192e+02] [-6.72485770e-01 7.34739864e-01 -8.89956280e-02 -1.54571016e+02] [-1.32957367e-01 -1.64215256e-03 9.91120397e-01 -3.55522185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters 0.029290090095131602 Centerline is valid? [True, True] Translation: X:258.33, Y:-154.61, Z:-35.56 [[ 7.28236203e-01 6.78054919e-01 9.95668609e-02 2.58327903e+02] [-6.72085475e-01 7.35009650e-01 -8.97882473e-02 -1.54613222e+02] [-1.34063966e-01 -1.53038866e-03 9.90971499e-01 -3.55596201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters 0.029459918824349684 Centerline is valid? [True, True] Translation: X:258.38, Y:-154.65, Z:-35.57 [[ 7.27042972e-01 6.79121383e-01 1.01008240e-01 2.58375097e+02] [-6.72973775e-01 7.34024064e-01 -9.11864661e-02 -1.54654265e+02] [-1.36069158e-01 -1.67941750e-03 9.90697918e-01 -3.55665767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters 0.02991201241341168 Centerline is valid? [True, True] Translation: X:258.42, Y:-154.69, Z:-35.58 [[ 7.23903255e-01 6.82371773e-01 1.01650582e-01 2.58422806e+02] [-6.76163573e-01 7.31001904e-01 -9.18642412e-02 -1.54694225e+02] [-1.36992334e-01 -2.23159761e-03 9.90569594e-01 -3.55750030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters 0.03003304155089301 Centerline is valid? [True, True] Translation: X:258.47, Y:-154.74, Z:-35.58 [[ 7.22073023e-01 6.84193176e-01 1.02421909e-01 2.58470078e+02] [-6.77894408e-01 7.29296460e-01 -9.26598310e-02 -1.54735159e+02] [-1.38093160e-01 -2.52407533e-03 9.90416028e-01 -3.55819727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters 0.03037320646287131 Centerline is valid? [True, True] Translation: X:258.52, Y:-154.77, Z:-35.59 [[ 7.20703000e-01 6.85450382e-01 1.03657896e-01 2.58521996e+02] [-6.78996897e-01 7.28114237e-01 -9.38768985e-02 -1.54771432e+02] [-1.39822746e-01 -2.72602753e-03 9.90172797e-01 -3.55891422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters 0.030022653870707433 Centerline is valid? [True, True] Translation: X:258.57, Y:-154.81, Z:-35.60 [[ 7.23134701e-01 6.82940268e-01 1.03289860e-01 2.58572815e+02] [-6.76493684e-01 7.30471027e-01 -9.36396003e-02 -1.54808570e+02] [-1.39400504e-01 -2.16089362e-03 9.90233725e-01 -3.55969998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters 0.02986906895480767 Centerline is valid? [True, True] Translation: X:258.63, Y:-154.84, Z:-35.60 [[ 7.25335107e-01 6.80494584e-01 1.04000498e-01 2.58625067e+02] [-6.73919997e-01 7.32751294e-01 -9.43789118e-02 -1.54844264e+02] [-1.40430838e-01 -1.63167758e-03 9.90089146e-01 -3.56042051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters 0.030079106216179142 Centerline is valid? [True, True] Translation: X:258.68, Y:-154.88, Z:-35.61 [[ 7.24787907e-01 6.80874449e-01 1.05320816e-01 2.58676904e+02] [-6.74120337e-01 7.32398291e-01 -9.56792286e-02 -1.54880104e+02] [-1.42282327e-01 -1.65175583e-03 9.89824738e-01 -3.56122589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters 0.03001652431771771 Centerline is valid? [True, True] Translation: X:258.73, Y:-154.92, Z:-35.62 [[ 7.24527074e-01 6.81325232e-01 1.04194276e-01 2.58726693e+02] [-6.74706447e-01 7.31978966e-01 -9.47523333e-02 -1.54917948e+02] [-1.40825174e-01 -1.64991912e-03 9.90033105e-01 -3.56186433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters 0.029951114049844973 Centerline is valid? [True, True] Translation: X:258.78, Y:-154.95, Z:-35.63 [[ 7.25407255e-01 6.80359866e-01 1.04378000e-01 2.58779841e+02] [-6.73693669e-01 7.32876875e-01 -9.50175063e-02 -1.54952627e+02] [-1.41142320e-01 -1.39240933e-03 9.89988337e-01 -3.56250209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters 0.02994120244530309 Centerline is valid? [True, True] Translation: X:258.83, Y:-154.99, Z:-35.63 [[ 7.25247147e-01 6.80681409e-01 1.03389533e-01 2.58830426e+02] [-6.74130632e-01 7.32578290e-01 -9.42175191e-02 -1.54989295e+02] [-1.39873041e-01 -1.36706437e-03 9.90168503e-01 -3.56313846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters 0.029942745330559076 Centerline is valid? [True, True] Translation: X:258.88, Y:-155.02, Z:-35.64 [[ 7.24061544e-01 6.82020551e-01 1.02872977e-01 2.58883705e+02] [-6.75535159e-01 7.31331375e-01 -9.38438580e-02 -1.55023901e+02] [-1.39237675e-01 -1.54558434e-03 9.90257785e-01 -3.56388938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters 0.0299128258208079 Centerline is valid? [True, True] Translation: X:258.94, Y:-155.06, Z:-35.64 [[ 7.27396413e-01 6.78591644e-01 1.02018817e-01 2.58936722e+02] [-6.72167833e-01 7.34515295e-01 -9.31540991e-02 -1.55058231e+02] [-1.38147975e-01 -8.13809874e-04 9.90411265e-01 -3.56449145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters 0.02987424233253441 Centerline is valid? [True, True] Translation: X:258.99, Y:-155.10, Z:-35.65 [[ 7.32658718e-01 6.73122754e-01 1.00583106e-01 2.58986377e+02] [-6.66819623e-01 7.39530722e-01 -9.19015836e-02 -1.55095820e+02] [-1.36245344e-01 2.61707624e-04 9.90675092e-01 -3.56519363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters 0.030177994734194365 Centerline is valid? [True, True] Translation: X:259.04, Y:-155.13, Z:-35.66 [[ 7.36894224e-01 6.68580916e-01 9.99322829e-02 2.59035980e+02] [-6.62305447e-01 7.43638490e-01 -9.13963397e-02 -1.55134315e+02] [-1.35419341e-01 1.16373962e-03 9.90787691e-01 -3.56585880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters 0.030550352160322713 Centerline is valid? [True, True] Translation: X:259.08, Y:-155.18, Z:-35.67 [[ 7.38364353e-01 6.67004060e-01 9.96176051e-02 2.59083045e+02] [-6.60740604e-01 7.45052527e-01 -9.12062839e-02 -1.55175140e+02] [-1.35055310e-01 1.52207221e-03 9.90836892e-01 -3.56653894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters 0.030654983828090364 Centerline is valid? [True, True] Translation: X:259.13, Y:-155.22, Z:-35.67 [[ 7.38994614e-01 6.66485486e-01 9.84076064e-02 2.59128851e+02] [-6.60356895e-01 7.45516143e-01 -9.01911973e-02 -1.55216782e+02] [-1.33475583e-01 1.66666757e-03 9.91050700e-01 -3.56709796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters 0.030653254427467195 Centerline is valid? [True, True] Translation: X:259.17, Y:-155.26, Z:-35.68 [[ 7.37611978e-01 6.67733892e-01 1.00299655e-01 2.59174672e+02] [-6.61365822e-01 7.44398480e-01 -9.20117038e-02 -1.55258949e+02] [-1.36102244e-01 1.53417106e-03 9.90693608e-01 -3.56770239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters 0.030760731140953106 Centerline is valid? [True, True] Translation: X:259.22, Y:-155.30, Z:-35.68 [[ 7.37690533e-01 6.67772385e-01 9.94621564e-02 2.59218356e+02] [-6.61499539e-01 7.44363858e-01 -9.13280126e-02 -1.55302340e+02] [-1.35022359e-01 1.57763957e-03 9.90841296e-01 -3.56831662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters 0.030713496817309435 Centerline is valid? [True, True] Translation: X:259.26, Y:-155.35, Z:-35.69 [[ 7.36256226e-01 6.69214448e-01 1.00393188e-01 2.59261095e+02] [-6.62824002e-01 7.43068019e-01 -9.22727530e-02 -1.55348132e+02] [-1.36349227e-01 1.39337410e-03 9.90659854e-01 -3.56907965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters 0.030443534064684686 Centerline is valid? [True, True] Translation: X:259.30, Y:-155.39, Z:-35.70 [[ 7.33285376e-01 6.72501420e-01 1.00171842e-01 2.59303175e+02] [-6.66156238e-01 7.40095339e-01 -9.21670059e-02 -1.55393820e+02] [-1.36119156e-01 8.54620207e-04 9.90692104e-01 -3.56967367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters 0.030384841197534915 Centerline is valid? [True, True] Translation: X:259.35, Y:-155.44, Z:-35.70 [[ 7.30092284e-01 6.76123517e-01 9.91072506e-02 2.59346826e+02] [-6.69934536e-01 7.36788254e-01 -9.12731427e-02 -1.55437881e+02] [-1.34732976e-01 2.42447227e-04 9.90881913e-01 -3.57039243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters 0.030194351193036394 Centerline is valid? [True, True] Translation: X:259.39, Y:-155.48, Z:-35.71 [[ 7.25014072e-01 6.81622591e-01 9.87179791e-02 2.59390291e+02] [-6.75520693e-01 7.31703590e-01 -9.10035714e-02 -1.55482614e+02] [-1.34262390e-01 -7.07167828e-04 9.90945564e-01 -3.57106213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters 0.03015231976291442 Centerline is valid? [True, True] Translation: X:259.43, Y:-155.53, Z:-35.72 [[ 7.21983999e-01 6.84751463e-01 9.92700271e-02 2.59433662e+02] [-6.78596654e-01 7.28775644e-01 -9.16113645e-02 -1.55526843e+02] [-1.35076594e-01 -1.22236885e-03 9.90834406e-01 -3.57182742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters 0.030308701732979254 Centerline is valid? [True, True] Translation: X:259.48, Y:-155.57, Z:-35.72 [[ 7.20302316e-01 6.86375517e-01 1.00265763e-01 2.59477997e+02] [-6.80099269e-01 7.27245812e-01 -9.26202641e-02 -1.55569564e+02] [-1.36490138e-01 -1.47608145e-03 9.90640330e-01 -3.57242938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters 0.030088282531359117 Centerline is valid? [True, True] Translation: X:259.52, Y:-155.61, Z:-35.73 [[ 7.18746681e-01 6.88107155e-01 9.95577835e-02 2.59523883e+02] [-6.81923992e-01 7.25607030e-01 -9.20549179e-02 -1.55612154e+02] [-1.35583475e-01 -1.72667450e-03 9.90764422e-01 -3.57328994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters 0.030495943856364484 Centerline is valid? [True, True] Translation: X:259.57, Y:-155.65, Z:-35.74 [[ 7.14077322e-01 6.92529948e-01 1.02449257e-01 2.59570098e+02] [-6.86011153e-01 7.21384568e-01 -9.48314388e-02 -1.55654104e+02] [-1.39578924e-01 -2.56435315e-03 9.90207629e-01 -3.57393661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters 0.030847757172134553 Centerline is valid? [True, True] Translation: X:259.62, Y:-155.70, Z:-35.75 [[ 7.11555549e-01 6.95106729e-01 1.02544312e-01 2.59615616e+02] [-6.88588651e-01 7.18900289e-01 -9.50160265e-02 -1.55697252e+02] [-1.39765415e-01 -3.00166846e-03 9.90180094e-01 -3.57468847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters 0.030974252055370577 Centerline is valid? [True, True] Translation: X:259.66, Y:-155.74, Z:-35.75 [[ 7.10337749e-01 6.96362447e-01 1.02467673e-01 2.59662702e+02] [-6.89853265e-01 7.17683260e-01 -9.50432067e-02 -1.55737927e+02] [-1.39723854e-01 -3.17488149e-03 9.90185419e-01 -3.57545649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters 0.030725087942876362 Centerline is valid? [True, True] Translation: X:259.71, Y:-155.78, Z:-35.76 [[ 7.11505828e-01 6.95374170e-01 1.01065429e-01 2.59708086e+02] [-6.89019673e-01 7.18642139e-01 -9.38369131e-02 -1.55780323e+02] [-1.37881641e-01 -2.87055806e-03 9.90444553e-01 -3.57608482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters 0.03068456413321574 Centerline is valid? [True, True] Translation: X:259.76, Y:-155.82, Z:-35.77 [[ 7.10380809e-01 6.96787108e-01 9.92312087e-02 2.59755335e+02] [-6.90664488e-01 7.17271614e-01 -9.22171146e-02 -1.55820997e+02] [-1.35431426e-01 -3.02620342e-03 9.90782101e-01 -3.57656965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters 0.031192401911251076 Centerline is valid? [True, True] Translation: X:259.80, Y:-155.86, Z:-35.77 [[ 7.06212338e-01 7.00884895e-01 1.00122411e-01 2.59802227e+02] [-6.94680104e-01 7.13264367e-01 -9.31316013e-02 -1.55861336e+02] [-1.36688281e-01 -3.78236125e-03 9.90606889e-01 -3.57734823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters 0.03129442419776639 Centerline is valid? [True, True] Translation: X:259.85, Y:-155.90, Z:-35.78 [[ 7.04497069e-01 7.02717318e-01 9.93591990e-02 2.59850255e+02] [-6.96613629e-01 7.11457668e-01 -9.25064209e-02 -1.55900240e+02] [-1.35695728e-01 -4.04446980e-03 9.90742303e-01 -3.57797999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters 0.031231424362722915 Centerline is valid? [True, True] Translation: X:259.90, Y:-155.94, Z:-35.79 [[ 7.03635260e-01 7.03594195e-01 9.92604118e-02 2.59900403e+02] [-6.97499596e-01 7.10589900e-01 -9.25003092e-02 -1.55937918e+02] [-1.35616127e-01 -4.14761800e-03 9.90752776e-01 -3.57866195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters 0.030916721305017884 Centerline is valid? [True, True] Translation: X:259.95, Y:-155.97, Z:-35.79 [[ 7.03680534e-01 7.03331725e-01 1.00787848e-01 2.59952811e+02] [-6.97031199e-01 7.10850011e-01 -9.40200452e-02 -1.55971975e+02] [-1.37772324e-01 -4.09219924e-03 9.90455471e-01 -3.57924547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters 0.030929532893335707 Centerline is valid? [True, True] Translation: X:260.00, Y:-156.01, Z:-35.80 [[ 7.03999905e-01 7.03039122e-01 1.00598842e-01 2.60000743e+02] [-6.96747520e-01 7.11140115e-01 -9.39288584e-02 -1.56010539e+02] [-1.37575534e-01 -3.96608609e-03 9.90483338e-01 -3.57997293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters 0.030665565615800357 Centerline is valid? [True, True] Translation: X:260.05, Y:-156.05, Z:-35.81 [[ 7.05762076e-01 7.01222218e-01 1.00932118e-01 2.60050365e+02] [-6.94858067e-01 7.12933881e-01 -9.43268188e-02 -1.56047373e+02] [-1.38101987e-01 -3.56120470e-03 9.90411611e-01 -3.58071754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters 0.029628184478126995 Centerline is valid? [True, True] Translation: X:260.10, Y:-156.08, Z:-35.81 [[ 7.10832341e-01 6.96576152e-01 9.74630595e-02 2.60102099e+02] [-6.90589621e-01 7.17478492e-01 -9.11624376e-02 -1.56082858e+02] [-1.33429229e-01 -2.50576842e-03 9.91055176e-01 -3.58116706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters 0.029261586478629052 Centerline is valid? [True, True] Translation: X:260.15, Y:-156.12, Z:-35.82 [[ 7.19114581e-01 6.87967687e-01 9.78502990e-02 2.60149377e+02] [-6.81844152e-01 7.25740816e-01 -9.15905042e-02 -1.56123137e+02] [-1.34025263e-01 -8.54587101e-04 9.90977547e-01 -3.58176979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters 0.029146891426898393 Centerline is valid? [True, True] Translation: X:260.19, Y:-156.17, Z:-35.82 [[ 7.25186993e-01 6.81936778e-01 9.52158394e-02 2.60194298e+02] [-6.76076914e-01 7.31411054e-01 -8.92069299e-02 -1.56166145e+02] [-1.30475404e-01 3.18474381e-04 9.91451495e-01 -3.58246138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters 0.029364420979442238 Centerline is valid? [True, True] Translation: X:260.24, Y:-156.21, Z:-35.83 [[ 7.26381616e-01 6.80505093e-01 9.63460738e-02 2.60236246e+02] [-6.74480427e-01 7.32743064e-01 -9.03535015e-02 -1.56211333e+02] [-1.32082935e-01 6.47581447e-04 9.91238457e-01 -3.58313266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters 0.02939828818084674 Centerline is valid? [True, True] Translation: X:260.28, Y:-156.26, Z:-35.84 [[ 7.26735924e-01 6.80058114e-01 9.68290212e-02 2.60279284e+02] [-6.73956845e-01 7.33157777e-01 -9.08946989e-02 -1.56256598e+02] [-1.32804627e-01 7.97861342e-04 9.91141914e-01 -3.58375240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters 0.0293201881471963 Centerline is valid? [True, True] Translation: X:260.32, Y:-156.30, Z:-35.84 [[ 7.28028036e-01 6.78890531e-01 9.53038566e-02 2.60322411e+02] [-6.72958467e-01 7.34238731e-01 -8.95566170e-02 -1.56301726e+02] [-1.30774922e-01 1.06419080e-03 9.91411513e-01 -3.58432198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters 0.02948266568958875 Centerline is valid? [True, True] Translation: X:260.37, Y:-156.35, Z:-35.85 [[ 7.29957722e-01 6.76886753e-01 9.47947686e-02 2.60365398e+02] [-6.70990110e-01 7.36085685e-01 -8.91635417e-02 -1.56347596e+02] [-1.30130692e-01 1.47926354e-03 9.91495746e-01 -3.58512971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters 0.02934031664142237 Centerline is valid? [True, True] Translation: X:260.41, Y:-156.39, Z:-35.86 [[ 7.29564203e-01 6.77147066e-01 9.59579338e-02 2.60407429e+02] [-6.71093653e-01 7.35846135e-01 -9.03536104e-02 -1.56393689e+02] [-1.31792957e-01 1.52199939e-03 9.91276097e-01 -3.58585778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters 0.0289481073967166 Centerline is valid? [True, True] Translation: X:260.45, Y:-156.44, Z:-35.87 [[ 7.28166111e-01 6.78419603e-01 9.75753951e-02 2.60447166e+02] [-6.72159007e-01 7.34673357e-01 -9.19637287e-02 -1.56440887e+02] [-1.34076039e-01 1.37868994e-03 9.90970088e-01 -3.58661716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters 0.028663495795834625 Centerline is valid? [True, True] Translation: X:260.49, Y:-156.49, Z:-35.87 [[ 7.25859714e-01 6.80816220e-01 9.80660536e-02 2.60490139e+02] [-6.74501820e-01 7.32453589e-01 -9.25150484e-02 -1.56486744e+02] [-1.34814578e-01 1.00721481e-03 9.90870332e-01 -3.58735703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters 0.028597285769859284 Centerline is valid? [True, True] Translation: X:260.53, Y:-156.53, Z:-35.88 [[ 7.20190475e-01 6.86635646e-01 9.92832786e-02 2.60532133e+02] [-6.80203393e-01 7.27001712e-01 -9.37648891e-02 -1.56533063e+02] [-1.36561429e-01 -4.24289098e-06 9.90631605e-01 -3.58817734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters 0.028670474601610155 Centerline is valid? [True, True] Translation: X:260.57, Y:-156.58, Z:-35.89 [[ 7.14412993e-01 6.92165299e-01 1.02573260e-01 2.60573908e+02] [-6.85338781e-01 7.21738295e-01 -9.69772608e-02 -1.56578528e+02] [-1.41155344e-01 -1.01561765e-03 9.89986938e-01 -3.58891783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters 0.028763164565445094 Centerline is valid? [True, True] Translation: X:260.62, Y:-156.62, Z:-35.90 [[ 7.11898347e-01 6.95130373e-01 9.99725394e-02 2.60616271e+02] [-6.88663741e-01 7.18882137e-01 -9.46082756e-02 -1.56623850e+02] [-1.37633559e-01 -1.49598795e-03 9.90482087e-01 -3.58969872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters 0.029069102396117617 Centerline is valid? [True, True] Translation: X:260.66, Y:-156.67, Z:-35.90 [[ 7.10330261e-01 6.96623821e-01 1.00728211e-01 2.60661394e+02] [-6.90059742e-01 7.17434504e-01 -9.54216211e-02 -1.56667096e+02] [-1.38738869e-01 -1.72761850e-03 9.90327492e-01 -3.59037166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters 0.029227147394353475 Centerline is valid? [True, True] Translation: X:260.70, Y:-156.71, Z:-35.91 [[ 7.08184080e-01 6.98556212e-01 1.02442800e-01 2.60704205e+02] [-6.91772380e-01 7.15552174e-01 -9.71393875e-02 -1.56711743e+02] [-1.41160491e-01 -2.07453164e-03 9.89984551e-01 -3.59104765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters 0.029668100370641767 Centerline is valid? [True, True] Translation: X:260.75, Y:-156.75, Z:-35.92 [[ 7.05306641e-01 7.01614068e-01 1.01391526e-01 2.60750331e+02] [-6.94991021e-01 7.12552383e-01 -9.62111301e-02 -1.56753957e+02] [-1.39749856e-01 -2.60785128e-03 9.90183406e-01 -3.59164099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters 0.029863901243725278 Centerline is valid? [True, True] Translation: X:260.80, Y:-156.80, Z:-35.92 [[ 7.03066329e-01 7.03869282e-01 1.01320135e-01 2.60796858e+02] [-6.97264601e-01 7.10323269e-01 -9.62441082e-02 -1.56795730e+02] [-1.39713321e-01 -2.98095150e-03 9.90187508e-01 -3.59226143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters 0.030044434411639606 Centerline is valid? [True, True] Translation: X:260.85, Y:-156.84, Z:-35.93 [[ 7.01565241e-01 7.05439817e-01 1.00801181e-01 2.60845792e+02] [-6.98905320e-01 7.08762573e-01 -9.58486803e-02 -1.56835971e+02] [-1.39059580e-01 -3.20637935e-03 9.90278826e-01 -3.59277540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters 0.029863615260026323 Centerline is valid? [True, True] Translation: X:260.90, Y:-156.87, Z:-35.93 [[ 7.02359226e-01 7.04601039e-01 1.01137995e-01 2.60895931e+02] [-6.98000061e-01 7.09597418e-01 -9.62674377e-02 -1.56872890e+02] [-1.39597396e-01 -2.98000337e-03 9.90203861e-01 -3.59329947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters 0.029775098381052113 Centerline is valid? [True, True] Translation: X:260.95, Y:-156.91, Z:-35.94 [[ 7.03700848e-01 7.03055043e-01 1.02560829e-01 2.60947577e+02] [-6.96236426e-01 7.11130518e-01 -9.77150252e-02 -1.56909513e+02] [-1.41633177e-01 -2.64443902e-03 9.89915678e-01 -3.59392091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters 0.029956083840380242 Centerline is valid? [True, True] Translation: X:261.00, Y:-156.95, Z:-35.95 [[ 7.04679553e-01 7.02105579e-01 1.02344921e-01 2.60996558e+02] [-6.95291630e-01 7.12068892e-01 -9.76086200e-02 -1.56947429e+02] [-1.41408191e-01 -2.37676819e-03 9.89948521e-01 -3.59462151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters 0.029490707466235118 Centerline is valid? [True, True] Translation: X:261.05, Y:-156.98, Z:-35.95 [[ 7.06574591e-01 7.00341422e-01 1.01361923e-01 2.61048558e+02] [-6.93627724e-01 7.13805388e-01 -9.67597529e-02 -1.56983056e+02] [-1.40117550e-01 -1.93945702e-03 9.90132976e-01 -3.59523156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters 0.02946069663774723 Centerline is valid? [True, True] Translation: X:261.10, Y:-157.02, Z:-35.96 [[ 7.07636487e-01 6.99202213e-01 1.01817817e-01 2.61101283e+02] [-6.92402654e-01 7.14922044e-01 -9.72884166e-02 -1.57018615e+02] [-1.40816078e-01 -1.65409305e-03 9.90034391e-01 -3.59587188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters 0.029291725946477234 Centerline is valid? [True, True] Translation: X:261.15, Y:-157.05, Z:-35.96 [[ 7.11589695e-01 6.95050654e-01 1.02687361e-01 2.61153666e+02] [-6.88075392e-01 7.18960368e-01 -9.82254774e-02 -1.57054650e+02] [-1.42099825e-01 -7.60408874e-04 9.89852040e-01 -3.59648606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters 0.029564077590830812 Centerline is valid? [True, True] Translation: X:261.20, Y:-157.09, Z:-35.97 [[ 7.18535083e-01 6.88193166e-01 1.00486325e-01 2.61202667e+02] [-6.81435542e-01 7.25527215e-01 -9.62073924e-02 -1.57093226e+02] [-1.39114833e-01 6.53433471e-04 9.90276040e-01 -3.59738549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters 0.030114138900544717 Centerline is valid? [True, True] Translation: X:261.25, Y:-157.13, Z:-35.98 [[ 7.22196328e-01 6.84258754e-01 1.01105989e-01 2.61251289e+02] [-6.77372156e-01 7.29237848e-01 -9.68458744e-02 -1.57131795e+02] [-1.39997951e-01 1.45535340e-03 9.90150724e-01 -3.59814553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters 0.031169692296644062 Centerline is valid? [True, True] Translation: X:261.30, Y:-157.17, Z:-35.99 [[ 7.27069402e-01 6.78916522e-01 1.02188266e-01 2.61295967e+02] [-6.71815442e-01 7.34210937e-01 -9.79709743e-02 -1.57173891e+02] [-1.41541856e-01 2.58004232e-03 9.89928910e-01 -3.59899795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters 0.0311515030132549 Centerline is valid? [True, True] Translation: X:261.34, Y:-157.22, Z:-36.00 [[ 7.27154016e-01 6.78780222e-01 1.02491200e-01 2.61339955e+02] [-6.71623856e-01 7.34336611e-01 -9.83419456e-02 -1.57217377e+02] [-1.42015608e-01 2.67420598e-03 9.89860806e-01 -3.59964611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters 0.03177843275171018 Centerline is valid? [True, True] Translation: X:261.38, Y:-157.26, Z:-36.01 [[ 7.27881969e-01 6.77976071e-01 1.02646409e-01 2.61381218e+02] [-6.70777207e-01 7.35078247e-01 -9.85794590e-02 -1.57263360e+02] [-1.42287657e-01 2.90133905e-03 9.89821097e-01 -3.60054967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters 0.03183170035510932 Centerline is valid? [True, True] Translation: X:261.42, Y:-157.31, Z:-36.01 [[ 7.28504240e-01 6.77405041e-01 1.01999910e-01 2.61424749e+02] [-6.70278597e-01 7.35603863e-01 -9.80487645e-02 -1.57307698e+02] [-1.41450255e-01 3.06058447e-03 9.89940634e-01 -3.60130768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters 0.03251244145634361 Centerline is valid? [True, True] Translation: X:261.46, Y:-157.36, Z:-36.02 [[ 7.31348378e-01 6.74278623e-01 1.02361559e-01 2.61463773e+02] [-6.67056636e-01 7.38467504e-01 -9.84946205e-02 -1.57356433e+02] [-1.42003502e-01 3.75292378e-03 9.89859041e-01 -3.60196344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters 0.03263522226036683 Centerline is valid? [True, True] Translation: X:261.50, Y:-157.41, Z:-36.03 [[ 7.32176953e-01 6.73510191e-01 1.01493509e-01 2.61502514e+02] [-6.66390710e-01 7.39167462e-01 -9.77490937e-02 -1.57406200e+02] [-1.40855710e-01 3.93530219e-03 9.90022314e-01 -3.60271984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters 0.03223808794430545 Centerline is valid? [True, True] Translation: X:261.54, Y:-157.46, Z:-36.03 [[ 7.31556319e-01 6.74351166e-01 1.00378568e-01 2.61539873e+02] [-6.67382524e-01 7.38401008e-01 -9.67704404e-02 -1.57456298e+02] [-1.39376896e-01 3.80212484e-03 9.90232107e-01 -3.60343886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters 0.0320313182596074 Centerline is valid? [True, True] Translation: X:261.58, Y:-157.50, Z:-36.04 [[ 7.29925346e-01 6.76193430e-01 9.98570737e-02 2.61579328e+02] [-6.69302515e-01 7.36715836e-01 -9.63530988e-02 -1.57504404e+02] [-1.38719620e-01 3.49597837e-03 9.90325525e-01 -3.60413388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters 0.031010108373162027 Centerline is valid? [True, True] Translation: X:261.62, Y:-157.55, Z:-36.05 [[ 7.25268722e-01 6.81261263e-01 9.93396861e-02 2.61617720e+02] [-6.74477002e-01 7.32035818e-01 -9.59392265e-02 -1.57553339e+02] [-1.38079887e-01 2.57938651e-03 9.90417736e-01 -3.60485450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters 0.03045133703370009 Centerline is valid? [True, True] Translation: X:261.66, Y:-157.60, Z:-36.06 [[ 7.20733763e-01 6.86224794e-01 9.81752258e-02 2.61658327e+02] [-6.79633322e-01 7.27387607e-01 -9.48989848e-02 -1.57600350e+02] [-1.36533479e-01 1.67374753e-03 9.90634043e-01 -3.60553001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters 0.0298271408529696 Centerline is valid? [True, True] Translation: X:261.70, Y:-157.65, Z:-36.06 [[ 7.15953657e-01 6.91356556e-01 9.71415141e-02 2.61698564e+02] [-6.84938817e-01 7.22513353e-01 -9.39854864e-02 -1.57648127e+02] [-1.35163523e-01 7.53258904e-04 9.90823019e-01 -3.60620306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters 0.029763640848040573 Centerline is valid? [True, True] Translation: X:261.74, Y:-157.69, Z:-36.07 [[ 7.11952977e-01 6.95446179e-01 9.73528130e-02 2.61742763e+02] [-6.89025798e-01 7.18578186e-01 -9.42806434e-02 -1.57692941e+02] [-1.35522721e-01 4.47850933e-05 9.90774238e-01 -3.60692674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters 0.029705447629379777 Centerline is valid? [True, True] Translation: X:261.79, Y:-157.74, Z:-36.08 [[ 7.09562219e-01 6.98082277e-01 9.59301379e-02 2.61786371e+02] [-6.91859393e-01 7.16017452e-01 -9.30031668e-02 -1.57737977e+02] [-1.33611515e-01 -3.78633540e-04 9.91033713e-01 -3.60764811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters 0.029695315265194425 Centerline is valid? [True, True] Translation: X:261.83, Y:-157.78, Z:-36.08 [[ 7.08202375e-01 6.99303293e-01 9.70788408e-02 2.61831534e+02] [-6.92927555e-01 7.14824880e-01 -9.42167431e-02 -1.57781275e+02] [-1.35280449e-01 -5.44082579e-04 9.90807198e-01 -3.60836873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters 0.029726856764871492 Centerline is valid? [True, True] Translation: X:261.88, Y:-157.82, Z:-36.09 [[ 7.07700048e-01 6.99959650e-01 9.60058811e-02 2.61876412e+02] [-6.93717524e-01 7.14182146e-01 -9.32730345e-02 -1.57824235e+02] [-1.33853047e-01 -5.91631083e-04 9.91001015e-01 -3.60922574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters 0.0299070145459706 Centerline is valid? [True, True] Translation: X:261.92, Y:-157.87, Z:-36.10 [[ 7.07607534e-01 7.00018035e-01 9.62617736e-02 2.61920349e+02] [-6.93729513e-01 7.14124966e-01 -9.36210194e-02 -1.57868831e+02] [-1.34279338e-01 -5.32694627e-04 9.90943377e-01 -3.60988681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters 0.029940537651315654 Centerline is valid? [True, True] Translation: X:261.96, Y:-157.91, Z:-36.11 [[ 7.06704199e-01 7.01349489e-01 9.31561607e-02 2.61962986e+02] [-6.95460947e-01 7.12817239e-01 -9.06954006e-02 -1.57913125e+02] [-1.30012490e-01 -6.91651340e-04 9.91512115e-01 -3.61076011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters 0.030097612343998083 Centerline is valid? [True, True] Translation: X:262.01, Y:-157.96, Z:-36.11 [[ 7.05997797e-01 7.02083854e-01 9.29804967e-02 2.62007160e+02] [-6.96212414e-01 7.12093871e-01 -9.06123237e-02 -1.57957060e+02] [-1.29828291e-01 -7.62075192e-04 9.91536199e-01 -3.61137463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters 0.02995512664856232 Centerline is valid? [True, True] Translation: X:262.05, Y:-158.00, Z:-36.12 [[ 7.07001536e-01 7.01238599e-01 9.17237984e-02 2.62050999e+02] [-6.95505898e-01 7.12926467e-01 -8.94840711e-02 -1.58000723e+02] [-1.28142008e-01 -5.29066967e-04 9.91755689e-01 -3.61207944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters 0.029945828802436597 Centerline is valid? [True, True] Translation: X:262.09, Y:-158.04, Z:-36.13 [[ 7.08444495e-01 6.99596631e-01 9.31179402e-02 2.62094900e+02] [-6.93660665e-01 7.14537981e-01 -9.09414984e-02 -1.58044802e+02] [-1.30158671e-01 -1.65248348e-04 9.91493163e-01 -3.61284104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters 0.029808213351218246 Centerline is valid? [True, True] Translation: X:262.14, Y:-158.09, Z:-36.13 [[ 7.08002356e-01 7.00268701e-01 9.14134039e-02 2.62139512e+02] [-6.94542331e-01 7.13879332e-01 -8.93714143e-02 -1.58088957e+02] [-1.27842144e-01 -2.15306738e-04 9.91794505e-01 -3.61345636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters 0.029716807435042576 Centerline is valid? [True, True] Translation: X:262.18, Y:-158.13, Z:-36.14 [[ 7.05906959e-01 7.02243655e-01 9.24619603e-02 2.62181732e+02] [-6.96388802e-01 7.11936506e-01 -9.04933566e-02 -1.58134602e+02] [-1.29375430e-01 -5.09583656e-04 9.91595552e-01 -3.61409145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters 0.029813423381326955 Centerline is valid? [True, True] Translation: X:262.22, Y:-158.18, Z:-36.15 [[ 7.03863356e-01 7.04424114e-01 9.14496764e-02 2.62223693e+02] [-6.98703100e-01 7.09778823e-01 -8.95991066e-02 -1.58181001e+02] [-1.28024815e-01 -8.30644565e-04 9.91770617e-01 -3.61479331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters 0.02968535158943114 Centerline is valid? [True, True] Translation: X:262.27, Y:-158.23, Z:-36.15 [[ 7.01663584e-01 7.06783141e-01 9.01432597e-02 2.62266937e+02] [-7.01232277e-01 7.07429299e-01 -8.84142557e-02 -1.58225992e+02] [-1.26259688e-01 -1.17429977e-03 9.91996528e-01 -3.61546178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters 0.029583047773810506 Centerline is valid? [True, True] Translation: X:262.31, Y:-158.27, Z:-36.16 [[ 6.97314803e-01 7.10873260e-01 9.17129980e-02 2.62309355e+02] [-7.05148791e-01 7.03317630e-01 -9.00527290e-02 -1.58271468e+02] [-1.28519445e-01 -1.87620870e-03 9.91705214e-01 -3.61609534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters 0.029928996049494505 Centerline is valid? [True, True] Translation: X:262.35, Y:-158.32, Z:-36.17 [[ 6.93291069e-01 7.14744581e-01 9.21285936e-02 2.62351907e+02] [-7.08989492e-01 6.99380973e-01 -9.05547058e-02 -1.58317269e+02] [-1.29156471e-01 -2.53743598e-03 9.91620980e-01 -3.61676157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters 0.03099021256969043 Centerline is valid? [True, True] Translation: X:262.40, Y:-158.36, Z:-36.18 [[ 6.86151722e-01 7.21233483e-01 9.49635612e-02 2.62397434e+02] [-7.15165161e-01 6.92681613e-01 -9.34396928e-02 -1.58360046e+02] [-1.33171348e-01 -3.80082439e-03 9.91085741e-01 -3.61761390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters 0.032218616175855086 Centerline is valid? [True, True] Translation: X:262.44, Y:-158.40, Z:-36.18 [[ 6.78265758e-01 7.28647418e-01 9.50184314e-02 2.62444905e+02] [-7.22630467e-01 6.84869379e-01 -9.35902932e-02 -1.58400454e+02] [-1.33269540e-01 -5.18412223e-03 9.91066272e-01 -3.61813512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters 0.033128822470385004 Centerline is valid? [True, True] Translation: X:262.49, Y:-158.44, Z:-36.19 [[ 6.74179312e-01 7.32480287e-01 9.46302488e-02 2.62492571e+02] [-7.26537871e-01 6.80763076e-01 -9.32971423e-02 -1.58441270e+02] [-1.32759097e-01 -5.85345626e-03 9.91131051e-01 -3.61876018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters 0.03394259865769457 Centerline is valid? [True, True] Translation: X:262.54, Y:-158.48, Z:-36.19 [[ 6.70811308e-01 7.35257386e-01 9.69987893e-02 2.62544864e+02] [-7.29028703e-01 6.77756806e-01 -9.57228440e-02 -1.58476756e+02] [-1.36122518e-01 -6.50293539e-03 9.90670668e-01 -3.61946506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters 0.03429672714844398 Centerline is valid? [True, True] Translation: X:262.60, Y:-158.51, Z:-36.20 [[ 6.69458165e-01 7.36751988e-01 9.49856471e-02 2.62599802e+02] [-7.30786795e-01 6.76130663e-01 -9.37975796e-02 -1.58510699e+02] [-1.33328262e-01 -6.62070111e-03 9.91049818e-01 -3.62004118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters 0.03438723278388325 Centerline is valid? [True, True] Translation: X:262.65, Y:-158.54, Z:-36.21 [[ 6.68419021e-01 7.37564957e-01 9.59893041e-02 2.62654279e+02] [-7.31468272e-01 6.75242023e-01 -9.48808610e-02 -1.58542865e+02] [-1.34796810e-01 -6.79295817e-03 9.90849976e-01 -3.62079347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters 0.033178314200201266 Centerline is valid? [True, True] Translation: X:262.71, Y:-158.57, Z:-36.21 [[ 6.71785141e-01 7.34707333e-01 9.43920500e-02 2.62710987e+02] [-7.28774059e-01 6.78357153e-01 -9.33806421e-02 -1.58573060e+02] [-1.32638965e-01 -6.05874954e-03 9.91145901e-01 -3.62137815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters 0.032251301239873006 Centerline is valid? [True, True] Translation: X:262.77, Y:-158.61, Z:-36.22 [[ 6.76925701e-01 7.29784782e-01 9.58424041e-02 2.62765678e+02] [-7.23607422e-01 6.83657792e-01 -9.48911069e-02 -1.58605830e+02] [-1.34773492e-01 -5.11804584e-03 9.90863215e-01 -3.62210500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters 0.03161643802055382 Centerline is valid? [True, True] Translation: X:262.82, Y:-158.64, Z:-36.23 [[ 6.79839199e-01 7.26850549e-01 9.75035529e-02 2.62816228e+02] [-7.20417639e-01 6.86780439e-01 -9.65973825e-02 -1.58642216e+02] [-1.37175393e-01 -4.57259216e-03 9.90536220e-01 -3.62288256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters 0.031235617867413707 Centerline is valid? [True, True] Translation: X:262.87, Y:-158.68, Z:-36.24 [[ 6.82094069e-01 7.24958825e-01 9.58247508e-02 2.62865136e+02] [-7.18716444e-01 6.88780243e-01 -9.50181578e-02 -1.58680384e+02] [-1.34886447e-01 -4.05950220e-03 9.90852747e-01 -3.62378118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters 0.030498652703923792 Centerline is valid? [True, True] Translation: X:262.92, Y:-158.72, Z:-36.24 [[ 6.86487565e-01 7.20846469e-01 9.54735100e-02 2.62915313e+02] [-7.14598875e-01 6.93087488e-01 -9.47532653e-02 -1.58717202e+02] [-1.34474052e-01 -3.17832446e-03 9.90912018e-01 -3.62428369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters 0.02976701928801562 Centerline is valid? [True, True] Translation: X:262.96, Y:-158.76, Z:-36.25 [[ 6.91727186e-01 7.15797524e-01 9.56420654e-02 2.62961841e+02] [-7.09468348e-01 6.98304608e-01 -9.50017744e-02 -1.58758320e+02] [-1.34789330e-01 -2.13970813e-03 9.90871969e-01 -3.62491548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters 0.02953174005166638 Centerline is valid? [True, True] Translation: X:263.01, Y:-158.80, Z:-36.26 [[ 6.99427297e-01 7.08630833e-01 9.29720314e-02 2.63005888e+02] [-7.02576784e-01 7.05579120e-01 -9.24335900e-02 -1.58801124e+02] [-1.31100416e-01 -6.69414753e-04 9.91368868e-01 -3.62556671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters 0.029566267720590463 Centerline is valid? [True, True] Translation: X:263.05, Y:-158.85, Z:-36.26 [[ 7.00656895e-01 7.07458442e-01 9.26416094e-02 2.63049868e+02] [-7.01426620e-01 7.06754838e-01 -9.21862027e-02 -1.58846519e+02] [-1.30692813e-01 -3.90392399e-04 9.91422834e-01 -3.62614050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters 0.02933182716269166 Centerline is valid? [True, True] Translation: X:263.09, Y:-158.89, Z:-36.27 [[ 6.97126031e-01 7.10909793e-01 9.28577588e-02 2.63092631e+02] [-7.04867075e-01 7.03282537e-01 -9.24990752e-02 -1.58891262e+02] [-1.31063739e-01 -9.68863681e-04 9.91373470e-01 -3.62670128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters 0.02936169836184973 Centerline is valid? [True, True] Translation: X:263.13, Y:-158.94, Z:-36.27 [[ 6.95821448e-01 7.12307809e-01 9.19244170e-02 2.63134941e+02] [-7.06387200e-01 7.01866258e-01 -9.16563119e-02 -1.58936874e+02] [-1.29806153e-01 -1.15780393e-03 9.91538714e-01 -3.62739182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters 0.02948144918781439 Centerline is valid? [True, True] Translation: X:263.18, Y:-158.98, Z:-36.28 [[ 6.94680752e-01 7.13283410e-01 9.29808038e-02 2.63177814e+02] [-7.07220933e-01 7.00874542e-01 -9.28085553e-02 -1.58981262e+02] [-1.31366681e-01 -1.28565389e-03 9.91333013e-01 -3.62804092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters 0.029880766104145223 Centerline is valid? [True, True] Translation: X:263.22, Y:-159.02, Z:-36.29 [[ 6.90635826e-01 7.16897115e-01 9.52926158e-02 2.63221392e+02] [-7.10549583e-01 6.97176234e-01 -9.52081395e-02 -1.59024521e+02] [-1.34690188e-01 -1.95597636e-03 9.90885830e-01 -3.62894305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters 0.03050417195201063 Centerline is valid? [True, True] Translation: X:263.27, Y:-159.07, Z:-36.30 [[ 6.84674249e-01 7.22725173e-01 9.42841331e-02 2.63266619e+02] [-7.16554517e-01 6.91129009e-01 -9.42884743e-02 -1.59066655e+02] [-1.33307153e-01 -3.00283110e-03 9.91070222e-01 -3.62960049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters 0.03127979711798087 Centerline is valid? [True, True] Translation: X:263.42, Y:-159.30, Z:-34.44 [[ 7.74029184e-01 -6.30449195e-01 -5.84177618e-02 2.63417520e+02] [-6.27565247e-01 -7.76156904e-01 6.11745176e-02 -1.59297124e+02] [-8.39087744e-02 -1.06899049e-02 -9.96416100e-01 -3.44359919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters 0.03144209354570321 Centerline is valid? [True, True] Translation: X:263.36, Y:-159.15, Z:-36.31 [[ 7.33159211e-01 6.72431439e-01 1.01555557e-01 2.63355226e+02] [-6.66764650e-01 7.40149739e-01 -8.71967055e-02 -1.59150863e+02] [-1.33800125e-01 -3.78458771e-03 9.91001112e-01 -3.63097617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters 0.03126071528911197 Centerline is valid? [True, True] Translation: X:263.41, Y:-159.18, Z:-36.32 [[ 7.33945052e-01 6.71557229e-01 1.01663906e-01 2.63407756e+02] [-6.65857743e-01 7.40944130e-01 -8.73799904e-02 -1.59184401e+02] [-1.34007938e-01 -3.56158727e-03 9.90973858e-01 -3.63154173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters 0.031102664138041063 Centerline is valid? [True, True] Translation: X:263.46, Y:-159.22, Z:-36.32 [[ 7.36726563e-01 6.68662448e-01 1.00620587e-01 2.63461806e+02] [-6.63042132e-01 7.43560270e-01 -8.65635987e-02 -1.59216099e+02] [-1.32699299e-01 -2.94198595e-03 9.91151977e-01 -3.63211385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters 0.03057946796290969 Centerline is valid? [True, True] Translation: X:263.51, Y:-159.25, Z:-36.33 [[ 7.41987900e-01 6.62931466e-01 9.98790662e-02 2.63513698e+02] [-6.57331309e-01 7.48677830e-01 -8.60061463e-02 -1.59249815e+02] [-1.31793423e-01 -1.83811745e-03 9.91275499e-01 -3.63293748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters 0.030725963023909786 Centerline is valid? [True, True] Translation: X:263.57, Y:-159.28, Z:-36.34 [[ 7.45657376e-01 6.58802206e-01 9.98735727e-02 2.63565632e+02] [-6.53154676e-01 7.52315468e-01 -8.60837120e-02 -1.59284450e+02] [-1.31848573e-01 -1.04393614e-03 9.91269320e-01 -3.63363325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters 0.030748218101833827 Centerline is valid? [True, True] Translation: X:263.62, Y:-159.32, Z:-36.34 [[ 7.46622740e-01 6.58138399e-01 9.69965588e-02 2.63617137e+02] [-6.52797142e-01 7.52896502e-01 -8.36824298e-02 -1.59320065e+02] [-1.28102990e-01 -8.39871376e-04 9.91760515e-01 -3.63429122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters 0.03089161420294978 Centerline is valid? [True, True] Translation: X:263.67, Y:-159.36, Z:-36.35 [[ 7.45301668e-01 6.59602024e-01 9.72141638e-02 2.63666340e+02] [-6.54238577e-01 7.51614332e-01 -8.39510594e-02 -1.59358242e+02] [-1.28441847e-01 -1.03239155e-03 9.91716505e-01 -3.63512297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters 0.031081306965322086 Centerline is valid? [True, True] Translation: X:263.72, Y:-159.40, Z:-36.36 [[ 7.46153839e-01 6.58513702e-01 9.80517916e-02 2.63717896e+02] [-6.53035607e-01 7.52568331e-01 -8.47667594e-02 -1.59395272e+02] [-1.29610746e-01 -7.82268314e-04 9.91564644e-01 -3.63577639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters 0.031126403884406375 Centerline is valid? [True, True] Translation: X:263.77, Y:-159.43, Z:-36.37 [[ 7.47968761e-01 6.56236348e-01 9.94815970e-02 2.63767781e+02] [-6.50564265e-01 7.54555333e-01 -8.60952188e-02 -1.59431222e+02] [-1.31563182e-01 -3.22637841e-04 9.91307735e-01 -3.63654482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters 0.031187328444689338 Centerline is valid? [True, True] Translation: X:263.82, Y:-159.47, Z:-36.37 [[ 7.45277809e-01 6.59096278e-01 1.00762516e-01 2.63818251e+02] [-6.53291852e-01 7.52058171e-01 -8.72826664e-02 -1.59467947e+02] [-1.33306954e-01 -7.77496219e-04 9.91074493e-01 -3.63720508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters 0.03132406019450719 Centerline is valid? [True, True] Translation: X:263.87, Y:-159.51, Z:-36.38 [[ 7.41089870e-01 6.63381739e-01 1.03491409e-01 2.63866894e+02] [-6.57286788e-01 7.48279589e-01 -8.97314557e-02 -1.59505523e+02] [-1.36966718e-01 -1.52446325e-03 9.90574477e-01 -3.63794756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters 0.031942234658256116 Centerline is valid? [True, True] Translation: X:263.92, Y:-159.54, Z:-36.39 [[ 7.34467490e-01 6.70463486e-01 1.05053415e-01 2.63917498e+02] [-6.64242473e-01 7.41937158e-01 -9.11657339e-02 -1.59540583e+02] [-1.39066328e-01 -2.82267215e-03 9.90279046e-01 -3.63863824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters 0.03204988423954775 Centerline is valid? [True, True] Translation: X:263.97, Y:-159.57, Z:-36.39 [[ 7.31974401e-01 6.73154047e-01 1.05247828e-01 2.63970317e+02] [-6.66926017e-01 7.39495016e-01 -9.14155822e-02 -1.59573745e+02] [-1.39367014e-01 -3.27864903e-03 9.90235369e-01 -3.63928187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters 0.03170382754900549 Centerline is valid? [True, True] Translation: X:264.02, Y:-159.61, Z:-36.40 [[ 7.34937330e-01 6.70099994e-01 1.04082266e-01 2.64024262e+02] [-6.63967431e-01 7.42266270e-01 -9.04877643e-02 -1.59606254e+02] [-1.37892605e-01 -2.60439859e-03 9.90443762e-01 -3.63988130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters 0.03086071818800509 Centerline is valid? [True, True] Translation: X:264.07, Y:-159.64, Z:-36.41 [[ 7.42014085e-01 6.62554441e-01 1.02160219e-01 2.64074938e+02] [-6.56565795e-01 7.49012924e-01 -8.88875487e-02 -1.59641510e+02] [-1.35412164e-01 -1.11909209e-03 9.90788723e-01 -3.64053782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters 0.030718918378991586 Centerline is valid? [True, True] Translation: X:264.12, Y:-159.68, Z:-36.41 [[ 7.48130291e-01 6.56189439e-01 9.85722476e-02 2.64123873e+02] [-6.50555985e-01 7.54596195e-01 -8.57991470e-02 -1.59679183e+02] [-1.30682737e-01 6.21751962e-05 9.91424237e-01 -3.64108125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters 0.030994830411680652 Centerline is valid? [True, True] Translation: X:264.17, Y:-159.72, Z:-36.42 [[ 7.55965382e-01 6.47765506e-01 9.44255876e-02 2.64173483e+02] [-6.42522475e-01 7.61838267e-01 -8.22637440e-02 -1.59717236e+02] [-1.25224642e-01 1.51798034e-03 9.92127252e-01 -3.64168904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters 0.0312711711126178 Centerline is valid? [True, True] Translation: X:264.22, Y:-159.76, Z:-36.42 [[ 7.59781101e-01 6.43353303e-01 9.39638561e-02 2.64217794e+02] [-6.38118502e-01 7.65565979e-01 -8.19360068e-02 -1.59760990e+02] [-1.24649332e-01 2.29335432e-03 9.92198208e-01 -3.64216275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters 0.03116971846031514 Centerline is valid? [True, True] Translation: X:264.26, Y:-159.81, Z:-36.43 [[ 7.60987800e-01 6.42033975e-01 9.32198670e-02 2.64260053e+02] [-6.36863146e-01 7.66671961e-01 -8.13599312e-02 -1.59806373e+02] [-1.23704898e-01 2.54561731e-03 9.92315785e-01 -3.64283538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters 0.031165598677258866 Centerline is valid? [True, True] Translation: X:264.30, Y:-159.85, Z:-36.43 [[ 7.61169226e-01 6.42033505e-01 9.17299715e-02 2.64302000e+02] [-6.37018495e-01 7.66672307e-01 -8.01312115e-02 -1.59854005e+02] [-1.21773751e-01 2.55972387e-03 9.92554584e-01 -3.64344067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters 0.03054395927462251 Centerline is valid? [True, True] Translation: X:264.34, Y:-159.90, Z:-36.44 [[ 7.59107241e-01 6.44407707e-01 9.21678007e-02 2.64343509e+02] [-6.39351641e-01 7.64678774e-01 -8.05968508e-02 -1.59901033e+02] [-1.22415993e-01 2.25401848e-03 9.92476319e-01 -3.64415463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters 0.030262668209778534 Centerline is valid? [True, True] Translation: X:264.39, Y:-159.94, Z:-36.45 [[ 7.57549242e-01 6.46053677e-01 9.34547610e-02 2.64388561e+02] [-6.40857851e-01 7.63289160e-01 -8.17977541e-02 -1.59944228e+02] [-1.24178746e-01 2.07460932e-03 9.92257696e-01 -3.64484086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters 0.029941018315304487 Centerline is valid? [True, True] Translation: X:264.43, Y:-159.99, Z:-36.45 [[ 7.55476389e-01 6.48407184e-01 9.39337499e-02 2.64429267e+02] [-6.43165180e-01 7.61291678e-01 -8.23014651e-02 -1.59991957e+02] [-1.24875843e-01 1.76189654e-03 9.92170812e-01 -3.64544743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters 0.029588775969131387 Centerline is valid? [True, True] Translation: X:264.47, Y:-160.04, Z:-36.46 [[ 7.51895735e-01 6.52358540e-01 9.52950081e-02 2.64468670e+02] [-6.46984481e-01 7.57909584e-01 -8.35711901e-02 -1.60040365e+02] [-1.26743379e-01 1.18242998e-03 9.91934835e-01 -3.64621994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters 0.029051957029741976 Centerline is valid? [True, True] Translation: X:264.51, Y:-160.09, Z:-36.47 [[ 7.47440610e-01 6.57418767e-01 9.55672508e-02 2.64511269e+02] [-6.52044915e-01 7.53525325e-01 -8.38869098e-02 -1.60085364e+02] [-1.27161173e-01 3.86343099e-04 9.91881992e-01 -3.64679185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters 0.02874088380032384 Centerline is valid? [True, True] Translation: X:264.56, Y:-160.13, Z:-36.47 [[ 7.42830404e-01 6.62654871e-01 9.53494250e-02 2.64557013e+02] [-6.57338106e-01 7.48924778e-01 -8.37752463e-02 -1.60128400e+02] [-1.26923622e-01 -4.46010326e-04 9.91912393e-01 -3.64749198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters 0.028754025807778062 Centerline is valid? [True, True] Translation: X:264.60, Y:-160.17, Z:-36.48 [[ 7.38494870e-01 6.67519608e-01 9.50941618e-02 2.64603179e+02] [-6.62260195e-01 7.44591235e-01 -8.36380749e-02 -1.60168824e+02] [-1.26636334e-01 -1.21078891e-03 9.91948473e-01 -3.64816365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters 0.028752164474060773 Centerline is valid? [True, True] Translation: X:264.65, Y:-160.21, Z:-36.49 [[ 7.37972426e-01 6.67879825e-01 9.66086870e-02 2.64651862e+02] [-6.62444049e-01 7.44268105e-01 -8.50462808e-02 -1.60207438e+02] [-1.28703460e-01 -1.23603965e-03 9.91682354e-01 -3.64902695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters 0.02862856299654701 Centerline is valid? [True, True] Translation: X:264.70, Y:-160.25, Z:-36.50 [[ 7.39013311e-01 6.66767011e-01 9.63383598e-02 2.64699831e+02] [-6.61341983e-01 7.45265587e-01 -8.48880837e-02 -1.60247089e+02] [-1.28398238e-01 -9.79178147e-04 9.91722206e-01 -3.64972616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters 0.02852313973846824 Centerline is valid? [True, True] Translation: X:264.75, Y:-160.28, Z:-36.51 [[ 7.41196533e-01 6.64002953e-01 9.86294947e-02 2.64749883e+02] [-6.58280081e-01 7.47729816e-01 -8.69911340e-02 -1.60283074e+02] [-1.31510584e-01 -4.48304866e-04 9.91314665e-01 -3.65052383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters 0.02848766847232192 Centerline is valid? [True, True] Translation: X:264.80, Y:-160.32, Z:-36.51 [[ 7.41402105e-01 6.63455249e-01 1.00747464e-01 2.64797267e+02] [-6.57466197e-01 7.48215909e-01 -8.89446646e-02 -1.60323127e+02] [-1.34391660e-01 -2.94290235e-04 9.90928249e-01 -3.65133172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters 0.02860025827483075 Centerline is valid? [True, True] Translation: X:264.85, Y:-160.36, Z:-36.52 [[ 7.44457575e-01 6.59985598e-01 1.01004602e-01 2.64846251e+02] [-6.53922156e-01 7.51278145e-01 -8.92578419e-02 -1.60361852e+02] [-1.34791440e-01 3.99529456e-04 9.90873911e-01 -3.65202510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters 0.02906844583828794 Centerline is valid? [True, True] Translation: X:264.89, Y:-160.40, Z:-36.53 [[ 7.49578498e-01 6.54130844e-01 1.01217168e-01 2.64892223e+02] [-6.47975496e-01 7.56379863e-01 -8.95391517e-02 -1.60403437e+02] [-1.35128949e-01 1.53037812e-03 9.90826839e-01 -3.65275635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters 0.030079530772195294 Centerline is valid? [True, True] Translation: X:264.94, Y:-160.44, Z:-36.53 [[ 7.55300018e-01 6.47357703e-01 1.02224686e-01 2.64937751e+02] [-6.41005038e-01 7.62181049e-01 -9.05129296e-02 -1.60444575e+02] [-1.36507961e-01 2.83787860e-03 9.90634909e-01 -3.65341314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters 0.030503083657566238 Centerline is valid? [True, True] Translation: X:264.98, Y:-160.49, Z:-36.54 [[ 7.57473048e-01 6.44785946e-01 1.02399541e-01 2.64981719e+02] [-6.38377366e-01 7.64355772e-01 -9.07446554e-02 -1.60488204e+02] [-1.36780559e-01 3.36708127e-03 9.90595650e-01 -3.65411690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters 0.030238904908725946 Centerline is valid? [True, True] Translation: X:265.02, Y:-160.54, Z:-36.55 [[ 7.56840313e-01 6.45763854e-01 1.00904836e-01 2.65022280e+02] [-6.39539968e-01 7.63530475e-01 -8.94977252e-02 -1.60535608e+02] [-1.34838313e-01 3.20281087e-03 9.90862438e-01 -3.65469533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters 0.029801789824919985 Centerline is valid? [True, True] Translation: X:265.06, Y:-160.59, Z:-36.55 [[ 7.56126459e-01 6.46844601e-01 9.93218968e-02 2.65060107e+02] [-6.40814397e-01 7.62615851e-01 -8.81701377e-02 -1.60585937e+02] [-1.32776830e-01 3.02087266e-03 9.91141356e-01 -3.65534194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters 0.02954866308940767 Centerline is valid? [True, True] Translation: X:265.10, Y:-160.63, Z:-36.56 [[ 7.54098815e-01 6.49359119e-01 9.83245224e-02 2.65099026e+02] [-6.43461005e-01 7.60477426e-01 -8.73614289e-02 -1.60634988e+02] [-1.31502520e-01 2.61115392e-03 9.91312397e-01 -3.65583386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters 0.028823593783442954 Centerline is valid? [True, True] Translation: X:265.14, Y:-160.68, Z:-36.57 [[ 7.49625039e-01 6.54345566e-01 9.94694975e-02 2.65138151e+02] [-6.48341310e-01 7.56193470e-01 -8.84589250e-02 -1.60683647e+02] [-1.33100890e-01 1.82084082e-03 9.91100821e-01 -3.65658880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters 0.028549879137191925 Centerline is valid? [True, True] Translation: X:265.18, Y:-160.73, Z:-36.57 [[ 7.45540157e-01 6.58893666e-01 1.00144951e-01 2.65180684e+02] [-6.52836857e-01 7.52235316e-01 -8.91407140e-02 -1.60729453e+02] [-1.34066821e-01 1.07966707e-03 9.90971706e-01 -3.65731730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters 0.028545141173618078 Centerline is valid? [True, True] Translation: X:265.23, Y:-160.77, Z:-36.58 [[ 7.38518280e-01 6.66929657e-01 9.89726346e-02 2.65225985e+02] [-6.61074812e-01 7.45120620e-01 -8.81779701e-02 -1.60772017e+02] [-1.32555054e-01 -3.07272988e-04 9.91175597e-01 -3.65799303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters 0.028550021060960228 Centerline is valid? [True, True] Translation: X:265.27, Y:-160.81, Z:-36.59 [[ 7.34872471e-01 6.70972473e-01 9.87845713e-02 2.65273361e+02] [-6.65164786e-01 7.41481626e-01 -8.80954400e-02 -1.60812446e+02] [-1.32356560e-01 -9.69104508e-04 9.91201696e-01 -3.65863385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters 0.029006945887702976 Centerline is valid? [True, True] Translation: X:265.32, Y:-160.85, Z:-36.59 [[ 7.31784409e-01 6.74135443e-01 1.00164781e-01 2.65324851e+02] [-6.68179935e-01 7.38606244e-01 -8.94225359e-02 -1.60847573e+02] [-1.34265234e-01 -1.49007959e-03 9.90944311e-01 -3.65935750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters 0.028702084607123285 Centerline is valid? [True, True] Translation: X:265.37, Y:-160.89, Z:-36.60 [[ 7.34500173e-01 6.71421367e-01 9.85030160e-02 2.65374694e+02] [-6.65627408e-01 7.41075239e-01 -8.80207019e-02 -1.60885393e+02] [-1.32097126e-01 -9.15086415e-04 9.91236355e-01 -3.65988364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters 0.02871284822566698 Centerline is valid? [True, True] Translation: X:265.43, Y:-160.92, Z:-36.61 [[ 7.40283998e-01 6.65331258e-01 9.65086509e-02 2.65425479e+02] [-6.59709141e-01 7.46548234e-01 -8.63109646e-02 -1.60922037e+02] [-1.29473746e-01 2.26986736e-04 9.91582824e-01 -3.66056460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters 0.028620217016225406 Centerline is valid? [True, True] Translation: X:265.47, Y:-160.96, Z:-36.61 [[ 7.44706972e-01 6.60564542e-01 9.52156018e-02 2.65472753e+02] [-6.55048817e-01 7.50768497e-01 -8.51922040e-02 -1.60962531e+02] [-1.27759823e-01 1.07236097e-03 9.91804556e-01 -3.66122098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters 0.028951595908551717 Centerline is valid? [True, True] Translation: X:265.52, Y:-161.00, Z:-36.62 [[ 7.47728376e-01 6.57161484e-01 9.50844860e-02 2.65518493e+02] [-6.51622040e-01 7.53747852e-01 -8.51639134e-02 -1.61004153e+02] [-1.27636171e-01 1.72032792e-03 9.91819564e-01 -3.66190511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters 0.029137546310031993 Centerline is valid? [True, True] Translation: X:265.56, Y:-161.05, Z:-36.63 [[ 7.49481723e-01 6.55143098e-01 9.52085531e-02 2.65562403e+02] [-6.49562746e-01 7.55501818e-01 -8.53536306e-02 -1.61047183e+02] [-1.27849077e-01 2.12705698e-03 9.91791354e-01 -3.66256395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters 0.02913489603131119 Centerline is valid? [True, True] Translation: X:265.60, Y:-161.09, Z:-36.63 [[ 7.50928227e-01 6.53594570e-01 9.44507093e-02 2.65604303e+02] [-6.48081015e-01 7.56840955e-01 -8.47512033e-02 -1.61093241e+02] [-1.26877091e-01 2.43035924e-03 9.91915469e-01 -3.66324713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters 0.028914619514066292 Centerline is valid? [True, True] Translation: X:265.65, Y:-161.14, Z:-36.64 [[ 7.49986685e-01 6.54653170e-01 9.46002101e-02 2.65646332e+02] [-6.49120365e-01 7.55925835e-01 -8.49640089e-02 -1.61140429e+02] [-1.27132701e-01 2.31495244e-03 9.91883016e-01 -3.66376569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters 0.028619510710454186 Centerline is valid? [True, True] Translation: X:265.69, Y:-161.19, Z:-36.64 [[ 7.47694035e-01 6.57110530e-01 9.57046625e-02 2.65686603e+02] [-6.51455733e-01 7.53791617e-01 -8.60443249e-02 -1.61187668e+02] [-1.28682004e-01 1.98747737e-03 9.91683917e-01 -3.66447041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters 0.028209845137502146 Centerline is valid? [True, True] Translation: X:265.73, Y:-161.23, Z:-36.65 [[ 7.44783565e-01 6.60423075e-01 9.55970903e-02 2.65727165e+02] [-6.54797910e-01 7.50892262e-01 -8.60262084e-02 -1.61234498e+02] [-1.28596808e-01 1.47413125e-03 9.91695865e-01 -3.66515094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters 0.028002380943600635 Centerline is valid? [True, True] Translation: X:265.77, Y:-161.28, Z:-36.66 [[ 7.42471145e-01 6.63190226e-01 9.44209824e-02 2.65769759e+02] [-6.57715379e-01 7.48450157e-01 -8.50461199e-02 -1.61279917e+02] [-1.27071155e-01 1.04215780e-03 9.91893057e-01 -3.66589887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters 0.02816293530427228 Centerline is valid? [True, True] Translation: X:265.81, Y:-161.32, Z:-36.67 [[ 7.39609545e-01 6.66233803e-01 9.54475820e-02 2.65814345e+02] [-6.60653177e-01 7.45742699e-01 -8.60535036e-02 -1.61324098e+02] [-1.28511090e-01 5.88244274e-04 9.91707897e-01 -3.66670920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters 0.02832205642625237 Centerline is valid? [True, True] Translation: X:265.86, Y:-161.37, Z:-36.67 [[ 7.36898277e-01 6.68959813e-01 9.73329177e-02 2.65856728e+02] [-6.63166742e-01 7.43298549e-01 -8.78472449e-02 -1.61369144e+02] [-1.31113693e-01 1.86529437e-04 9.91367321e-01 -3.66747603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters 0.02864042448698417 Centerline is valid? [True, True] Translation: X:265.90, Y:-161.41, Z:-36.68 [[ 7.36222780e-01 6.69489797e-01 9.87898295e-02 2.65901211e+02] [-6.63514435e-01 7.42821235e-01 -8.92480164e-02 -1.61411763e+02] [-1.33133820e-01 1.57944796e-04 9.91098058e-01 -3.66823457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters 0.028823037518878037 Centerline is valid? [True, True] Translation: X:265.95, Y:-161.45, Z:-36.69 [[ 7.37569801e-01 6.68011516e-01 9.87491947e-02 2.65946058e+02] [-6.62016180e-01 7.44150774e-01 -8.92983960e-02 -1.61454963e+02] [-1.33136647e-01 4.90235526e-04 9.91097570e-01 -3.66900895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters 0.029072985770800287 Centerline is valid? [True, True] Translation: X:265.99, Y:-161.50, Z:-36.70 [[ 7.38099192e-01 6.67118186e-01 1.00811255e-01 2.65988337e+02] [-6.60846855e-01 7.44951528e-01 -9.12614613e-02 -1.61500012e+02] [-1.35981679e-01 7.39210024e-04 9.90711076e-01 -3.66962442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters 0.029139914934152772 Centerline is valid? [True, True] Translation: X:266.03, Y:-161.54, Z:-36.70 [[ 7.39085674e-01 6.65961347e-01 1.01231670e-01 2.66030913e+02] [-6.59614579e-01 7.45985550e-01 -9.17287639e-02 -1.61544991e+02] [-1.36605174e-01 1.02152980e-03 9.90625047e-01 -3.67030542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters 0.02931277675159097 Centerline is valid? [True, True] Translation: X:266.07, Y:-161.59, Z:-36.71 [[ 7.38642868e-01 6.66445175e-01 1.01279528e-01 2.66074509e+02] [-6.60084635e-01 7.45553372e-01 -9.18610090e-02 -1.61590158e+02] [-1.36729620e-01 9.99418749e-04 9.90607900e-01 -3.67096768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters 0.029312549340590875 Centerline is valid? [True, True] Translation: X:266.12, Y:-161.64, Z:-36.72 [[ 7.38176693e-01 6.66874989e-01 1.01847525e-01 2.66116880e+02] [-6.60432628e-01 7.45168938e-01 -9.24770068e-02 -1.61636184e+02] [-1.37564215e-01 1.00094276e-03 9.90492345e-01 -3.67162730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters 0.029165988092592115 Centerline is valid? [True, True] Translation: X:266.16, Y:-161.68, Z:-36.72 [[ 7.38167707e-01 6.67224240e-01 9.96004582e-02 2.66159422e+02] [-6.61055864e-01 7.44856265e-01 -9.05223104e-02 -1.61682124e+02] [-1.34586705e-01 9.79179242e-04 9.90901337e-01 -3.67216597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters 0.02906418221420496 Centerline is valid? [True, True] Translation: X:266.20, Y:-161.73, Z:-36.73 [[ 7.35489243e-01 6.70000054e-01 1.00774505e-01 2.66200789e+02] [-6.63702525e-01 7.42360866e-01 -9.16477111e-02 -1.61729619e+02] [-1.36215020e-01 5.21612417e-04 9.90679159e-01 -3.67300232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters 0.029054571878776546 Centerline is valid? [True, True] Translation: X:266.24, Y:-161.78, Z:-36.74 [[ 7.32145189e-01 6.73812275e-01 9.97017605e-02 2.66239739e+02] [-6.67670711e-01 7.38902568e-01 -9.07679243e-02 -1.61779132e+02] [-1.34830428e-01 -1.12646246e-04 9.90868681e-01 -3.67363405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters 0.029295754715570624 Centerline is valid? [True, True] Translation: X:266.28, Y:-161.83, Z:-36.74 [[ 7.26804253e-01 6.79622799e-01 9.93399605e-02 2.66279174e+02] [-6.73567541e-01 7.33560907e-01 -9.05271479e-02 -1.61828308e+02] [-1.34396225e-01 -1.11665675e-03 9.90927045e-01 -3.67442720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters 0.029822838815371785 Centerline is valid? [True, True] Translation: X:266.32, Y:-161.87, Z:-36.75 [[ 7.20295375e-01 6.86706813e-01 9.80220683e-02 2.66320166e+02] [-6.80863859e-01 7.26930755e-01 -8.94208169e-02 -1.61874508e+02] [-1.32661140e-01 -2.33028290e-03 9.91158712e-01 -3.67518983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters 0.03081195209463769 Centerline is valid? [True, True] Translation: X:266.37, Y:-161.92, Z:-36.76 [[ 7.13953837e-01 6.93120842e-01 9.92643790e-02 2.66365003e+02] [-6.87177456e-01 7.20812916e-01 -9.06415146e-02 -1.61917699e+02] [-1.34376569e-01 -3.49838627e-03 9.90924164e-01 -3.67595717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters 0.032681340605905856 Centerline is valid? [True, True] Translation: X:266.41, Y:-161.96, Z:-36.76 [[ 7.04416194e-01 7.03038033e-01 9.76491142e-02 2.66411057e+02] [-6.97368962e-01 7.11133053e-01 -8.92541948e-02 -1.61960051e+02] [-1.32190606e-01 -5.22536121e-03 9.91210542e-01 -3.67641417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters 0.03317576019082947 Centerline is valid? [True, True] Translation: X:266.46, Y:-162.00, Z:-36.77 [[ 7.00782601e-01 7.06485421e-01 9.89044772e-02 2.66460404e+02] [-7.00691879e-01 7.07703066e-01 -9.04834837e-02 -1.61998364e+02] [-1.33920264e-01 -5.89231295e-03 9.90974593e-01 -3.67715818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters 0.03463305701578406 Centerline is valid? [True, True] Translation: X:266.51, Y:-162.03, Z:-36.78 [[ 6.95071165e-01 7.12114758e-01 9.88364658e-02 2.66512599e+02] [-7.06377427e-01 7.02028909e-01 -9.04784019e-02 -1.62033909e+02] [-1.33817062e-01 -6.92692024e-03 9.90981842e-01 -3.67780846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters 0.035252899993483744 Centerline is valid? [True, True] Translation: X:266.57, Y:-162.07, Z:-36.78 [[ 6.92442472e-01 7.14816204e-01 9.77814755e-02 2.66566897e+02] [-7.09218509e-01 6.99274079e-01 -8.95816392e-02 -1.62066654e+02] [-1.32410458e-01 -7.31830050e-03 9.91167954e-01 -3.67835047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters 0.03435614844412358 Centerline is valid? [True, True] Translation: X:266.62, Y:-162.10, Z:-36.79 [[ 6.92884625e-01 7.14135151e-01 9.96086407e-02 2.66623121e+02] [-7.08306621e-01 6.99970162e-01 -9.13427782e-02 -1.62098049e+02] [-1.34954165e-01 -7.26345302e-03 9.90825219e-01 -3.67893777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters 0.03452313393118398 Centerline is valid? [True, True] Translation: X:266.68, Y:-162.13, Z:-36.80 [[ 6.93767770e-01 7.13143838e-01 1.00559176e-01 2.66677059e+02] [-7.07180434e-01 7.00982024e-01 -9.23040376e-02 -1.62130327e+02] [-1.36316230e-01 -7.07591537e-03 9.90640105e-01 -3.67967905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters 0.033209663518814415 Centerline is valid? [True, True] Translation: X:266.73, Y:-162.16, Z:-36.80 [[ 6.96930542e-01 7.10373932e-01 9.82684945e-02 2.66732572e+02] [-7.04642541e-01 7.03796026e-01 -9.02775842e-02 -1.62160627e+02] [-1.33291818e-01 -6.32695608e-03 9.91056639e-01 -3.68024806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters 0.03191296482568691 Centerline is valid? [True, True] Translation: X:266.79, Y:-162.19, Z:-36.81 [[ 7.01357459e-01 7.06084182e-01 9.76874750e-02 2.66785007e+02] [-7.00370523e-01 7.08107085e-01 -8.98080529e-02 -1.62194087e+02] [-1.32585239e-01 -5.42988024e-03 9.91156734e-01 -3.68098482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters 0.029869245189955273 Centerline is valid? [True, True] Translation: X:266.84, Y:-162.23, Z:-36.82 [[ 7.10657748e-01 6.96514065e-01 9.91651256e-02 2.66838847e+02] [-6.90527013e-01 7.17533789e-01 -9.12014540e-02 -1.62226723e+02] [-1.34677424e-01 -3.66317801e-03 9.90882724e-01 -3.68174170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters 0.028780469724348758 Centerline is valid? [True, True] Translation: X:266.89, Y:-162.26, Z:-36.82 [[ 7.19920879e-01 6.86633774e-01 1.01232349e-01 2.66889459e+02] [-6.80290134e-01 7.27001213e-01 -9.31373714e-02 -1.62262682e+02] [-1.37547305e-01 -1.81582967e-03 9.90493534e-01 -3.68243279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters 0.028314936074826613 Centerline is valid? [True, True] Translation: X:266.94, Y:-162.30, Z:-36.83 [[ 7.24839236e-01 6.81744877e-01 9.91564649e-02 2.66938218e+02] [-6.75610407e-01 7.31589507e-01 -9.12544314e-02 -1.62301627e+02] [-1.34754070e-01 -8.46347211e-04 9.90878713e-01 -3.68314724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters 0.027946435276173683 Centerline is valid? [True, True] Translation: X:266.98, Y:-162.34, Z:-36.84 [[ 7.26151109e-01 6.80464358e-01 9.83505137e-02 2.66984407e+02] [-6.74412488e-01 7.32780955e-01 -9.05531212e-02 -1.62343417e+02] [-1.33687555e-01 -5.73565203e-04 9.91023364e-01 -3.68373337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters 0.02795052164427525 Centerline is valid? [True, True] Translation: X:267.03, Y:-162.38, Z:-36.84 [[ 7.25416693e-01 6.81102635e-01 9.93469831e-02 2.67031740e+02] [-6.74921088e-01 7.32187680e-01 -9.15572322e-02 -1.62383901e+02] [-1.35100509e-01 -6.34229344e-04 9.90831696e-01 -3.68435012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters 0.02772629728286805 Centerline is valid? [True, True] Translation: X:267.08, Y:-162.43, Z:-36.85 [[ 7.25092086e-01 6.81582607e-01 9.84206120e-02 2.67077123e+02] [-6.75509262e-01 7.31740884e-01 -9.07883025e-02 -1.62425400e+02] [-1.33898114e-01 -6.54155372e-04 9.90994888e-01 -3.68510073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters 0.027842297279206365 Centerline is valid? [True, True] Translation: X:267.12, Y:-162.47, Z:-36.86 [[ 7.23908625e-01 6.82684228e-01 9.94914436e-02 2.67123278e+02] [-6.76476024e-01 7.30713075e-01 -9.18618048e-02 -1.62465942e+02] [-1.35412304e-01 -8.04023351e-04 9.90789010e-01 -3.68574033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters 0.027726106229178253 Centerline is valid? [True, True] Translation: X:267.17, Y:-162.51, Z:-36.86 [[ 7.24049382e-01 6.82514804e-01 9.96294844e-02 2.67170285e+02] [-6.76276198e-01 7.30871422e-01 -9.20731725e-02 -1.62508185e+02] [-1.35657646e-01 -7.11525200e-04 9.90755518e-01 -3.68633977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters 0.027863260166812644 Centerline is valid? [True, True] Translation: X:267.22, Y:-162.55, Z:-36.87 [[ 7.24964624e-01 6.81601750e-01 9.92237264e-02 2.67216815e+02] [-6.75392456e-01 7.31723196e-01 -9.17943089e-02 -1.62549278e+02] [-1.35171464e-01 -4.67329593e-04 9.90822112e-01 -3.68713661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters 0.027930337055912906 Centerline is valid? [True, True] Translation: X:267.26, Y:-162.59, Z:-36.88 [[ 7.24684277e-01 6.81900694e-01 9.92176489e-02 2.67262782e+02] [-6.75682663e-01 7.31444622e-01 -9.18787467e-02 -1.62592229e+02] [-1.35224397e-01 -4.56562103e-04 9.90814894e-01 -3.68785253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters 0.027942235608873725 Centerline is valid? [True, True] Translation: X:267.31, Y:-162.63, Z:-36.88 [[ 7.25121169e-01 6.81440212e-01 9.91893520e-02 2.67310727e+02] [-6.75207880e-01 7.31873725e-01 -9.19520014e-02 -1.62632313e+02] [-1.35253872e-01 -2.97089313e-04 9.90810931e-01 -3.68846590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters 0.027953058114194757 Centerline is valid? [True, True] Translation: X:267.36, Y:-162.67, Z:-36.89 [[ 7.26826211e-01 6.79708970e-01 9.85868933e-02 2.67356720e+02] [-6.73523543e-01 7.33481906e-01 -9.14895091e-02 -1.62672923e+02] [-1.34497942e-01 9.63795459e-05 9.90913868e-01 -3.68916476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters 0.02830294050822329 Centerline is valid? [True, True] Translation: X:267.41, Y:-162.71, Z:-36.90 [[ 7.30174510e-01 6.76126564e-01 9.84787016e-02 2.67406611e+02] [-6.69910209e-01 7.36785038e-01 -9.14774224e-02 -1.62711506e+02] [-1.34407949e-01 8.22594505e-04 9.90925742e-01 -3.68972432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters 0.02870080243242098 Centerline is valid? [True, True] Translation: X:267.45, Y:-162.75, Z:-36.91 [[ 7.31098830e-01 6.74969991e-01 9.95490445e-02 2.67454347e+02] [-6.68593107e-01 7.37844332e-01 -9.25688849e-02 -1.62750320e+02] [-1.35932918e-01 1.11919843e-03 9.90717411e-01 -3.69060359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters 0.02929290390688401 Centerline is valid? [True, True] Translation: X:267.50, Y:-162.79, Z:-36.91 [[ 7.35637939e-01 6.70025684e-01 9.95108340e-02 2.67502628e+02] [-6.63596686e-01 7.42334949e-01 -9.26189054e-02 -1.62788698e+02] [-1.35927415e-01 2.09892102e-03 9.90716575e-01 -3.69124736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters 0.03077987525046776 Centerline is valid? [True, True] Translation: X:267.55, Y:-162.83, Z:-36.92 [[ 7.42688565e-01 6.62541326e-01 9.72249279e-02 2.67549870e+02] [-6.56330650e-01 7.49017397e-01 -9.05705041e-02 -1.62828200e+02] [-1.32829864e-01 3.45397759e-03 9.91132835e-01 -3.69184172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters 0.03193497512546804 Centerline is valid? [True, True] Translation: X:267.60, Y:-162.87, Z:-36.92 [[ 7.47215093e-01 6.57448458e-01 9.71140065e-02 2.67595763e+02] [-6.51199027e-01 7.53486594e-01 -9.05415977e-02 -1.62869181e+02] [-1.32700536e-01 4.41350183e-03 9.91146351e-01 -3.69239540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters 0.032465899339570385 Centerline is valid? [True, True] Translation: X:267.64, Y:-162.92, Z:-36.93 [[ 7.48218295e-01 6.56141635e-01 9.82218813e-02 2.67637679e+02] [-6.49726644e-01 7.54622771e-01 -9.16502174e-02 -1.62915014e+02] [-1.34255992e-01 4.75699615e-03 9.90935265e-01 -3.69315013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters 0.03291044819822395 Centerline is valid? [True, True] Translation: X:267.68, Y:-162.96, Z:-36.94 [[ 7.49553226e-01 6.54832344e-01 9.67706699e-02 2.67682269e+02] [-6.48585254e-01 7.55757795e-01 -9.03732432e-02 -1.62958145e+02] [-1.32314511e-01 4.97552651e-03 9.91195296e-01 -3.69382609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters 0.03313916954115804 Centerline is valid? [True, True] Translation: X:267.72, Y:-163.01, Z:-36.94 [[ 7.49777124e-01 6.54687301e-01 9.60145947e-02 2.67723114e+02] [-6.48526256e-01 7.55883140e-01 -8.97461675e-02 -1.63005977e+02] [-1.31331490e-01 5.02163783e-03 9.91325791e-01 -3.69445825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters 0.032544159551747956 Centerline is valid? [True, True] Translation: X:267.77, Y:-163.05, Z:-36.95 [[ 7.48294689e-01 6.56328477e-01 9.63742108e-02 2.67767286e+02] [-6.50122857e-01 7.54459882e-01 -9.01695980e-02 -1.63049945e+02] [-1.31891351e-01 4.81835404e-03 9.91252468e-01 -3.69507250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters 0.03160017005485549 Centerline is valid? [True, True] Translation: X:267.81, Y:-163.10, Z:-36.96 [[ 7.44869874e-01 6.60315601e-01 9.56670148e-02 2.67806854e+02] [-6.54223944e-01 7.50976814e-01 -8.95815568e-02 -1.63096522e+02] [-1.30995810e-01 4.13895119e-03 9.91374282e-01 -3.69569429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters 0.03105508566111155 Centerline is valid? [True, True] Translation: X:267.85, Y:-163.14, Z:-36.96 [[ 7.41970411e-01 6.63442185e-01 9.65628157e-02 2.67851324e+02] [-6.57252945e-01 7.48218544e-01 -9.04852234e-02 -1.63139789e+02] [-1.32281804e-01 3.67116337e-03 9.91205351e-01 -3.69622610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters 0.030856467924165305 Centerline is valid? [True, True] Translation: X:267.89, Y:-163.18, Z:-36.97 [[ 7.40440864e-01 6.64998343e-01 9.75937043e-02 2.67894503e+02] [-6.58677844e-01 7.46836665e-01 -9.15341083e-02 -1.63184953e+02] [-1.33756587e-01 3.49278352e-03 9.91008060e-01 -3.69694022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters 0.03020227681837463 Centerline is valid? [True, True] Translation: X:267.94, Y:-163.23, Z:-36.98 [[ 7.36820849e-01 6.68999063e-01 9.76488088e-02 2.67939564e+02] [-6.62693967e-01 7.43257830e-01 -9.16760789e-02 -1.63227186e+02] [-1.33909453e-01 2.83756978e-03 9.90989509e-01 -3.69754182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters 0.030006629540057356 Centerline is valid? [True, True] Translation: X:267.98, Y:-163.27, Z:-36.98 [[ 7.34047180e-01 6.71710109e-01 9.99012811e-02 2.67983623e+02] [-6.65122070e-01 7.40809999e-01 -9.38785248e-02 -1.63271793e+02] [-1.37067022e-01 2.46471946e-03 9.90558709e-01 -3.69835559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters 0.029976558589292976 Centerline is valid? [True, True] Translation: X:268.03, Y:-163.31, Z:-36.99 [[ 7.34100921e-01 6.71834340e-01 9.86633529e-02 2.68028047e+02] [-6.65397793e-01 7.40697286e-01 -9.28079112e-02 -1.63314868e+02] [-1.35431219e-01 2.47999585e-03 9.90783647e-01 -3.69892114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters 0.03052839326494311 Centerline is valid? [True, True] Translation: X:268.07, Y:-163.36, Z:-37.00 [[ 7.35426153e-01 6.70430048e-01 9.83459436e-02 2.68072483e+02] [-6.64011239e-01 7.41967490e-01 -9.25922200e-02 -1.63357322e+02] [-1.35046099e-01 2.79192839e-03 9.90835383e-01 -3.69978668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters 0.03088953483614334 Centerline is valid? [True, True] Translation: X:268.12, Y:-163.40, Z:-37.01 [[ 7.34559593e-01 6.70969059e-01 1.01107499e-01 2.68116739e+02] [-6.64175740e-01 7.41479928e-01 -9.52790760e-02 -1.63400975e+02] [-1.38898493e-01 2.83501137e-03 9.90302566e-01 -3.70050852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters 0.03132755633505021 Centerline is valid? [True, True] Translation: X:268.16, Y:-163.44, Z:-37.01 [[ 7.34581298e-01 6.71090930e-01 1.00136308e-01 2.68161320e+02] [-6.64417656e-01 7.41369583e-01 -9.44474459e-02 -1.63443768e+02] [-1.37620837e-01 2.84699619e-03 9.90480893e-01 -3.70130732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters 0.03158399177007215 Centerline is valid? [True, True] Translation: X:268.21, Y:-163.49, Z:-37.02 [[ 7.35910078e-01 6.69660126e-01 9.99583566e-02 2.68205999e+02] [-6.62985877e-01 7.42660928e-01 -9.43635137e-02 -1.63486926e+02] [-1.37426648e-01 3.17208196e-03 9.90506867e-01 -3.70202205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters 0.031866426229281625 Centerline is valid? [True, True] Translation: X:268.25, Y:-163.53, Z:-37.03 [[ 7.36515476e-01 6.68973559e-01 1.00096605e-01 2.68250125e+02] [-6.62262707e-01 7.43278570e-01 -9.45784026e-02 -1.63530277e+02] [-1.37670112e-01 3.36820872e-03 9.90472410e-01 -3.70276107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters 0.03224373928650429 Centerline is valid? [True, True] Translation: X:268.29, Y:-163.58, Z:-37.03 [[ 7.37705451e-01 6.67718129e-01 9.97154351e-02 2.68293031e+02] [-6.61035581e-01 7.44405245e-01 -9.43016067e-02 -1.63575239e+02] [-1.37195585e-01 3.65135882e-03 9.90537248e-01 -3.70336128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters 0.03281864536038863 Centerline is valid? [True, True] Translation: X:268.33, Y:-163.62, Z:-37.04 [[ 7.39692525e-01 6.65551841e-01 9.94772125e-02 2.68334176e+02] [-6.58870469e-01 7.46340332e-01 -9.41584566e-02 -1.63620780e+02] [-1.36911190e-01 4.10570891e-03 9.90574818e-01 -3.70411778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters 0.032778053797058775 Centerline is valid? [True, True] Translation: X:268.37, Y:-163.67, Z:-37.05 [[ 7.40315428e-01 6.64961524e-01 9.87888624e-02 2.68373230e+02] [-6.58356608e-01 7.46865550e-01 -9.35864694e-02 -1.63671216e+02] [-1.36013399e-01 4.24520680e-03 9.90697902e-01 -3.70458602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters 0.03234007315588845 Centerline is valid? [True, True] Translation: X:268.41, Y:-163.72, Z:-37.05 [[ 7.39192180e-01 6.66461203e-01 9.70792728e-02 2.68409954e+02] [-6.60084864e-01 7.45529163e-01 -9.20556313e-02 -1.63722650e+02] [-1.33726936e-01 3.96624423e-03 9.91010280e-01 -3.70520971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters 0.031546528157980085 Centerline is valid? [True, True] Translation: X:268.44, Y:-163.78, Z:-37.06 [[ 7.34483487e-01 6.71407489e-01 9.87217860e-02 2.68444516e+02] [-6.64846614e-01 7.41081573e-01 -9.36860862e-02 -1.63776409e+02] [-1.36062436e-01 3.17603815e-03 9.90695173e-01 -3.70605573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters 0.030688836090682337 Centerline is valid? [True, True] Translation: X:268.48, Y:-163.83, Z:-37.07 [[ 7.29199797e-01 6.77076352e-01 9.91729244e-02 2.68484105e+02] [-6.70501164e-01 7.35909598e-01 -9.41554714e-02 -1.63825268e+02] [-1.36732750e-01 2.16258943e-03 9.90605612e-01 -3.70651939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters 0.030318982260800823 Centerline is valid? [True, True] Translation: X:268.52, Y:-163.87, Z:-37.07 [[ 7.20940151e-01 6.85813133e-01 9.95271026e-02 2.68524265e+02] [-6.79260582e-01 7.27777445e-01 -9.45782905e-02 -1.63873089e+02] [-1.37296614e-01 5.80449446e-04 9.90529809e-01 -3.70727385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters 0.030188817827555062 Centerline is valid? [True, True] Translation: X:268.57, Y:-163.92, Z:-37.08 [[ 7.15614953e-01 6.91547928e-01 9.82685236e-02 2.68569198e+02] [-6.85202416e-01 7.22330440e-01 -9.34686336e-02 -1.63915329e+02] [-1.35620386e-01 -4.46277895e-04 9.90760774e-01 -3.70793575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters 0.03039235280382172 Centerline is valid? [True, True] Translation: X:268.62, Y:-163.96, Z:-37.08 [[ 7.11107741e-01 6.96338710e-01 9.71503098e-02 2.68617236e+02] [-6.90169632e-01 7.17712178e-01 -9.24938304e-02 -1.63955970e+02] [-1.34132995e-01 -1.27711483e-03 9.90962516e-01 -3.70843581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters 0.030510211174444166 Centerline is valid? [True, True] Translation: X:268.66, Y:-164.00, Z:-37.09 [[ 7.09652964e-01 6.97640583e-01 9.84392573e-02 2.68663473e+02] [-6.91304624e-01 7.16446407e-01 -9.38214402e-02 -1.63996742e+02] [-1.35980096e-01 -1.47085057e-03 9.90710477e-01 -3.70924831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters 0.030855788812334247 Centerline is valid? [True, True] Translation: X:268.71, Y:-164.03, Z:-37.10 [[ 7.08346180e-01 6.98721407e-01 1.00170276e-01 2.68713618e+02] [-6.92157471e-01 7.15391990e-01 -9.55632528e-02 -1.64034062e+02] [-1.38433104e-01 -1.64173988e-03 9.90370426e-01 -3.71000894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters 0.030535833902573854 Centerline is valid? [True, True] Translation: X:268.76, Y:-164.07, Z:-37.11 [[ 7.10951453e-01 6.96160937e-01 9.95388460e-02 2.68763324e+02] [-6.89642424e-01 7.17884952e-01 -9.50501055e-02 -1.64071496e+02] [-1.37627610e-01 -1.07020047e-03 9.90483466e-01 -3.71066789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters 0.030328402357199954 Centerline is valid? [True, True] Translation: X:268.81, Y:-164.11, Z:-37.11 [[ 7.15841017e-01 6.91104708e-01 9.97292367e-02 2.68812441e+02] [-6.84498991e-01 7.22754648e-01 -9.53249719e-02 -1.64110749e+02] [-1.37959306e-01 -2.70370007e-05 9.90437898e-01 -3.71139775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters 0.030597303572541788 Centerline is valid? [True, True] Translation: X:268.86, Y:-164.15, Z:-37.12 [[ 7.18583530e-01 6.88324707e-01 9.92310850e-02 2.68860171e+02] [-6.81744348e-01 7.25402481e-01 -9.49520082e-02 -1.64151997e+02] [-1.37340289e-01 5.80717828e-04 9.90523754e-01 -3.71216081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters 0.030654752359766925 Centerline is valid? [True, True] Translation: X:268.91, Y:-164.19, Z:-37.13 [[ 7.22995236e-01 6.83788213e-01 9.85472930e-02 2.68907338e+02] [-6.77242885e-01 7.29678975e-01 -9.43963337e-02 -1.64192648e+02] [-1.36454988e-01 1.50764657e-03 9.90645125e-01 -3.71286741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters 0.030886593364417025 Centerline is valid? [True, True] Translation: X:268.95, Y:-164.24, Z:-37.14 [[ 7.25427784e-01 6.81049834e-01 9.96275790e-02 2.68951636e+02] [-6.74321281e-01 7.32234022e-01 -9.55204033e-02 -1.64235307e+02] [-1.38004858e-01 2.11215781e-03 9.90429300e-01 -3.71351033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters 0.030620109000146584 Centerline is valid? [True, True] Translation: X:268.99, Y:-164.28, Z:-37.14 [[ 7.26947757e-01 6.79602200e-01 9.84266666e-02 2.68992995e+02] [-6.73010279e-01 7.33576838e-01 -9.44573307e-02 -1.64282558e+02] [-1.36396933e-01 2.42338628e-03 9.90651303e-01 -3.71427048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters 0.030075703277197795 Centerline is valid? [True, True] Translation: X:269.03, Y:-164.33, Z:-37.15 [[ 7.25840284e-01 6.80852397e-01 9.79586459e-02 2.69033332e+02] [-6.74321586e-01 7.32417203e-01 -9.41033428e-02 -1.64329438e+02] [-1.35817084e-01 2.24836758e-03 9.90731379e-01 -3.71494447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters 0.029695813789449684 Centerline is valid? [True, True] Translation: X:269.08, Y:-164.38, Z:-37.16 [[ 7.22472332e-01 6.84184408e-01 9.96264323e-02 2.69075521e+02] [-6.77446874e-01 7.29307029e-01 -9.57966080e-02 -1.64375698e+02] [-1.38200803e-01 1.71878358e-03 9.90402738e-01 -3.71552882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters 0.029179873631358044 Centerline is valid? [True, True] Translation: X:269.12, Y:-164.42, Z:-37.16 [[ 7.17973782e-01 6.88980935e-01 9.90904622e-02 2.69116067e+02] [-6.82349293e-01 7.24778958e-01 -9.53672135e-02 -1.64423185e+02] [-1.37524874e-01 8.56852202e-04 9.90497943e-01 -3.71633376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters 0.028834950589746364 Centerline is valid? [True, True] Translation: X:269.16, Y:-164.47, Z:-37.17 [[ 7.12532830e-01 6.94521866e-01 9.96812122e-02 2.69157733e+02] [-6.87857452e-01 7.19471575e-01 -9.59832236e-02 -1.64470769e+02] [-1.38380246e-01 -1.75266664e-04 9.90379158e-01 -3.71696358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters 0.029173652469123696 Centerline is valid? [True, True] Translation: X:269.20, Y:-164.51, Z:-37.18 [[ 7.06478122e-01 7.00666528e-01 9.97751482e-02 2.69202737e+02] [-6.94035786e-01 7.13487716e-01 -9.61748770e-02 -1.64513637e+02] [-1.38574860e-01 -1.30207686e-03 9.90351106e-01 -3.71751279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters 0.02972202839181382 Centerline is valid? [True, True] Translation: X:269.25, Y:-164.55, Z:-37.18 [[ 6.99843565e-01 7.07381121e-01 9.91510723e-02 2.69249860e+02] [-7.00887311e-01 7.06827756e-01 -9.56634724e-02 -1.64553555e+02] [-1.37753264e-01 -2.54426293e-03 9.90463308e-01 -3.71823285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters 0.03025763988468165 Centerline is valid? [True, True] Translation: X:269.30, Y:-164.59, Z:-37.19 [[ 6.95340678e-01 7.11567275e-01 1.00863046e-01 2.69301446e+02] [-7.04876411e-01 7.02609920e-01 -9.74091662e-02 -1.64590096e+02] [-1.40180552e-01 -3.36342607e-03 9.90120245e-01 -3.71884381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters 0.030253816855569788 Centerline is valid? [True, True] Translation: X:269.35, Y:-164.63, Z:-37.19 [[ 6.93791918e-01 7.13275227e-01 9.94546423e-02 2.69351813e+02] [-7.06774739e-01 7.00874869e-01 -9.61451308e-02 -1.64627959e+02] [-1.38283199e-01 -3.58731424e-03 9.90386232e-01 -3.71934169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters 0.030253806896897998 Centerline is valid? [True, True] Translation: X:269.41, Y:-164.66, Z:-37.20 [[ 6.94098559e-01 7.12880728e-01 1.00141195e-01 2.69408291e+02] [-7.06271366e-01 7.01276755e-01 -9.69106304e-02 -1.64659528e+02] [-1.39312413e-01 -3.46132930e-03 9.90242430e-01 -3.72016171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters 0.02958914271772281 Centerline is valid? [True, True] Translation: X:269.46, Y:-164.69, Z:-37.21 [[ 6.98406655e-01 7.08732366e-01 9.96322135e-02 2.69463550e+02] [-7.02134273e-01 7.05472852e-01 -9.65169286e-02 -1.64691720e+02] [-1.38692493e-01 -2.54712655e-03 9.90332219e-01 -3.72079100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters 0.02914330470252214 Centerline is valid? [True, True] Translation: X:269.52, Y:-164.72, Z:-37.22 [[ 7.06595707e-01 7.00749453e-01 9.83499450e-02 2.69517155e+02] [-6.94232806e-01 7.13406887e-01 -9.53489651e-02 -1.64724511e+02] [-1.36979263e-01 -9.04588963e-04 9.90573502e-01 -3.72156763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters 0.029397457008153525 Centerline is valid? [True, True] Translation: X:269.57, Y:-164.76, Z:-37.22 [[ 7.15060469e-01 6.92119181e-01 9.82830838e-02 2.69568906e+02] [-6.85524021e-01 7.21782808e-01 -9.53225876e-02 -1.64760549e+02] [-1.36913631e-01 7.85999458e-04 9.90582677e-01 -3.72245195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters 0.030070925118723866 Centerline is valid? [True, True] Translation: X:269.62, Y:-164.80, Z:-37.23 [[ 7.20398613e-01 6.86533718e-01 9.84748281e-02 2.69617333e+02] [-6.79846433e-01 7.27095409e-01 -9.56090670e-02 -1.64799723e+02] [-1.37239444e-01 1.92887867e-03 9.90536024e-01 -3.72321657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters 0.030409742406273362 Centerline is valid? [True, True] Translation: X:269.66, Y:-164.84, Z:-37.24 [[ 7.21922295e-01 6.84745074e-01 9.97616300e-02 2.69660615e+02] [-6.77851625e-01 7.28778838e-01 -9.69462706e-02 -1.64842916e+02] [-1.39087646e-01 2.36409118e-03 9.90277253e-01 -3.72398873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters 0.030922716611931283 Centerline is valid? [True, True] Translation: X:269.70, Y:-164.89, Z:-37.25 [[ 7.25242695e-01 6.81343912e-01 9.89621508e-02 2.69702213e+02] [-6.74518377e-01 7.31957075e-01 -9.62486291e-02 -1.64888056e+02] [-1.38014464e-01 3.05182577e-03 9.90425512e-01 -3.72474565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters 0.03096945841106613 Centerline is valid? [True, True] Translation: X:269.74, Y:-164.94, Z:-37.25 [[ 7.26558987e-01 6.80119786e-01 9.77195738e-02 2.69741436e+02] [-6.73443220e-01 7.33093561e-01 -9.51212930e-02 -1.64938362e+02] [-1.36331464e-01 3.30264582e-03 9.90657774e-01 -3.72536360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters 0.031268959643013926 Centerline is valid? [True, True] Translation: X:269.78, Y:-164.99, Z:-37.26 [[ 7.25956917e-01 6.80702788e-01 9.81339338e-02 2.69782287e+02] [-6.73961057e-01 7.32552362e-01 -9.56218072e-02 -1.64985967e+02] [-1.36978276e-01 3.27886256e-03 9.90568625e-01 -3.72611814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters 0.030485662936966827 Centerline is valid? [True, True] Translation: X:269.82, Y:-165.04, Z:-37.27 [[ 7.22143536e-01 6.84812204e-01 9.76778296e-02 2.69821065e+02] [-6.78159025e-01 7.28715129e-01 -9.52606857e-02 -1.65035503e+02] [-1.36414992e-01 2.55078675e-03 9.90648496e-01 -3.72673372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters 0.029697609867457408 Centerline is valid? [True, True] Translation: X:269.86, Y:-165.08, Z:-37.27 [[ 7.17564708e-01 6.89564735e-01 9.79865616e-02 2.69862988e+02] [-6.82907234e-01 7.24222088e-01 -9.56037497e-02 -1.65081331e+02] [-1.36889007e-01 1.68614494e-03 9.90584957e-01 -3.72736100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters 0.02917592051304073 Centerline is valid? [True, True] Translation: X:269.91, Y:-165.13, Z:-37.28 [[ 7.10411293e-01 6.97078814e-01 9.69377211e-02 2.69905868e+02] [-6.90620963e-01 7.16994445e-01 -9.46659971e-02 -1.65126145e+02] [-1.35493469e-01 3.04571097e-04 9.90778193e-01 -3.72806622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters 0.02943436322656738 Centerline is valid? [True, True] Translation: X:269.95, Y:-165.17, Z:-37.29 [[ 7.04314877e-01 7.03144174e-01 9.76157038e-02 2.69950841e+02] [-6.96640403e-01 7.11046857e-01 -9.54175873e-02 -1.65168411e+02] [-1.36501660e-01 -7.99017017e-04 9.90639520e-01 -3.72880277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters 0.029544865551422994 Centerline is valid? [True, True] Translation: X:270.00, Y:-165.21, Z:-37.29 [[ 6.99187045e-01 7.08196108e-01 9.79578907e-02 2.69998273e+02] [-7.01682962e-01 7.06013669e-01 -9.58421642e-02 -1.65209158e+02] [-1.37034658e-01 -1.72378328e-03 9.90564754e-01 -3.72926218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters 0.02959860545838335 Centerline is valid? [True, True] Translation: X:270.05, Y:-165.25, Z:-37.30 [[ 6.96302951e-01 7.11273962e-01 9.61849882e-02 2.70046276e+02] [-7.05012501e-01 7.02911383e-01 -9.41964008e-02 -1.65249174e+02] [-1.34608970e-01 -2.22238723e-03 9.90896304e-01 -3.72993996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters 0.02973747890028277 Centerline is valid? [True, True] Translation: X:270.09, Y:-165.29, Z:-37.31 [[ 6.96012434e-01 7.11435097e-01 9.70916812e-02 2.70093938e+02] [-7.05042201e-01 7.02748353e-01 -9.51853306e-02 -1.65288745e+02] [-1.35949204e-01 -2.20355894e-03 9.90713358e-01 -3.73063172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters 0.029662037622919375 Centerline is valid? [True, True] Translation: X:270.14, Y:-165.33, Z:-37.31 [[ 6.95934812e-01 7.11506462e-01 9.71251396e-02 2.70141527e+02] [-7.05097095e-01 7.02676256e-01 -9.53108880e-02 -1.65329207e+02] [-1.36061842e-01 -2.15248894e-03 9.90698007e-01 -3.73120854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters 0.02953434182229989 Centerline is valid? [True, True] Translation: X:270.19, Y:-165.37, Z:-37.32 [[ 6.97373626e-01 7.09912859e-01 9.84568900e-02 2.70191559e+02] [-7.03295103e-01 7.04287244e-01 -9.67237095e-02 -1.65367950e+02] [-1.38007337e-01 -1.79168457e-03 9.90429586e-01 -3.73215543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters 0.02954337208251641 Centerline is valid? [True, True] Translation: X:270.24, Y:-165.41, Z:-37.33 [[ 6.98752660e-01 7.08508643e-01 9.87938439e-02 2.70240627e+02] [-7.01816526e-01 7.05700657e-01 -9.71604120e-02 -1.65407881e+02] [-1.38557872e-01 -1.44405604e-03 9.90353286e-01 -3.73271392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters 0.02923505239689644 Centerline is valid? [True, True] Translation: X:270.29, Y:-165.45, Z:-37.33 [[ 7.02695337e-01 7.05007466e-01 9.58318094e-02 2.70289144e+02] [-6.98666712e-01 7.09199576e-01 -9.43439856e-02 -1.65446407e+02] [-1.34477093e-01 -6.59416409e-04 9.90916483e-01 -3.73326835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters 0.029279812142165896 Centerline is valid? [True, True] Translation: X:270.34, Y:-165.48, Z:-37.34 [[ 7.05587309e-01 7.02195070e-01 9.52293682e-02 2.70337259e+02] [-6.95896634e-01 7.11984606e-01 -9.38391979e-02 -1.65484918e+02] [-1.33695266e-01 -5.80496907e-05 9.91022488e-01 -3.73403713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters 0.02953772798267296 Centerline is valid? [True, True] Translation: X:270.38, Y:-165.53, Z:-37.35 [[ 7.08450041e-01 6.99158362e-01 9.63126447e-02 2.70383769e+02] [-6.92674854e-01 7.14966601e-01 -9.49963424e-02 -1.65525618e+02] [-1.35277811e-01 5.86815507e-04 9.90807534e-01 -3.73469807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters 0.02991395814745116 Centerline is valid? [True, True] Translation: X:270.43, Y:-165.57, Z:-37.36 [[ 7.11486998e-01 6.96019157e-01 9.66622204e-02 2.70428021e+02] [-6.89447113e-01 7.18022118e-01 -9.54301648e-02 -1.65568206e+02] [-1.35826835e-01 1.25383264e-03 9.90731800e-01 -3.73551622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters 0.03054895348416921 Centerline is valid? [True, True] Translation: X:270.47, Y:-165.61, Z:-37.36 [[ 7.15447853e-01 6.91815796e-01 9.75975163e-02 2.70470066e+02] [-6.85063813e-01 7.22070861e-01 -9.64429590e-02 -1.65613479e+02] [-1.37193085e-01 2.13938133e-03 9.90542013e-01 -3.73633598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters 0.030922627402013337 Centerline is valid? [True, True] Translation: X:270.51, Y:-165.66, Z:-37.37 [[ 7.18057906e-01 6.89126468e-01 9.74553980e-02 2.70512398e+02] [-6.82357492e-01 7.24636010e-01 -9.63893430e-02 -1.65659231e+02] [-1.37044138e-01 2.71370883e-03 9.90561225e-01 -3.73697688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters 0.03101954807825668 Centerline is valid? [True, True] Translation: X:270.55, Y:-165.71, Z:-37.38 [[ 7.18088001e-01 6.89243890e-01 9.63975272e-02 2.70551578e+02] [-6.82611272e-01 7.24524288e-01 -9.54274999e-02 -1.65707283e+02] [-1.35615171e-01 2.72330390e-03 9.90757846e-01 -3.73773127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters 0.030499674676825073 Centerline is valid? [True, True] Translation: X:270.59, Y:-165.76, Z:-37.38 [[ 7.12300436e-01 6.94770694e-01 9.96080879e-02 2.70590061e+02] [-6.87726765e-01 7.19229061e-01 -9.86988079e-02 -1.65756929e+02] [-1.40214071e-01 1.80005588e-03 9.90119576e-01 -3.73846916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters 0.02998354791290077 Centerline is valid? [True, True] Translation: X:270.63, Y:-165.80, Z:-37.39 [[ 7.05537938e-01 7.01694062e-01 9.92051530e-02 2.70629748e+02] [-6.94760834e-01 7.12478206e-01 -9.83981197e-02 -1.65804747e+02] [-1.39726886e-01 4.99751642e-04 9.90189955e-01 -3.73914217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters 0.029969093371878218 Centerline is valid? [True, True] Translation: X:270.67, Y:-165.85, Z:-37.40 [[ 6.99893508e-01 7.07359918e-01 9.89496047e-02 2.70671077e+02] [-7.00505328e-01 7.06853333e-01 -9.82377274e-02 -1.65851396e+02] [-1.39432289e-01 -5.58777668e-04 9.90231450e-01 -3.73987794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters 0.030093548905016303 Centerline is valid? [True, True] Translation: X:270.72, Y:-165.90, Z:-37.40 [[ 6.96887307e-01 7.10375841e-01 9.85608762e-02 2.70715741e+02] [-7.03590549e-01 7.03821706e-01 -9.79558377e-02 -1.65895929e+02] [-1.38954745e-01 -1.08232104e-03 9.90298141e-01 -3.74043790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters 0.03048363042274077 Centerline is valid? [True, True] Translation: X:270.76, Y:-165.94, Z:-37.41 [[ 6.91662429e-01 7.15503826e-01 9.82718631e-02 2.70760775e+02] [-7.08795390e-01 6.98605862e-01 -9.77698562e-02 -1.65937951e+02] [-1.38608006e-01 -2.03090725e-03 9.90345241e-01 -3.74125130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters 0.030779972910822476 Centerline is valid? [True, True] Translation: X:270.81, Y:-165.98, Z:-37.42 [[ 6.89626479e-01 7.17395688e-01 9.87863642e-02 2.70806263e+02] [-7.10622695e-01 6.96661945e-01 -9.83743858e-02 -1.65979600e+02] [-1.39394061e-01 -2.35825102e-03 9.90234182e-01 -3.74207346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters 0.03075459782748415 Centerline is valid? [True, True] Translation: X:270.85, Y:-166.02, Z:-37.43 [[ 6.87804447e-01 7.19205427e-01 9.83290187e-02 2.70854569e+02] [-7.12500366e-01 6.94792455e-01 -9.80136315e-02 -1.66020278e+02] [-1.38810196e-01 -2.64525020e-03 9.90315471e-01 -3.74274615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters 0.03130859483262067 Centerline is valid? [True, True] Translation: X:270.90, Y:-166.06, Z:-37.44 [[ 6.85502335e-01 7.21266610e-01 9.93026987e-02 2.70904457e+02] [-7.14434208e-01 6.92650962e-01 -9.90878771e-02 -1.66057886e+02] [-1.40250887e-01 -3.02027383e-03 9.90111391e-01 -3.74352028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters 0.031455363935088 Centerline is valid? [True, True] Translation: X:270.96, Y:-166.09, Z:-37.44 [[ 6.84165501e-01 7.22511400e-01 9.94728299e-02 2.70955065e+02] [-7.15655299e-01 6.91351528e-01 -9.93506838e-02 -1.66094129e+02] [-1.40552695e-01 -3.21594748e-03 9.90067976e-01 -3.74428110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters 0.031018402989520216 Centerline is valid? [True, True] Translation: X:271.01, Y:-166.13, Z:-37.45 [[ 6.89313316e-01 7.17909553e-01 9.72266728e-02 2.71005438e+02] [-7.11304828e-01 6.96133010e-01 -9.71816531e-02 -1.66130640e+02] [-1.37450334e-01 -2.16919420e-03 9.90506285e-01 -3.74492760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters 0.03083643452338115 Centerline is valid? [True, True] Translation: X:271.06, Y:-166.17, Z:-37.46 [[ 6.95429889e-01 7.11983497e-01 9.72459226e-02 2.71055886e+02] [-7.05313208e-01 7.02195530e-01 -9.72353626e-02 -1.66168066e+02] [-1.37515626e-01 -9.68456179e-04 9.90499124e-01 -3.74561122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters 0.03098148399457381 Centerline is valid? [True, True] Translation: X:271.12, Y:-166.45, Z:-35.59 [[ 7.57967317e-01 -6.49870844e-01 -5.61554347e-02 2.71119912e+02] [-6.47228351e-01 -7.59997186e-01 5.91585820e-02 -1.66450387e+02] [-8.11234100e-02 -8.49488223e-03 -9.96667863e-01 -3.55901711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters 0.030973417788213418 Centerline is valid? [True, True] Translation: X:271.12, Y:-166.23, Z:-37.47 [[ 7.48105461e-01 6.55605413e-01 1.02565884e-01 2.71117863e+02] [-6.49645565e-01 7.55103386e-01 -8.82015685e-02 -1.66233450e+02] [-1.35273272e-01 -6.47396678e-04 9.90808116e-01 -3.74692771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters 0.031048486752161195 Centerline is valid? [True, True] Translation: X:271.17, Y:-166.27, Z:-37.48 [[ 7.47398011e-01 6.56497322e-01 1.02017057e-01 2.71168978e+02] [-6.50598165e-01 7.54327992e-01 -8.78140561e-02 -1.66270252e+02] [-1.34604015e-01 -7.40059348e-04 9.90899193e-01 -3.74752468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters 0.031236059853044028 Centerline is valid? [True, True] Translation: X:271.22, Y:-166.31, Z:-37.48 [[ 7.49414450e-01 6.54005818e-01 1.03220017e-01 2.71218725e+02] [-6.47929483e-01 7.56489485e-01 -8.89440534e-02 -1.66307361e+02] [-1.36254786e-01 -2.23333252e-04 9.90673803e-01 -3.74833627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters 0.03146672110224519 Centerline is valid? [True, True] Translation: X:271.27, Y:-166.34, Z:-37.49 [[ 7.52614049e-01 6.50250183e-01 1.03666741e-01 2.71269450e+02] [-6.44073551e-01 7.59719964e-01 -8.94138551e-02 -1.66343428e+02] [-1.36899069e-01 5.25117345e-04 9.90584862e-01 -3.74908126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters 0.031839352456008246 Centerline is valid? [True, True] Translation: X:271.32, Y:-166.38, Z:-37.50 [[ 7.57036332e-01 6.45262007e-01 1.02630086e-01 2.71318634e+02] [-6.39151453e-01 7.63959914e-01 -8.86040045e-02 -1.66381992e+02] [-1.35578069e-01 1.48028201e-03 9.90765560e-01 -3.74969397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters 0.03201183259617345 Centerline is valid? [True, True] Translation: X:271.37, Y:-166.42, Z:-37.50 [[ 7.59059090e-01 6.42812803e-01 1.03058228e-01 2.71366232e+02] [-6.36615788e-01 7.66020699e-01 -8.90653023e-02 -1.66421985e+02] [-1.36197052e-01 1.99733247e-03 9.90679753e-01 -3.75036911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters 0.032289748958609345 Centerline is valid? [True, True] Translation: X:271.41, Y:-166.46, Z:-37.51 [[ 7.62094864e-01 6.39537348e-01 1.01011879e-01 2.71413677e+02] [-6.33545568e-01 7.68755652e-01 -8.73771227e-02 -1.66462653e+02] [-1.33534387e-01 2.59402787e-03 9.91040786e-01 -3.75098554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters 0.032396665302313186 Centerline is valid? [True, True] Translation: X:271.46, Y:-166.51, Z:-37.52 [[ 7.64399357e-01 6.36976322e-01 9.97736876e-02 2.71456357e+02] [-6.31097925e-01 7.70877248e-01 -8.63925741e-02 -1.66508155e+02] [-1.31943290e-01 3.07146085e-03 9.91252508e-01 -3.75159963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters 0.03282262655489535 Centerline is valid? [True, True] Translation: X:271.50, Y:-166.56, Z:-37.52 [[ 7.67782686e-01 6.32839926e-01 1.00116806e-01 2.71496666e+02] [-6.26876670e-01 7.74273083e-01 -8.67573276e-02 -1.66555885e+02] [-1.32421249e-01 3.84988385e-03 9.91186053e-01 -3.75211843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters 0.03277916459930175 Centerline is valid? [True, True] Translation: X:271.54, Y:-166.61, Z:-37.53 [[ 7.68749297e-01 6.31738224e-01 9.96560808e-02 2.71535221e+02] [-6.25816718e-01 7.75171244e-01 -8.63885289e-02 -1.66605125e+02] [-1.31825464e-01 4.04467946e-03 9.91264691e-01 -3.75272456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters 0.03199811669575843 Centerline is valid? [True, True] Translation: X:271.57, Y:-166.65, Z:-37.53 [[ 7.66453066e-01 6.34729627e-01 9.83259780e-02 2.71574398e+02] [-6.28981039e-01 7.72726203e-01 -8.53057282e-02 -1.66654641e+02] [-1.30125133e-01 3.53766107e-03 9.91491268e-01 -3.75336293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters 0.03085067186130397 Centerline is valid? [True, True] Translation: X:271.61, Y:-166.70, Z:-37.54 [[ 7.61779975e-01 6.40456840e-01 9.75002919e-02 2.71613967e+02] [-6.34841869e-01 7.67989777e-01 -8.46611107e-02 -1.66702415e+02] [-1.29101015e-01 2.59587124e-03 9.91628050e-01 -3.75397259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters 0.029519063178073516 Centerline is valid? [True, True] Translation: X:271.65, Y:-166.75, Z:-37.55 [[ 7.51500709e-01 6.52362725e-01 9.83339166e-02 2.71650775e+02] [-6.46742964e-01 7.57906654e-01 -8.54461366e-02 -1.66753641e+02] [-1.30269804e-01 6.16063563e-04 9.91478390e-01 -3.75451284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters 0.028951774608248645 Centerline is valid? [True, True] Translation: X:271.69, Y:-166.80, Z:-37.55 [[ 7.42053875e-01 6.63381068e-01 9.63410837e-02 2.71694683e+02] [-6.58070383e-01 7.48280728e-01 -8.37813968e-02 -1.66797096e+02] [-1.27669169e-01 -1.22890369e-03 9.91816048e-01 -3.75507745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters 0.02972845411274544 Centerline is valid? [True, True] Translation: X:271.74, Y:-166.84, Z:-37.56 [[ 7.32232193e-01 6.73858222e-01 9.87477164e-02 2.71740543e+02] [-6.68361773e-01 7.38854312e-01 -8.59467610e-02 -1.66838427e+02] [-1.30876108e-01 -3.06621349e-03 9.91393990e-01 -3.75568773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters 0.030626240257768955 Centerline is valid? [True, True] Translation: X:271.79, Y:-166.87, Z:-37.56 [[ 7.25418695e-01 6.81414915e-01 9.71670248e-02 2.71791159e+02] [-6.76157735e-01 7.31884496e-01 -8.45919715e-02 -1.66874817e+02] [-1.28757270e-01 -4.33563784e-03 9.91666662e-01 -3.75612440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters 0.03156878403189412 Centerline is valid? [True, True] Translation: X:271.84, Y:-166.91, Z:-37.57 [[ 7.20814362e-01 6.86299385e-01 9.70557080e-02 2.71843948e+02] [-6.81095256e-01 7.27300682e-01 -8.45160871e-02 -1.66908334e+02] [-1.28592021e-01 -5.18377296e-03 9.91684033e-01 -3.75677680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters 0.03187177199084664 Centerline is valid? [True, True] Translation: X:271.90, Y:-166.94, Z:-37.57 [[ 7.18544724e-01 6.88342855e-01 9.93860830e-02 2.71899383e+02] [-6.82901251e-01 7.25363346e-01 -8.65673027e-02 -1.66938534e+02] [-1.31679006e-01 -5.66840175e-03 9.91276202e-01 -3.75746170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters 0.031315447010397846 Centerline is valid? [True, True] Translation: X:271.95, Y:-166.97, Z:-37.58 [[ 7.20733718e-01 6.86316268e-01 9.75340354e-02 2.71954115e+02] [-6.81055130e-01 7.27284767e-01 -8.49751590e-02 -1.66969487e+02] [-1.29254852e-01 -5.18159290e-03 9.91597869e-01 -3.75812503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters 0.03055013224302079 Centerline is valid? [True, True] Translation: X:272.01, Y:-167.00, Z:-37.59 [[ 7.23655095e-01 6.82954077e-01 9.94838297e-02 2.72007626e+02] [-6.77444203e-01 7.30446497e-01 -8.67021773e-02 -1.67002377e+02] [-1.31881220e-01 -4.65227139e-03 9.91254609e-01 -3.75872336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters 0.029205189227208682 Centerline is valid? [True, True] Translation: X:272.06, Y:-167.03, Z:-37.59 [[ 7.30945738e-01 6.75230740e-01 9.89028616e-02 2.72063745e+02] [-6.69705463e-01 7.37599702e-01 -8.62628089e-02 -1.67030582e+02] [-1.31198022e-01 -3.18235423e-03 9.91351074e-01 -3.75935382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters 0.028301156000058 Centerline is valid? [True, True] Translation: X:272.12, Y:-167.06, Z:-37.60 [[ 7.38499492e-01 6.67077378e-01 9.81135614e-02 2.72115701e+02] [-6.61566763e-01 7.44986485e-01 -8.55836095e-02 -1.67063446e+02] [-1.30184167e-01 -1.70521913e-03 9.91488363e-01 -3.76002291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters 0.028076456797085494 Centerline is valid? [True, True] Translation: X:272.17, Y:-167.10, Z:-37.61 [[ 7.44934164e-01 6.59804367e-01 9.86472918e-02 2.72167673e+02] [-6.54166208e-01 7.51437307e-01 -8.60729047e-02 -1.67098193e+02] [-1.30918534e-01 -4.13077486e-04 9.91393044e-01 -3.76071918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters 0.02791261403110718 Centerline is valid? [True, True] Translation: X:272.22, Y:-167.14, Z:-37.61 [[ 7.48977053e-01 6.55294943e-01 9.80913465e-02 2.72216661e+02] [-6.49670793e-01 7.55372984e-01 -8.56709703e-02 -1.67137455e+02] [-1.30235307e-01 4.38507975e-04 9.91483017e-01 -3.76147533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters 0.027811126062090488 Centerline is valid? [True, True] Translation: X:272.26, Y:-167.18, Z:-37.62 [[ 7.48581030e-01 6.55833375e-01 9.75142403e-02 2.72264025e+02] [-6.50267966e-01 7.54905566e-01 -8.52593627e-02 -1.67179225e+02] [-1.29529978e-01 4.13154809e-04 9.91575420e-01 -3.76201420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters 0.02773508262973717 Centerline is valid? [True, True] Translation: X:272.31, Y:-167.22, Z:-37.63 [[ 7.46382852e-01 6.58259605e-01 9.80149519e-02 2.72311564e+02] [-6.52645388e-01 7.52791000e-01 -8.57887413e-02 -1.67219662e+02] [-1.30256037e-01 6.22390824e-05 9.91480389e-01 -3.76276199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters 0.02798113206182012 Centerline is valid? [True, True] Translation: X:272.36, Y:-167.26, Z:-37.64 [[ 7.44239819e-01 6.60747744e-01 9.75679794e-02 2.72360340e+02] [-6.55194207e-01 7.50607971e-01 -8.54881545e-02 -1.67258864e+02] [-1.29721408e-01 -3.02286273e-04 9.91550435e-01 -3.76353145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters 0.028054622224834482 Centerline is valid? [True, True] Translation: X:272.41, Y:-167.30, Z:-37.64 [[ 7.43115894e-01 6.61866259e-01 9.85485874e-02 2.72409626e+02] [-6.56197723e-01 7.49621817e-01 -8.64388822e-02 -1.67295961e+02] [-1.31085151e-01 -4.33251450e-04 9.91371018e-01 -3.76418606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters 0.028074959025215517 Centerline is valid? [True, True] Translation: X:272.46, Y:-167.33, Z:-37.65 [[ 7.43343195e-01 6.61508622e-01 9.92332481e-02 2.72459229e+02] [-6.55746343e-01 7.49937495e-01 -8.71234007e-02 -1.67334308e+02] [-1.32051614e-01 -3.09252476e-04 9.91242793e-01 -3.76481600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters 0.028314098520165414 Centerline is valid? [True, True] Translation: X:272.51, Y:-167.37, Z:-37.66 [[ 7.44659773e-01 6.59967896e-01 9.96202696e-02 2.72514287e+02] [-6.54134091e-01 7.51293801e-01 -8.75569279e-02 -1.67367038e+02] [-1.32628852e-01 3.51075023e-05 9.91165771e-01 -3.76563469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters 0.028568810840463452 Centerline is valid? [True, True] Translation: X:272.56, Y:-167.41, Z:-37.66 [[ 7.46124666e-01 6.58372058e-01 9.92180290e-02 2.72563566e+02] [-6.52559089e-01 7.52692556e-01 -8.72957729e-02 -1.67405887e+02] [-1.32153769e-01 3.87902747e-04 9.91229151e-01 -3.76631835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters 0.029086614161421543 Centerline is valid? [True, True] Translation: X:272.61, Y:-167.44, Z:-37.67 [[ 7.49611031e-01 6.54326120e-01 9.97027145e-02 2.72613474e+02] [-6.48408139e-01 7.56211574e-01 -8.78119610e-02 -1.67442055e+02] [-1.32854006e-01 1.17676299e-03 9.91134919e-01 -3.76700471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters 0.030291316722422905 Centerline is valid? [True, True] Translation: X:272.66, Y:-167.48, Z:-37.68 [[ 7.55919256e-01 6.47075454e-01 9.93953476e-02 2.72659857e+02] [-6.41122025e-01 7.62421865e-01 -8.76096424e-02 -1.67482332e+02] [-1.32471235e-01 2.50126912e-03 9.91183694e-01 -3.76768605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters 0.030925357397546503 Centerline is valid? [True, True] Translation: X:272.70, Y:-167.53, Z:-37.68 [[ 7.60003075e-01 6.42423653e-01 9.84234528e-02 2.72704957e+02] [-6.36541551e-01 7.66342515e-01 -8.67986395e-02 -1.67525053e+02] [-1.31187575e-01 3.31661554e-03 9.91352016e-01 -3.76817171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters 0.03072024599587296 Centerline is valid? [True, True] Translation: X:272.75, Y:-167.57, Z:-37.69 [[ 7.58764961e-01 6.44134431e-01 9.67810334e-02 2.72748075e+02] [-6.38452066e-01 7.64906317e-01 -8.54241535e-02 -1.67570373e+02] [-1.29053062e-01 3.02680377e-03 9.91633070e-01 -3.76864847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters 0.029943923576073766 Centerline is valid? [True, True] Translation: X:272.79, Y:-167.62, Z:-37.69 [[ 7.54159019e-01 6.49401052e-01 9.75830328e-02 2.72790774e+02] [-6.43658107e-01 7.60442920e-01 -8.62021296e-02 -1.67615941e+02] [-1.30186080e-01 2.20000332e-03 9.91487138e-01 -3.76944793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters 0.029511573349381783 Centerline is valid? [True, True] Translation: X:272.84, Y:-167.66, Z:-37.70 [[ 7.50343536e-01 6.53651092e-01 9.86145469e-02 2.72836457e+02] [-6.47815439e-01 7.56794521e-01 -8.71619715e-02 -1.67658213e+02] [-1.31604467e-01 1.51739586e-03 9.91301146e-01 -3.77005333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters 0.029191630964533612 Centerline is valid? [True, True] Translation: X:272.88, Y:-167.70, Z:-37.71 [[ 7.47585745e-01 6.57001604e-01 9.72853797e-02 2.72884521e+02] [-6.51341043e-01 7.53888549e-01 -8.60633633e-02 -1.67697753e+02] [-1.29886101e-01 9.73782958e-04 9.91528443e-01 -3.77060810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters 0.029016027804233194 Centerline is valid? [True, True] Translation: X:272.93, Y:-167.73, Z:-37.71 [[ 7.44343240e-01 6.60360293e-01 9.93852280e-02 2.72933809e+02] [-6.54470361e-01 7.50948781e-01 -8.80026961e-02 -1.67734945e+02] [-1.32746702e-01 4.59525911e-04 9.91149889e-01 -3.77132225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters 0.029077239970812255 Centerline is valid? [True, True] Translation: X:272.98, Y:-167.77, Z:-37.72 [[ 7.43444455e-01 6.61474548e-01 9.87003792e-02 2.72983538e+02] [-6.55664975e-01 7.49967546e-01 -8.74763979e-02 -1.67771943e+02] [-1.31885492e-01 3.19461301e-04 9.91264907e-01 -3.77185747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters 0.029109933142993906 Centerline is valid? [True, True] Translation: X:273.03, Y:-167.81, Z:-37.73 [[ 7.43244674e-01 6.61799606e-01 9.80236507e-02 2.73032961e+02] [-6.56062134e-01 7.49680718e-01 -8.69557193e-02 -1.67809438e+02] [-1.31033702e-01 3.19769709e-04 9.91377863e-01 -3.77250489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters 0.029016910067673173 Centerline is valid? [True, True] Translation: X:273.08, Y:-167.85, Z:-37.73 [[ 7.43297329e-01 6.61901222e-01 9.69322055e-02 2.73082704e+02] [-6.56282032e-01 7.49590985e-01 -8.60653805e-02 -1.67846238e+02] [-1.29626288e-01 3.57302660e-04 9.91562856e-01 -3.77307701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters 0.02917811993283374 Centerline is valid? [True, True] Translation: X:273.13, Y:-167.88, Z:-37.74 [[ 7.43904695e-01 6.61250092e-01 9.67167015e-02 2.73133312e+02] [-6.55640033e-01 7.50165338e-01 -8.59541358e-02 -1.67884020e+02] [-1.29390697e-01 5.30343867e-04 9.91593549e-01 -3.77374545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters 0.02894528513048348 Centerline is valid? [True, True] Translation: X:273.19, Y:-167.92, Z:-37.74 [[ 7.45700223e-01 6.59413910e-01 9.54173580e-02 2.73185284e+02] [-6.53927914e-01 7.51779541e-01 -8.48870190e-02 -1.67921081e+02] [-1.27708499e-01 9.04195172e-04 9.91811334e-01 -3.77419428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters 0.02904819934625138 Centerline is valid? [True, True] Translation: X:273.23, Y:-167.96, Z:-37.75 [[ 7.48112896e-01 6.56881449e-01 9.39885934e-02 2.73233849e+02] [-6.51528322e-01 7.53992607e-01 -8.37018166e-02 -1.67960720e+02] [-1.25848875e-01 1.38217785e-03 9.92048462e-01 -3.77485544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters 0.029076364499470788 Centerline is valid? [True, True] Translation: X:273.28, Y:-168.00, Z:-37.76 [[ 7.48978386e-01 6.55751067e-01 9.49837645e-02 2.73284323e+02] [-6.50263235e-01 7.54975362e-01 -8.46754211e-02 -1.67997081e+02] [-1.27236400e-01 1.65561026e-03 9.91871039e-01 -3.77557230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters 0.029073571567244914 Centerline is valid? [True, True] Translation: X:273.33, Y:-168.04, Z:-37.76 [[ 7.49720968e-01 6.55006698e-01 9.42586644e-02 2.73331607e+02] [-6.49587126e-01 7.55620864e-01 -8.41051487e-02 -1.68037902e+02] [-1.26313249e-01 1.82617862e-03 9.91988724e-01 -3.77621159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters 0.029341356307040926 Centerline is valid? [True, True] Translation: X:273.38, Y:-168.08, Z:-37.77 [[ 7.52371451e-01 6.51779593e-01 9.55016302e-02 2.73379350e+02] [-6.46178569e-01 7.58404432e-01 -8.52993242e-02 -1.68076654e+02] [-1.28025218e-01 2.46566954e-03 9.91767848e-01 -3.77681796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters 0.02958647087170564 Centerline is valid? [True, True] Translation: X:273.42, Y:-168.12, Z:-37.77 [[ 7.53481426e-01 6.50487557e-01 9.55598194e-02 2.73424655e+02] [-6.44860019e-01 7.59511961e-01 -8.54232769e-02 -1.68119533e+02] [-1.28145604e-01 2.74214549e-03 9.91751574e-01 -3.77746170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters 0.029623758704344198 Centerline is valid? [True, True] Translation: X:273.47, Y:-168.16, Z:-37.78 [[ 7.52701783e-01 6.51303571e-01 9.61440830e-02 2.73469475e+02] [-6.45603284e-01 7.58812548e-01 -8.60227631e-02 -1.68162610e+02] [-1.28982269e-01 2.67855133e-03 9.91643282e-01 -3.77833620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters 0.029494876661215898 Centerline is valid? [True, True] Translation: X:273.51, Y:-168.21, Z:-37.79 [[ 7.52921211e-01 6.50837112e-01 9.75740866e-02 2.73511775e+02] [-6.44949792e-01 7.59211982e-01 -8.73895466e-02 -1.68208541e+02] [-1.30955776e-01 2.86705644e-03 9.91384065e-01 -3.77911639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters 0.029701369382913664 Centerline is valid? [True, True] Translation: X:273.56, Y:-168.25, Z:-37.80 [[ 7.53798229e-01 6.49873031e-01 9.72279463e-02 2.73555727e+02] [-6.44009681e-01 7.60036543e-01 -8.71549375e-02 -1.68251814e+02] [-1.30536436e-01 3.08149880e-03 9.91438724e-01 -3.77980615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters 0.02918645746514556 Centerline is valid? [True, True] Translation: X:273.60, Y:-168.30, Z:-37.80 [[ 7.52793843e-01 6.51109697e-01 9.67346468e-02 2.73599639e+02] [-6.45307329e-01 7.58978084e-01 -8.67797194e-02 -1.68296286e+02] [-1.29922594e-01 2.90366195e-03 9.91519888e-01 -3.78042712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters 0.02848163243287748 Centerline is valid? [True, True] Translation: X:273.64, Y:-168.34, Z:-37.81 [[ 7.49568952e-01 6.54838369e-01 9.66079554e-02 2.73642956e+02] [-6.49077360e-01 7.55765507e-01 -8.67010918e-02 -1.68340650e+02] [-1.29788162e-01 2.28240985e-03 9.91539119e-01 -3.78125384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters 0.02802950813293229 Centerline is valid? [True, True] Translation: X:273.69, Y:-168.38, Z:-37.82 [[ 7.45539536e-01 6.59290918e-01 9.75001831e-02 2.73688329e+02] [-6.53449931e-01 7.51886282e-01 -8.75797149e-02 -1.68382907e+02] [-1.31049561e-01 1.58265212e-03 9.91374555e-01 -3.78186070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters 0.028020304517846345 Centerline is valid? [True, True] Translation: X:273.74, Y:-168.42, Z:-37.82 [[ 7.46379300e-01 6.58569074e-01 9.59412073e-02 2.73735820e+02] [-6.52898378e-01 7.52518272e-01 -8.62551952e-02 -1.68423280e+02] [-1.29002516e-01 1.73923358e-03 9.91642741e-01 -3.78241383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters 0.02876167337646936 Centerline is valid? [True, True] Translation: X:273.78, Y:-168.46, Z:-37.83 [[ 7.50881818e-01 6.53522058e-01 9.53174474e-02 2.73782477e+02] [-6.47875331e-01 7.56902848e-01 -8.57649964e-02 -1.68463014e+02] [-1.28195364e-01 2.64555366e-03 9.91745406e-01 -3.78308388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters 0.02971192513480635 Centerline is valid? [True, True] Translation: X:273.83, Y:-168.51, Z:-37.84 [[ 7.54616120e-01 6.49047502e-01 9.63942512e-02 2.73827233e+02] [-6.43229449e-01 7.60739916e-01 -8.67793501e-02 -1.68505031e+02] [-1.29654875e-01 3.48147533e-03 9.91553071e-01 -3.78369058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters 0.030527388170972176 Centerline is valid? [True, True] Translation: X:273.87, Y:-168.55, Z:-37.84 [[ 7.56288728e-01 6.46864091e-01 9.79500256e-02 2.73869985e+02] [-6.40829078e-01 7.62594976e-01 -8.82439535e-02 -1.68549944e+02] [-1.31778042e-01 3.96868272e-03 9.91271304e-01 -3.78437015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters 0.030497291040647325 Centerline is valid? [True, True] Translation: X:273.91, Y:-168.59, Z:-37.85 [[ 7.56667642e-01 6.46374753e-01 9.82535404e-02 2.73912930e+02] [-6.40293797e-01 7.63009137e-01 -8.85489157e-02 -1.68594519e+02] [-1.32204133e-01 4.09096687e-03 9.91214069e-01 -3.78497551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters 0.03032438378827767 Centerline is valid? [True, True] Translation: X:273.95, Y:-168.64, Z:-37.86 [[ 7.56342248e-01 6.46850938e-01 9.76230916e-02 2.73953622e+02] [-6.40842149e-01 7.62605763e-01 -8.80556154e-02 -1.68641590e+02] [-1.31406790e-01 4.03919030e-03 9.91320302e-01 -3.78576205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters 0.03012437038720097 Centerline is valid? [True, True] Translation: X:273.99, Y:-168.69, Z:-37.87 [[ 7.54744662e-01 6.48900889e-01 9.63749551e-02 2.73993984e+02] [-6.43052323e-01 7.60863988e-01 -8.70040354e-02 -1.68688466e+02] [-1.29785229e-01 3.69169252e-03 9.91535257e-01 -3.78654101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters 0.029411893115645425 Centerline is valid? [True, True] Translation: X:274.03, Y:-168.74, Z:-37.87 [[ 7.50663970e-01 6.53362864e-01 9.80845093e-02 2.74033695e+02] [-6.47331203e-01 7.57038807e-01 -8.86259457e-02 -1.68737373e+02] [-1.32158682e-01 3.03514085e-03 9.91223926e-01 -3.78711587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters 0.028538675064643918 Centerline is valid? [True, True] Translation: X:274.07, Y:-168.79, Z:-37.88 [[ 7.47574174e-01 6.57101444e-01 9.66982253e-02 2.74073718e+02] [-6.51260873e-01 7.53798341e-01 -8.74490509e-02 -1.68785024e+02] [-1.30353859e-01 2.39888137e-03 9.91464632e-01 -3.78767411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters 0.027841105649638504 Centerline is valid? [True, True] Translation: X:274.11, Y:-168.83, Z:-37.88 [[ 7.42891795e-01 6.62494452e-01 9.59837645e-02 2.74113528e+02] [-6.56774760e-01 7.49065314e-01 -8.68796314e-02 -1.68832909e+02] [-1.29455382e-01 1.50245136e-03 9.91584110e-01 -3.78825292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters 0.027559431851738918 Centerline is valid? [True, True] Translation: X:274.15, Y:-168.88, Z:-37.89 [[ 7.39534832e-01 6.66322073e-01 9.54103122e-02 2.74154845e+02] [-6.60692232e-01 7.45663535e-01 -8.64388047e-02 -1.68880129e+02] [-1.28740074e-01 8.87654799e-04 9.91677975e-01 -3.78879396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters 0.02772855404839888 Centerline is valid? [True, True] Translation: X:274.20, Y:-168.93, Z:-37.90 [[ 7.37357929e-01 6.68802807e-01 9.49004219e-02 2.74196632e+02] [-6.63243426e-01 7.43439670e-01 -8.60558867e-02 -1.68925877e+02] [-1.28107157e-01 5.11909443e-04 9.91760200e-01 -3.78968487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters 0.027664107836808425 Centerline is valid? [True, True] Translation: X:274.24, Y:-168.97, Z:-37.90 [[ 7.35580572e-01 6.70869993e-01 9.40992808e-02 2.74242870e+02] [-6.65411114e-01 7.41574951e-01 -8.54086777e-02 -1.68967636e+02] [-1.27079789e-01 2.10256719e-04 9.91892476e-01 -3.79036841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters 0.027401616659887953 Centerline is valid? [True, True] Translation: X:274.29, Y:-169.01, Z:-37.91 [[ 7.33019204e-01 6.73872815e-01 9.26189851e-02 2.74286374e+02] [-6.68599911e-01 7.38847323e-01 -8.41355645e-02 -1.69012476e+02] [-1.25127959e-01 -2.52060688e-04 9.92140580e-01 -3.79101896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters 0.027705946045150996 Centerline is valid? [True, True] Translation: X:274.33, Y:-169.05, Z:-37.92 [[ 7.32926717e-01 6.73598913e-01 9.53044188e-02 2.74332419e+02] [-6.68007266e-01 7.39097065e-01 -8.66130601e-02 -1.69053367e+02] [-1.28781679e-01 -1.83018483e-04 9.91672953e-01 -3.79185962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters 0.027554878502328458 Centerline is valid? [True, True] Translation: X:274.38, Y:-169.10, Z:-37.92 [[ 7.35900879e-01 6.70413463e-01 9.48455807e-02 2.74377873e+02] [-6.64838560e-01 7.41987600e-01 -8.62791463e-02 -1.69096942e+02] [-1.28216946e-01 4.35900370e-04 9.91746049e-01 -3.79244197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters 0.02778476512950825 Centerline is valid? [True, True] Translation: X:274.42, Y:-169.14, Z:-37.93 [[ 7.38461294e-01 6.67476376e-01 9.56567055e-02 2.74424250e+02] [-6.61768690e-01 7.44630270e-01 -8.71089042e-02 -1.69138648e+02] [-1.29372014e-01 1.02394142e-03 9.91595600e-01 -3.79304086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters 0.02790738936298155 Centerline is valid? [True, True] Translation: X:274.47, Y:-169.18, Z:-37.94 [[ 7.39252403e-01 6.66613813e-01 9.55610195e-02 2.74469194e+02] [-6.60899711e-01 7.45402239e-01 -8.71038118e-02 -1.69183024e+02] [-1.29296002e-01 1.23545198e-03 9.91605273e-01 -3.79370654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters 0.027994692387670196 Centerline is valid? [True, True] Translation: X:274.51, Y:-169.23, Z:-37.94 [[ 7.39112126e-01 6.66762400e-01 9.56094570e-02 2.74513662e+02] [-6.61031748e-01 7.45269258e-01 -8.72396790e-02 -1.69227362e+02] [-1.29422927e-01 1.27901809e-03 9.91588660e-01 -3.79436134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters 0.02791451568696347 Centerline is valid? [True, True] Translation: X:274.56, Y:-169.27, Z:-37.95 [[ 7.39042953e-01 6.66715257e-01 9.64690648e-02 2.74555996e+02] [-6.60868244e-01 7.45311275e-01 -8.81150834e-02 -1.69272414e+02] [-1.30647152e-01 1.36748989e-03 9.91427986e-01 -3.79508719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters 0.027798687662372992 Centerline is valid? [True, True] Translation: X:274.60, Y:-169.32, Z:-37.96 [[ 7.38892508e-01 6.67090167e-01 9.50187956e-02 2.74597829e+02] [-6.61411209e-01 7.44975779e-01 -8.68694439e-02 -1.69318044e+02] [-1.28736453e-01 1.34068479e-03 9.91677936e-01 -3.79574760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters 0.027680264025896448 Centerline is valid? [True, True] Translation: X:274.64, Y:-169.37, Z:-37.96 [[ 7.39020965e-01 6.66874520e-01 9.55321270e-02 2.74637819e+02] [-6.61121444e-01 7.45168627e-01 -8.74194118e-02 -1.69365877e+02] [-1.29485322e-01 1.44644031e-03 9.91580284e-01 -3.79638026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters 0.027481367764780485 Centerline is valid? [True, True] Translation: X:274.68, Y:-169.41, Z:-37.97 [[ 7.36907774e-01 6.69051016e-01 9.66316226e-02 2.74679154e+02] [-6.63171661e-01 7.43215607e-01 -8.85093714e-02 -1.69412930e+02] [-1.31035415e-01 1.13989020e-03 9.91377033e-01 -3.79715252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters 0.02686317235260865 Centerline is valid? [True, True] Translation: X:274.72, Y:-169.46, Z:-37.98 [[ 7.33392170e-01 6.73162305e-01 9.48073684e-02 2.74719534e+02] [-6.67527333e-01 7.39494625e-01 -8.69192659e-02 -1.69461424e+02] [-1.28620313e-01 4.59399166e-04 9.91693806e-01 -3.79766735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters 0.026543094796249778 Centerline is valid? [True, True] Translation: X:274.76, Y:-169.51, Z:-37.98 [[ 7.27852886e-01 6.79083887e-01 9.52641114e-02 2.74759535e+02] [-6.73439240e-01 7.34060464e-01 -8.73774868e-02 -1.69510918e+02] [-1.29266261e-01 -5.56634817e-04 9.91609764e-01 -3.79813972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters 0.026988591290929887 Centerline is valid? [True, True] Translation: X:274.80, Y:-169.56, Z:-37.99 [[ 7.22185770e-01 6.84994938e-01 9.60710626e-02 2.74801801e+02] [-6.79294038e-01 7.28546156e-01 -8.82049267e-02 -1.69555686e+02] [-1.30412132e-01 -1.56015710e-03 9.91458644e-01 -3.79868364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters 0.027324302799541757 Centerline is valid? [True, True] Translation: X:274.85, Y:-169.60, Z:-37.99 [[ 7.17460016e-01 6.90012694e-01 9.55699135e-02 2.74847591e+02] [-6.84408798e-01 7.23793222e-01 -8.77950329e-02 -1.69597316e+02] [-1.29752543e-01 -2.41946398e-03 9.91543455e-01 -3.79938886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters 0.02760340086052638 Centerline is valid? [True, True] Translation: X:274.90, Y:-169.64, Z:-38.00 [[ 7.15217524e-01 6.92315504e-01 9.57242710e-02 2.74895818e+02] [-6.86702914e-01 7.21589573e-01 -8.80204246e-02 -1.69635635e+02] [-1.30011540e-01 -2.78038563e-03 9.91508582e-01 -3.80013454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters 0.027501220693573844 Centerline is valid? [True, True] Translation: X:274.95, Y:-169.67, Z:-38.01 [[ 7.15223427e-01 6.92259140e-01 9.60871048e-02 2.74946379e+02] [-6.86591959e-01 7.21643882e-01 -8.84397457e-02 -1.69672705e+02] [-1.30563894e-01 -2.71845554e-03 9.91436170e-01 -3.80071879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters 0.02771625588398269 Centerline is valid? [True, True] Translation: X:275.00, Y:-169.71, Z:-38.02 [[ 7.14930864e-01 6.92277975e-01 9.81074194e-02 2.74997174e+02] [-6.86355985e-01 7.21625850e-01 -9.03968743e-02 -1.69707974e+02] [-1.33376615e-01 -2.70909906e-03 9.91061723e-01 -3.80154709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters 0.02745517139256758 Centerline is valid? [True, True] Translation: X:275.05, Y:-169.74, Z:-38.02 [[ 7.15614898e-01 6.91492005e-01 9.86616699e-02 2.75050112e+02] [-6.85483070e-01 7.22379745e-01 -9.09970550e-02 -1.69743479e+02] [-1.34194928e-01 -2.51205619e-03 9.90951770e-01 -3.80239089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters 0.02724656627179341 Centerline is valid? [True, True] Translation: X:275.10, Y:-169.78, Z:-38.03 [[ 7.17343137e-01 6.89777955e-01 9.81080899e-02 2.75098805e+02] [-6.83809080e-01 7.24017883e-01 -9.05717789e-02 -1.69782725e+02] [-1.33506428e-01 -2.11615875e-03 9.91045688e-01 -3.80301698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters 0.026707677115541287 Centerline is valid? [True, True] Translation: X:275.15, Y:-169.82, Z:-38.04 [[ 7.24679179e-01 6.82073364e-01 9.80612727e-02 2.75149755e+02] [-6.76033802e-01 7.31283455e-01 -9.05693459e-02 -1.69817979e+02] [-1.33485525e-01 -6.59015752e-04 9.91050544e-01 -3.80394137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters 0.026662151671294657 Centerline is valid? [True, True] Translation: X:275.20, Y:-169.86, Z:-38.05 [[ 7.27536686e-01 6.79011712e-01 9.81502191e-02 2.75195148e+02] [-6.72921323e-01 7.34127437e-01 -9.07402845e-02 -1.69860540e+02] [-1.33668485e-01 -3.04893756e-05 9.91026102e-01 -3.80479125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters 0.02663216329847277 Centerline is valid? [True, True] Translation: X:275.24, Y:-169.90, Z:-38.06 [[ 7.27342920e-01 6.79125688e-01 9.87956295e-02 2.75239636e+02] [-6.72942130e-01 7.34022002e-01 -9.14362670e-02 -1.69904457e+02] [-1.34614883e-01 2.17801212e-05 9.90897993e-01 -3.80550498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters 0.026826818353604495 Centerline is valid? [True, True] Translation: X:275.28, Y:-169.95, Z:-38.06 [[ 7.23988543e-01 6.82547533e-01 9.98471513e-02 2.75282337e+02] [-6.76249905e-01 7.30840998e-01 -9.25067625e-02 -1.69948908e+02] [-1.36112654e-01 -5.47790349e-04 9.90693215e-01 -3.80635868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters 0.02709439380544234 Centerline is valid? [True, True] Translation: X:275.33, Y:-169.99, Z:-38.07 [[ 7.22104111e-01 6.84173946e-01 1.02331154e-01 2.75326727e+02] [-6.77561251e-01 7.29318418e-01 -9.48967625e-02 -1.69991053e+02] [-1.39557888e-01 -8.10282618e-04 9.90213583e-01 -3.80719631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters 0.027201651577238327 Centerline is valid? [True, True] Translation: X:275.37, Y:-170.03, Z:-38.08 [[ 7.22209602e-01 6.84190289e-01 1.01473839e-01 2.75371889e+02] [-6.77677035e-01 7.29303156e-01 -9.41846211e-02 -1.70033671e+02] [-1.38445394e-01 -7.45452577e-04 9.90369788e-01 -3.80780543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters 0.027471952826711013 Centerline is valid? [True, True] Translation: X:275.42, Y:-170.08, Z:-38.09 [[ 7.22415573e-01 6.83908635e-01 1.01905442e-01 2.75418441e+02] [-6.77323893e-01 7.29567397e-01 -9.46771185e-02 -1.70076247e+02] [-1.39097387e-01 -6.26765593e-04 9.90278508e-01 -3.80855604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters 0.027623503289771603 Centerline is valid? [True, True] Translation: X:275.46, Y:-170.12, Z:-38.09 [[ 7.20818624e-01 6.85327872e-01 1.03663971e-01 2.75461936e+02] [-6.78512697e-01 7.28234166e-01 -9.64132737e-02 -1.70119790e+02] [-1.41566349e-01 -8.40837087e-04 9.89928412e-01 -3.80929774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters 0.028200485465714787 Centerline is valid? [True, True] Translation: X:275.51, Y:-170.16, Z:-38.10 [[ 7.18312973e-01 6.88046846e-01 1.03043733e-01 2.75507677e+02] [-6.81328032e-01 7.25665107e-01 -9.59284377e-02 -1.70162520e+02] [-1.40778500e-01 -1.29994228e-03 9.90040264e-01 -3.81007279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters 0.028558047322673627 Centerline is valid? [True, True] Translation: X:275.55, Y:-170.20, Z:-38.11 [[ 7.16558179e-01 6.89956933e-01 1.02488076e-01 2.75553133e+02] [-6.83315737e-01 7.23848671e-01 -9.55128540e-02 -1.70204713e+02] [-1.40085614e-01 -1.59119859e-03 9.90138116e-01 -3.81109401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters 0.028898140880943328 Centerline is valid? [True, True] Translation: X:275.60, Y:-170.25, Z:-38.12 [[ 7.14939916e-01 6.91588947e-01 1.02789325e-01 2.75599368e+02] [-6.84910932e-01 7.22288953e-01 -9.58941267e-02 -1.70245130e+02] [-1.40562912e-01 -1.84299349e-03 9.90070033e-01 -3.81196554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters 0.02923523899396338 Centerline is valid? [True, True] Translation: X:275.65, Y:-170.29, Z:-38.13 [[ 7.14166548e-01 6.92338270e-01 1.03120619e-01 2.75646113e+02] [-6.85611428e-01 7.21570509e-01 -9.62962627e-02 -1.70285886e+02] [-1.41078386e-01 -1.92910561e-03 9.89996549e-01 -3.81285115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters 0.029393325834093074 Centerline is valid? [True, True] Translation: X:275.69, Y:-170.33, Z:-38.14 [[ 7.14153107e-01 6.92294560e-01 1.03506435e-01 2.75692816e+02] [-6.85501710e-01 7.21612647e-01 -9.67604963e-02 -1.70327383e+02] [-1.41678317e-01 -1.85202879e-03 9.89911018e-01 -3.81369400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters 0.02948060041697942 Centerline is valid? [True, True] Translation: X:275.74, Y:-170.37, Z:-38.14 [[ 7.13640981e-01 6.92517304e-01 1.05528832e-01 2.75740502e+02] [-6.85442328e-01 7.21398870e-01 -9.87546715e-02 -1.70366713e+02] [-1.44517699e-01 -1.85854747e-03 9.89500470e-01 -3.81439455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters 0.029319447234263576 Centerline is valid? [True, True] Translation: X:275.79, Y:-170.40, Z:-38.15 [[ 7.12882316e-01 6.93706995e-01 1.02807632e-01 2.75790110e+02] [-6.86993737e-01 7.20254596e-01 -9.62960138e-02 -1.70404645e+02] [-1.40848888e-01 -1.98047392e-03 9.90029125e-01 -3.81509187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters 0.029555838143448396 Centerline is valid? [True, True] Translation: X:275.84, Y:-170.44, Z:-38.16 [[ 7.14401786e-01 6.91748846e-01 1.05421171e-01 2.75837538e+02] [-6.84653144e-01 7.22136469e-01 -9.88382129e-02 -1.70444257e+02] [-1.44499692e-01 -1.56674046e-03 9.89503605e-01 -3.81614700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters 0.02956333561299968 Centerline is valid? [True, True] Translation: X:275.89, Y:-170.48, Z:-38.17 [[ 7.18742786e-01 6.87138900e-01 1.06061015e-01 2.75886609e+02] [-6.79891859e-01 7.26525847e-01 -9.95351826e-02 -1.70483599e+02] [-1.45450565e-01 -5.69826308e-04 9.89365356e-01 -3.81692706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters 0.029591286824096983 Centerline is valid? [True, True] Translation: X:275.93, Y:-170.52, Z:-38.18 [[ 7.22701826e-01 6.83108242e-01 1.05191254e-01 2.75932724e+02] [-6.75922722e-01 7.30317075e-01 -9.88202634e-02 -1.70524378e+02] [-1.44327905e-01 3.16426234e-04 9.89529866e-01 -3.81777845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters 0.029661471379533535 Centerline is valid? [True, True] Translation: X:275.98, Y:-170.57, Z:-38.18 [[ 7.22589938e-01 6.83145195e-01 1.05718607e-01 2.75978249e+02] [-6.75873840e-01 7.30282479e-01 -9.94085176e-02 -1.70566143e+02] [-1.45114898e-01 3.79153653e-04 9.89414737e-01 -3.81848603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters 0.029759178950010734 Centerline is valid? [True, True] Translation: X:276.02, Y:-170.61, Z:-38.19 [[ 7.22761239e-01 6.83096327e-01 1.04859900e-01 2.76023512e+02] [-6.75929689e-01 7.30328148e-01 -9.86906881e-02 -1.70608524e+02] [-1.43997383e-01 4.51884547e-04 9.89577965e-01 -3.81903173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters 0.029650481330598395 Centerline is valid? [True, True] Translation: X:276.07, Y:-170.65, Z:-38.20 [[ 7.22077990e-01 6.84152632e-01 1.02657453e-01 2.76067673e+02] [-6.77283649e-01 7.29338800e-01 -9.67045678e-02 -1.70651768e+02] [-1.41032748e-01 3.00025695e-04 9.90004886e-01 -3.81970168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters 0.03010527358680469 Centerline is valid? [True, True] Translation: X:276.11, Y:-170.69, Z:-38.20 [[ 7.22017475e-01 6.84049603e-01 1.03763704e-01 2.76113229e+02] [-6.77016938e-01 7.29435390e-01 -9.78369915e-02 -1.70694112e+02] [-1.42614273e-01 3.90232327e-04 9.89778267e-01 -3.82044365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters 0.03080881775388645 Centerline is valid? [True, True] Translation: X:276.16, Y:-170.74, Z:-38.21 [[ 7.22681406e-01 6.82841781e-01 1.07045257e-01 2.76158591e+02] [-6.75330022e-01 7.30565947e-01 -1.01008704e-01 -1.70736071e+02] [-1.47176583e-01 7.06236688e-04 9.89109981e-01 -3.82124528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters 0.031299419372142805 Centerline is valid? [True, True] Translation: X:276.20, Y:-170.78, Z:-38.22 [[ 7.24514508e-01 6.80880277e-01 1.07148382e-01 2.76202015e+02] [-6.73326059e-01 7.32393850e-01 -1.01149723e-01 -1.70779276e+02] [-1.47345667e-01 1.13864423e-03 9.89084404e-01 -3.82217250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters 0.03185593627228457 Centerline is valid? [True, True] Translation: X:276.25, Y:-170.82, Z:-38.23 [[ 7.27252930e-01 6.77970837e-01 1.07045416e-01 2.76245931e+02] [-6.70386088e-01 7.35086607e-01 -1.01144321e-01 -1.70822391e+02] [-1.47260552e-01 1.79574613e-03 9.89096105e-01 -3.82292717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters 0.03188799337279038 Centerline is valid? [True, True] Translation: X:276.29, Y:-170.87, Z:-38.24 [[ 7.27929233e-01 6.77180921e-01 1.07447807e-01 2.76288387e+02] [-6.69516397e-01 7.35813749e-01 -1.01616540e-01 -1.70867660e+02] [-1.47874355e-01 2.03158149e-03 9.89004069e-01 -3.82375113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters 0.03196339481159147 Centerline is valid? [True, True] Translation: X:276.33, Y:-170.91, Z:-38.25 [[ 7.28120366e-01 6.76979470e-01 1.07422201e-01 2.76333292e+02] [-6.69302289e-01 7.35998782e-01 -1.01686964e-01 -1.70911741e+02] [-1.47902596e-01 2.14242404e-03 9.88999612e-01 -3.82455115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters 0.03202784203727961 Centerline is valid? [True, True] Translation: X:276.37, Y:-170.96, Z:-38.25 [[ 7.27345093e-01 6.77793423e-01 1.07541579e-01 2.76372906e+02] [-6.70092231e-01 7.35249512e-01 -1.01904649e-01 -1.70960854e+02] [-1.48140194e-01 2.05706984e-03 9.88964232e-01 -3.82531318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters 0.031515340489188914 Centerline is valid? [True, True] Translation: X:276.41, Y:-171.01, Z:-38.26 [[ 7.24046309e-01 6.81456267e-01 1.06650353e-01 2.76414502e+02] [-6.73907474e-01 7.31857550e-01 -1.01159492e-01 -1.71006669e+02] [-1.46988636e-01 1.37168713e-03 9.89137230e-01 -3.82596849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters 0.03137872559868718 Centerline is valid? [True, True] Translation: X:276.46, Y:-171.05, Z:-38.27 [[ 7.17633976e-01 6.88055466e-01 1.07615762e-01 2.76456102e+02] [-6.80427315e-01 7.25658092e-01 -1.02171436e-01 -1.71054058e+02] [-1.48391863e-01 9.69905387e-05 9.88928635e-01 -3.82671278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters 0.03116553516089955 Centerline is valid? [True, True] Translation: X:276.50, Y:-171.10, Z:-38.27 [[ 7.11161303e-01 6.95020704e-01 1.05810310e-01 2.76500086e+02] [-6.87708855e-01 7.18988629e-01 -1.00557856e-01 -1.71097762e+02] [-1.45966202e-01 -1.25383135e-03 9.89288783e-01 -3.82739306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters 0.03163710533700904 Centerline is valid? [True, True] Translation: X:276.55, Y:-171.14, Z:-38.28 [[ 7.06931892e-01 6.99321891e-01 1.05812066e-01 2.76546706e+02] [-6.92043793e-01 7.14803887e-01 -1.00651833e-01 -1.71138340e+02] [-1.46022906e-01 -2.07259260e-03 9.89279038e-01 -3.82814210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters 0.03181850941022267 Centerline is valid? [True, True] Translation: X:276.60, Y:-171.18, Z:-38.29 [[ 7.05138811e-01 7.01205024e-01 1.05312726e-01 2.76595431e+02] [-6.94002504e-01 7.12955710e-01 -1.00273025e-01 -1.71177859e+02] [-1.45395258e-01 -2.38089414e-03 9.89370785e-01 -3.82893692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters 0.031803400275279656 Centerline is valid? [True, True] Translation: X:276.64, Y:-171.22, Z:-38.30 [[ 7.05303565e-01 7.01092641e-01 1.04957089e-01 2.76644471e+02] [-6.93922617e-01 7.13066569e-01 -1.00037346e-01 -1.71216441e+02] [-1.44976839e-01 -2.27540147e-03 9.89432433e-01 -3.82963242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters 0.03186181042539297 Centerline is valid? [True, True] Translation: X:276.69, Y:-171.25, Z:-38.30 [[ 7.06188873e-01 6.99932077e-01 1.06735019e-01 2.76693136e+02] [-6.92488271e-01 7.14206606e-01 -1.01827888e-01 -1.71254519e+02] [-1.47503461e-01 -2.00302762e-03 9.89059511e-01 -3.83034550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters 0.03153630992829054 Centerline is valid? [True, True] Translation: X:276.74, Y:-171.29, Z:-38.31 [[ 7.07528581e-01 6.98674392e-01 1.06100905e-01 2.76741509e+02] [-6.91291217e-01 7.15437861e-01 -1.01316936e-01 -1.71292720e+02] [-1.46696153e-01 -1.66199582e-03 9.89180204e-01 -3.83105247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters 0.031604521769724496 Centerline is valid? [True, True] Translation: X:276.79, Y:-171.33, Z:-38.32 [[ 7.05944056e-01 7.00328668e-01 1.05748508e-01 2.76790971e+02] [-6.92998798e-01 7.13817930e-01 -1.01077338e-01 -1.71331817e+02] [-1.46272538e-01 -1.92864316e-03 9.89242450e-01 -3.83179968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters 0.031860451635606676 Centerline is valid? [True, True] Translation: X:276.84, Y:-171.37, Z:-38.33 [[ 7.03314383e-01 7.03049669e-01 1.05214267e-01 2.76838001e+02] [-6.95808557e-01 7.11136684e-01 -1.00673083e-01 -1.71372438e+02] [-1.45599903e-01 -2.40416004e-03 9.89340633e-01 -3.83263861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters 0.031608964428722824 Centerline is valid? [True, True] Translation: X:276.89, Y:-171.41, Z:-38.33 [[ 7.00352031e-01 7.06294791e-01 1.03221613e-01 2.76890414e+02] [-6.99347212e-01 7.07911707e-01 -9.88660312e-02 -1.71406949e+02] [-1.42900351e-01 -2.94672140e-03 9.89732695e-01 -3.83347827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters 0.03139202454919528 Centerline is valid? [True, True] Translation: X:276.94, Y:-171.45, Z:-38.34 [[ 6.98941497e-01 7.07540145e-01 1.04248390e-01 2.76938621e+02] [-7.00453168e-01 7.06666053e-01 -9.99422236e-02 -1.71445505e+02] [-1.44381934e-01 -3.16734752e-03 9.89516966e-01 -3.83428242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters 0.031045089690953785 Centerline is valid? [True, True] Translation: X:276.99, Y:-171.48, Z:-38.35 [[ 6.99028502e-01 7.07461851e-01 1.04196366e-01 2.76991744e+02] [-7.00367117e-01 7.06744817e-01 -9.99883203e-02 -1.71480683e+02] [-1.44378164e-01 -3.08102290e-03 9.89517788e-01 -3.83520211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters 0.031025044529707554 Centerline is valid? [True, True] Translation: X:277.04, Y:-171.52, Z:-38.36 [[ 6.99993154e-01 7.06352599e-01 1.05240630e-01 2.77043607e+02] [-6.99085787e-01 7.07854607e-01 -1.01098560e-01 -1.71516856e+02] [-1.45906295e-01 -2.80392849e-03 9.89294441e-01 -3.83606861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters 0.030806038624286308 Centerline is valid? [True, True] Translation: X:277.09, Y:-171.55, Z:-38.37 [[ 7.03460594e-01 7.02843978e-01 1.05610300e-01 2.77094902e+02] [-6.95470818e-01 7.11341209e-01 -1.01557991e-01 -1.71552278e+02] [-1.46504381e-01 -2.00683723e-03 9.89207986e-01 -3.83699029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters 0.03033435743734272 Centerline is valid? [True, True] Translation: X:277.15, Y:-171.59, Z:-38.38 [[ 7.08095041e-01 6.98438874e-01 1.03848699e-01 2.77146946e+02] [-6.91250245e-01 7.15669004e-01 -9.99548682e-02 -1.71587384e+02] [-1.44133660e-01 -1.00789200e-03 9.89557715e-01 -3.83793690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters 0.03052655474733898 Centerline is valid? [True, True] Translation: X:277.20, Y:-171.63, Z:-38.39 [[ 7.12317001e-01 6.94047176e-01 1.04417464e-01 2.77197556e+02] [-6.86717930e-01 7.19929521e-01 -1.00598065e-01 -1.71625170e+02] [-1.44993018e-01 -4.76323220e-05 9.89432677e-01 -3.83874397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters 0.03063975289506558 Centerline is valid? [True, True] Translation: X:277.25, Y:-171.66, Z:-38.39 [[ 7.15496694e-01 6.90878466e-01 1.03689084e-01 2.77245914e+02] [-6.83603754e-01 7.22970610e-01 -9.99970203e-02 -1.71663932e+02] [-1.44049948e-01 6.65290597e-04 9.89570195e-01 -3.83947123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters 0.03131992917430905 Centerline is valid? [True, True] Translation: X:277.29, Y:-171.70, Z:-38.40 [[ 7.19121687e-01 6.86969453e-01 1.04579965e-01 2.77293995e+02] [-6.79513999e-01 7.26684686e-01 -1.00945992e-01 -1.71702135e+02] [-1.45343472e-01 1.52890188e-03 9.89380077e-01 -3.84038858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters 0.03139510032760063 Centerline is valid? [True, True] Translation: X:277.34, Y:-171.74, Z:-38.41 [[ 7.19935439e-01 6.86155271e-01 1.04325975e-01 2.77342575e+02] [-6.78714857e-01 7.27453002e-01 -1.00788257e-01 -1.71741979e+02] [-1.45048637e-01 1.75344873e-03 9.89422972e-01 -3.84118843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters 0.031248352238764293 Centerline is valid? [True, True] Translation: X:277.39, Y:-171.79, Z:-38.42 [[ 7.17091625e-01 6.89112668e-01 1.04419023e-01 2.77387268e+02] [-6.81677634e-01 7.24653189e-01 -1.00962167e-01 -1.71785223e+02] [-1.45241886e-01 1.21901231e-03 9.89395426e-01 -3.84199570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters 0.031066986067152934 Centerline is valid? [True, True] Translation: X:277.43, Y:-171.83, Z:-38.43 [[ 7.14519121e-01 6.91781342e-01 1.04407854e-01 2.77434055e+02] [-6.84369410e-01 7.22106688e-01 -1.00997237e-01 -1.71826122e+02] [-1.45261614e-01 7.10916075e-04 9.89393025e-01 -3.84275007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters 0.030940765657917303 Centerline is valid? [True, True] Translation: X:277.48, Y:-171.87, Z:-38.44 [[ 7.13799236e-01 6.92571851e-01 1.04090739e-01 2.77478384e+02] [-6.85200502e-01 7.21348637e-01 -1.00779043e-01 -1.71869154e+02] [-1.44882441e-01 6.12977088e-04 9.89448686e-01 -3.84355219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters 0.030971078177638816 Centerline is valid? [True, True] Translation: X:277.52, Y:-171.91, Z:-38.44 [[ 7.13588415e-01 6.92963288e-01 1.02924516e-01 2.77524150e+02] [-6.85748354e-01 7.20972629e-01 -9.97379675e-02 -1.71910538e+02] [-1.43320509e-01 5.91540603e-04 9.89676150e-01 -3.84432982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters 0.030875429212957824 Centerline is valid? [True, True] Translation: X:277.57, Y:-171.95, Z:-38.45 [[ 7.12888409e-01 6.93540201e-01 1.03885063e-01 2.77568793e+02] [-6.86182081e-01 7.20417720e-01 -1.00759416e-01 -1.71953362e+02] [-1.44721346e-01 5.46150728e-04 9.89472301e-01 -3.84502587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters 0.031052823664961263 Centerline is valid? [True, True] Translation: X:277.62, Y:-171.99, Z:-38.46 [[ 7.10455698e-01 6.96010136e-01 1.04031690e-01 2.77616536e+02] [-6.88643604e-01 7.18031948e-01 -1.00995590e-01 -1.71994095e+02] [-1.44992031e-01 1.12134443e-04 9.89432816e-01 -3.84585527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters 0.031370584507728685 Centerline is valid? [True, True] Translation: X:277.67, Y:-172.03, Z:-38.47 [[ 7.09021422e-01 6.97628432e-01 1.02971813e-01 2.77665478e+02] [-6.90416403e-01 7.16459732e-01 -1.00053202e-01 -1.72032712e+02] [-1.43575116e-01 -1.53565238e-04 9.89639410e-01 -3.84677203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters 0.03091227019419428 Centerline is valid? [True, True] Translation: X:277.71, Y:-172.07, Z:-38.48 [[ 7.09301683e-01 6.97600322e-01 1.01217153e-01 2.77712950e+02] [-6.90626496e-01 7.16487109e-01 -9.83934254e-02 -1.72072986e+02] [-1.41160071e-01 -1.12625712e-04 9.89986779e-01 -3.84750648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters 0.030903635049978662 Centerline is valid? [True, True] Translation: X:277.76, Y:-172.11, Z:-38.48 [[ 7.11105259e-01 6.95900946e-01 1.00255595e-01 2.77758971e+02] [-6.89030573e-01 7.18137725e-01 -9.75452577e-02 -1.72113521e+02] [-1.39879162e-01 2.85775917e-04 9.90168540e-01 -3.84836939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters 0.030804631582820402 Centerline is valid? [True, True] Translation: X:277.81, Y:-172.15, Z:-38.49 [[ 7.15125541e-01 6.92044987e-01 9.83320747e-02 2.77805441e+02] [-6.85388835e-01 7.21853560e-01 -9.57579326e-02 -1.72154115e+02] [-1.37250155e-01 1.08323716e-03 9.90535825e-01 -3.84889001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters 0.031157842505283834 Centerline is valid? [True, True] Translation: X:277.85, Y:-172.20, Z:-38.50 [[ 7.17573319e-01 6.89321202e-01 9.96233500e-02 2.77851394e+02] [-6.82449756e-01 7.24453879e-01 -9.71025602e-02 -1.72195435e+02] [-1.39107376e-01 1.69027550e-03 9.90275861e-01 -3.84977352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters 0.031281881364075614 Centerline is valid? [True, True] Translation: X:277.90, Y:-172.24, Z:-38.50 [[ 7.20219098e-01 6.86870673e-01 9.74326921e-02 2.77895536e+02] [-6.80265858e-01 7.26776405e-01 -9.50495615e-02 -1.72239162e+02] [-1.36098538e-01 2.17637561e-03 9.90692915e-01 -3.85036540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters 0.03133665461329995 Centerline is valid? [True, True] Translation: X:277.94, Y:-172.28, Z:-38.51 [[ 7.20296451e-01 6.86885124e-01 9.67566456e-02 2.77937996e+02] [-6.80361110e-01 7.26762621e-01 -9.44714381e-02 -1.72283420e+02] [-1.35210139e-01 2.21798281e-03 9.90814462e-01 -3.85126260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters 0.031048223128501647 Centerline is valid? [True, True] Translation: X:277.98, Y:-172.33, Z:-38.52 [[ 7.18378119e-01 6.88897569e-01 9.67110007e-02 2.77981253e+02] [-6.82386633e-01 7.24856216e-01 -9.45089872e-02 -1.72327545e+02] [-1.35208582e-01 1.89889431e-03 9.90815338e-01 -3.85211243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters 0.030765597348120014 Centerline is valid? [True, True] Translation: X:278.02, Y:-172.37, Z:-38.53 [[ 7.15168718e-01 6.92385793e-01 9.55804295e-02 2.78023992e+02] [-6.86046871e-01 7.21526342e-01 -9.34849100e-02 -1.72372586e+02] [-1.33691421e-01 1.28482864e-03 9.91022176e-01 -3.85275713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters 0.030444701697411213 Centerline is valid? [True, True] Translation: X:278.07, Y:-172.42, Z:-38.54 [[ 7.10845745e-01 6.97021765e-01 9.41221800e-02 2.78066228e+02] [-6.90905231e-01 7.17049817e-01 -9.21385990e-02 -1.72417967e+02] [-1.31712901e-01 4.66824616e-04 9.91287796e-01 -3.85369024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters 0.030208523779048452 Centerline is valid? [True, True] Translation: X:278.11, Y:-172.46, Z:-38.54 [[ 7.05126051e-01 7.02870276e-01 9.36516284e-02 2.78113399e+02] [-6.96854959e-01 7.11317836e-01 -9.17611169e-02 -1.72459818e+02] [-1.31112235e-01 -5.58447675e-04 9.91367374e-01 -3.85430591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters 0.030077109262236792 Centerline is valid? [True, True] Translation: X:278.16, Y:-172.50, Z:-38.55 [[ 6.98523519e-01 7.09711551e-01 9.15117905e-02 2.78161919e+02] [-7.04015241e-01 7.04490257e-01 -8.97553224e-02 -1.72500189e+02] [-1.28169554e-01 -1.72949159e-03 9.91750762e-01 -3.85493416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters 0.03073764641504395 Centerline is valid? [True, True] Translation: X:278.21, Y:-172.54, Z:-38.56 [[ 6.91915425e-01 7.16323215e-01 9.01892227e-02 2.78212739e+02] [-7.10835040e-01 6.97762833e-01 -8.85470240e-02 -1.72537055e+02] [-1.26358977e-01 -2.84260795e-03 9.91980508e-01 -3.85557665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters 0.030845196378793495 Centerline is valid? [True, True] Translation: X:278.27, Y:-172.57, Z:-38.56 [[ 6.88011889e-01 7.20252054e-01 8.87503221e-02 2.78267706e+02] [-7.14960857e-01 6.93703881e-01 -8.72118035e-02 -1.72569990e+02] [-1.24380923e-01 -3.45024868e-03 9.92228543e-01 -3.85616955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters 0.030727261253718167 Centerline is valid? [True, True] Translation: X:278.32, Y:-172.60, Z:-38.57 [[ 6.89151222e-01 7.19053916e-01 8.96217588e-02 2.78323899e+02] [-7.13637599e-01 6.94946879e-01 -8.81488067e-02 -1.72601245e+02] [-1.25666106e-01 -3.20959893e-03 9.92067401e-01 -3.85699010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters 0.029930897514091073 Centerline is valid? [True, True] Translation: X:278.38, Y:-172.63, Z:-38.58 [[ 6.93546592e-01 7.15012459e-01 8.80358303e-02 2.78377524e+02] [-7.09745552e-01 6.99107655e-01 -8.66587495e-02 -1.72633281e+02] [-1.23508608e-01 -2.38115857e-03 9.92340644e-01 -3.85762602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters 0.029676950451975756 Centerline is valid? [True, True] Translation: X:278.43, Y:-172.67, Z:-38.59 [[ 6.96463811e-01 7.11765480e-01 9.12582118e-02 2.78428678e+02] [-7.06074473e-01 7.02414722e-01 -8.98465242e-02 -1.72670409e+02] [-1.28050766e-01 -1.86024113e-03 9.91765870e-01 -3.85854218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters 0.02941092095451643 Centerline is valid? [True, True] Translation: X:278.48, Y:-172.70, Z:-38.59 [[ 7.03075416e-01 7.05431980e-01 8.97255904e-02 2.78482286e+02] [-6.99874904e-01 7.08777315e-01 -8.83732808e-02 -1.72704315e+02] [-1.25936801e-01 -6.63607781e-04 9.92038044e-01 -3.85946581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters 0.029164231831260237 Centerline is valid? [True, True] Translation: X:278.53, Y:-172.74, Z:-38.60 [[ 7.06400761e-01 7.02358245e-01 8.76975525e-02 2.78531406e+02] [-6.97021825e-01 7.11823636e-01 -8.64157758e-02 -1.72743414e+02] [-1.23120023e-01 -8.29382662e-05 9.92391784e-01 -3.86008988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters 0.029506596886846655 Centerline is valid? [True, True] Translation: X:278.58, Y:-172.78, Z:-38.61 [[ 7.11609937e-01 6.96936049e-01 8.88337817e-02 2.78580509e+02] [-6.91414008e-01 7.17132729e-01 -8.75632294e-02 -1.72781357e+02] [-1.24731583e-01 8.89943127e-04 9.92190123e-01 -3.86079826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters 0.029910902625505466 Centerline is valid? [True, True] Translation: X:278.63, Y:-172.82, Z:-38.62 [[ 7.16248012e-01 6.92429513e-01 8.67764616e-02 2.78626737e+02] [-6.87125465e-01 7.21483635e-01 -8.55567671e-02 -1.72822647e+02] [-1.21849828e-01 1.65354778e-03 9.92547170e-01 -3.86167122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters 0.029740283350437585 Centerline is valid? [True, True] Translation: X:278.67, Y:-172.86, Z:-38.62 [[ 7.17270850e-01 6.91552327e-01 8.53106488e-02 2.78672945e+02] [-6.86417937e-01 7.22324156e-01 -8.41322146e-02 -1.72864217e+02] [-1.19803771e-01 1.78682555e-03 9.92795983e-01 -3.86227965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters 0.029699244246261663 Centerline is valid? [True, True] Translation: X:278.72, Y:-172.90, Z:-38.63 [[ 7.14917329e-01 6.93800833e-01 8.67964119e-02 2.78720076e+02] [-6.88499570e-01 7.20165470e-01 -8.56156352e-02 -1.72900799e+02] [-1.21907978e-01 1.44880886e-03 9.92540350e-01 -3.86269305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters 0.02951914990815025 Centerline is valid? [True, True] Translation: X:278.76, Y:-172.94, Z:-38.63 [[ 7.13918146e-01 6.94796659e-01 8.70544889e-02 2.78763442e+02] [-6.89472230e-01 7.19205099e-01 -8.58607580e-02 -1.72942848e+02] [-1.22265800e-01 1.27590061e-03 9.92496572e-01 -3.86349771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters 0.02984839868307371 Centerline is valid? [True, True] Translation: X:278.80, Y:-172.99, Z:-38.64 [[ 7.15685819e-01 6.92971908e-01 8.70846922e-02 2.78804896e+02] [-6.87630425e-01 7.20962838e-01 -8.58893746e-02 -1.72985154e+02] [-1.22303751e-01 1.58772345e-03 9.92491447e-01 -3.86423726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters 0.03065253493044128 Centerline is valid? [True, True] Translation: X:278.85, Y:-173.03, Z:-38.65 [[ 7.20800647e-01 6.87533620e-01 8.79997066e-02 2.78845712e+02] [-6.82039408e-01 7.26148127e-01 -8.67821579e-02 -1.73029523e+02] [-1.23566473e-01 2.53336776e-03 9.92333063e-01 -3.86484915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters 0.031057013808763002 Centerline is valid? [True, True] Translation: X:278.89, Y:-173.08, Z:-38.65 [[ 7.23125328e-01 6.85360056e-01 8.58565892e-02 2.78887320e+02] [-6.80115666e-01 7.28198844e-01 -8.46706804e-02 -1.73076008e+02] [-1.20550571e-01 2.83510223e-03 9.92703139e-01 -3.86548837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters 0.031520574589068574 Centerline is valid? [True, True] Translation: X:278.93, Y:-173.12, Z:-38.66 [[ 7.25707992e-01 6.82716520e-01 8.51238134e-02 2.78927193e+02] [-6.77541000e-01 7.30676067e-01 -8.39683198e-02 -1.73123852e+02] [-1.19524492e-01 3.26160715e-03 9.92825895e-01 -3.86632424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters 0.0313388202324413 Centerline is valid? [True, True] Translation: X:278.96, Y:-173.18, Z:-38.67 [[ 7.25337138e-01 6.82997524e-01 8.60256853e-02 2.78963337e+02] [-6.77710646e-01 7.30413387e-01 -8.48797022e-02 -1.73176560e+02] [-1.20806939e-01 3.26587746e-03 9.92670649e-01 -3.86707067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters 0.030066648076862396 Centerline is valid? [True, True] Translation: X:279.00, Y:-173.23, Z:-38.68 [[ 7.19521039e-01 6.89272238e-01 8.48130637e-02 2.78998065e+02] [-6.84173423e-01 7.24499078e-01 -8.37126760e-02 -1.73229170e+02] [-1.19147810e-01 2.20618751e-03 9.92874077e-01 -3.86750169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters 0.029150822522465016 Centerline is valid? [True, True] Translation: X:279.04, Y:-173.28, Z:-38.68 [[ 7.09126405e-01 6.99810750e-01 8.60503144e-02 2.79035260e+02] [-6.94635003e-01 7.14328141e-01 -8.49559912e-02 -1.73278690e+02] [-1.20921277e-01 4.70976265e-04 9.92661988e-01 -3.86834041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters 0.029169711657308434 Centerline is valid? [True, True] Translation: X:279.08, Y:-173.32, Z:-38.69 [[ 7.02457718e-01 7.06437936e-01 8.65944390e-02 2.79078906e+02] [-7.01243055e-01 7.07774694e-01 -8.55170161e-02 -1.73324265e+02] [-1.21701817e-01 -6.51660982e-04 9.92566493e-01 -3.86895179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters 0.02958682808524768 Centerline is valid? [True, True] Translation: X:279.12, Y:-173.37, Z:-38.70 [[ 6.96726923e-01 7.12482344e-01 8.33096872e-02 2.79123565e+02] [-7.07708817e-01 7.01688254e-01 -8.23518406e-02 -1.73366448e+02] [-1.17131661e-01 -1.58225560e-03 9.93115135e-01 -3.86956419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters 0.029635469651289076 Centerline is valid? [True, True] Translation: X:279.17, Y:-173.41, Z:-38.70 [[ 6.95757576e-01 7.13281750e-01 8.45608681e-02 2.79170220e+02] [-7.08364330e-01 7.00875314e-01 -8.36287671e-02 -1.73406465e+02] [-1.18917498e-01 -1.71455439e-03 9.92902658e-01 -3.87043704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters 0.029535175989808444 Centerline is valid? [True, True] Translation: X:279.22, Y:-173.45, Z:-38.71 [[ 6.95855758e-01 7.13103401e-01 8.52543463e-02 2.79218852e+02] [-7.08100571e-01 7.01056854e-01 -8.43378277e-02 -1.73447341e+02] [-1.19909736e-01 -1.68168829e-03 9.92783374e-01 -3.87097857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters 0.029796643253890105 Centerline is valid? [True, True] Translation: X:279.27, Y:-173.49, Z:-38.72 [[ 6.95233967e-01 7.13724972e-01 8.51257605e-02 2.79266748e+02] [-7.08737923e-01 7.00423841e-01 -8.42436900e-02 -1.73488196e+02] [-1.19750937e-01 -1.76277990e-03 9.92802400e-01 -3.87155251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters 0.02935168077143476 Centerline is valid? [True, True] Translation: X:279.31, Y:-173.53, Z:-38.72 [[ 6.98170234e-01 7.11063292e-01 8.33505817e-02 2.79312503e+02] [-7.06260144e-01 7.03126886e-01 -8.25178265e-02 -1.73529830e+02] [-1.17281432e-01 -1.25570365e-03 9.93097925e-01 -3.87205347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters 0.029188761166430252 Centerline is valid? [True, True] Translation: X:279.36, Y:-173.57, Z:-38.73 [[ 7.02388649e-01 7.06978014e-01 8.26575614e-02 2.79356180e+02] [-7.02223832e-01 7.07235310e-01 -8.18529562e-02 -1.73573486e+02] [-1.16326586e-01 -5.51522163e-04 9.93210864e-01 -3.87280578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters 0.029042444472169044 Centerline is valid? [True, True] Translation: X:279.40, Y:-173.62, Z:-38.74 [[ 7.04709198e-01 7.04648751e-01 8.27954356e-02 2.79397915e+02] [-6.99860056e-01 7.09556280e-01 -8.20108933e-02 -1.73618677e+02] [-1.16536895e-01 -1.51387352e-04 9.93186352e-01 -3.87356733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters 0.02886603152756479 Centerline is valid? [True, True] Translation: X:279.44, Y:-173.67, Z:-38.74 [[ 7.05415922e-01 7.04145297e-01 8.10418289e-02 2.79437983e+02] [-6.99552290e-01 7.10055912e-01 -8.02944307e-02 -1.73666868e+02] [-1.14083175e-01 -5.20270821e-05 9.93471201e-01 -3.87398447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters 0.028914329014961115 Centerline is valid? [True, True] Translation: X:279.48, Y:-173.71, Z:-38.74 [[ 7.01314398e-01 7.08442877e-01 7.91631511e-02 2.79480381e+02] [-7.04085877e-01 7.05767791e-01 -7.84531895e-02 -1.73714122e+02] [-1.11450406e-01 -7.17305298e-04 9.93769738e-01 -3.87447048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters 0.029298950362066083 Centerline is valid? [True, True] Translation: X:279.52, Y:-173.76, Z:-38.75 [[ 6.94936508e-01 7.14636215e-01 7.97391399e-02 2.79520474e+02] [-7.10252158e-01 6.99494247e-01 -7.90548577e-02 -1.73761769e+02] [-1.12272534e-01 -1.69678945e-03 9.93676003e-01 -3.87493959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters 0.029552814119093815 Centerline is valid? [True, True] Translation: X:279.56, Y:-173.81, Z:-38.75 [[ 6.92026700e-01 7.17601485e-01 7.84037941e-02 2.79563901e+02] [-7.13380149e-01 6.96450708e-01 -7.77507156e-02 -1.73805870e+02] [-1.10398407e-01 -2.12613918e-03 9.93885140e-01 -3.87549211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters 0.029647605369807158 Centerline is valid? [True, True] Translation: X:279.61, Y:-173.85, Z:-38.76 [[ 6.90788852e-01 7.18992380e-01 7.65553328e-02 2.79608569e+02] [-7.14974707e-01 6.95014219e-01 -7.59368356e-02 -1.73849324e+02] [-1.07805051e-01 -2.27880715e-03 9.94169441e-01 -3.87591663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters 0.030031292867323846 Centerline is valid? [True, True] Translation: X:279.66, Y:-173.89, Z:-38.76 [[ 6.88064254e-01 7.21592722e-01 7.66258763e-02 2.79655967e+02] [-7.17581448e-01 6.92312641e-01 -7.60267909e-02 -1.73890104e+02] [-1.07909442e-01 -2.67399005e-03 9.94157132e-01 -3.87631347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters 0.029826401733721395 Centerline is valid? [True, True] Translation: X:279.70, Y:-173.93, Z:-38.77 [[ 6.87350886e-01 7.22419032e-01 7.52296609e-02 2.79702271e+02] [-7.18555877e-01 6.91450101e-01 -7.46606295e-02 -1.73931773e+02] [-1.05953816e-01 -2.73866517e-03 9.94367281e-01 -3.87683792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters 0.029558247145303383 Centerline is valid? [True, True] Translation: X:279.75, Y:-173.97, Z:-38.78 [[ 6.89896106e-01 7.19958833e-01 7.55158405e-02 2.79748376e+02] [-7.16049269e-01 6.94012775e-01 -7.49647402e-02 -1.73970825e+02] [-1.06380485e-01 -2.35518001e-03 9.94322707e-01 -3.87760227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters 0.0290375181995674 Centerline is valid? [True, True] Translation: X:279.79, Y:-174.01, Z:-38.78 [[ 6.94564589e-01 7.15514137e-01 7.49636656e-02 2.79793675e+02] [-7.11635693e-01 6.98596282e-01 -7.44169041e-02 -1.74009289e+02] [-1.05615685e-01 -1.65947375e-03 9.94405638e-01 -3.87823241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters 0.02893217013450313 Centerline is valid? [True, True] Translation: X:279.84, Y:-174.05, Z:-38.79 [[ 6.96520396e-01 7.13447238e-01 7.65008309e-02 2.79838199e+02] [-7.09396216e-01 7.00707595e-01 -7.59333581e-02 -1.74046761e+02] [-1.07779158e-01 -1.38026733e-03 9.94173902e-01 -3.87877322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters 0.028816749200801742 Centerline is valid? [True, True] Translation: X:279.88, Y:-174.09, Z:-38.79 [[ 6.96210919e-01 7.13557453e-01 7.82695187e-02 2.79879340e+02] [-7.09325102e-01 7.00595152e-01 -7.76165679e-02 -1.74090273e+02] [-1.10219126e-01 -1.48103230e-03 9.93906208e-01 -3.87924409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters 0.028735984644542023 Centerline is valid? [True, True] Translation: X:279.92, Y:-174.13, Z:-38.80 [[ 6.96701540e-01 7.13057714e-01 7.84580174e-02 2.79921100e+02] [-7.08801716e-01 7.01103931e-01 -7.78036348e-02 -1.74134350e+02] [-1.10485706e-01 -1.40526516e-03 9.93876720e-01 -3.87998777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters 0.0285026330787759 Centerline is valid? [True, True] Translation: X:279.96, Y:-174.18, Z:-38.81 [[ 6.97573036e-01 7.12153238e-01 7.89279739e-02 2.79963609e+02] [-7.07838988e-01 7.02022915e-01 -7.82802290e-02 -1.74179493e+02] [-1.11156765e-01 -1.26212006e-03 9.93802083e-01 -3.88065982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters 0.02872756276908972 Centerline is valid? [True, True] Translation: X:280.01, Y:-174.22, Z:-38.81 [[ 6.95962668e-01 7.13588938e-01 8.01672819e-02 2.80006780e+02] [-7.09144787e-01 7.00563044e-01 -7.95304527e-02 -1.74223563e+02] [-1.12914286e-01 -1.49998407e-03 9.93603600e-01 -3.88120190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters 0.02909824042510034 Centerline is valid? [True, True] Translation: X:280.05, Y:-174.27, Z:-38.82 [[ 6.91097058e-01 7.18426947e-01 7.90416290e-02 2.80050177e+02] [-7.14136155e-01 6.95598806e-01 -7.84337526e-02 -1.74267493e+02] [-1.11330184e-01 -2.24114938e-03 9.93780945e-01 -3.88176646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters 0.02950882239135904 Centerline is valid? [True, True] Translation: X:280.09, Y:-174.31, Z:-38.82 [[ 6.88361163e-01 7.20917059e-01 8.02340598e-02 2.80094456e+02] [-7.16509829e-01 6.93016213e-01 -7.96378896e-02 -1.74310741e+02] [-1.13015817e-01 -2.66886218e-03 9.93589605e-01 -3.88244013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters 0.029257692820343847 Centerline is valid? [True, True] Translation: X:280.14, Y:-174.35, Z:-38.83 [[ 6.89104647e-01 7.20205651e-01 8.02409248e-02 2.80139561e+02] [-7.15790514e-01 6.93755994e-01 -7.96653032e-02 -1.74351334e+02] [-1.13043024e-01 -2.53796223e-03 9.93586852e-01 -3.88305346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters 0.028966278185071782 Centerline is valid? [True, True] Translation: X:280.18, Y:-174.39, Z:-38.84 [[ 6.90220971e-01 7.19196588e-01 7.96949087e-02 2.80184142e+02] [-7.14833648e-01 6.94802670e-01 -7.91334673e-02 -1.74393126e+02] [-1.12284755e-01 -2.34902362e-03 9.93673294e-01 -3.88364265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters 0.028192449976356074 Centerline is valid? [True, True] Translation: X:280.23, Y:-174.43, Z:-38.84 [[ 6.95989999e-01 7.13347969e-01 8.20524008e-02 2.80228383e+02] [-7.08680281e-01 7.00808540e-01 -8.14840466e-02 -1.74433045e+02] [-1.15629502e-01 -1.43683698e-03 9.93291374e-01 -3.88435658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters 0.02801399094177655 Centerline is valid? [True, True] Translation: X:280.27, Y:-174.48, Z:-38.85 [[ 6.99066010e-01 7.10424668e-01 8.12619555e-02 2.80272342e+02] [-7.05828044e-01 7.03772613e-01 -8.06900387e-02 -1.74477209e+02] [-1.14514133e-01 -9.49303690e-04 9.93421166e-01 -3.88479925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters 0.027786491748270727 Centerline is valid? [True, True] Translation: X:280.32, Y:-174.52, Z:-38.86 [[ 7.00763966e-01 7.08770123e-01 8.10849956e-02 2.80316975e+02] [-7.04180098e-01 7.05439206e-01 -8.05351882e-02 -1.74520094e+02] [-1.14281470e-01 -6.62282233e-04 9.93448190e-01 -3.88550404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters 0.027877902569306355 Centerline is valid? [True, True] Translation: X:280.36, Y:-174.56, Z:-38.86 [[ 7.08690356e-01 7.00684131e-01 8.24604635e-02 2.80361588e+02] [-6.95878966e-01 7.13471299e-01 -8.19217316e-02 -1.74560983e+02] [-1.16234431e-01 6.74639001e-04 9.93221577e-01 -3.88603924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters 0.028092042993107105 Centerline is valid? [True, True] Translation: X:280.40, Y:-174.61, Z:-38.87 [[ 7.12888498e-01 6.96326876e-01 8.31797477e-02 2.80404416e+02] [-6.91407313e-01 7.17723429e-01 -8.26378050e-02 -1.74605649e+02] [-1.17242978e-01 1.40045483e-03 9.93102272e-01 -3.88655880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters 0.028782571505761488 Centerline is valid? [True, True] Translation: X:280.45, Y:-174.65, Z:-38.87 [[ 7.17287894e-01 6.91745678e-01 8.35822612e-02 2.80445114e+02] [-6.86744413e-01 7.22137918e-01 -8.30598499e-02 -1.74651702e+02] [-1.17814212e-01 2.17817400e-03 9.93033266e-01 -3.88720160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters 0.029402905625947193 Centerline is valid? [True, True] Translation: X:280.48, Y:-174.70, Z:-38.88 [[ 7.18698643e-01 6.90229323e-01 8.39984638e-02 2.80483248e+02] [-6.85163774e-01 7.23586496e-01 -8.35055991e-02 -1.74700889e+02] [-1.18418167e-01 2.46265626e-03 9.92960761e-01 -3.88777869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters 0.029781779022036083 Centerline is valid? [True, True] Translation: X:280.52, Y:-174.75, Z:-38.89 [[ 7.19409744e-01 6.89484551e-01 8.40278141e-02 2.80520768e+02] [-6.84407407e-01 7.24295706e-01 -8.35597437e-02 -1.74750733e+02] [-1.18474137e-01 2.60443545e-03 9.92953723e-01 -3.88861904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters 0.029836886976892567 Centerline is valid? [True, True] Translation: X:280.56, Y:-174.80, Z:-38.89 [[ 7.18450979e-01 6.90522103e-01 8.37103100e-02 2.80555326e+02] [-6.85481920e-01 7.23307054e-01 -8.33153245e-02 -1.74804340e+02] [-1.18079331e-01 2.47607241e-03 9.93001078e-01 -3.88918310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters 0.029498741465349806 Centerline is valid? [True, True] Translation: X:280.59, Y:-174.86, Z:-38.90 [[ 7.15755985e-01 6.93261743e-01 8.41518022e-02 2.80591988e+02] [-6.88178212e-01 7.20682868e-01 -8.38269263e-02 -1.74855671e+02] [-1.18760763e-01 2.08818750e-03 9.92920702e-01 -3.88984984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters 0.029171639293176736 Centerline is valid? [True, True] Translation: X:280.63, Y:-174.91, Z:-38.90 [[ 7.10703675e-01 6.98146515e-01 8.65547845e-02 2.80626282e+02] [-6.92794430e-01 7.15953619e-01 -8.62919031e-02 -1.74909558e+02] [-1.22213603e-01 1.36329996e-03 9.92502885e-01 -3.89049438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters 0.028769600790082554 Centerline is valid? [True, True] Translation: X:280.66, Y:-174.96, Z:-38.91 [[ 7.04378728e-01 7.04621871e-01 8.57824422e-02 2.80661011e+02] [-6.99408756e-01 7.09582940e-01 -8.55537428e-02 -1.74962480e+02] [-1.21152796e-01 2.65245264e-04 9.92633835e-01 -3.89095929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters 0.02901504413152368 Centerline is valid? [True, True] Translation: X:280.70, Y:-175.01, Z:-38.91 [[ 6.97042389e-01 7.11980029e-01 8.49490822e-02 2.80700996e+02] [-7.06912713e-01 7.02199081e-01 -8.47989829e-02 -1.75011796e+02] [-1.20026350e-01 -9.43100584e-04 9.92770258e-01 -3.89143052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters 0.029170413215965828 Centerline is valid? [True, True] Translation: X:280.74, Y:-175.06, Z:-38.92 [[ 6.91665734e-01 7.17324814e-01 8.39262926e-02 2.80743364e+02] [-7.12407835e-01 6.96736627e-01 -8.38638713e-02 -1.75057496e+02] [-1.18632158e-01 -1.78398229e-03 9.92936669e-01 -3.89194491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters 0.029153904169421634 Centerline is valid? [True, True] Translation: X:280.76, Y:-175.05, Z:-38.92 [[ 6.42616633e-01 7.61997961e-01 8.00185657e-02 2.80764298e+02] [-7.56534758e-01 6.47576359e-01 -9.11044401e-02 -1.75054891e+02] [-1.21239529e-01 -1.99159774e-03 9.92621282e-01 -3.89194958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters 0.029052173394794847 Centerline is valid? [True, True] Translation: X:280.66, Y:-175.45, Z:-37.01 [[ 7.14634167e-01 -6.96647555e-01 -6.30887544e-02 2.80660246e+02] [-6.92803284e-01 -7.17358238e-01 7.36258682e-02 -1.75451590e+02] [-9.65485187e-02 -8.90746473e-03 -9.95288421e-01 -3.70091943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters 0.029140165295896574 Centerline is valid? [True, True] Translation: X:280.79, Y:-175.11, Z:-38.93 [[ 6.96302974e-01 7.12581142e-01 8.59667711e-02 2.80793687e+02] [-7.07453216e-01 7.01588327e-01 -8.53449878e-02 -1.75108781e+02] [-1.21128512e-01 -1.39149991e-03 9.92635858e-01 -3.89272130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters 0.029208432102781345 Centerline is valid? [True, True] Translation: X:280.84, Y:-175.15, Z:-38.93 [[ 6.94760426e-01 7.14061419e-01 8.61640287e-02 2.80837842e+02] [-7.08910219e-01 7.00081254e-01 -8.56302516e-02 -1.75151623e+02] [-1.21467080e-01 -1.59005028e-03 9.92594187e-01 -3.89343047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters 0.02895210538466045 Centerline is valid? [True, True] Translation: X:280.88, Y:-175.19, Z:-38.94 [[ 6.95865881e-01 7.12903177e-01 8.68316537e-02 2.80883268e+02] [-7.07652497e-01 7.01261194e-01 -8.63752387e-02 -1.75194864e+02] [-1.22468851e-01 -1.34105499e-03 9.92471452e-01 -3.89410642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters 0.028601218915167675 Centerline is valid? [True, True] Translation: X:280.93, Y:-175.24, Z:-38.95 [[ 7.02533463e-01 7.06493715e-01 8.55182110e-02 2.80929630e+02] [-7.01342895e-01 7.07719300e-01 -8.51559555e-02 -1.75235876e+02] [-1.20685036e-01 -1.52681346e-04 9.92690838e-01 -3.89467937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters 0.028536478899946843 Centerline is valid? [True, True] Translation: X:280.98, Y:-175.28, Z:-38.95 [[ 7.08171623e-01 7.00772330e-01 8.60877100e-02 2.80975411e+02] [-6.95500191e-01 7.13384434e-01 -8.58028732e-02 -1.75277428e+02] [-1.21541912e-01 8.89141153e-04 9.92585902e-01 -3.89541143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters 0.02908481760615089 Centerline is valid? [True, True] Translation: X:281.02, Y:-175.32, Z:-38.96 [[ 7.10592483e-01 6.98096541e-01 8.78609277e-02 2.81019732e+02] [-6.92573525e-01 7.16002208e-01 -8.76512957e-02 -1.75320872e+02] [-1.24097685e-01 1.43419942e-03 9.92268969e-01 -3.89600573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters 0.029189046057119486 Centerline is valid? [True, True] Translation: X:281.06, Y:-175.36, Z:-38.97 [[ 7.13098390e-01 6.95674867e-01 8.67592390e-02 2.81063452e+02] [-6.90262718e-01 7.18354311e-01 -8.66283103e-02 -1.75364614e+02] [-1.22589012e-01 1.88784045e-03 9.92455727e-01 -3.89651285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters 0.029448861718514248 Centerline is valid? [True, True] Translation: X:281.10, Y:-175.41, Z:-38.97 [[ 7.14694259e-01 6.94219440e-01 8.52730110e-02 2.81102773e+02] [-6.88972381e-01 7.19760186e-01 -8.52193204e-02 -1.75414490e+02] [-1.20537027e-01 2.15500953e-03 9.92706493e-01 -3.89730270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters 0.029275980572773724 Centerline is valid? [True, True] Translation: X:281.12, Y:-175.42, Z:-38.97 [[ 6.64803109e-01 7.42719439e-01 8.00291250e-02 2.81120507e+02] [-7.37019112e-01 6.69599483e-01 -9.18659931e-02 -1.75416020e+02] [-1.21818120e-01 2.08980320e-03 9.92550240e-01 -3.89715477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters 0.028804146045152315 Centerline is valid? [True, True] Translation: X:281.03, Y:-175.79, Z:-37.07 [[ 6.97885083e-01 -7.13374865e-01 -6.36609229e-02 2.81028457e+02] [-7.09535742e-01 -7.00751390e-01 7.42059291e-02 -1.75792098e+02] [-9.75471249e-02 -6.61751082e-03 -9.95208906e-01 -3.70678149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters 0.028882392771255056 Centerline is valid? [True, True] Translation: X:281.14, Y:-175.48, Z:-38.98 [[ 7.10710602e-01 6.98056564e-01 8.72208328e-02 2.81135752e+02] [-6.92666883e-01 7.16041742e-01 -8.65841406e-02 -1.75477224e+02] [-1.22894385e-01 1.12128430e-03 9.92419122e-01 -3.89793248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters 0.028687639109338386 Centerline is valid? [True, True] Translation: X:281.17, Y:-175.53, Z:-38.98 [[ 7.08380001e-01 7.00625122e-01 8.55699329e-02 2.81172938e+02] [-6.95446564e-01 7.13529196e-01 -8.50303622e-02 -1.75527545e+02] [-1.20631053e-01 7.24492158e-04 9.92697146e-01 -3.89849764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters 0.028565804809154764 Centerline is valid? [True, True] Translation: X:281.21, Y:-175.57, Z:-38.99 [[ 7.04094582e-01 7.04808391e-01 8.65791672e-02 2.81214442e+02] [-6.99527987e-01 7.09397722e-01 -8.61131122e-02 -1.75574684e+02] [-1.22112308e-01 6.72251761e-05 9.92516287e-01 -3.89904701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters 0.02844280761464932 Centerline is valid? [True, True] Translation: X:281.25, Y:-175.62, Z:-39.00 [[ 7.01075433e-01 7.07792703e-01 8.67336559e-02 2.81254834e+02] [-7.02504789e-01 7.06420087e-01 -8.63578755e-02 -1.75622834e+02] [-1.22393871e-01 -3.87423673e-04 9.92481531e-01 -3.89966053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters 0.028265869229252776 Centerline is valid? [True, True] Translation: X:281.29, Y:-175.67, Z:-39.00 [[ 6.99050445e-01 7.09927070e-01 8.56272782e-02 2.81293100e+02] [-7.04778646e-01 7.04274864e-01 -8.53462194e-02 -1.75673182e+02] [-1.20894731e-01 -6.86964520e-04 9.92665096e-01 -3.90029568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters 0.028260265457038344 Centerline is valid? [True, True] Translation: X:281.33, Y:-175.72, Z:-39.01 [[ 6.98043287e-01 7.10836042e-01 8.63000096e-02 2.81333544e+02] [-7.05601721e-01 7.03357309e-01 -8.61086976e-02 -1.75721833e+02] [-1.21908908e-01 -7.85837012e-04 9.92540982e-01 -3.90113931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters 0.028373684948394515 Centerline is valid? [True, True] Translation: X:281.37, Y:-175.77, Z:-39.02 [[ 6.94980046e-01 7.13705918e-01 8.73304032e-02 2.81373727e+02] [-7.08356409e-01 7.00444379e-01 -8.72288373e-02 -1.75768609e+02] [-1.23425827e-01 -1.23874943e-03 9.92353027e-01 -3.90172641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters 0.02879677497444403 Centerline is valid? [True, True] Translation: X:281.42, Y:-175.81, Z:-39.02 [[ 6.91941153e-01 7.16732118e-01 8.66747501e-02 2.81416923e+02] [-7.11477186e-01 6.97346502e-01 -8.66491221e-02 -1.75813018e+02] [-1.22546543e-01 -1.71101381e-03 9.92461293e-01 -3.90242064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters 0.028998562158029366 Centerline is valid? [True, True] Translation: X:281.45, Y:-176.14, Z:-37.13 [[ 7.63202127e-01 -6.42857319e-01 -6.52455434e-02 2.81446266e+02] [-6.39434794e-01 -7.65929004e-01 6.69022023e-02 -1.76135812e+02] [-9.29820245e-02 -9.33963250e-03 -9.95623982e-01 -3.71265546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters 0.028992543102293013 Centerline is valid? [True, True] Translation: X:281.48, Y:-175.88, Z:-39.03 [[ 7.44860426e-01 6.60461265e-01 9.47304795e-02 2.81475984e+02] [-6.55390546e-01 7.50859102e-01 -8.16935735e-02 -1.75878471e+02] [-1.25084684e-01 -1.23515080e-03 9.92145300e-01 -3.90342097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters 0.028994223984987914 Centerline is valid? [True, True] Translation: X:281.53, Y:-175.92, Z:-39.04 [[ 7.50364378e-01 6.53946683e-01 9.64729820e-02 2.81525821e+02] [-6.48622342e-01 7.56540633e-01 -8.32786246e-02 -1.75915667e+02] [-1.27445511e-01 -8.52180887e-05 9.91845570e-01 -3.90429165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters 0.02916800092988567 Centerline is valid? [True, True] Translation: X:281.58, Y:-175.95, Z:-39.05 [[ 7.53603995e-01 6.50203986e-01 9.65183679e-02 2.81575072e+02] [-6.44832017e-01 7.59759430e-01 -8.34103030e-02 -1.75954138e+02] [-1.27564452e-01 6.20203651e-04 9.91830089e-01 -3.90501652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters 0.029335646566360785 Centerline is valid? [True, True] Translation: X:281.62, Y:-175.99, Z:-39.06 [[ 7.55659292e-01 6.47820105e-01 9.64787367e-02 2.81622521e+02] [-6.42422005e-01 7.61792573e-01 -8.34628201e-02 -1.75993617e+02] [-1.27565678e-01 1.08939202e-03 9.91829527e-01 -3.90566485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters 0.02915439128707642 Centerline is valid? [True, True] Translation: X:281.67, Y:-176.04, Z:-39.06 [[ 7.56044536e-01 6.47431597e-01 9.60676188e-02 2.81668875e+02] [-6.42066515e-01 7.62122604e-01 -8.31848944e-02 -1.76035606e+02] [-1.27071833e-01 1.20968364e-03 9.91892779e-01 -3.90622453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters 0.02961480763765898 Centerline is valid? [True, True] Translation: X:281.71, Y:-176.08, Z:-39.07 [[ 7.57793104e-01 6.45099502e-01 9.79604213e-02 2.81712967e+02] [-6.39489115e-01 7.64096683e-01 -8.49113139e-02 -1.76078210e+02] [-1.29627479e-01 1.70058505e-03 9.91561307e-01 -3.90699376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters 0.02945492146236957 Centerline is valid? [True, True] Translation: X:281.76, Y:-176.12, Z:-39.08 [[ 7.57378194e-01 6.45700077e-01 9.72094730e-02 2.81755477e+02] [-6.40171386e-01 7.63589366e-01 -8.43319461e-02 -1.76123452e+02] [-1.28681264e-01 1.64045394e-03 9.91684648e-01 -3.90769819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters 0.0295849346261778 Centerline is valid? [True, True] Translation: X:281.80, Y:-176.17, Z:-39.08 [[ 7.55837051e-01 6.47147923e-01 9.95485698e-02 2.81800213e+02] [-6.41350608e-01 7.62363002e-01 -8.64410237e-02 -1.76166568e+02] [-1.31832275e-01 1.48979271e-03 9.91270917e-01 -3.90840154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters 0.029482494815532067 Centerline is valid? [True, True] Translation: X:281.84, Y:-176.21, Z:-39.09 [[ 7.53224105e-01 6.50169677e-01 9.96636304e-02 2.81844979e+02] [-6.44374583e-01 7.59788355e-01 -8.66201630e-02 -1.76209966e+02] [-1.32041069e-01 1.02368443e-03 9.91243718e-01 -3.90908312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters 0.02948348245063985 Centerline is valid? [True, True] Translation: X:281.89, Y:-176.25, Z:-39.10 [[ 7.52390004e-01 6.51282199e-01 9.86953851e-02 2.81888277e+02] [-6.45598908e-01 7.58835109e-01 -8.58564290e-02 -1.76254027e+02] [-1.30810287e-01 8.79886123e-04 9.91407028e-01 -3.90967207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters 0.029305737462089237 Centerline is valid? [True, True] Translation: X:281.93, Y:-176.30, Z:-39.10 [[ 7.52298783e-01 6.51580770e-01 9.74117128e-02 2.81934941e+02] [-6.46037345e-01 7.58578758e-01 -8.48175461e-02 -1.76295552e+02] [-1.29159938e-01 8.76532366e-04 9.91623387e-01 -3.91004798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters 0.02935309278513157 Centerline is valid? [True, True] Translation: X:281.98, Y:-176.34, Z:-39.11 [[ 7.52993385e-01 6.50832568e-01 9.70460246e-02 2.81981127e+02] [-6.45314287e-01 7.59220548e-01 -8.45791418e-02 -1.76337174e+02] [-1.28726196e-01 1.06234817e-03 9.91679604e-01 -3.91089518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters 0.029718501572417528 Centerline is valid? [True, True] Translation: X:282.03, Y:-176.38, Z:-39.12 [[ 7.57338642e-01 6.45786863e-01 9.69407526e-02 2.82027809e+02] [-6.40227873e-01 7.63515145e-01 -8.45747790e-02 -1.76377601e+02] [-1.28633014e-01 1.98757634e-03 9.91690273e-01 -3.91159303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters 0.030371805192100542 Centerline is valid? [True, True] Translation: X:282.07, Y:-176.42, Z:-39.12 [[ 7.62085350e-01 6.40333142e-01 9.59134359e-02 2.82071259e+02] [-6.34838867e-01 7.68091683e-01 -8.37542761e-02 -1.76422219e+02] [-1.27300951e-01 2.93832983e-03 9.91859785e-01 -3.91224128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters 0.03081913107846361 Centerline is valid? [True, True] Translation: X:282.12, Y:-176.46, Z:-39.13 [[ 7.64495409e-01 6.37539473e-01 9.53424870e-02 2.82116489e+02] [-6.32079520e-01 7.70410006e-01 -8.33300847e-02 -1.76464382e+02] [-1.26579024e-01 3.44143381e-03 9.91950557e-01 -3.91288883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters 0.03124286723243507 Centerline is valid? [True, True] Translation: X:282.16, Y:-176.51, Z:-39.14 [[ 7.65731779e-01 6.35923749e-01 9.62072131e-02 2.82159147e+02] [-6.30342157e-01 7.71742551e-01 -8.41558073e-02 -1.76508491e+02] [-1.27763877e-01 3.79731379e-03 9.91797344e-01 -3.91366199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters 0.030930029232084124 Centerline is valid? [True, True] Translation: X:282.20, Y:-176.56, Z:-39.14 [[ 7.63710446e-01 6.38307639e-01 9.64868532e-02 2.82197452e+02] [-6.32706497e-01 7.69773666e-01 -8.44451998e-02 -1.76558660e+02] [-1.28175055e-01 3.44382228e-03 9.91745580e-01 -3.91435452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters 0.030027760304498684 Centerline is valid? [True, True] Translation: X:282.24, Y:-176.61, Z:-39.15 [[ 7.60608267e-01 6.42389692e-01 9.38645190e-02 2.82237824e+02] [-6.37112237e-01 7.66373282e-01 -8.22191569e-02 -1.76605875e+02] [-1.24751998e-01 2.73433670e-03 9.92184188e-01 -3.91482287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters 0.029642545201610145 Centerline is valid? [True, True] Translation: X:282.28, Y:-176.65, Z:-39.16 [[ 7.58159929e-01 6.45296984e-01 9.37300619e-02 2.82280646e+02] [-6.40049695e-01 7.63928352e-01 -8.21575383e-02 -1.76651426e+02] [-1.24619063e-01 2.29665584e-03 9.92202003e-01 -3.91551927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters 0.029376041199900612 Centerline is valid? [True, True] Translation: X:282.32, Y:-176.70, Z:-39.16 [[ 7.54889775e-01 6.49010340e-01 9.44828405e-02 2.82324397e+02] [-6.43701095e-01 7.60777610e-01 -8.28633110e-02 -1.76695645e+02] [-1.25659575e-01 1.73395825e-03 9.92071905e-01 -3.91618810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters 0.029121295474577834 Centerline is valid? [True, True] Translation: X:282.37, Y:-176.74, Z:-39.17 [[ 7.53080053e-01 6.50991715e-01 9.52901954e-02 2.82367743e+02] [-6.45596687e-01 7.59083400e-01 -8.36499163e-02 -1.76741434e+02] [-1.26788608e-01 1.47604893e-03 9.91928662e-01 -3.91688789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters 0.028895994190156066 Centerline is valid? [True, True] Translation: X:282.42, Y:-176.78, Z:-39.18 [[ 7.51874633e-01 6.52291155e-01 9.59207246e-02 2.82415093e+02] [-6.46823199e-01 7.57967327e-01 -8.42928221e-02 -1.76783126e+02] [-1.27688238e-01 1.33388469e-03 9.91813458e-01 -3.91761605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters 0.02869677396269671 Centerline is valid? [True, True] Translation: X:282.46, Y:-176.83, Z:-39.18 [[ 7.49412614e-01 6.55095533e-01 9.60758900e-02 2.82459599e+02] [-6.49621355e-01 7.55545490e-01 -8.45169082e-02 -1.76826079e+02] [-1.27956354e-01 9.25087325e-04 9.91779368e-01 -3.91816020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters 0.02892059095187125 Centerline is valid? [True, True] Translation: X:282.51, Y:-176.87, Z:-39.19 [[ 7.44950291e-01 6.59982073e-01 9.73279391e-02 2.82506217e+02] [-6.54394243e-01 7.51281333e-01 -8.57002539e-02 -1.76867815e+02] [-1.29681295e-01 1.51585982e-04 9.91555716e-01 -3.91889763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters 0.028981445852432924 Centerline is valid? [True, True] Translation: X:282.55, Y:-176.91, Z:-39.20 [[ 7.42692757e-01 6.62493337e-01 9.75194663e-02 2.82551522e+02] [-6.56892747e-01 7.49067775e-01 -8.59615467e-02 -1.76911569e+02] [-1.29997642e-01 -2.16811975e-04 9.91514279e-01 -3.91962220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters 0.02871610546441183 Centerline is valid? [True, True] Translation: X:282.60, Y:-176.95, Z:-39.20 [[ 7.40371275e-01 6.65421281e-01 9.52097322e-02 2.82598581e+02] [-6.60096687e-01 7.46467749e-01 -8.40134706e-02 -1.76951313e+02] [-1.26975346e-01 -6.46468441e-04 9.91905663e-01 -3.92028001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters 0.029309399490546575 Centerline is valid? [True, True] Translation: X:282.65, Y:-176.99, Z:-39.21 [[ 7.35783692e-01 6.70059201e-01 9.81989063e-02 2.82647609e+02] [-6.64423459e-01 7.42306290e-01 -8.67343043e-02 -1.76988535e+02] [-1.31010784e-01 -1.42797031e-03 9.91379915e-01 -3.92083200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters 0.029294038592656613 Centerline is valid? [True, True] Translation: X:282.70, Y:-177.02, Z:-39.22 [[ 7.34800320e-01 6.71358378e-01 9.66768708e-02 2.82700944e+02] [-6.65898115e-01 7.41131190e-01 -8.54649618e-02 -1.77021639e+02] [-1.29027862e-01 -1.57726477e-03 9.91639714e-01 -3.92160838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters 0.029388252122994347 Centerline is valid? [True, True] Translation: X:282.75, Y:-177.06, Z:-39.23 [[ 7.41968446e-01 6.63134868e-01 9.86659606e-02 2.82750878e+02] [-6.57362071e-01 7.48499927e-01 -8.73096007e-02 -1.77059510e+02] [-1.31749505e-01 -7.82914559e-05 9.91283038e-01 -3.92251523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters 0.02967994318899526 Centerline is valid? [True, True] Translation: X:282.80, Y:-177.10, Z:-39.23 [[ 7.48402087e-01 6.55992401e-01 9.78176186e-02 2.82799226e+02] [-6.50245527e-01 7.54766469e-01 -8.66506362e-02 -1.77097706e+02] [-1.30671617e-01 1.24404801e-03 9.91424924e-01 -3.92335568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters 0.03023093184492071 Centerline is valid? [True, True] Translation: X:282.84, Y:-177.14, Z:-39.24 [[ 7.53950699e-01 6.49744020e-01 9.69074431e-02 2.82844433e+02] [-6.44042032e-01 7.60149390e-01 -8.59230233e-02 -1.77139230e+02] [-1.29492104e-01 2.36925695e-03 9.91577623e-01 -3.92396374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters 0.030541613054270982 Centerline is valid? [True, True] Translation: X:282.89, Y:-177.18, Z:-39.25 [[ 7.54086887e-01 6.49161541e-01 9.97108893e-02 2.82888669e+02] [-6.43107726e-01 7.60646122e-01 -8.84868899e-02 -1.77182130e+02] [-1.33286987e-01 2.60196005e-03 9.91074068e-01 -3.92477841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters 0.030141663705663745 Centerline is valid? [True, True] Translation: X:282.93, Y:-177.23, Z:-39.25 [[ 7.52639442e-01 6.51278437e-01 9.68001387e-02 2.82932737e+02] [-6.45581963e-01 7.58835603e-01 -8.59793924e-02 -1.77225398e+02] [-1.29451916e-01 2.21905839e-03 9.91583218e-01 -3.92546691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters 0.0295481882390814 Centerline is valid? [True, True] Translation: X:282.97, Y:-177.27, Z:-39.26 [[ 7.48848312e-01 6.55595029e-01 9.70637084e-02 2.82973884e+02] [-6.49893070e-01 7.55111113e-01 -8.62913968e-02 -1.77272566e+02] [-1.29866096e-01 1.53813538e-03 9.91530348e-01 -3.92591679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters 0.02950546552172827 Centerline is valid? [True, True] Translation: X:283.02, Y:-177.32, Z:-39.27 [[ 7.47610693e-01 6.57097267e-01 9.64439375e-02 2.83016065e+02] [-6.51470497e-01 7.53804628e-01 -8.58182608e-02 -1.77317859e+02] [-1.29090831e-01 1.32826959e-03 9.91631884e-01 -3.92675511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters 0.029505521580748057 Centerline is valid? [True, True] Translation: X:283.06, Y:-177.36, Z:-39.27 [[ 7.47129834e-01 6.57443341e-01 9.78021670e-02 2.83058124e+02] [-6.51648446e-01 7.53502777e-01 -8.71083707e-02 -1.77363773e+02] [-1.30963023e-01 1.34863247e-03 9.91386336e-01 -3.92731124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters 0.029322896561517053 Centerline is valid? [True, True] Translation: X:283.10, Y:-177.41, Z:-39.28 [[ 7.45103644e-01 6.59723767e-01 9.79035812e-02 2.83098994e+02] [-6.53925688e-01 7.51507505e-01 -8.72792322e-02 -1.77411141e+02] [-1.31155460e-01 1.01040723e-03 9.91361299e-01 -3.92798594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters 0.02916731032675847 Centerline is valid? [True, True] Translation: X:283.14, Y:-177.46, Z:-39.29 [[ 7.41411543e-01 6.63955902e-01 9.73215507e-02 2.83141219e+02] [-6.58252481e-01 7.47771661e-01 -8.68401675e-02 -1.77456428e+02] [-1.30432339e-01 3.22150437e-04 9.91457160e-01 -3.92865768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters 0.029187018381726233 Centerline is valid? [True, True] Translation: X:283.18, Y:-177.50, Z:-39.29 [[ 7.38399925e-01 6.67235623e-01 9.77863692e-02 2.83184981e+02] [-6.61494721e-01 7.44846686e-01 -8.73392719e-02 -1.77501620e+02] [-1.31111727e-01 -1.93855215e-04 9.91367579e-01 -3.92946217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters 0.029403143197566206 Centerline is valid? [True, True] Translation: X:283.23, Y:-177.55, Z:-39.30 [[ 7.34381882e-01 6.71736551e-01 9.72278651e-02 2.83227060e+02] [-6.66087953e-01 7.40789553e-01 -8.69349059e-02 -1.77549383e+02] [-1.30422741e-01 -9.18889872e-04 9.91458050e-01 -3.93000531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters 0.029596764145425822 Centerline is valid? [True, True] Translation: X:283.27, Y:-177.59, Z:-39.31 [[ 7.32023948e-01 6.74245888e-01 9.76392435e-02 2.83272054e+02] [-6.68558953e-01 7.38505782e-01 -8.73964343e-02 -1.77591914e+02] [-1.31033832e-01 -1.30130755e-03 9.91377043e-01 -3.93067511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters 0.029655113375737622 Centerline is valid? [True, True] Translation: X:283.32, Y:-177.63, Z:-39.31 [[ 7.30190303e-01 6.76224081e-01 9.76888591e-02 2.83316442e+02] [-6.70537853e-01 7.36694271e-01 -8.75245020e-02 -1.77634409e+02] [-1.31152999e-01 -1.59453515e-03 9.91360857e-01 -3.93129173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters 0.02980661544029747 Centerline is valid? [True, True] Translation: X:283.36, Y:-177.68, Z:-39.32 [[ 7.28506501e-01 6.77957015e-01 9.82474574e-02 2.83363080e+02] [-6.72209660e-01 7.35099209e-01 -8.81097368e-02 -1.77675619e+02] [-1.31956242e-01 -1.85437388e-03 9.91253808e-01 -3.93198415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters 0.030124114816987305 Centerline is valid? [True, True] Translation: X:283.41, Y:-177.71, Z:-39.33 [[ 7.24766330e-01 6.82115788e-01 9.71175495e-02 2.83412629e+02] [-6.76526553e-01 7.31239843e-01 -8.71786334e-02 -1.77713310e+02] [-1.30482144e-01 -2.51846291e-03 9.91447461e-01 -3.93263385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters 0.030525714734125936 Centerline is valid? [True, True] Translation: X:283.46, Y:-177.75, Z:-39.33 [[ 7.20557459e-01 6.86551406e-01 9.71808406e-02 2.83461313e+02] [-6.80983869e-01 7.27073953e-01 -8.73180172e-02 -1.77751287e+02] [-1.30605965e-01 -3.26093630e-03 9.91428993e-01 -3.93325862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters 0.031071275361694524 Centerline is valid? [True, True] Translation: X:283.51, Y:-177.79, Z:-39.34 [[ 7.17283816e-01 6.90196560e-01 9.55648277e-02 2.83512708e+02] [-6.84835163e-01 7.23611964e-01 -8.59448946e-02 -1.77786283e+02] [-1.28470723e-01 -3.79927238e-03 9.91706024e-01 -3.93393500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters 0.030836536594254574 Centerline is valid? [True, True] Translation: X:283.57, Y:-177.82, Z:-39.35 [[ 7.17938109e-01 6.89674133e-01 9.44164283e-02 2.83565277e+02] [-6.84426694e-01 7.24110911e-01 -8.49911133e-02 -1.77819806e+02] [-1.26984138e-01 -3.60276476e-03 9.91898205e-01 -3.93468634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters 0.030463859700394936 Centerline is valid? [True, True] Translation: X:283.62, Y:-177.85, Z:-39.35 [[ 7.19975600e-01 6.87405065e-01 9.54432423e-02 2.83619074e+02] [-6.82012123e-01 7.26267288e-01 -8.59958729e-02 -1.77852060e+02] [-1.28431303e-01 -3.17851819e-03 9.91713314e-01 -3.93531254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters 0.02996247045858756 Centerline is valid? [True, True] Translation: X:283.67, Y:-177.89, Z:-39.36 [[ 7.23048065e-01 6.83948304e-01 9.70371738e-02 2.83669202e+02] [-6.78330914e-01 7.29526036e-01 -8.75153363e-02 -1.77888277e+02] [-1.30647111e-01 -2.54552028e-03 9.91425667e-01 -3.93598475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters 0.029552950346301822 Centerline is valid? [True, True] Translation: X:283.72, Y:-177.92, Z:-39.37 [[ 7.29755698e-01 6.76583282e-01 9.84463536e-02 2.83720528e+02] [-6.70722086e-01 7.36365182e-01 -8.88718339e-02 -1.77923424e+02] [-1.32621664e-01 -1.17541651e-03 9.91166037e-01 -3.93700087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters 0.029440691538178465 Centerline is valid? [True, True] Translation: X:283.77, Y:-177.96, Z:-39.38 [[ 7.32930693e-01 6.73040008e-01 9.91450773e-02 2.83769527e+02] [-6.67050616e-01 7.39605926e-01 -8.95910180e-02 -1.77962888e+02] [-1.33626626e-01 -4.70777846e-04 9.91031636e-01 -3.93756204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters 0.029512144335398685 Centerline is valid? [True, True] Translation: X:283.82, Y:-178.00, Z:-39.38 [[ 7.33349525e-01 6.72505713e-01 9.96721600e-02 2.83821012e+02] [-6.66433913e-01 7.40091869e-01 -9.01657663e-02 -1.78000213e+02] [-1.34403548e-01 -3.01885655e-04 9.90926635e-01 -3.93817248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters 0.029570818110036916 Centerline is valid? [True, True] Translation: X:283.87, Y:-178.04, Z:-39.39 [[ 7.31476877e-01 6.74769831e-01 9.81185707e-02 2.83868906e+02] [-6.68894573e-01 7.38027960e-01 -8.88525756e-02 -1.78038558e+02] [-1.32369286e-01 -6.37374925e-04 9.91200265e-01 -3.93904434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters 0.02954746008610593 Centerline is valid? [True, True] Translation: X:283.92, Y:-178.08, Z:-39.40 [[ 7.31780915e-01 6.74698808e-01 9.63234730e-02 2.83918057e+02] [-6.69026322e-01 7.38092957e-01 -8.73073204e-02 -1.78076764e+02] [-1.30001822e-01 -5.53108028e-04 9.91513601e-01 -3.93964696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters 0.029575805770717025 Centerline is valid? [True, True] Translation: X:283.97, Y:-178.11, Z:-39.40 [[ 7.34232930e-01 6.71890964e-01 9.72858520e-02 2.83967552e+02] [-6.66068060e-01 7.40650074e-01 -8.82655493e-02 -1.78114862e+02] [-1.31359598e-01 8.47407838e-06 9.91334785e-01 -3.94039900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters 0.029840847558277275 Centerline is valid? [True, True] Translation: X:284.02, Y:-178.15, Z:-39.41 [[ 7.35088275e-01 6.71148175e-01 9.59445386e-02 2.84017395e+02] [-6.65467197e-01 7.41323198e-01 -8.71396948e-02 -1.78151825e+02] [-1.29609559e-01 2.07424884e-04 9.91565086e-01 -3.94122534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters 0.030103262078033495 Centerline is valid? [True, True] Translation: X:284.06, Y:-178.19, Z:-39.42 [[ 7.32908684e-01 6.73349578e-01 9.71864603e-02 2.84063486e+02] [-6.67528096e-01 7.39324240e-01 -8.83510600e-02 -1.78193429e+02] [-1.31343455e-01 -1.21433650e-04 9.91336917e-01 -3.94190374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters 0.030180499765940907 Centerline is valid? [True, True] Translation: X:284.11, Y:-178.23, Z:-39.43 [[ 7.31912843e-01 6.74447321e-01 9.70793543e-02 2.84111959e+02] [-6.68637165e-01 7.38322928e-01 -8.83379594e-02 -1.78233448e+02] [-1.31255213e-01 -2.55177193e-04 9.91348578e-01 -3.94261088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters 0.030386450777277568 Centerline is valid? [True, True] Translation: X:284.16, Y:-178.27, Z:-39.43 [[ 7.32119549e-01 6.74523884e-01 9.49657634e-02 2.84160407e+02] [-6.68954099e-01 7.38252999e-01 -8.65038897e-02 -1.78272168e+02] [-1.28457699e-01 -1.96547965e-04 9.91714970e-01 -3.94309401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters 0.030419950179161964 Centerline is valid? [True, True] Translation: X:284.21, Y:-178.31, Z:-39.44 [[ 7.32459100e-01 6.74068629e-01 9.55779830e-02 2.84208740e+02] [-6.68411734e-01 7.38668722e-01 -8.71451312e-02 -1.78312684e+02] [-1.29342266e-01 -5.52009533e-05 9.91600008e-01 -3.94387981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters 0.030378919879974063 Centerline is valid? [True, True] Translation: X:284.26, Y:-178.35, Z:-39.45 [[ 7.31150394e-01 6.75617946e-01 9.46545929e-02 2.84255780e+02] [-6.70071598e-01 7.37251873e-01 -8.63928835e-02 -1.78353221e+02] [-1.28152858e-01 -2.59163427e-04 9.91754394e-01 -3.94450462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters 0.03039116718092926 Centerline is valid? [True, True] Translation: X:284.31, Y:-178.39, Z:-39.45 [[ 7.26732985e-01 6.80666283e-01 9.24801596e-02 2.84305491e+02] [-6.75403528e-01 7.32592848e-01 -8.44854658e-02 -1.78391010e+02] [-1.25256711e-01 -1.06305135e-03 9.92123796e-01 -3.94499532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters 0.03057354522335963 Centerline is valid? [True, True] Translation: X:284.35, Y:-178.43, Z:-39.46 [[ 7.24930883e-01 6.82540191e-01 9.28121959e-02 2.84352271e+02] [-6.77244659e-01 7.30846845e-01 -8.48679018e-02 -1.78430964e+02] [-1.25757254e-01 -1.33320100e-03 9.92060147e-01 -3.94577297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters 0.03069353227750635 Centerline is valid? [True, True] Translation: X:284.40, Y:-178.47, Z:-39.46 [[ 7.23343250e-01 6.83991620e-01 9.44987094e-02 2.84401132e+02] [-6.78502828e-01 7.29488210e-01 -8.64919880e-02 -1.78469642e+02] [-1.28095489e-01 -1.55424589e-03 9.91760621e-01 -3.94628198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters 0.03063840181065545 Centerline is valid? [True, True] Translation: X:284.45, Y:-178.51, Z:-39.47 [[ 7.26107605e-01 6.80831214e-01 9.61072534e-02 2.84448734e+02] [-6.75114269e-01 7.32439729e-01 -8.80497994e-02 -1.78510099e+02] [-1.30339822e-01 -9.49749192e-04 9.91468925e-01 -3.94713344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters 0.03039898024813364 Centerline is valid? [True, True] Translation: X:284.50, Y:-178.55, Z:-39.48 [[ 7.27437906e-01 6.79606427e-01 9.47058424e-02 2.84495472e+02] [-6.74033442e-01 7.33576635e-01 -8.68575860e-02 -1.78551167e+02] [-1.28502967e-01 -6.51404381e-04 9.91708911e-01 -3.94778871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters 0.03030769277700899 Centerline is valid? [True, True] Translation: X:284.54, Y:-178.59, Z:-39.48 [[ 7.25313117e-01 6.82031164e-01 9.35648128e-02 2.84541837e+02] [-6.76601878e-01 7.31322416e-01 -8.58919259e-02 -1.78594377e+02] [-1.27007015e-01 -1.00758757e-03 9.91901307e-01 -3.94829031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters 0.030410818965039776 Centerline is valid? [True, True] Translation: X:284.59, Y:-178.64, Z:-39.49 [[ 7.21457303e-01 6.86272976e-01 9.23512928e-02 2.84587606e+02] [-6.81007443e-01 7.27342169e-01 -8.48659658e-02 -1.78635781e+02] [-1.25412208e-01 -1.66474693e-03 9.92103325e-01 -3.94886400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters 0.03068102313930672 Centerline is valid? [True, True] Translation: X:284.63, Y:-178.68, Z:-39.50 [[ 7.17736308e-01 6.90085415e-01 9.29339098e-02 2.84633230e+02] [-6.84774427e-01 7.23724323e-01 -8.54815119e-02 -1.78677395e+02] [-1.26248076e-01 -2.28557997e-03 9.91996068e-01 -3.94961142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters 0.030882423814157522 Centerline is valid? [True, True] Translation: X:284.68, Y:-178.72, Z:-39.50 [[ 7.15453340e-01 6.92583128e-01 9.19517746e-02 2.84678380e+02] [-6.87394768e-01 7.21333242e-01 -8.46568811e-02 -1.78719840e+02] [-1.24959799e-01 -2.63912032e-03 9.92158296e-01 -3.95028146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters 0.030697610603434396 Centerline is valid? [True, True] Translation: X:284.72, Y:-178.76, Z:-39.51 [[ 7.15644402e-01 6.92683936e-01 8.96775049e-02 2.84724984e+02] [-6.87741415e-01 7.21236813e-01 -8.26390084e-02 -1.78761240e+02] [-1.21921431e-01 -2.53479039e-03 9.92536518e-01 -3.95088315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters 0.030332499242486186 Centerline is valid? [True, True] Translation: X:284.77, Y:-178.80, Z:-39.52 [[ 7.16322808e-01 6.91857846e-01 9.06330834e-02 2.84773051e+02] [-6.86792430e-01 7.22029879e-01 -8.36003167e-02 -1.78801049e+02] [-1.23279329e-01 -2.36130192e-03 9.92369201e-01 -3.95153230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters 0.03054652997274371 Centerline is valid? [True, True] Translation: X:284.82, Y:-178.84, Z:-39.52 [[ 7.13442958e-01 6.94819894e-01 9.06888122e-02 2.84819041e+02] [-6.89760815e-01 7.19178298e-01 -8.37412326e-02 -1.78843052e+02] [-1.23406500e-01 -2.80899634e-03 9.92352228e-01 -3.95215546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters 0.03102222400782813 Centerline is valid? [True, True] Translation: X:284.87, Y:-178.88, Z:-39.53 [[ 7.09913490e-01 6.98487325e-01 9.02124922e-02 2.84867933e+02] [-6.93501143e-01 7.15614488e-01 -8.33790664e-02 -1.78881301e+02] [-1.22796588e-01 -3.37054249e-03 9.92426137e-01 -3.95280038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters 0.03044090502641056 Centerline is valid? [True, True] Translation: X:284.92, Y:-178.92, Z:-39.54 [[ 7.12260327e-01 6.96099064e-01 9.01738320e-02 2.84918065e+02] [-6.91088361e-01 7.17939888e-01 -8.34217828e-02 -1.78917505e+02] [-1.22809216e-01 -2.90005946e-03 9.92426061e-01 -3.95353261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters 0.029960952732726517 Centerline is valid? [True, True] Translation: X:284.97, Y:-178.96, Z:-39.54 [[ 7.16867078e-01 6.91160240e-01 9.16466842e-02 2.84965572e+02] [-6.85934105e-01 7.22698690e-01 -8.48587414e-02 -1.78957889e+02] [-1.24883927e-01 -2.03114833e-03 9.92169280e-01 -3.95415617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters 0.029454862437557204 Centerline is valid? [True, True] Translation: X:285.01, Y:-179.00, Z:-39.55 [[ 7.22399631e-01 6.85217884e-01 9.28182287e-02 2.85013116e+02] [-6.79802802e-01 7.28337476e-01 -8.59806414e-02 -1.78997578e+02] [-1.26518468e-01 -9.85708329e-04 9.91963762e-01 -3.95488407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters 0.029116629584297858 Centerline is valid? [True, True] Translation: X:285.06, Y:-179.04, Z:-39.56 [[ 7.25002771e-01 6.82238383e-01 9.44551266e-02 2.85060692e+02] [-6.76593448e-01 7.31129688e-01 -8.75824531e-02 -1.79038480e+02] [-1.28811058e-01 -4.10198526e-04 9.91669069e-01 -3.95565389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters 0.02895676842896202 Centerline is valid? [True, True] Translation: X:285.11, Y:-179.08, Z:-39.56 [[ 7.24913175e-01 6.82584853e-01 9.26218513e-02 2.85105191e+02] [-6.77150259e-01 7.30806238e-01 -8.59637714e-02 -1.79082025e+02] [-1.26366195e-01 -4.02640072e-04 9.91983580e-01 -3.95637024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters 0.028775241027547048 Centerline is valid? [True, True] Translation: X:285.15, Y:-179.13, Z:-39.57 [[ 7.23089389e-01 6.84503545e-01 9.27180274e-02 2.85149699e+02] [-6.79068506e-01 7.29009185e-01 -8.60904925e-02 -1.79127159e+02] [-1.26521541e-01 -7.10770747e-04 9.91963605e-01 -3.95687629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters 0.028705810348242548 Centerline is valid? [True, True] Translation: X:285.19, Y:-179.17, Z:-39.58 [[ 7.23496225e-01 6.84118070e-01 9.23887352e-02 2.85192556e+02] [-6.78707058e-01 7.29371055e-01 -8.58754485e-02 -1.79172464e+02] [-1.26134615e-01 -5.74323832e-04 9.92012968e-01 -3.95764399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters 0.02871074631149752 Centerline is valid? [True, True] Translation: X:285.24, Y:-179.22, Z:-39.58 [[ 7.24740293e-01 6.82551861e-01 9.42043830e-02 2.85236035e+02] [-6.76899904e-01 7.30837123e-01 -8.76562589e-02 -1.79216245e+02] [-1.28678003e-01 -2.38915041e-04 9.91686399e-01 -3.95831113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters 0.02871153453443485 Centerline is valid? [True, True] Translation: X:285.28, Y:-179.26, Z:-39.59 [[ 7.24706249e-01 6.82637943e-01 9.38418482e-02 2.85278772e+02] [-6.77019480e-01 7.30756733e-01 -8.74026361e-02 -1.79262023e+02] [-1.28239918e-01 -1.91522718e-04 9.91743156e-01 -3.95909591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters 0.028808581395584423 Centerline is valid? [True, True] Translation: X:285.32, Y:-179.31, Z:-39.60 [[ 7.25155958e-01 6.82301251e-01 9.28107724e-02 2.85322387e+02] [-6.76791785e-01 7.31071131e-01 -8.65325415e-02 -1.79305997e+02] [-1.26892538e-01 -6.39803222e-05 9.91916468e-01 -3.95989081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters 0.02879326461476257 Centerline is valid? [True, True] Translation: X:285.37, Y:-179.35, Z:-39.60 [[ 7.26736829e-01 6.80588661e-01 9.30196523e-02 2.85365985e+02] [-6.75029642e-01 7.32665672e-01 -8.68101129e-02 -1.79350660e+02] [-1.27234285e-01 2.97083665e-04 9.91872647e-01 -3.96045797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters 0.028895453821356432 Centerline is valid? [True, True] Translation: X:285.41, Y:-179.39, Z:-39.61 [[ 7.28246064e-01 6.78980908e-01 9.29655675e-02 2.85410890e+02] [-6.73403499e-01 7.34155644e-01 -8.68517026e-02 -1.79394352e+02] [-1.27221844e-01 6.46072132e-04 9.91874077e-01 -3.96119660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters 0.029003423132831194 Centerline is valid? [True, True] Translation: X:285.45, Y:-179.44, Z:-39.62 [[ 7.26173710e-01 6.81018413e-01 9.42638057e-02 2.85454685e+02] [-6.75288457e-01 7.32266202e-01 -8.81573000e-02 -1.79437755e+02] [-1.29062943e-01 3.62253753e-04 9.91636337e-01 -3.96173609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters 0.028915994031758388 Centerline is valid? [True, True] Translation: X:285.50, Y:-179.48, Z:-39.62 [[ 7.22829700e-01 6.84403101e-01 9.54443299e-02 2.85498959e+02] [-6.78546386e-01 7.29103808e-01 -8.93445007e-02 -1.79480646e+02] [-1.30736478e-01 -1.82546530e-04 9.91417137e-01 -3.96231002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters 0.029026675291497644 Centerline is valid? [True, True] Translation: X:285.54, Y:-179.52, Z:-39.63 [[ 7.19681846e-01 6.87675711e-01 9.57087119e-02 2.85544893e+02] [-6.81803891e-01 7.26017633e-01 -8.96763648e-02 -1.79522365e+02] [-1.31154470e-01 -7.16120393e-04 9.91361686e-01 -3.96312639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters 0.028722451386948445 Centerline is valid? [True, True] Translation: X:285.59, Y:-179.56, Z:-39.64 [[ 7.21980156e-01 6.85645103e-01 9.29271066e-02 2.85590598e+02] [-6.80083344e-01 7.27935930e-01 -8.71546199e-02 -1.79564521e+02] [-1.27402118e-01 -2.74271239e-04 9.91851110e-01 -3.96378901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters 0.02887196895025128 Centerline is valid? [True, True] Translation: X:285.64, Y:-179.61, Z:-39.64 [[ 7.23568599e-01 6.84030536e-01 9.24700345e-02 2.85636787e+02] [-6.78499898e-01 7.29453371e-01 -8.68082243e-02 -1.79607108e+02] [-1.26832055e-01 7.07962422e-05 9.91924203e-01 -3.96449446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters 0.028956239503816695 Centerline is valid? [True, True] Translation: X:285.68, Y:-179.65, Z:-39.65 [[ 7.24191248e-01 6.83206171e-01 9.36822532e-02 2.85681406e+02] [-6.77510010e-01 7.30225476e-01 -8.80394281e-02 -1.79649582e+02] [-1.28558248e-01 2.86718994e-04 9.91701918e-01 -3.96521067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters 0.028885731820038497 Centerline is valid? [True, True] Translation: X:285.72, Y:-179.70, Z:-39.66 [[ 7.22312948e-01 6.85179498e-01 9.37713217e-02 2.85724068e+02] [-6.79477985e-01 7.28374255e-01 -8.82077794e-02 -1.79695408e+02] [-1.28738779e-01 -1.92750801e-06 9.91678540e-01 -3.96589976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters 0.0289989369216642 Centerline is valid? [True, True] Translation: X:285.77, Y:-179.74, Z:-39.67 [[ 7.19706427e-01 6.87875711e-01 9.40726628e-02 2.85768939e+02] [-6.82147936e-01 7.25828377e-01 -8.85853253e-02 -1.79739900e+02] [-1.29216302e-01 -4.16044832e-04 9.91616344e-01 -3.96654491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters 0.028774697169649432 Centerline is valid? [True, True] Translation: X:285.81, Y:-179.78, Z:-39.67 [[ 7.18857410e-01 6.88822635e-01 9.36344020e-02 2.85814972e+02] [-6.83144185e-01 7.24929729e-01 -8.82661359e-02 -1.79782964e+02] [-1.28678074e-01 -5.15031321e-04 9.91686285e-01 -3.96712590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters 0.029010346713726938 Centerline is valid? [True, True] Translation: X:285.86, Y:-179.83, Z:-39.68 [[ 7.15959817e-01 6.91974095e-01 9.25926114e-02 2.85861882e+02] [-6.86436024e-01 7.21921637e-01 -8.73769709e-02 -1.79825380e+02] [-1.27307210e-01 -1.00050391e-03 9.91862830e-01 -3.96776643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters 0.029171423552489497 Centerline is valid? [True, True] Translation: X:285.91, Y:-179.87, Z:-39.68 [[ 7.13447969e-01 6.94603461e-01 9.22931630e-02 2.85909255e+02] [-6.89111282e-01 7.19391466e-01 -8.71869256e-02 -1.79866339e+02] [-1.26955254e-01 -1.39692487e-03 9.91907461e-01 -3.96845191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters 0.029218135720990843 Centerline is valid? [True, True] Translation: X:285.96, Y:-179.91, Z:-39.69 [[ 7.12158835e-01 6.96007047e-01 9.16732519e-02 2.85956445e+02] [-6.90588460e-01 7.18033238e-01 -8.66939934e-02 -1.79907843e+02] [-1.26164072e-01 -1.56859654e-03 9.92008148e-01 -3.96903125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters 0.029315039333310762 Centerline is valid? [True, True] Translation: X:286.00, Y:-179.95, Z:-39.70 [[ 7.13536210e-01 6.94314691e-01 9.37719908e-02 2.86003199e+02] [-6.88617196e-01 7.19670478e-01 -8.87736479e-02 -1.79948363e+02] [-1.29121781e-01 -1.22979301e-03 9.91627981e-01 -3.96982835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters 0.029259892677530368 Centerline is valid? [True, True] Translation: X:286.05, Y:-179.99, Z:-39.70 [[ 7.18769185e-01 6.89055086e-01 9.25956125e-02 2.86046562e+02] [-6.83445915e-01 7.24708935e-01 -8.77418992e-02 -1.79993165e+02] [-1.27563870e-01 -2.17919797e-04 9.91830334e-01 -3.97043700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters 0.02937195079638891 Centerline is valid? [True, True] Translation: X:286.09, Y:-180.04, Z:-39.71 [[ 7.19733509e-01 6.87900315e-01 9.36847520e-02 2.86090208e+02] [-6.82137111e-01 7.25805176e-01 -8.88583584e-02 -1.80036640e+02] [-1.29122571e-01 4.84919920e-05 9.91628640e-01 -3.97108175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters 0.029555000172946697 Centerline is valid? [True, True] Translation: X:286.13, Y:-180.08, Z:-39.72 [[ 7.17585728e-01 6.89685351e-01 9.69785484e-02 2.86133832e+02] [-6.83512099e-01 7.24109156e-01 -9.20713901e-02 -1.80080868e+02] [-1.33723344e-01 -2.16895714e-04 9.91018678e-01 -3.97177934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters 0.02947828287089226 Centerline is valid? [True, True] Translation: X:286.18, Y:-180.13, Z:-39.72 [[ 7.12951315e-01 6.94554789e-01 9.64057428e-02 2.86176842e+02] [-6.88486904e-01 7.19439036e-01 -9.16147135e-02 -1.80126703e+02] [-1.32989493e-01 -1.05726101e-03 9.91116884e-01 -3.97237518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters 0.02949268101105362 Centerline is valid? [True, True] Translation: X:286.22, Y:-180.17, Z:-39.73 [[ 7.12121640e-01 6.95523794e-01 9.55480051e-02 2.86216569e+02] [-6.89560142e-01 7.18502128e-01 -9.08928107e-02 -1.80174447e+02] [-1.31869558e-01 -1.15935852e-03 9.91266400e-01 -3.97299483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters 0.029649259345437256 Centerline is valid? [True, True] Translation: X:286.26, Y:-180.22, Z:-39.74 [[ 7.16247405e-01 6.91272931e-01 9.55583054e-02 2.86259829e+02] [-6.85258858e-01 7.22593687e-01 -9.09871435e-02 -1.80218618e+02] [-1.31946778e-01 -3.12869827e-04 9.91256753e-01 -3.97376695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters 0.02970740212982406 Centerline is valid? [True, True] Translation: X:286.30, Y:-180.27, Z:-39.75 [[ 7.18223616e-01 6.89177439e-01 9.58608119e-02 2.86301068e+02] [-6.83094554e-01 7.24592602e-01 -9.13640598e-02 -1.80265580e+02] [-1.32426084e-01 1.37826803e-04 9.91192874e-01 -3.97454275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters 0.030077398943475345 Centerline is valid? [True, True] Translation: X:286.34, Y:-180.31, Z:-39.75 [[ 7.13905743e-01 6.93523373e-01 9.67673544e-02 2.86343486e+02] [-6.87350778e-01 7.20433875e-01 -9.23251823e-02 -1.80311049e+02] [-1.33744152e-01 -6.01638471e-04 9.91015711e-01 -3.97541606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters 0.030429127051198546 Centerline is valid? [True, True] Translation: X:286.39, Y:-180.35, Z:-39.76 [[ 7.10233984e-01 6.97139337e-01 9.77979134e-02 2.86388644e+02] [-6.90856121e-01 7.16934604e-01 -9.33948309e-02 -1.80352861e+02] [-1.35223919e-01 -1.23210421e-03 9.90814298e-01 -3.97594091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters 0.03050270392427274 Centerline is valid? [True, True] Translation: X:286.44, Y:-180.39, Z:-39.77 [[ 7.09909791e-01 6.97567023e-01 9.70996258e-02 2.86435727e+02] [-6.91366616e-01 7.16518456e-01 -9.28089724e-02 -1.80392587e+02] [-1.34314153e-01 -1.24544147e-03 9.90938019e-01 -3.97664372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters 0.030836763451104258 Centerline is valid? [True, True] Translation: X:286.48, Y:-180.43, Z:-39.77 [[ 7.12147787e-01 6.94759861e-01 1.00768375e-01 2.86483947e+02] [-6.88038756e-01 7.19241461e-01 -9.64074278e-02 -1.80430819e+02] [-1.39456805e-01 -6.76211137e-04 9.90227924e-01 -3.97739672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters 0.03076414288793188 Centerline is valid? [True, True] Translation: X:286.53, Y:-180.47, Z:-39.78 [[ 7.14424540e-01 6.92696225e-01 9.88408647e-02 2.86530433e+02] [-6.86199939e-01 7.21229434e-01 -9.46453804e-02 -1.80471930e+02] [-1.36847439e-01 -2.07612937e-04 9.90592114e-01 -3.97820871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters 0.031009086735484335 Centerline is valid? [True, True] Translation: X:286.58, Y:-180.51, Z:-39.79 [[ 7.12581197e-01 6.94539625e-01 9.92106227e-02 2.86576132e+02] [-6.87999474e-01 7.19454281e-01 -9.50908079e-02 -1.80514483e+02] [-1.37421841e-01 -4.96934552e-04 9.90512489e-01 -3.97876751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters 0.030988463337642307 Centerline is valid? [True, True] Translation: X:286.62, Y:-180.56, Z:-39.79 [[ 7.11079460e-01 6.96302264e-01 9.76174118e-02 2.86619009e+02] [-6.89974887e-01 7.17748276e-01 -9.36593184e-02 -1.80559644e+02] [-1.35279924e-01 -7.54345092e-04 9.90807132e-01 -3.97935282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters 0.03134398680933236 Centerline is valid? [True, True] Translation: X:286.66, Y:-180.60, Z:-39.80 [[ 7.07200204e-01 7.00225257e-01 9.77366932e-02 2.86661305e+02] [-6.93907515e-01 7.13920521e-01 -9.38608046e-02 -1.80604151e+02] [-1.35499937e-01 -1.44184577e-03 9.90776306e-01 -3.98022119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters 0.031536377361056855 Centerline is valid? [True, True] Translation: X:286.71, Y:-180.65, Z:-39.81 [[ 7.03955649e-01 7.03560061e-01 9.72094922e-02 2.86707093e+02] [-6.97330296e-01 7.10632962e-01 -9.34411721e-02 -1.80646241e+02] [-1.34821746e-01 -2.00868305e-03 9.90867833e-01 -3.98079623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters 0.03175619425278319 Centerline is valid? [True, True] Translation: X:286.75, Y:-180.69, Z:-39.81 [[ 7.02196554e-01 7.05210720e-01 9.79685690e-02 2.86752747e+02] [-6.98886730e-01 7.08994103e-01 -9.42586877e-02 -1.80687799e+02] [-1.35931375e-01 -2.28080713e-03 9.90715630e-01 -3.98147381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters 0.031903540055421786 Centerline is valid? [True, True] Translation: X:286.80, Y:-180.73, Z:-39.82 [[ 7.00730917e-01 7.06973547e-01 9.57318435e-02 2.86799662e+02] [-7.00941315e-01 7.07235566e-01 -9.21907084e-02 -1.80728471e+02] [-1.32881357e-01 -2.50152470e-03 9.91128795e-01 -3.98206070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters 0.03210856197552105 Centerline is valid? [True, True] Translation: X:286.85, Y:-180.76, Z:-39.83 [[ 6.99683065e-01 7.07590401e-01 9.87898390e-02 2.86849876e+02] [-7.01158417e-01 7.06617902e-01 -9.52261269e-02 -1.80764885e+02] [-1.37187762e-01 -2.63921879e-03 9.90541545e-01 -3.98283070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters 0.032018977110192366 Centerline is valid? [True, True] Translation: X:286.90, Y:-180.80, Z:-39.84 [[ 7.00588757e-01 7.06863605e-01 9.75665796e-02 2.86900904e+02] [-7.00572804e-01 7.07345772e-01 -9.41260077e-02 -1.80801622e+02] [-1.35547557e-01 -2.40886958e-03 9.90767913e-01 -3.98359522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters 0.03197520694682922 Centerline is valid? [True, True] Translation: X:286.95, Y:-180.84, Z:-39.84 [[ 7.01282155e-01 7.06277467e-01 9.68270518e-02 2.86950223e+02] [-7.00069062e-01 7.07931584e-01 -9.34675378e-02 -1.80839650e+02] [-1.34560944e-01 -2.23850693e-03 9.90902791e-01 -3.98426984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters 0.031844124685263375 Centerline is valid? [True, True] Translation: X:287.00, Y:-180.87, Z:-39.85 [[ 7.04888978e-01 7.02587721e-01 9.74783194e-02 2.87002163e+02] [-6.96247813e-01 7.11595605e-01 -9.41842771e-02 -1.80874305e+02] [-1.35537860e-01 -1.47960783e-03 9.90771063e-01 -3.98493894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters 0.03144488158715115 Centerline is valid? [True, True] Translation: X:287.05, Y:-180.91, Z:-39.86 [[ 7.11094899e-01 6.96556228e-01 9.56737516e-02 2.87053018e+02] [-6.90385045e-01 7.17502161e-01 -9.25156130e-02 -1.80911188e+02] [-1.33088450e-01 -2.64346837e-04 9.91104129e-01 -3.98562925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters 0.03157060819882793 Centerline is valid? [True, True] Translation: X:287.10, Y:-180.95, Z:-39.86 [[ 7.12803859e-01 6.94672503e-01 9.66476704e-02 2.87099974e+02] [-6.88351455e-01 7.19326142e-01 -9.34996030e-02 -1.80951479e+02] [-1.34472799e-01 1.19313280e-04 9.90917278e-01 -3.98629359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters 0.031599206935932204 Centerline is valid? [True, True] Translation: X:287.15, Y:-180.99, Z:-39.87 [[ 7.12768768e-01 6.94850983e-01 9.56179607e-02 2.87148586e+02] [-6.88654580e-01 7.19153731e-01 -9.25893099e-02 -1.80990935e+02] [-1.33099786e-01 1.47021854e-04 9.91102631e-01 -3.98685084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters 0.03130297416905554 Centerline is valid? [True, True] Translation: X:287.19, Y:-181.03, Z:-39.88 [[ 7.11619967e-01 6.96084001e-01 9.52054883e-02 2.87194187e+02] [-6.89940223e-01 7.17960349e-01 -9.22790651e-02 -1.81034181e+02] [-1.32587746e-01 -1.84705576e-05 9.91171271e-01 -3.98755333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters 0.03144097311320249 Centerline is valid? [True, True] Translation: X:287.24, Y:-181.08, Z:-39.88 [[ 7.12249875e-01 6.95362993e-01 9.57623244e-02 2.87240545e+02] [-6.89127101e-01 7.18658662e-01 -9.29169879e-02 -1.81077121e+02] [-1.33431459e-01 1.87700043e-04 9.91058026e-01 -3.98809893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters 0.031387234376629186 Centerline is valid? [True, True] Translation: X:287.29, Y:-181.12, Z:-39.89 [[ 7.12347814e-01 6.95239643e-01 9.59293034e-02 2.87286134e+02] [-6.88967403e-01 7.18777962e-01 -9.31781036e-02 -1.81119980e+02] [-1.33732981e-01 2.83055301e-04 9.91017361e-01 -3.98890878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters 0.031145463890385045 Centerline is valid? [True, True] Translation: X:287.33, Y:-181.16, Z:-39.89 [[ 7.12903420e-01 6.95032852e-01 9.32633327e-02 2.87331717e+02] [-6.89093232e-01 7.18977883e-01 -9.06715008e-02 -1.81162784e+02] [-1.30073945e-01 3.72891627e-04 9.91504226e-01 -3.98946282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters 0.031046253267380333 Centerline is valid? [True, True] Translation: X:287.38, Y:-181.21, Z:-39.90 [[ 7.12243775e-01 6.95745616e-01 9.29884037e-02 2.87377501e+02] [-6.89841891e-01 7.18288218e-01 -9.04444680e-02 -1.81205070e+02] [-1.29718817e-01 2.71213020e-04 9.91550783e-01 -3.99007117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters 0.03104323697997645 Centerline is valid? [True, True] Translation: X:287.42, Y:-181.25, Z:-39.91 [[ 7.11014710e-01 6.96808799e-01 9.44223479e-02 2.87422673e+02] [-6.90717408e-01 7.17256911e-01 -9.19346816e-02 -1.81247246e+02] [-1.31785977e-01 1.47751571e-04 9.91278182e-01 -3.99060853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters 0.030764997966243598 Centerline is valid? [True, True] Translation: X:287.47, Y:-181.29, Z:-39.91 [[ 7.09312123e-01 6.98607123e-01 9.39382731e-02 2.87469942e+02] [-6.92582708e-01 7.15505466e-01 -9.15484620e-02 -1.81289239e+02] [-1.31169756e-01 -1.23589531e-04 9.91359914e-01 -3.99131503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters 0.03086626161670052 Centerline is valid? [True, True] Translation: X:287.52, Y:-181.33, Z:-39.92 [[ 7.09169048e-01 6.98700161e-01 9.43257481e-02 2.87516122e+02] [-6.92613655e-01 7.15414621e-01 -9.20230668e-02 -1.81331367e+02] [-1.31778551e-01 -7.13903918e-05 9.91279178e-01 -3.99208845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters 0.03085458918020876 Centerline is valid? [True, True] Translation: X:287.56, Y:-181.37, Z:-39.93 [[ 7.07841919e-01 7.00008712e-01 9.45918701e-02 2.87564488e+02] [-6.93886385e-01 7.14134261e-01 -9.23793368e-02 -1.81371094e+02] [-1.32217636e-01 -2.46043821e-04 9.91220680e-01 -3.99275166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters 0.030539609505197785 Centerline is valid? [True, True] Translation: X:287.61, Y:-181.41, Z:-39.93 [[ 7.08798681e-01 6.99231792e-01 9.31629279e-02 2.87611067e+02] [-6.93275047e-01 7.14895027e-01 -9.10758454e-02 -1.81411704e+02] [-1.30284840e-01 -3.30941256e-05 9.91476606e-01 -3.99324908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters 0.030590494621092316 Centerline is valid? [True, True] Translation: X:287.66, Y:-181.45, Z:-39.94 [[ 7.08899357e-01 6.98856490e-01 9.51909059e-02 2.87658559e+02] [-6.92621461e-01 7.15261908e-01 -9.31445911e-02 -1.81451421e+02] [-1.33181131e-01 9.88763845e-05 9.91091709e-01 -3.99395210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters 0.030496023331675483 Centerline is valid? [True, True] Translation: X:287.71, Y:-181.49, Z:-39.95 [[ 7.08729527e-01 6.98994253e-01 9.54436608e-02 2.87705022e+02] [-6.92715362e-01 7.15127272e-01 -9.34794737e-02 -1.81494409e+02] [-1.33595980e-01 1.36373114e-04 9.91035870e-01 -3.99456259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters 0.03039053661713706 Centerline is valid? [True, True] Translation: X:287.75, Y:-181.54, Z:-39.95 [[ 7.07622473e-01 6.99995065e-01 9.63189690e-02 2.87749899e+02] [-6.93596065e-01 7.14147680e-01 -9.44329937e-02 -1.81536747e+02] [-1.34888598e-01 1.64506801e-05 9.90860770e-01 -3.99526278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters 0.030402940332841407 Centerline is valid? [True, True] Translation: X:287.79, Y:-181.58, Z:-39.96 [[ 7.06143506e-01 7.01370492e-01 9.71636835e-02 2.87792832e+02] [-6.94859116e-01 7.12796884e-01 -9.53488912e-02 -1.81581629e+02] [-1.36132870e-01 -1.85070870e-04 9.90690571e-01 -3.99589554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters 0.030294521549159348 Centerline is valid? [True, True] Translation: X:287.84, Y:-181.62, Z:-39.97 [[ 7.04352774e-01 7.03213851e-01 9.68372320e-02 2.87838216e+02] [-6.96751538e-01 7.10978237e-01 -9.51169891e-02 -1.81624349e+02] [-1.35736749e-01 -4.75575194e-04 9.90744825e-01 -3.99659552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters 0.0303228464968329 Centerline is valid? [True, True] Translation: X:287.88, Y:-181.67, Z:-39.97 [[ 7.04721928e-01 7.02988016e-01 9.57854594e-02 2.87884721e+02] [-6.96651137e-01 7.11201603e-01 -9.41778804e-02 -1.81665620e+02] [-1.34328694e-01 -3.59831699e-04 9.90936765e-01 -3.99714779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters 0.03037484474886942 Centerline is valid? [True, True] Translation: X:287.93, Y:-181.71, Z:-39.98 [[ 7.05305981e-01 7.02371741e-01 9.60073443e-02 2.87931037e+02] [-6.95987598e-01 7.11810301e-01 -9.44847027e-02 -1.81707834e+02] [-1.34702402e-01 -1.79294993e-04 9.90886084e-01 -3.99786834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters 0.030408177935284466 Centerline is valid? [True, True] Translation: X:287.97, Y:-181.75, Z:-39.99 [[ 7.10275342e-01 6.97507580e-01 9.48267600e-02 2.87974519e+02] [-6.91223997e-01 7.16576951e-01 -9.34176621e-02 -1.81751136e+02] [-1.33110198e-01 8.05729838e-04 9.91100916e-01 -3.99866525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters 0.030612045150558216 Centerline is valid? [True, True] Translation: X:288.02, Y:-181.79, Z:-39.99 [[ 7.14864144e-01 6.92951491e-01 9.37415969e-02 2.88018678e+02] [-6.86761270e-01 7.20982211e-01 -9.24316458e-02 -1.81794862e+02] [-1.31636671e-01 1.69797116e-03 9.91296577e-01 -3.99930531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters 0.030821745434695857 Centerline is valid? [True, True] Translation: X:288.06, Y:-181.84, Z:-40.00 [[ 7.17243649e-01 6.90662533e-01 9.24489768e-02 2.88060508e+02] [-6.84612853e-01 7.23174009e-01 -9.12392125e-02 -1.81842121e+02] [-1.29872203e-01 2.14898789e-03 9.91528413e-01 -3.99990839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters 0.030906996184103936 Centerline is valid? [True, True] Translation: X:288.10, Y:-181.89, Z:-40.01 [[ 7.17318702e-01 6.90505103e-01 9.30407602e-02 2.88103840e+02] [-6.84364032e-01 7.23323996e-01 -9.19144569e-02 -1.81885859e+02] [-1.30766016e-01 2.25820908e-03 9.91410687e-01 -4.00054132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters 0.03125588801587154 Centerline is valid? [True, True] Translation: X:288.14, Y:-181.94, Z:-40.01 [[ 7.17082957e-01 6.90380848e-01 9.57408817e-02 2.88140730e+02] [-6.83863855e-01 7.23442103e-01 -9.46665292e-02 -1.81935751e+02] [-1.34618944e-01 2.41002631e-03 9.90894511e-01 -4.00127146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters 0.03121346187254747 Centerline is valid? [True, True] Translation: X:288.18, Y:-181.98, Z:-40.02 [[ 7.17416771e-01 6.90220612e-01 9.43858192e-02 2.88180058e+02] [-6.83876030e-01 7.23594812e-01 -9.34030145e-02 -1.81983663e+02] [-1.32765775e-01 2.46068980e-03 9.91144386e-01 -4.00195833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters 0.030759778005091658 Centerline is valid? [True, True] Translation: X:288.22, Y:-182.03, Z:-40.02 [[ 7.15175597e-01 6.92760359e-01 9.27736494e-02 2.88219124e+02] [-6.86642366e-01 7.21165052e-01 -9.18870441e-02 -1.82032599e+02] [-1.30560815e-01 2.01305351e-03 9.91438259e-01 -4.00229632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters 0.030478250263734054 Centerline is valid? [True, True] Translation: X:288.26, Y:-182.08, Z:-40.03 [[ 7.10523030e-01 6.97827505e-01 9.05196013e-02 2.88255836e+02] [-6.92035167e-01 7.16264988e-01 -8.97317888e-02 -1.82083562e+02] [-1.27453331e-01 1.11375497e-03 9.91843943e-01 -4.00290921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters 0.030386986374808262 Centerline is valid? [True, True] Translation: X:288.30, Y:-182.13, Z:-40.04 [[ 7.09637277e-01 6.98736090e-01 9.04588974e-02 2.88296581e+02] [-6.92948327e-01 7.15378821e-01 -8.97538814e-02 -1.82131583e+02] [-1.27426656e-01 1.00935841e-03 9.91847483e-01 -4.00360416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters 0.03029493699086741 Centerline is valid? [True, True] Translation: X:288.34, Y:-182.18, Z:-40.04 [[ 7.08337403e-01 7.00113853e-01 8.99928738e-02 2.88340024e+02] [-6.94385255e-01 7.14030753e-01 -8.93823359e-02 -1.82175797e+02] [-1.26835491e-01 8.23127055e-04 9.91923425e-01 -4.00415520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters 0.03029869668756666 Centerline is valid? [True, True] Translation: X:288.38, Y:-182.22, Z:-40.05 [[ 7.02944608e-01 7.05400831e-01 9.09865194e-02 2.88384085e+02] [-6.99577219e-01 7.08808623e-01 -9.04546886e-02 -1.82220734e+02] [-1.28298842e-01 -6.74606049e-05 9.91735551e-01 -4.00480052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters 0.030184649045194994 Centerline is valid? [True, True] Translation: X:288.43, Y:-182.26, Z:-40.05 [[ 6.99436247e-01 7.09124381e-01 8.90592400e-02 2.88431814e+02] [-7.03564386e-01 7.05083090e-01 -8.86283872e-02 -1.82261197e+02] [-1.25642714e-01 -6.69002956e-04 9.92075330e-01 -4.00528145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters 0.030107560138744414 Centerline is valid? [True, True] Translation: X:288.48, Y:-182.30, Z:-40.06 [[ 6.99687169e-01 7.08901421e-01 8.88630511e-02 2.88479909e+02] [-7.03353672e-01 7.05307346e-01 -8.85164359e-02 -1.82301482e+02] [-1.25425190e-01 -5.68338888e-04 9.92102917e-01 -4.00587689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters 0.03000966536819538 Centerline is valid? [True, True] Translation: X:288.53, Y:-182.34, Z:-40.07 [[ 7.01610300e-01 7.06875623e-01 8.98322879e-02 2.88525922e+02] [-7.01176740e-01 7.07337850e-01 -8.95787132e-02 -1.82344257e+02] [-1.26862786e-01 -1.38962854e-04 9.91920266e-01 -4.00659980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters 0.029870677236633426 Centerline is valid? [True, True] Translation: X:288.57, Y:-182.39, Z:-40.07 [[ 7.05211550e-01 7.03382352e-01 8.90501910e-02 2.88571740e+02] [-6.97742789e-01 7.10811479e-01 -8.88934289e-02 -1.82386575e+02] [-1.25823967e-01 5.54544163e-04 9.92052429e-01 -4.00728647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters 0.029795707309987252 Centerline is valid? [True, True] Translation: X:288.61, Y:-182.43, Z:-40.08 [[ 7.06753930e-01 7.02006930e-01 8.76649990e-02 2.88614909e+02] [-6.96520129e-01 7.12169602e-01 -8.76023229e-02 -1.82432126e+02] [-1.23929785e-01 8.52849584e-04 9.92290623e-01 -4.00788863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters 0.02954238039938764 Centerline is valid? [True, True] Translation: X:288.63, Y:-182.76, Z:-38.21 [[ 7.49849947e-01 -6.58170918e-01 -6.73505647e-02 2.88625042e+02] [-6.54621172e-01 -7.52832184e-01 6.86645776e-02 -1.82758685e+02] [-9.58967007e-02 -7.39902428e-03 -9.95363791e-01 -3.82117251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters 0.029370168797749042 Centerline is valid? [True, True] Translation: X:288.66, Y:-182.50, Z:-40.09 [[ 7.54445013e-01 6.49799230e-01 9.25941912e-02 2.88663955e+02] [-6.44873935e-01 7.60105700e-01 -7.98557024e-02 -1.82498520e+02] [-1.22271546e-01 5.35155997e-04 9.92496540e-01 -4.00855182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters 0.029403951234738313 Centerline is valid? [True, True] Translation: X:288.71, Y:-182.54, Z:-40.09 [[ 7.54293120e-01 6.50239249e-01 9.07238077e-02 2.88708607e+02] [-6.45505075e-01 7.59729329e-01 -7.83233344e-02 -1.82542253e+02] [-1.19854444e-01 5.16073991e-04 9.92791341e-01 -4.00913149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters 0.029096617924452804 Centerline is valid? [True, True] Translation: X:288.75, Y:-182.59, Z:-40.10 [[ 7.55637014e-01 6.48578298e-01 9.14269919e-02 2.88752343e+02] [-6.43749030e-01 7.61147477e-01 -7.90044564e-02 -1.82585964e+02] [-1.20830000e-01 8.42654113e-04 9.92672857e-01 -4.00967042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters 0.02909609068308723 Centerline is valid? [True, True] Translation: X:288.80, Y:-182.63, Z:-40.10 [[ 7.54823710e-01 6.49446011e-01 9.19839419e-02 2.88797765e+02] [-6.44554625e-01 7.60407320e-01 -7.95615720e-02 -1.82629843e+02] [-1.21616208e-01 7.66285821e-04 9.92576904e-01 -4.01032211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters 0.029089892142298332 Centerline is valid? [True, True] Translation: X:288.84, Y:-182.67, Z:-40.11 [[ 7.52119638e-01 6.52479805e-01 9.26615018e-02 2.88843770e+02] [-6.47528079e-01 7.57806034e-01 -8.02334177e-02 -1.82672096e+02] [-1.22570130e-01 3.44204754e-04 9.92459795e-01 -4.01110002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters 0.029354219458762702 Centerline is valid? [True, True] Translation: X:288.89, Y:-182.71, Z:-40.12 [[ 7.47122730e-01 6.57960418e-01 9.43170991e-02 2.88890390e+02] [-6.52861803e-01 7.53052350e-01 -8.17534304e-02 -1.82711946e+02] [-1.24816234e-01 -4.96185315e-04 9.92179753e-01 -4.01177927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters 0.02974198649741362 Centerline is valid? [True, True] Translation: X:288.94, Y:-182.75, Z:-40.12 [[ 7.42545522e-01 6.63136361e-01 9.42141987e-02 2.88940129e+02] [-6.58081184e-01 7.48497466e-01 -8.17355446e-02 -1.82749238e+02] [-1.24720901e-01 -1.30822883e-03 9.92191003e-01 -4.01233165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters 0.02985801821864834 Centerline is valid? [True, True] Translation: X:288.99, Y:-182.78, Z:-40.13 [[ 7.42600202e-01 6.63078697e-01 9.41890710e-02 2.88992248e+02] [-6.58015941e-01 7.48548666e-01 -8.17919089e-02 -1.82784965e+02] [-1.24739576e-01 -1.23922205e-03 9.92188743e-01 -4.01310385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters 0.02960264904756244 Centerline is valid? [True, True] Translation: X:289.04, Y:-182.82, Z:-40.14 [[ 7.45011709e-01 6.60163002e-01 9.56157062e-02 2.89043906e+02] [-6.54909481e-01 7.51122047e-01 -8.31218480e-02 -1.82821564e+02] [-1.26693034e-01 -6.92882474e-04 9.91941730e-01 -4.01372420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters 0.029787812924759335 Centerline is valid? [True, True] Translation: X:289.09, Y:-182.86, Z:-40.15 [[ 7.47312011e-01 6.57323502e-01 9.72140545e-02 2.89093034e+02] [-6.51856296e-01 7.53608514e-01 -8.46024602e-02 -1.82858681e+02] [-1.28872525e-01 -1.45158842e-04 9.91661158e-01 -4.01464745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters 0.029605138021354362 Centerline is valid? [True, True] Translation: X:289.14, Y:-182.90, Z:-40.15 [[ 7.47050952e-01 6.57637366e-01 9.70977345e-02 2.89140344e+02] [-6.52175343e-01 7.53334637e-01 -8.45827764e-02 -1.82899568e+02] [-1.28771881e-01 -1.37104625e-04 9.91674233e-01 -4.01545928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters 0.029602091373882373 Centerline is valid? [True, True] Translation: X:289.19, Y:-182.94, Z:-40.16 [[ 7.43870274e-01 6.61393704e-01 9.59967919e-02 2.89186478e+02] [-6.56074979e-01 7.50038575e-01 -8.37123523e-02 -1.82942017e+02] [-1.27368120e-01 -7.09962783e-04 9.91855261e-01 -4.01615068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters 0.0296419237996243 Centerline is valid? [True, True] Translation: X:289.23, Y:-182.98, Z:-40.17 [[ 7.42104624e-01 6.63186415e-01 9.72856903e-02 2.89231269e+02] [-6.57726982e-01 7.48453639e-01 -8.49256545e-02 -1.82984613e+02] [-1.29135369e-01 -9.63702570e-04 9.91626506e-01 -4.01680502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters 0.029598434677573383 Centerline is valid? [True, True] Translation: X:289.28, Y:-183.02, Z:-40.17 [[ 7.41442174e-01 6.63900659e-01 9.74649610e-02 2.89279057e+02] [-6.58416466e-01 7.47820071e-01 -8.51639529e-02 -1.83024917e+02] [-1.29426658e-01 -1.02838881e-03 9.91588464e-01 -4.01749219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters 0.029361970111304155 Centerline is valid? [True, True] Translation: X:289.33, Y:-183.06, Z:-40.18 [[ 7.42749786e-01 6.62546129e-01 9.67232268e-02 2.89327742e+02] [-6.57122414e-01 7.49020768e-01 -8.46050970e-02 -1.83063853e+02] [-1.28502485e-01 -7.18582539e-04 9.91708927e-01 -4.01816012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters 0.029398497930240346 Centerline is valid? [True, True] Translation: X:289.38, Y:-183.10, Z:-40.19 [[ 7.43560334e-01 6.61554907e-01 9.72786421e-02 2.89376170e+02] [-6.56049438e-01 7.49896570e-01 -8.51719991e-02 -1.83103177e+02] [-1.29294874e-01 -4.89078307e-04 9.91606069e-01 -4.01872500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters 0.02916695050828633 Centerline is valid? [True, True] Translation: X:289.42, Y:-183.14, Z:-40.19 [[ 7.46229939e-01 6.58685259e-01 9.63047600e-02 2.89424133e+02] [-6.53255333e-01 7.52418583e-01 -8.44022883e-02 -1.83142050e+02] [-1.28056034e-01 7.19164533e-05 9.91766932e-01 -4.01944087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters 0.02939463606706426 Centerline is valid? [True, True] Translation: X:289.47, Y:-183.18, Z:-40.20 [[ 7.50199987e-01 6.53849044e-01 9.83941415e-02 2.89469865e+02] [-6.48127385e-01 7.56624387e-01 -8.63158762e-02 -1.83182956e+02] [-1.30884960e-01 9.82231529e-04 9.91397076e-01 -4.02023533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters 0.02928825411449445 Centerline is valid? [True, True] Translation: X:289.52, Y:-183.23, Z:-40.21 [[ 7.51230465e-01 6.52666113e-01 9.83856384e-02 2.89516143e+02] [-6.46924469e-01 7.57644626e-01 -8.63906901e-02 -1.83225496e+02] [-1.30925626e-01 1.25124138e-03 9.91391403e-01 -4.02081874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters 0.029276160628800795 Centerline is valid? [True, True] Translation: X:289.56, Y:-183.27, Z:-40.22 [[ 7.51733183e-01 6.52515511e-01 9.55025097e-02 2.89559778e+02] [-6.47094901e-01 7.57774247e-01 -8.39427217e-02 -1.83269575e+02] [-1.27143270e-01 1.30334234e-03 9.91883506e-01 -4.02153098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters 0.029332040528684513 Centerline is valid? [True, True] Translation: X:289.60, Y:-183.32, Z:-40.22 [[ 7.49928403e-01 6.54560521e-01 9.56969957e-02 2.89602658e+02] [-6.49124103e-01 7.56008919e-01 -8.41927218e-02 -1.83316381e+02] [-1.27457014e-01 1.01928686e-03 9.91843572e-01 -4.02223101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters 0.029071297140101 Centerline is valid? [True, True] Translation: X:289.64, Y:-183.36, Z:-40.23 [[ 7.48469338e-01 6.56437473e-01 9.42522883e-02 2.89644949e+02] [-6.51168637e-01 7.54380060e-01 -8.30068124e-02 -1.83362465e+02] [-1.25590829e-01 7.53919721e-04 9.92081839e-01 -4.02284508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters 0.02901220911628677 Centerline is valid? [True, True] Translation: X:289.69, Y:-183.41, Z:-40.23 [[ 7.45883935e-01 6.59574493e-01 9.28366482e-02 2.89688522e+02] [-6.54478200e-01 7.51639149e-01 -8.18344423e-02 -1.83406430e+02] [-1.23755570e-01 2.79433518e-04 9.92312693e-01 -4.02318948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters 0.02915940100047222 Centerline is valid? [True, True] Translation: X:289.73, Y:-183.45, Z:-40.24 [[ 7.44944054e-01 6.60615252e-01 9.29830386e-02 2.89733414e+02] [-6.55501135e-01 7.50724624e-01 -8.20414600e-02 -1.83450497e+02] [-1.24002497e-01 1.65810440e-04 9.92281892e-01 -4.02378397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters 0.029034791852924575 Centerline is valid? [True, True] Translation: X:289.78, Y:-183.49, Z:-40.24 [[ 7.45491945e-01 6.60197353e-01 9.15489722e-02 2.89776974e+02] [-6.55226776e-01 7.51092116e-01 -8.08610242e-02 -1.83494803e+02] [-1.22145945e-01 2.95904395e-04 9.92512106e-01 -4.02445741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters 0.028795297159266185 Centerline is valid? [True, True] Translation: X:289.82, Y:-183.54, Z:-40.25 [[ 7.43917298e-01 6.61971095e-01 9.15495707e-02 2.89820094e+02] [-6.57004275e-01 7.49529363e-01 -8.09389703e-02 -1.83540702e+02] [-1.22198350e-01 6.34407196e-05 9.92505697e-01 -4.02502576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters 0.028282121149891933 Centerline is valid? [True, True] Translation: X:289.87, Y:-183.59, Z:-40.26 [[ 7.41205426e-01 6.65117705e-01 9.07356342e-02 2.89865071e+02] [-6.60252055e-01 7.46738434e-01 -8.03052591e-02 -1.83585154e+02] [-1.21168235e-01 -3.85695187e-04 9.92631911e-01 -4.02565911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters 0.02818813198929263 Centerline is valid? [True, True] Translation: X:289.91, Y:-183.63, Z:-40.26 [[ 7.39672865e-01 6.66912870e-01 9.00626263e-02 2.89909712e+02] [-6.62122233e-01 7.45135459e-01 -7.97953471e-02 -1.83630092e+02] [-1.20325400e-01 -6.10014237e-04 9.92734318e-01 -4.02629116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters 0.028315855708655926 Centerline is valid? [True, True] Translation: X:289.95, Y:-183.67, Z:-40.27 [[ 7.38047233e-01 6.68623092e-01 9.07162738e-02 2.89954430e+02] [-6.63764488e-01 7.43601018e-01 -8.04626059e-02 -1.83673933e+02] [-1.21255870e-01 -8.29037338e-04 9.92620938e-01 -4.02707610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters 0.028403245214740483 Centerline is valid? [True, True] Translation: X:290.00, Y:-183.72, Z:-40.28 [[ 7.35590120e-01 6.71381745e-01 9.02979936e-02 2.90000701e+02] [-6.66578057e-01 7.41110710e-01 -8.01786103e-02 -1.83716061e+02] [-1.20751265e-01 -1.21206754e-03 9.92682055e-01 -4.02758859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters 0.02892580327165827 Centerline is valid? [True, True] Translation: X:290.05, Y:-183.76, Z:-40.28 [[ 7.30368680e-01 6.77110884e-01 8.99024023e-02 2.90046520e+02] [-6.72381874e-01 7.35878056e-01 -7.99130892e-02 -1.83758113e+02] [-1.20267227e-01 -2.08272829e-03 9.92739370e-01 -4.02833512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters 0.029135718776418438 Centerline is valid? [True, True] Translation: X:290.09, Y:-183.80, Z:-40.29 [[ 7.27548282e-01 6.80292701e-01 8.87430964e-02 2.90093537e+02] [-6.75699916e-01 7.32936215e-01 -7.89565029e-02 -1.83798124e+02] [-1.18756562e-01 -2.51903469e-03 9.92920205e-01 -4.02892225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters 0.02998621948939038 Centerline is valid? [True, True] Translation: X:290.14, Y:-183.84, Z:-40.30 [[ 7.22409981e-01 6.85640996e-01 8.95558181e-02 2.90140941e+02] [-6.80995269e-01 7.27932033e-01 -7.97521098e-02 -1.83836922e+02] [-1.19871865e-01 -3.37336831e-03 9.92783640e-01 -4.02966551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters 0.03010146802591413 Centerline is valid? [True, True] Translation: X:290.19, Y:-183.87, Z:-40.30 [[ 7.19925969e-01 6.88267498e-01 8.94116901e-02 2.90189466e+02] [-6.83652068e-01 7.25447174e-01 -7.96633416e-02 -1.83874916e+02] [-1.19693147e-01 -3.77477838e-03 9.92803758e-01 -4.03021112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters 0.030220945578433883 Centerline is valid? [True, True] Translation: X:290.24, Y:-183.91, Z:-40.31 [[ 7.19700527e-01 6.88483638e-01 8.95624474e-02 2.90240551e+02] [-6.83845611e-01 7.25242101e-01 -7.98691174e-02 -1.83911556e+02] [-1.19943038e-01 -3.76504062e-03 9.92773636e-01 -4.03083595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters 0.030443507253514256 Centerline is valid? [True, True] Translation: X:290.29, Y:-183.95, Z:-40.31 [[ 7.19072284e-01 6.89105529e-01 8.98254972e-02 2.90288728e+02] [-6.84434411e-01 7.24650952e-01 -8.01906172e-02 -1.83952273e+02] [-1.20351930e-01 -3.81681101e-03 9.92723952e-01 -4.03146755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters 0.030234749164103524 Centerline is valid? [True, True] Translation: X:290.34, Y:-183.99, Z:-40.32 [[ 7.20250091e-01 6.87793930e-01 9.04395710e-02 2.90338173e+02] [-6.83037674e-01 7.25897266e-01 -8.08250877e-02 -1.83989255e+02] [-1.21240842e-01 -3.55935739e-03 9.92616738e-01 -4.03220440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters 0.029864556403083616 Centerline is valid? [True, True] Translation: X:290.39, Y:-184.03, Z:-40.33 [[ 7.22580208e-01 6.85345487e-01 9.04400736e-02 2.90386284e+02] [-6.80560759e-01 7.28211509e-01 -8.09014902e-02 -1.84028130e+02] [-1.21304974e-01 -3.09214954e-03 9.92610468e-01 -4.03290721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters 0.029641442463964125 Centerline is valid? [True, True] Translation: X:290.44, Y:-184.06, Z:-40.33 [[ 7.23150438e-01 6.84725498e-01 9.05783486e-02 2.90437375e+02] [-6.79911891e-01 7.28795148e-01 -8.11014889e-02 -1.84063505e+02] [-1.21545318e-01 -2.93671916e-03 9.92581539e-01 -4.03346980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters 0.029927010258984567 Centerline is valid? [True, True] Translation: X:290.49, Y:-184.10, Z:-40.34 [[ 7.21944668e-01 6.85951421e-01 9.09205462e-02 2.90486330e+02] [-6.81101380e-01 7.27640742e-01 -8.14853376e-02 -1.84101048e+02] [-1.22052477e-01 -3.09820455e-03 9.92518813e-01 -4.03431878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters 0.03015333677573963 Centerline is valid? [True, True] Translation: X:290.54, Y:-184.14, Z:-40.35 [[ 7.20533053e-01 6.87333395e-01 9.16783733e-02 2.90536719e+02] [-6.82403200e-01 7.26334563e-01 -8.22433913e-02 -1.84137668e+02] [-1.23117801e-01 -3.30253352e-03 9.92386568e-01 -4.03499935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters 0.030544229896753206 Centerline is valid? [True, True] Translation: X:290.59, Y:-184.17, Z:-40.36 [[ 7.20919617e-01 6.87147502e-01 9.00178648e-02 2.90587827e+02] [-6.82384304e-01 7.26511082e-01 -8.08288921e-02 -1.84173771e+02] [-1.20940348e-01 -3.15564401e-03 9.92654761e-01 -4.03568285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters 0.029957898678984313 Centerline is valid? [True, True] Translation: X:290.64, Y:-184.21, Z:-40.37 [[ 7.26092073e-01 6.81240616e-01 9.32819623e-02 2.90640185e+02] [-6.76066066e-01 7.32056292e-01 -8.38347218e-02 -1.84208454e+02] [-1.25399265e-01 -2.19304228e-03 9.92103934e-01 -4.03658981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters 0.030097860004283994 Centerline is valid? [True, True] Translation: X:290.69, Y:-184.25, Z:-40.37 [[ 7.29458562e-01 6.77423865e-01 9.48003873e-02 2.90688392e+02] [-6.72041819e-01 7.35591297e-01 -8.52363675e-02 -1.84247784e+02] [-1.27475489e-01 -1.53342656e-03 9.91840536e-01 -4.03738638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters 0.03035390523032092 Centerline is valid? [True, True] Translation: X:290.74, Y:-184.29, Z:-40.38 [[ 7.29216645e-01 6.77696989e-01 9.47094275e-02 2.90737442e+02] [-6.72317091e-01 7.35339707e-01 -8.52364069e-02 -1.84287226e+02] [-1.27408059e-01 -1.51896011e-03 9.91849222e-01 -4.03833306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters 0.03064778592081307 Centerline is valid? [True, True] Translation: X:290.78, Y:-184.33, Z:-40.39 [[ 7.29136602e-01 6.77540743e-01 9.64279885e-02 2.90782220e+02] [-6.71949570e-01 7.35483812e-01 -8.68754195e-02 -1.84330034e+02] [-1.29782861e-01 -1.45069719e-03 9.91541378e-01 -4.03894347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters 0.03069394566833943 Centerline is valid? [True, True] Translation: X:290.83, Y:-184.37, Z:-40.40 [[ 7.30020767e-01 6.76603980e-01 9.63158055e-02 2.90826528e+02] [-6.71007202e-01 7.36346087e-01 -8.68549134e-02 -1.84372571e+02] [-1.29688147e-01 -1.22270860e-03 9.91554078e-01 -4.03967352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters 0.030697242635953626 Centerline is valid? [True, True] Translation: X:290.87, Y:-184.42, Z:-40.40 [[ 7.31846979e-01 6.74619225e-01 9.63789473e-02 2.90870156e+02] [-6.68987307e-01 7.38165459e-01 -8.69927553e-02 -1.84416366e+02] [-1.29830595e-01 -8.10907209e-04 9.91535859e-01 -4.04046864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters 0.03034346411606038 Centerline is valid? [True, True] Translation: X:290.91, Y:-184.46, Z:-40.41 [[ 7.34038426e-01 6.72412576e-01 9.51257925e-02 2.90913272e+02] [-6.66898997e-01 7.40176464e-01 -8.59332894e-02 -1.84461916e+02] [-1.28192497e-01 -3.60959115e-04 9.91749239e-01 -4.04092954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters 0.030517160182013482 Centerline is valid? [True, True] Translation: X:290.95, Y:-184.51, Z:-40.42 [[ 7.33842135e-01 6.72645512e-01 9.49933467e-02 2.90954141e+02] [-6.67144353e-01 7.39964781e-01 -8.58518236e-02 -1.84509670e+02] [-1.28039575e-01 -3.72589330e-04 9.91768989e-01 -4.04167407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters 0.030587554530553087 Centerline is valid? [True, True] Translation: X:291.00, Y:-184.55, Z:-40.42 [[ 7.31539349e-01 6.75225436e-01 9.44499393e-02 2.90998982e+02] [-6.69797001e-01 7.37611040e-01 -8.54513403e-02 -1.84553851e+02] [-1.27366236e-01 -7.51268285e-04 9.91855472e-01 -4.04211046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters 0.03071831365308469 Centerline is valid? [True, True] Translation: X:291.04, Y:-184.60, Z:-40.43 [[ 7.29193421e-01 6.77627157e-01 9.53854928e-02 2.91044603e+02] [-6.72098847e-01 7.35404783e-01 -8.63883392e-02 -1.84595944e+02] [-1.28686032e-01 -1.11467123e-03 9.91684760e-01 -4.04282215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters 0.03109912539637539 Centerline is valid? [True, True] Translation: X:291.09, Y:-184.64, Z:-40.44 [[ 7.26403576e-01 6.80718443e-01 9.46585770e-02 2.91092791e+02] [-6.75289930e-01 7.32543432e-01 -8.58116080e-02 -1.84635504e+02] [-1.27755063e-01 -1.58812492e-03 9.91804478e-01 -4.04353615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters 0.03096239135365073 Centerline is valid? [True, True] Translation: X:291.14, Y:-184.67, Z:-40.44 [[ 7.27622725e-01 6.79566279e-01 9.35673140e-02 2.91142031e+02] [-6.74241963e-01 7.33612957e-01 -8.49105656e-02 -1.84673203e+02] [-1.26344551e-01 -1.30415237e-03 9.91985561e-01 -4.04434861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters 0.03065145272576578 Centerline is valid? [True, True] Translation: X:291.19, Y:-184.71, Z:-40.45 [[ 7.29387312e-01 6.77652700e-01 9.37068106e-02 2.91191158e+02] [-6.72286380e-01 7.35381522e-01 -8.51178040e-02 -1.84710823e+02] [-1.26590567e-01 -9.13966224e-04 9.91954633e-01 -4.04495278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters 0.030620697432136103 Centerline is valid? [True, True] Translation: X:291.24, Y:-184.75, Z:-40.45 [[ 7.27434019e-01 6.79726186e-01 9.38725728e-02 2.91244229e+02] [-6.74347466e-01 7.33464950e-01 -8.53502271e-02 -1.84746127e+02] [-1.26867026e-01 -1.21607287e-03 9.91918988e-01 -4.04548971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters 0.030758967540117185 Centerline is valid? [True, True] Translation: X:291.29, Y:-184.79, Z:-40.46 [[ 7.26105090e-01 6.80930175e-01 9.54227223e-02 2.91292193e+02] [-6.75370038e-01 7.32347039e-01 -8.68511694e-02 -1.84785164e+02] [-1.29022130e-01 -1.38257144e-03 9.91640751e-01 -4.04630374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters 0.030465283833635 Centerline is valid? [True, True] Translation: X:291.34, Y:-184.82, Z:-40.47 [[ 7.27661999e-01 6.79293348e-01 9.52289975e-02 2.91340669e+02] [-6.73731423e-01 7.33866122e-01 -8.67553122e-02 -1.84824045e+02] [-1.28817642e-01 -1.03022414e-03 9.91667764e-01 -4.04688775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters 0.030323627803937648 Centerline is valid? [True, True] Translation: X:291.39, Y:-184.86, Z:-40.48 [[ 7.30261289e-01 6.76716603e-01 9.36647650e-02 2.91389394e+02] [-6.71305455e-01 7.36243426e-01 -8.54084534e-02 -1.84861720e+02] [-1.26757386e-01 -5.07180469e-04 9.91933621e-01 -4.04763625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters 0.0301908697197439 Centerline is valid? [True, True] Translation: X:291.44, Y:-184.90, Z:-40.48 [[ 7.32480333e-01 6.74296222e-01 9.37932128e-02 2.91438553e+02] [-6.68839927e-01 7.38460970e-01 -8.56069392e-02 -1.84901255e+02] [-1.26987063e-01 -2.72462956e-05 9.91904373e-01 -4.04832405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters 0.02998924444592089 Centerline is valid? [True, True] Translation: X:291.49, Y:-184.94, Z:-40.49 [[ 7.32479944e-01 6.74308883e-01 9.37051852e-02 2.91486108e+02] [-6.68851311e-01 7.38449408e-01 -8.56177261e-02 -1.84942081e+02] [-1.26929332e-01 3.84311692e-05 9.91911762e-01 -4.04898852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters 0.029676625253512362 Centerline is valid? [True, True] Translation: X:291.53, Y:-184.98, Z:-40.50 [[ 7.33008740e-01 6.73572231e-01 9.48611434e-02 2.91532361e+02] [-6.67960685e-01 7.39121366e-01 -8.67647970e-02 -1.84983483e+02] [-1.28556256e-01 2.35840223e-04 9.91702190e-01 -4.04972188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters 0.029317221080921982 Centerline is valid? [True, True] Translation: X:291.58, Y:-185.02, Z:-40.50 [[ 7.32048424e-01 6.74733959e-01 9.40169629e-02 2.91579636e+02] [-6.69221657e-01 7.38061025e-01 -8.60714642e-02 -1.85023609e+02] [-1.27465596e-01 9.02920342e-05 9.91842988e-01 -4.05026528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters 0.029241172323373116 Centerline is valid? [True, True] Translation: X:291.63, Y:-185.07, Z:-40.51 [[ 7.31108205e-01 6.75752800e-01 9.40156679e-02 2.91626825e+02] [-6.70238545e-01 7.37128315e-01 -8.61518465e-02 -1.85065203e+02] [-1.27518962e-01 -2.66025856e-05 9.91836132e-01 -4.05094310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters 0.029177216752239356 Centerline is valid? [True, True] Translation: X:291.68, Y:-185.11, Z:-40.52 [[ 7.25466286e-01 6.82048540e-01 9.22413009e-02 2.91675150e+02] [-6.76780512e-01 7.31306162e-01 -8.46134525e-02 -1.85105060e+02] [-1.25167113e-01 -1.04290775e-03 9.92135125e-01 -4.05159667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters 0.029139438115778224 Centerline is valid? [True, True] Translation: X:291.72, Y:-185.14, Z:-40.52 [[ 7.21569562e-01 6.86206648e-01 9.19663175e-02 2.91723553e+02] [-6.80992634e-01 7.27404681e-01 -8.44479857e-02 -1.85143467e+02] [-1.24845499e-01 -1.69328872e-03 9.92174750e-01 -4.05216431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters 0.028983856316957983 Centerline is valid? [True, True] Translation: X:291.77, Y:-185.18, Z:-40.53 [[ 7.22180650e-01 6.85291646e-01 9.39705721e-02 2.91771882e+02] [-6.79828777e-01 7.28267178e-01 -8.63698596e-02 -1.85182339e+02] [-1.27624227e-01 -1.50925769e-03 9.91821445e-01 -4.05292475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters 0.02872006642301167 Centerline is valid? [True, True] Translation: X:291.82, Y:-185.22, Z:-40.54 [[ 7.22362460e-01 6.85089383e-01 9.40479375e-02 2.91821548e+02] [-6.79605076e-01 7.28457644e-01 -8.65239943e-02 -1.85221423e+02] [-1.27786609e-01 -1.41377041e-03 9.91800677e-01 -4.05355687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters 0.028939845436902173 Centerline is valid? [True, True] Translation: X:291.87, Y:-185.26, Z:-40.54 [[ 7.20920602e-01 6.86618964e-01 9.39568211e-02 2.91871206e+02] [-6.81146466e-01 7.27015672e-01 -8.65315260e-02 -1.85259382e+02] [-1.27722268e-01 -1.61599690e-03 9.91808656e-01 -4.05434679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters 0.028874452489818382 Centerline is valid? [True, True] Translation: X:291.92, Y:-185.30, Z:-40.55 [[ 7.22771845e-01 6.84493300e-01 9.52354038e-02 2.91919332e+02] [-6.78839655e-01 7.29018182e-01 -8.78021240e-02 -1.85299114e+02] [-1.29528307e-01 -1.18866542e-03 9.91575012e-01 -4.05503988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters 0.028649575054737825 Centerline is valid? [True, True] Translation: X:291.97, Y:-185.34, Z:-40.56 [[ 7.25498294e-01 6.81643408e-01 9.49446676e-02 2.91965539e+02] [-6.75988285e-01 7.31684284e-01 -8.76238972e-02 -1.85339925e+02] [-1.29197773e-01 -6.10495116e-04 9.91618658e-01 -4.05588173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters 0.02868219438955196 Centerline is valid? [True, True] Translation: X:292.01, Y:-185.38, Z:-40.57 [[ 7.30496116e-01 6.76305844e-01 9.47936198e-02 2.92011362e+02] [-6.70613064e-01 7.36620830e-01 -8.75663757e-02 -1.85382356e+02] [-1.29048607e-01 3.97057508e-04 9.91638190e-01 -4.05671218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters 0.028785189288247085 Centerline is valid? [True, True] Translation: X:292.06, Y:-185.43, Z:-40.57 [[ 7.33799054e-01 6.72710969e-01 9.48625354e-02 2.92056711e+02] [-6.66968179e-01 7.39904553e-01 -8.77194502e-02 -1.85425136e+02] [-1.29199058e-01 1.09815718e-03 9.91618070e-01 -4.05736580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters 0.029212885652042102 Centerline is valid? [True, True] Translation: X:292.10, Y:-185.47, Z:-40.58 [[ 7.35997565e-01 6.70177005e-01 9.57620314e-02 2.92097814e+02] [-6.64292270e-01 7.42199542e-01 -8.86319337e-02 -1.85471049e+02] [-1.30473620e-01 1.61891015e-03 9.91450460e-01 -4.05822600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters 0.029438130926222432 Centerline is valid? [True, True] Translation: X:292.14, Y:-185.52, Z:-40.59 [[ 7.36843398e-01 6.69278646e-01 9.55400454e-02 2.92142007e+02] [-6.63403073e-01 7.43009238e-01 -8.85078298e-02 -1.85516039e+02] [-1.30223537e-01 1.83485043e-03 9.91482962e-01 -4.05897437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters 0.029595307278986776 Centerline is valid? [True, True] Translation: X:292.19, Y:-185.56, Z:-40.60 [[ 7.37581823e-01 6.68404712e-01 9.59593441e-02 2.92185758e+02] [-6.62458200e-01 7.43794918e-01 -8.89845700e-02 -1.85560497e+02] [-1.30851778e-01 2.06434705e-03 9.91399794e-01 -4.05968377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters 0.029526465783739252 Centerline is valid? [True, True] Translation: X:292.23, Y:-185.61, Z:-40.60 [[ 7.37489660e-01 6.68633644e-01 9.50686722e-02 2.92227899e+02] [-6.62789306e-01 7.43589132e-01 -8.82357045e-02 -1.85606789e+02] [-1.29689392e-01 2.06242046e-03 9.91552524e-01 -4.06031943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters 0.02950242298481676 Centerline is valid? [True, True] Translation: X:292.27, Y:-185.65, Z:-40.61 [[ 7.36765697e-01 6.69596284e-01 9.38995426e-02 2.92271935e+02] [-6.63893382e-01 7.42722765e-01 -8.72265569e-02 -1.85650615e+02] [-1.28147906e-01 1.92625005e-03 9.91753197e-01 -4.06080315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters 0.029625287728928668 Centerline is valid? [True, True] Translation: X:292.32, Y:-185.69, Z:-40.62 [[ 7.35959684e-01 6.70568541e-01 9.32800881e-02 2.92315206e+02] [-6.64938881e-01 7.41845390e-01 -8.67277461e-02 -1.85694181e+02] [-1.27356302e-01 1.80256726e-03 9.91855394e-01 -4.06154588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters 0.0296149121431944 Centerline is valid? [True, True] Translation: X:292.36, Y:-185.74, Z:-40.62 [[ 7.35681001e-01 6.70803577e-01 9.37871263e-02 2.92359404e+02] [-6.65103856e-01 7.41632798e-01 -8.72791747e-02 -1.85739270e+02] [-1.28102791e-01 1.83145128e-03 9.91759205e-01 -4.06231785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters 0.029926509946246013 Centerline is valid? [True, True] Translation: X:292.40, Y:-185.78, Z:-40.63 [[ 7.35512285e-01 6.70925795e-01 9.42351134e-02 2.92404777e+02] [-6.65160609e-01 7.41522097e-01 -8.77857838e-02 -1.85782796e+02] [-1.28775166e-01 1.88603695e-03 9.91672022e-01 -4.06303433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters 0.029998783748233053 Centerline is valid? [True, True] Translation: X:292.45, Y:-185.83, Z:-40.64 [[ 7.35414720e-01 6.71019553e-01 9.43289434e-02 2.92448921e+02] [-6.65231870e-01 7.41437118e-01 -8.79633965e-02 -1.85827187e+02] [-1.28964139e-01 1.93895729e-03 9.91647362e-01 -4.06374503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters 0.030091389169945602 Centerline is valid? [True, True] Translation: X:292.49, Y:-185.87, Z:-40.64 [[ 7.36268669e-01 6.70101610e-01 9.41927773e-02 2.92492604e+02] [-6.64311866e-01 7.42266230e-01 -8.79237614e-02 -1.85871761e+02] [-1.28833972e-01 2.16213107e-03 9.91663821e-01 -4.06434157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters 0.030284198370693367 Centerline is valid? [True, True] Translation: X:292.54, Y:-185.92, Z:-40.65 [[ 7.35525457e-01 6.70793422e-01 9.50709576e-02 2.92536372e+02] [-6.64889796e-01 7.41641211e-01 -8.88249593e-02 -1.85916634e+02] [-1.30091738e-01 2.12130918e-03 9.91499692e-01 -4.06500246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters 0.030358375352628864 Centerline is valid? [True, True] Translation: X:292.58, Y:-185.96, Z:-40.66 [[ 7.34661178e-01 6.71803353e-01 9.46213929e-02 2.92580053e+02] [-6.65952436e-01 7.40726844e-01 -8.84934808e-02 -1.85960859e+02] [-1.29538823e-01 1.99937772e-03 9.91572335e-01 -4.06565858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters 0.030503083866382116 Centerline is valid? [True, True] Translation: X:292.63, Y:-186.00, Z:-40.66 [[ 7.35424699e-01 6.71015324e-01 9.42812152e-02 2.92626148e+02] [-6.65189729e-01 7.41440246e-01 -8.82552318e-02 -1.86003832e+02] [-1.29124500e-01 2.19018127e-03 9.91625971e-01 -4.06627199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters 0.030918125374275147 Centerline is valid? [True, True] Translation: X:292.67, Y:-186.05, Z:-40.67 [[ 7.36942854e-01 6.69201093e-01 9.53159330e-02 2.92670461e+02] [-6.63219417e-01 7.43076792e-01 -8.93134214e-02 -1.86046670e+02] [-1.30595697e-01 2.60351017e-03 9.91432290e-01 -4.06702395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters 0.031178159223339316 Centerline is valid? [True, True] Translation: X:292.71, Y:-186.09, Z:-40.67 [[ 7.39902895e-01 6.66061112e-01 9.43732018e-02 2.92714236e+02] [-6.60162173e-01 7.45890375e-01 -8.85068008e-02 -1.86089964e+02] [-1.29343001e-01 3.18482019e-03 9.91594799e-01 -4.06747556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters 0.03178160731223922 Centerline is valid? [True, True] Translation: X:292.76, Y:-186.13, Z:-40.68 [[ 7.41651861e-01 6.63983684e-01 9.52795068e-02 2.92757490e+02] [-6.57943504e-01 7.47738211e-01 -8.94310545e-02 -1.86133650e+02] [-1.30624889e-01 3.63817543e-03 9.91425187e-01 -4.06830753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters 0.03189946902990533 Centerline is valid? [True, True] Translation: X:292.80, Y:-186.18, Z:-40.69 [[ 7.40892025e-01 6.64811002e-01 9.54218993e-02 2.92797920e+02] [-6.58748880e-01 7.47003126e-01 -8.96450918e-02 -1.86182237e+02] [-1.30877500e-01 3.55826424e-03 9.91392162e-01 -4.06913307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters 0.03128792334939173 Centerline is valid? [True, True] Translation: X:292.84, Y:-186.23, Z:-40.70 [[ 7.39920059e-01 6.66133173e-01 9.37278047e-02 2.92842261e+02] [-6.60285978e-01 7.45825422e-01 -8.81298281e-02 -1.86226263e+02] [-1.28610782e-01 3.32187241e-03 9.91689585e-01 -4.06965220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters 0.030970667452101804 Centerline is valid? [True, True] Translation: X:292.89, Y:-186.27, Z:-40.70 [[ 7.37836667e-01 6.68617035e-01 9.24570896e-02 2.92885666e+02] [-6.62942995e-01 7.43601368e-01 -8.69689108e-02 -1.86270472e+02] [-1.26900114e-01 2.87507143e-03 9.91911334e-01 -4.07017587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters 0.030617349892664892 Centerline is valid? [True, True] Translation: X:292.93, Y:-186.31, Z:-40.71 [[ 7.34747271e-01 6.71740694e-01 9.43974998e-02 2.92929311e+02] [-6.65840083e-01 7.40782328e-01 -8.88736535e-02 -1.86314306e+02] [-1.29628049e-01 2.44603526e-03 9.91559673e-01 -4.07092138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters 0.03037550383184155 Centerline is valid? [True, True] Translation: X:292.98, Y:-186.36, Z:-40.72 [[ 7.33378646e-01 6.73476938e-01 9.26529810e-02 2.92975427e+02] [-6.67797340e-01 7.39205091e-01 -8.73071978e-02 -1.86356067e+02] [-1.27288939e-01 2.15582033e-03 9.91863337e-01 -4.07162639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters 0.030141907575358565 Centerline is valid? [True, True] Translation: X:293.02, Y:-186.40, Z:-40.72 [[ 7.31407803e-01 6.75685786e-01 9.21484940e-02 2.93020494e+02] [-6.70075722e-01 7.37187500e-01 -8.69086709e-02 -1.86398297e+02] [-1.26653672e-01 1.81921141e-03 9.91945330e-01 -4.07216575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters 0.03013785629089342 Centerline is valid? [True, True] Translation: X:293.07, Y:-186.44, Z:-40.73 [[ 7.30987721e-01 6.75955507e-01 9.34938735e-02 2.93065056e+02] [-6.70171563e-01 7.36940092e-01 -8.82574460e-02 -1.86440869e+02] [-1.28557490e-01 1.85817395e-03 9.91700317e-01 -4.07285785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters 0.03012423325156944 Centerline is valid? [True, True] Translation: X:293.11, Y:-186.48, Z:-40.74 [[ 7.31078674e-01 6.75556879e-01 9.56392955e-02 2.93109958e+02] [-6.69489781e-01 7.37305082e-01 -9.03584506e-02 -1.86482578e+02] [-1.31557612e-01 2.02960528e-03 9.91306449e-01 -4.07358835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters 0.030216812469166226 Centerline is valid? [True, True] Translation: X:293.15, Y:-186.53, Z:-40.74 [[ 7.31248728e-01 6.75338829e-01 9.58788988e-02 2.93154945e+02] [-6.69232296e-01 7.37504577e-01 -9.06373754e-02 -1.86525863e+02] [-1.31922066e-01 2.11320993e-03 9.91257839e-01 -4.07429644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters 0.029663683104295752 Centerline is valid? [True, True] Translation: X:293.20, Y:-186.57, Z:-40.75 [[ 7.29531105e-01 6.77420391e-01 9.42654828e-02 2.93197049e+02] [-6.71524246e-01 7.35593958e-01 -8.92004266e-02 -1.86571569e+02] [-1.29767307e-01 1.77292850e-03 9.91542890e-01 -4.07478239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters 0.02954029519498257 Centerline is valid? [True, True] Translation: X:293.24, Y:-186.62, Z:-40.75 [[ 7.27914467e-01 6.79267516e-01 9.34674876e-02 2.93240657e+02] [-6.73476144e-01 7.33889244e-01 -8.85237861e-02 -1.86615914e+02] [-1.28726116e-01 1.48962136e-03 9.91679065e-01 -4.07537681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters 0.029455677353930787 Centerline is valid? [True, True] Translation: X:293.28, Y:-186.66, Z:-40.76 [[ 7.27098209e-01 6.80117892e-01 9.36367911e-02 2.93283456e+02] [-6.74301729e-01 7.33101416e-01 -8.87665022e-02 -1.86662352e+02] [-1.29016950e-01 1.40251459e-03 9.91641397e-01 -4.07590533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters 0.02951959412127295 Centerline is valid? [True, True] Translation: X:293.33, Y:-186.71, Z:-40.77 [[ 7.29040002e-01 6.77895202e-01 9.46507824e-02 2.93325996e+02] [-6.71921052e-01 7.35156136e-01 -8.98195724e-02 -1.86706761e+02] [-1.30471361e-01 1.88420792e-03 9.91450288e-01 -4.07673568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters 0.029426439696865602 Centerline is valid? [True, True] Translation: X:293.37, Y:-186.75, Z:-40.77 [[ 7.29513978e-01 6.77554931e-01 9.34273596e-02 2.93367289e+02] [-6.71721813e-01 7.35469511e-01 -8.87378396e-02 -1.86752512e+02] [-1.28837735e-01 1.97829891e-03 9.91663715e-01 -4.07745347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters 0.029382307582935616 Centerline is valid? [True, True] Translation: X:293.41, Y:-186.80, Z:-40.78 [[ 7.28559391e-01 6.78673955e-01 9.27516905e-02 2.93411155e+02] [-6.72924095e-01 7.34437423e-01 -8.81750190e-02 -1.86796270e+02] [-1.27962401e-01 1.82589080e-03 9.91777339e-01 -4.07794857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters 0.029118873215249575 Centerline is valid? [True, True] Translation: X:293.45, Y:-186.84, Z:-40.79 [[ 7.27228432e-01 6.80130482e-01 9.25274795e-02 2.93450209e+02] [-6.74409986e-01 7.33089276e-01 -8.80413776e-02 -1.86844206e+02] [-1.27710528e-01 1.62473682e-03 9.91810154e-01 -4.07872783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters 0.029320327109244395 Centerline is valid? [True, True] Translation: X:293.49, Y:-186.89, Z:-40.79 [[ 7.27397450e-01 6.79739811e-01 9.40571110e-02 2.93492355e+02] [-6.73813734e-01 7.33451165e-01 -8.95792415e-02 -1.86889998e+02] [-1.29876874e-01 1.78273865e-03 9.91528527e-01 -4.07946621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters 0.029169547802987642 Centerline is valid? [True, True] Translation: X:293.54, Y:-186.94, Z:-40.80 [[ 7.25938589e-01 6.81144512e-01 9.51594355e-02 2.93535713e+02] [-6.75078812e-01 7.32147221e-01 -9.07140816e-02 -1.86935339e+02] [-1.31460115e-01 1.61273377e-03 9.91320149e-01 -4.08010326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters 0.0287188651062918 Centerline is valid? [True, True] Translation: X:293.58, Y:-186.98, Z:-40.81 [[ 7.21970647e-01 6.85542660e-01 9.37531112e-02 2.93577242e+02] [-6.79681809e-01 7.28031949e-01 -8.94545671e-02 -1.86982500e+02] [-1.29580182e-01 8.61287470e-04 9.91568573e-01 -4.08058963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters 0.02847902293791339 Centerline is valid? [True, True] Translation: X:293.62, Y:-187.03, Z:-40.81 [[ 7.19502763e-01 6.88203659e-01 9.32282026e-02 2.93620882e+02] [-6.82425822e-01 7.25517441e-01 -8.89912431e-02 -1.87026317e+02] [-1.28882786e-01 4.08112497e-04 9.91659751e-01 -4.08127338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters 0.028365826410051025 Centerline is valid? [True, True] Translation: X:293.66, Y:-187.07, Z:-40.82 [[ 7.19597079e-01 6.88248447e-01 9.21635491e-02 2.93662993e+02] [-6.82592278e-01 7.25474926e-01 -8.80563117e-02 -1.87071417e+02] [-1.27466964e-01 4.54937772e-04 9.91842712e-01 -4.08202711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters 0.028439708830300895 Centerline is valid? [True, True] Translation: X:293.71, Y:-187.12, Z:-40.83 [[ 7.18530579e-01 6.89304102e-01 9.25940745e-02 2.93706865e+02] [-6.83592500e-01 7.24472046e-01 -8.85525182e-02 -1.87116536e+02] [-1.28121433e-01 3.31077265e-04 9.91758433e-01 -4.08269627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters 0.028685911933714735 Centerline is valid? [True, True] Translation: X:293.75, Y:-187.16, Z:-40.84 [[ 7.14703566e-01 6.92825644e-01 9.58720003e-02 2.93748638e+02] [-6.86718892e-01 7.21105104e-01 -9.17855773e-02 -1.87161751e+02] [-1.32725190e-01 -2.37634422e-04 9.91152848e-01 -4.08356670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters 0.0289542270691553 Centerline is valid? [True, True] Translation: X:293.79, Y:-187.21, Z:-40.84 [[ 7.11028581e-01 6.96636756e-01 9.55802680e-02 2.93791838e+02] [-6.90589712e-01 7.17423483e-01 -9.15936389e-02 -1.87206603e+02] [-1.32379024e-01 -8.81054714e-04 9.91198778e-01 -4.08445812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters 0.02907571678868975 Centerline is valid? [True, True] Translation: X:293.84, Y:-187.25, Z:-40.85 [[ 7.08379984e-01 6.99339835e-01 9.55070320e-02 2.93837549e+02] [-6.93313364e-01 7.14788129e-01 -9.16215550e-02 -1.87249401e+02] [-1.32341896e-01 -1.31342606e-03 9.91203257e-01 -4.08502572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters 0.02946268835453141 Centerline is valid? [True, True] Translation: X:293.88, Y:-187.29, Z:-40.86 [[ 7.05040657e-01 7.02766303e-01 9.50641654e-02 2.93883931e+02] [-6.96813955e-01 7.11418302e-01 -9.12924523e-02 -1.87290986e+02] [-1.31787646e-01 -1.87714649e-03 9.91276194e-01 -4.08570399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters 0.029947911312879997 Centerline is valid? [True, True] Translation: X:293.93, Y:-187.33, Z:-40.87 [[ 7.01405204e-01 7.06265484e-01 9.60198222e-02 2.93931456e+02] [-7.00213013e-01 7.07942678e-01 -9.22978957e-02 -1.87330539e+02] [-1.33163348e-01 -2.49610464e-03 9.91090961e-01 -4.08652495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters 0.030122724954834354 Centerline is valid? [True, True] Translation: X:293.98, Y:-187.37, Z:-40.87 [[ 7.00001632e-01 7.07637705e-01 9.61592139e-02 2.93979919e+02] [-7.01568746e-01 7.06570303e-01 -9.25186506e-02 -1.87369756e+02] [-1.33412930e-01 -2.69909270e-03 9.91056863e-01 -4.08709015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters 0.0306176073939895 Centerline is valid? [True, True] Translation: X:294.03, Y:-187.41, Z:-40.88 [[ 6.99538194e-01 7.07817712e-01 9.81855431e-02 2.94031450e+02] [-7.01478500e-01 7.06389867e-01 -9.45582843e-02 -1.87405382e+02] [-1.36287301e-01 -2.72791604e-03 9.90665599e-01 -4.08782636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters 0.030392616293117514 Centerline is valid? [True, True] Translation: X:294.08, Y:-187.44, Z:-40.88 [[ 7.01280820e-01 7.06243739e-01 9.70823970e-02 2.94082777e+02] [-7.00019890e-01 7.07964932e-01 -9.35831672e-02 -1.87440996e+02] [-1.34823459e-01 -2.33152858e-03 9.90866893e-01 -4.08844795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters 0.03058614379451128 Centerline is valid? [True, True] Translation: X:294.13, Y:-187.48, Z:-40.89 [[ 7.01215018e-01 7.06210829e-01 9.77944991e-02 2.94130559e+02] [-6.99882144e-01 7.07997936e-01 -9.43605126e-02 -1.87481155e+02] [-1.35876719e-01 -2.27761523e-03 9.90723135e-01 -4.08923339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters 0.030650679075184956 Centerline is valid? [True, True] Translation: X:294.18, Y:-187.52, Z:-40.90 [[ 7.00098859e-01 7.07301760e-01 9.79071401e-02 2.94180824e+02] [-7.00955202e-01 7.06907605e-01 -9.45697800e-02 -1.87519987e+02] [-1.36100674e-01 -2.42032408e-03 9.90692055e-01 -4.08988671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters 0.030525011588755178 Centerline is valid? [True, True] Translation: X:294.23, Y:-187.56, Z:-40.91 [[ 7.01802169e-01 7.05792993e-01 9.65917537e-02 2.94228028e+02] [-6.99589342e-01 7.08415225e-01 -9.33949710e-02 -1.87560009e+02] [-1.34344585e-01 -2.02976824e-03 9.90932597e-01 -4.09057743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters 0.03043039770515636 Centerline is valid? [True, True] Translation: X:294.27, Y:-187.60, Z:-40.91 [[ 7.05123358e-01 7.02510458e-01 9.63333112e-02 2.94274942e+02] [-6.96299210e-01 7.11672150e-01 -9.32210287e-02 -1.87601088e+02] [-1.34046482e-01 -1.34448372e-03 9.90974133e-01 -4.09123505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters 0.03006820870961436 Centerline is valid? [True, True] Translation: X:294.32, Y:-187.65, Z:-40.92 [[ 7.11270225e-01 6.96475586e-01 9.49548533e-02 2.94317523e+02] [-6.90382210e-01 7.17580468e-01 -9.19275585e-02 -1.87646181e+02] [-1.32163048e-01 -1.69806177e-04 9.91227976e-01 -4.09209265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters 0.030019197893658603 Centerline is valid? [True, True] Translation: X:294.36, Y:-187.69, Z:-40.93 [[ 7.13504456e-01 6.94285116e-01 9.42314683e-02 2.94361069e+02] [-6.88254213e-01 7.19700000e-01 -9.13129112e-02 -1.87689975e+02] [-1.31215583e-01 2.96963972e-04 9.91353813e-01 -4.09274010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters 0.029819480687894397 Centerline is valid? [True, True] Translation: X:294.40, Y:-187.74, Z:-40.93 [[ 7.13351409e-01 6.94683866e-01 9.24342726e-02 2.94402247e+02] [-6.88874506e-01 7.19315125e-01 -8.96530282e-02 -1.87736438e+02] [-1.28769883e-01 2.78500008e-04 9.91674463e-01 -4.09347834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters 0.029921269245920028 Centerline is valid? [True, True] Translation: X:294.44, Y:-187.78, Z:-40.94 [[ 7.11280817e-01 6.96651644e-01 9.35739576e-02 2.94443639e+02] [-6.90703231e-01 7.17409567e-01 -9.08436071e-02 -1.87782671e+02] [-1.30417201e-01 -1.65196683e-05 9.91459204e-01 -4.09406980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters 0.03018439134359758 Centerline is valid? [True, True] Translation: X:294.49, Y:-187.83, Z:-40.95 [[ 7.09789206e-01 6.98227694e-01 9.31524035e-02 2.94486566e+02] [-6.92335199e-01 7.15875707e-01 -9.05204113e-02 -1.87828341e+02] [-1.29889401e-01 -2.42276928e-04 9.91528459e-01 -4.09474623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters 0.030126863615150868 Centerline is valid? [True, True] Translation: X:294.53, Y:-187.87, Z:-40.95 [[ 7.04949815e-01 7.03331981e-01 9.14870698e-02 2.94529268e+02] [-6.97679613e-01 7.10860700e-01 -8.89956341e-02 -1.87874657e+02] [-1.27628038e-01 -1.09120771e-03 9.91821503e-01 -4.09525377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters 0.03089701029576642 Centerline is valid? [True, True] Translation: X:294.57, Y:-187.92, Z:-40.96 [[ 6.98394021e-01 7.09738343e-01 9.22890831e-02 2.94572990e+02] [-7.04029101e-01 7.04461921e-01 -8.98689398e-02 -1.87917902e+02] [-1.28797577e-01 -2.21026992e-03 9.91668442e-01 -4.09578647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters 0.03144541456990729 Centerline is valid? [True, True] Translation: X:294.62, Y:-187.96, Z:-40.96 [[ 6.94486796e-01 7.13659120e-01 9.15355159e-02 2.94616978e+02] [-7.08066733e-01 7.00487334e-01 -8.92132093e-02 -1.87961666e+02] [-1.27787290e-01 -2.85585777e-03 9.91797486e-01 -4.09639108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters 0.03200252850450014 Centerline is valid? [True, True] Translation: X:294.66, Y:-188.00, Z:-40.97 [[ 6.90767630e-01 7.17387302e-01 9.05292287e-02 2.94663645e+02] [-7.11938934e-01 6.96666046e-01 -8.83140733e-02 -1.88002216e+02] [-1.26424034e-01 -3.44677951e-03 9.91970304e-01 -4.09694677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters 0.03237826434578423 Centerline is valid? [True, True] Translation: X:294.71, Y:-188.04, Z:-40.97 [[ 6.87488652e-01 7.20343607e-01 9.20023982e-02 2.94712763e+02] [-7.14732152e-01 6.93605847e-01 -8.98269434e-02 -1.88041045e+02] [-1.28519666e-01 -4.00206789e-03 9.91698885e-01 -4.09749688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters 0.032683947792748747 Centerline is valid? [True, True] Translation: X:294.76, Y:-188.08, Z:-40.98 [[ 6.86320355e-01 7.21499014e-01 9.16708413e-02 2.94764866e+02] [-7.15934050e-01 6.92402847e-01 -8.95362120e-02 -1.88075993e+02] [-1.28073440e-01 -4.17975192e-03 9.91755879e-01 -4.09824630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters 0.032831931092342455 Centerline is valid? [True, True] Translation: X:294.81, Y:-188.12, Z:-40.99 [[ 6.85621330e-01 7.22210366e-01 9.12993937e-02 2.94814568e+02] [-7.16685972e-01 6.91660498e-01 -8.92579020e-02 -1.88115104e+02] [-1.27611166e-01 -4.23587317e-03 9.91815229e-01 -4.09906818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters 0.03261980035712357 Centerline is valid? [True, True] Translation: X:294.87, Y:-188.15, Z:-41.00 [[ 6.85510055e-01 7.22293875e-01 9.14741688e-02 2.94870233e+02] [-7.16736646e-01 6.91573551e-01 -8.95243133e-02 -1.88147628e+02] [-1.27923979e-01 -4.19307206e-03 9.91775112e-01 -4.09963743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters 0.03153968187893267 Centerline is valid? [True, True] Translation: X:294.92, Y:-188.18, Z:-41.00 [[ 6.92561174e-01 7.15507708e-01 9.16937312e-02 2.94924642e+02] [-7.09852955e-01 6.98598900e-01 -8.98240465e-02 -1.88179497e+02] [-1.28326937e-01 -2.88041898e-03 9.91727735e-01 -4.10039636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters 0.03085932142847779 Centerline is valid? [True, True] Translation: X:294.98, Y:-188.21, Z:-41.01 [[ 6.98124698e-01 7.09982641e-01 9.24475804e-02 2.94976513e+02] [-7.04180798e-01 7.04216746e-01 -9.05989987e-02 -1.88214568e+02] [-1.29426851e-01 -1.85041227e-03 9.91587246e-01 -4.10107979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters 0.03028730159350747 Centerline is valid? [True, True] Translation: X:295.03, Y:-188.25, Z:-41.02 [[ 7.04343255e-01 7.03726551e-01 9.31102597e-02 2.95026265e+02] [-6.97774657e-01 7.10470642e-01 -9.13345229e-02 -1.88251415e+02] [-1.30426635e-01 -6.39124336e-04 9.91457757e-01 -4.10187744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters 0.02997839262308268 Centerline is valid? [True, True] Translation: X:295.07, Y:-188.29, Z:-41.02 [[ 7.09920753e-01 6.98188334e-01 9.24422775e-02 2.95072419e+02] [-6.92264686e-01 7.15914003e-01 -9.07565123e-02 -1.88293712e+02] [-1.29545859e-01 4.35407321e-04 9.91573336e-01 -4.10234552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters 0.030067808651704303 Centerline is valid? [True, True] Translation: X:295.12, Y:-188.34, Z:-41.03 [[ 7.12208233e-01 6.95669953e-01 9.38229719e-02 2.95116063e+02] [-6.89538345e-01 7.18360927e-01 -9.21653413e-02 -1.88337811e+02] [-1.31515416e-01 9.46378076e-04 9.91313674e-01 -4.10308483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters 0.030345983041008467 Centerline is valid? [True, True] Translation: X:295.16, Y:-188.39, Z:-41.04 [[ 7.14800251e-01 6.92974885e-01 9.40553522e-02 2.95155771e+02] [-6.86778151e-01 7.20960147e-01 -9.24783062e-02 -1.88385891e+02] [-1.31895304e-01 1.50835565e-03 9.91262505e-01 -4.10379389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters 0.030461745702005317 Centerline is valid? [True, True] Translation: X:295.19, Y:-188.44, Z:-41.04 [[ 7.15838212e-01 6.91909028e-01 9.40082519e-02 2.95193049e+02] [-6.85698356e-01 7.21982537e-01 -9.25147564e-02 -1.88435851e+02] [-1.31884111e-01 1.76429396e-03 9.91263572e-01 -4.10440694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters 0.030158821188611087 Centerline is valid? [True, True] Translation: X:295.23, Y:-188.48, Z:-41.05 [[ 7.14811461e-01 6.93305973e-01 9.14953720e-02 2.95234892e+02] [-6.87425543e-01 7.20641734e-01 -9.01199946e-02 -1.88481944e+02] [-1.28416114e-01 1.52254919e-03 9.91719206e-01 -4.10495992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters 0.03009808608404689 Centerline is valid? [True, True] Translation: X:295.28, Y:-188.53, Z:-41.06 [[ 7.09360280e-01 6.98796965e-01 9.21455088e-02 2.95278293e+02] [-6.92867376e-01 7.15319821e-01 -9.08424572e-02 -1.88526131e+02] [-1.29393942e-01 5.95413936e-04 9.91593089e-01 -4.10574665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters 0.030393550699144855 Centerline is valid? [True, True] Translation: X:295.32, Y:-188.57, Z:-41.06 [[ 7.04556462e-01 7.03675732e-01 9.18730411e-02 2.95321280e+02] [-6.97811539e-01 7.10521223e-01 -9.06567625e-02 -1.88571151e+02] [-1.29070709e-01 -2.37260257e-04 9.91635364e-01 -4.10643567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters 0.030520183255563493 Centerline is valid? [True, True] Translation: X:295.37, Y:-188.61, Z:-41.07 [[ 7.03816060e-01 7.04514142e-01 9.11195788e-02 2.95368079e+02] [-6.98742478e-01 7.09689873e-01 -8.99957407e-02 -1.88611399e+02] [-1.28069914e-01 -3.28672678e-04 9.91765088e-01 -4.10715506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters 0.03056065755066218 Centerline is valid? [True, True] Translation: X:295.41, Y:-188.65, Z:-41.08 [[ 7.04479870e-01 7.04073788e-01 8.93768104e-02 2.95413513e+02] [-6.98507910e-01 7.10126796e-01 -8.83551555e-02 -1.88653299e+02] [-1.25677417e-01 -1.85980633e-04 9.92071143e-01 -4.10779464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters 0.030548627528898673 Centerline is valid? [True, True] Translation: X:295.46, Y:-188.70, Z:-41.08 [[ 7.05606710e-01 7.02703295e-01 9.12537656e-02 2.95459657e+02] [-6.96877812e-01 7.11483004e-01 -9.02953555e-02 -1.88695182e+02] [-1.28376347e-01 1.20284241e-04 9.91725516e-01 -4.10843040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters 0.03061520731522808 Centerline is valid? [True, True] Translation: X:295.50, Y:-188.74, Z:-41.09 [[ 7.07338117e-01 7.00873374e-01 9.19200820e-02 2.95500087e+02] [-6.94935630e-01 7.13285529e-01 -9.10396826e-02 -1.88742078e+02] [-1.29372554e-01 5.17297615e-04 9.91595923e-01 -4.10921480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters 0.030448579781047667 Centerline is valid? [True, True] Translation: X:295.54, Y:-188.79, Z:-41.10 [[ 7.07628294e-01 7.00657710e-01 9.13289152e-02 2.95543810e+02] [-6.94783652e-01 7.13497300e-01 -9.05388303e-02 -1.88787728e+02] [-1.28599664e-01 6.14000751e-04 9.91696400e-01 -4.10960508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters 0.030546538034470327 Centerline is valid? [True, True] Translation: X:295.59, Y:-188.83, Z:-41.10 [[ 7.05962768e-01 7.02265692e-01 9.18665796e-02 2.95586678e+02] [-6.96322989e-01 7.11914843e-01 -9.11677092e-02 -1.88833403e+02] [-1.29425136e-01 3.92197056e-04 9.91589119e-01 -4.11019771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters 0.03046802981050705 Centerline is valid? [True, True] Translation: X:295.63, Y:-188.88, Z:-41.11 [[ 7.03273766e-01 7.04985367e-01 9.16604762e-02 2.95629837e+02] [-6.99079764e-01 7.09221849e-01 -9.10596097e-02 -1.88878645e+02] [-1.29203305e-01 -3.81494908e-05 9.91618124e-01 -4.11090044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters 0.03053210378474811 Centerline is valid? [True, True] Translation: X:295.67, Y:-188.92, Z:-41.12 [[ 7.03026217e-01 7.05121033e-01 9.25119780e-02 2.95671881e+02] [-6.99093264e-01 7.09086968e-01 -9.20015201e-02 -1.88923680e+02] [-1.30471245e-01 4.98001274e-06 9.91452094e-01 -4.11157289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters 0.03052000326080029 Centerline is valid? [True, True] Translation: X:295.72, Y:-188.97, Z:-41.12 [[ 7.03398633e-01 7.04881733e-01 9.14992119e-02 2.95715694e+02] [-6.98972774e-01 7.09324842e-01 -9.10787023e-02 -1.88967289e+02] [-1.29102378e-01 1.09176720e-04 9.91631264e-01 -4.11213587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters 0.030573127690060584 Centerline is valid? [True, True] Translation: X:295.76, Y:-189.01, Z:-41.13 [[ 7.02958299e-01 7.05412483e-01 9.07901906e-02 2.95759740e+02] [-6.99588852e-01 7.08797026e-01 -9.04555958e-02 -1.89010719e+02] [-1.28160323e-01 7.07065670e-05 9.91753461e-01 -4.11285382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters 0.03069322578495132 Centerline is valid? [True, True] Translation: X:295.80, Y:-189.06, Z:-41.13 [[ 7.02100557e-01 7.06244092e-01 9.09620273e-02 2.95804156e+02] [-7.00394169e-01 7.07968419e-01 -9.07123228e-02 -1.89055711e+02] [-1.28463285e-01 -2.01012128e-05 9.91714265e-01 -4.11347605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters 0.030668897606376106 Centerline is valid? [True, True] Translation: X:295.85, Y:-189.10, Z:-41.14 [[ 6.99994554e-01 7.08215707e-01 9.18593270e-02 2.95847862e+02] [-7.02253642e-01 7.05996042e-01 -9.17028375e-02 -1.89099217e+02] [-1.29797711e-01 -3.17060110e-04 9.91540445e-01 -4.11410154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters 0.030837254238629108 Centerline is valid? [True, True] Translation: X:295.89, Y:-189.14, Z:-41.15 [[ 6.96451838e-01 7.11718545e-01 9.17145055e-02 2.95891091e+02] [-7.05794129e-01 7.02464158e-01 -9.16447175e-02 -1.89144965e+02] [-1.29651398e-01 -9.05427589e-04 9.91559224e-01 -4.11455944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters 0.03109751094848168 Centerline is valid? [True, True] Translation: X:295.90, Y:-189.48, Z:-39.30 [[ 7.61220532e-01 -6.45726231e-01 -5.98409294e-02 2.95904635e+02] [-6.42789807e-01 -7.63517844e-01 6.21431065e-02 -1.89478034e+02] [-8.58170513e-02 -8.83946918e-03 -9.96271699e-01 -3.93000201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters 0.03149661967418295 Centerline is valid? [True, True] Translation: X:295.95, Y:-189.22, Z:-41.16 [[ 7.40061559e-01 6.65558071e-01 9.66506233e-02 2.95950569e+02] [-6.60313930e-01 7.46343141e-01 -8.34112068e-02 -1.89215016e+02] [-1.27649532e-01 -2.09032515e-03 9.91817134e-01 -4.11564150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters 0.03162545809195417 Centerline is valid? [True, True] Translation: X:296.00, Y:-189.25, Z:-41.16 [[ 7.39109613e-01 6.66180907e-01 9.95990935e-02 2.96002816e+02] [-6.60602622e-01 7.45786971e-01 -8.60579419e-02 -1.89249667e+02] [-1.31609864e-01 -2.18917030e-03 9.91299173e-01 -4.11624472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters 0.03132466243547423 Centerline is valid? [True, True] Translation: X:296.05, Y:-189.28, Z:-41.17 [[ 7.40491119e-01 6.64556233e-01 1.00189397e-01 2.96054818e+02] [-6.58885645e-01 7.47235967e-01 -8.66493935e-02 -1.89284052e+02] [-1.32448516e-01 -1.85024920e-03 9.91188159e-01 -4.11703288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters 0.031240814465429454 Centerline is valid? [True, True] Translation: X:296.11, Y:-189.32, Z:-41.18 [[ 7.41164439e-01 6.63699923e-01 1.00884523e-01 2.96108026e+02] [-6.57930751e-01 7.47997129e-01 -8.73351104e-02 -1.89318519e+02] [-1.33425640e-01 -1.64535207e-03 9.91057461e-01 -4.11776494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters 0.03096245934799187 Centerline is valid? [True, True] Translation: X:296.16, Y:-189.35, Z:-41.19 [[ 7.44714558e-01 6.59793954e-01 1.00360180e-01 2.96162197e+02] [-6.54038476e-01 7.51446052e-01 -8.69626538e-02 -1.89351144e+02] [-1.32792694e-01 -8.77065035e-04 9.91143446e-01 -4.11850340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters 0.030867496534878077 Centerline is valid? [True, True] Translation: X:296.21, Y:-189.39, Z:-41.19 [[ 7.51619184e-01 6.51734870e-01 1.01539455e-01 2.96213395e+02] [-6.45763420e-01 7.58446643e-01 -8.80243964e-02 -1.89386872e+02] [-1.34380827e-01 5.90359279e-04 9.90929586e-01 -4.11918180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters 0.03104776078085845 Centerline is valid? [True, True] Translation: X:296.26, Y:-189.42, Z:-41.20 [[ 7.56584277e-01 6.45819186e-01 1.02458821e-01 2.96261779e+02] [-6.39672999e-01 7.63488448e-01 -8.89035652e-02 -1.89424929e+02] [-1.35641755e-01 1.72289824e-03 9.90756451e-01 -4.11989217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters 0.03190234185736512 Centerline is valid? [True, True] Translation: X:296.31, Y:-189.46, Z:-41.21 [[ 7.60753814e-01 6.40654302e-01 1.03998557e-01 2.96309236e+02] [-6.34261570e-01 7.67824529e-01 -9.03202821e-02 -1.89463686e+02] [-1.37716720e-01 2.74921117e-03 9.90467842e-01 -4.12068568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters 0.03196378578294237 Centerline is valid? [True, True] Translation: X:296.35, Y:-189.51, Z:-41.21 [[ 7.63020208e-01 6.38225617e-01 1.02314335e-01 2.96351500e+02] [-6.32007138e-01 7.69842748e-01 -8.89332407e-02 -1.89510953e+02] [-1.35525421e-01 3.19446987e-03 9.90768720e-01 -4.12138748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters 0.03234434320607695 Centerline is valid? [True, True] Translation: X:296.39, Y:-189.56, Z:-41.22 [[ 7.64391628e-01 6.36604532e-01 1.02176850e-01 2.96393461e+02] [-6.30376596e-01 7.71182278e-01 -8.89001792e-02 -1.89556430e+02] [-1.35391233e-01 3.54465792e-03 9.90785875e-01 -4.12212479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters 0.03286435028144353 Centerline is valid? [True, True] Translation: X:296.43, Y:-189.61, Z:-41.23 [[ 7.66416113e-01 6.34357280e-01 1.00981102e-01 2.96432573e+02] [-6.28245290e-01 7.73029886e-01 -8.79354898e-02 -1.89605619e+02] [-1.33843928e-01 3.95427465e-03 9.90994534e-01 -4.12290844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters 0.033065680135499 Centerline is valid? [True, True] Translation: X:296.47, Y:-189.65, Z:-41.24 [[ 7.66780039e-01 6.33719738e-01 1.02213820e-01 2.96474815e+02] [-6.27440597e-01 7.73551451e-01 -8.90867564e-02 -1.89651748e+02] [-1.35523685e-01 4.17684638e-03 9.90765303e-01 -4.12360685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters 0.03342591031895693 Centerline is valid? [True, True] Translation: X:296.51, Y:-189.70, Z:-41.24 [[ 7.66510222e-01 6.33792221e-01 1.03776205e-01 2.96513474e+02] [-6.27308339e-01 7.73491443e-01 -9.05275450e-02 -1.89700786e+02] [-1.37645660e-01 4.29061013e-03 9.90472242e-01 -4.12439517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters 0.032804443345006706 Centerline is valid? [True, True] Translation: X:296.55, Y:-189.75, Z:-41.25 [[ 7.63455352e-01 6.37716910e-01 1.02240251e-01 2.96554425e+02] [-6.31450681e-01 7.70262508e-01 -8.92508030e-02 -1.89746665e+02] [-1.35668579e-01 3.57932692e-03 9.90747811e-01 -4.12518357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters 0.031919482910231174 Centerline is valid? [True, True] Translation: X:296.60, Y:-189.79, Z:-41.26 [[ 7.59443710e-01 6.42723507e-01 1.00755868e-01 2.96595138e+02] [-6.36680893e-01 7.66093624e-01 -8.79659057e-02 -1.89792393e+02] [-1.33726184e-01 2.65581767e-03 9.91014760e-01 -4.12580594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters 0.03129603461601745 Centerline is valid? [True, True] Translation: X:296.64, Y:-189.84, Z:-41.26 [[ 7.53775099e-01 6.49497882e-01 9.98779317e-02 2.96638601e+02] [-6.43617568e-01 7.60362007e-01 -8.72126357e-02 -1.89836403e+02] [-1.32587807e-01 1.45552158e-03 9.91170195e-01 -4.12633811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters 0.031396986967917796 Centerline is valid? [True, True] Translation: X:296.68, Y:-189.88, Z:-41.27 [[ 7.48460746e-01 6.55310845e-01 1.01853859e-01 2.96683920e+02] [-6.49242461e-01 7.55359171e-01 -8.89761173e-02 -1.89880554e+02] [-1.35243262e-01 4.67280782e-04 9.90812314e-01 -4.12698176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters 0.031363997691645114 Centerline is valid? [True, True] Translation: X:296.73, Y:-189.92, Z:-41.28 [[ 7.46435794e-01 6.57684267e-01 1.01415041e-01 2.96730633e+02] [-6.51677737e-01 7.53293697e-01 -8.86833289e-02 -1.89921717e+02] [-1.34720941e-01 1.06486666e-04 9.90883574e-01 -4.12759428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters 0.031451818281315665 Centerline is valid? [True, True] Translation: X:296.78, Y:-189.96, Z:-41.28 [[ 7.43997819e-01 6.60630120e-01 1.00175295e-01 2.96776984e+02] [-6.54785843e-01 7.50711472e-01 -8.76800160e-02 -1.89962114e+02] [-1.33126803e-01 -3.59624258e-04 9.91098948e-01 -4.12817994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters 0.03157342983630662 Centerline is valid? [True, True] Translation: X:296.82, Y:-190.00, Z:-41.29 [[ 7.41569974e-01 6.63623989e-01 9.83726371e-02 2.96823847e+02] [-6.58004766e-01 7.48065859e-01 -8.61811980e-02 -1.90002259e+02] [-1.30781122e-01 -8.20275300e-04 9.91410927e-01 -4.12870718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters 0.031762721977477426 Centerline is valid? [True, True] Translation: X:296.87, Y:-190.04, Z:-41.30 [[ 7.39502029e-01 6.65906831e-01 9.85131514e-02 2.96871757e+02] [-6.60280670e-01 7.46034007e-01 -8.63869057e-02 -1.90042313e+02] [-1.31019792e-01 -1.16303758e-03 9.91379071e-01 -4.12954000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters 0.032306115293756925 Centerline is valid? [True, True] Translation: X:296.92, Y:-190.08, Z:-41.30 [[ 7.37647927e-01 6.67868675e-01 9.91310733e-02 2.96920273e+02] [-6.62176692e-01 7.44277722e-01 -8.70212669e-02 -1.90080875e+02] [-1.31899828e-01 -1.45122918e-03 9.91261988e-01 -4.13019449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters 0.032320971384024844 Centerline is valid? [True, True] Translation: X:296.97, Y:-190.12, Z:-41.31 [[ 7.37990943e-01 6.67442002e-01 9.94512082e-02 2.96970083e+02] [-6.61697913e-01 7.44660622e-01 -8.73866711e-02 -1.90118471e+02] [-1.32382933e-01 -1.31608513e-03 9.91197774e-01 -4.13089808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters 0.03218449102519495 Centerline is valid? [True, True] Translation: X:297.02, Y:-190.16, Z:-41.31 [[ 7.37627319e-01 6.68139833e-01 9.74428139e-02 2.97019144e+02] [-6.62620865e-01 7.44034510e-01 -8.57101918e-02 -1.90157133e+02] [-1.29767210e-01 -1.34546267e-03 9.91543575e-01 -4.13148743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters 0.032256420947689095 Centerline is valid? [True, True] Translation: X:297.07, Y:-190.20, Z:-41.32 [[ 7.36266538e-01 6.69454297e-01 9.87042481e-02 2.97068313e+02] [-6.63791727e-01 7.42851657e-01 -8.69020086e-02 -1.90195047e+02] [-1.31499537e-01 -1.53602221e-03 9.91315042e-01 -4.13213114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters 0.03267725263844382 Centerline is valid? [True, True] Translation: X:297.12, Y:-190.23, Z:-41.33 [[ 7.33234166e-01 6.72836275e-01 9.82802321e-02 2.97119103e+02] [-6.67241888e-01 7.39788520e-01 -8.66095173e-02 -1.90231086e+02] [-1.30980613e-01 -2.07163043e-03 9.91382765e-01 -4.13270860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters 0.03293638804255284 Centerline is valid? [True, True] Translation: X:297.17, Y:-190.27, Z:-41.33 [[ 7.31870308e-01 6.74452415e-01 9.73642300e-02 2.97169813e+02] [-6.68965762e-01 7.38314807e-01 -8.58839631e-02 -1.90268214e+02] [-1.29810099e-01 -2.27741384e-03 9.91536258e-01 -4.13343912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters 0.03254678806833498 Centerline is valid? [True, True] Translation: X:297.22, Y:-190.31, Z:-41.34 [[ 7.33115022e-01 6.73407393e-01 9.52094951e-02 2.97219155e+02] [-6.68142906e-01 7.39268922e-01 -8.40625856e-02 -1.90306615e+02] [-1.26993787e-01 -1.98600447e-03 9.91901524e-01 -4.13409829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters 0.03256154493223727 Centerline is valid? [True, True] Translation: X:297.27, Y:-190.34, Z:-41.35 [[ 7.33262806e-01 6.72827093e-01 9.81293048e-02 2.97271733e+02] [-6.67223063e-01 7.39797293e-01 -8.66795772e-02 -1.90340780e+02] [-1.30916162e-01 -1.91522537e-03 9.91391593e-01 -4.13477246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters 0.03246130904566684 Centerline is valid? [True, True] Translation: X:297.32, Y:-190.37, Z:-41.35 [[ 7.34316316e-01 6.71643287e-01 9.83607781e-02 2.97324871e+02] [-6.65991219e-01 7.40872852e-01 -8.69661617e-02 -1.90374307e+02] [-1.31283069e-01 -1.64674303e-03 9.91343555e-01 -4.13543748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters 0.03224933118234862 Centerline is valid? [True, True] Translation: X:297.37, Y:-190.41, Z:-41.36 [[ 7.34393848e-01 6.71465915e-01 9.89909180e-02 2.97374149e+02] [-6.65728026e-01 7.41033794e-01 -8.76077107e-02 -1.90412883e+02] [-1.32181207e-01 -1.56246470e-03 9.91224337e-01 -4.13619964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters 0.03187554394111022 Centerline is valid? [True, True] Translation: X:297.43, Y:-190.45, Z:-41.37 [[ 7.37211332e-01 6.68457239e-01 9.84092105e-02 2.97425841e+02] [-6.62748221e-01 7.43749972e-01 -8.71824257e-02 -1.90447745e+02] [-1.31469571e-01 -9.48657051e-04 9.91319753e-01 -4.13684586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters 0.03158591176775835 Centerline is valid? [True, True] Translation: X:297.48, Y:-190.48, Z:-41.37 [[ 7.38713801e-01 6.66963205e-01 9.72728305e-02 2.97476555e+02] [-6.61362580e-01 7.45090401e-01 -8.62544657e-02 -1.90483791e+02] [-1.30005607e-01 -6.15245899e-04 9.91513068e-01 -4.13745210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters 0.03176393254015355 Centerline is valid? [True, True] Translation: X:297.53, Y:-190.52, Z:-41.38 [[ 7.38373237e-01 6.67305527e-01 9.75104952e-02 2.97527359e+02] [-6.61669650e-01 7.44783830e-01 -8.65466401e-02 -1.90520791e+02] [-1.30377291e-01 -6.16012400e-04 9.91464262e-01 -4.13804919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters 0.0316252581554541 Centerline is valid? [True, True] Translation: X:297.58, Y:-190.56, Z:-41.39 [[ 7.37718117e-01 6.67987090e-01 9.78019803e-02 2.97576989e+02] [-6.62311231e-01 7.44172560e-01 -8.68966858e-02 -1.90560113e+02] [-1.30827414e-01 -6.70090557e-04 9.91404932e-01 -4.13872841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters 0.03140862906829742 Centerline is valid? [True, True] Translation: X:297.63, Y:-190.60, Z:-41.39 [[ 7.37907883e-01 6.68094522e-01 9.56120613e-02 2.97626821e+02] [-6.62660856e-01 7.44076164e-01 -8.50367666e-02 -1.90597238e+02] [-1.27955254e-01 -6.09070000e-04 9.91779755e-01 -4.13941930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters 0.031205223602147697 Centerline is valid? [True, True] Translation: X:297.68, Y:-190.63, Z:-41.40 [[ 7.39984415e-01 6.65897574e-01 9.48867034e-02 2.97676559e+02] [-6.60518533e-01 7.46043157e-01 -8.44681888e-02 -1.90634730e+02] [-1.27036738e-01 -1.69282865e-04 9.91897998e-01 -4.14017004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters 0.03098159004540969 Centerline is valid? [True, True] Translation: X:297.73, Y:-190.67, Z:-41.41 [[ 7.41878352e-01 6.63365591e-01 9.77885681e-02 2.97727282e+02] [-6.57618269e-01 7.48295383e-01 -8.71334118e-02 -1.90671177e+02] [-1.30976041e-01 3.34843079e-04 9.91385477e-01 -4.14078430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters 0.030933388577441604 Centerline is valid? [True, True] Translation: X:297.78, Y:-190.71, Z:-41.42 [[ 7.41981720e-01 6.63478482e-01 9.62259356e-02 2.97776843e+02] [-6.57905108e-01 7.48195275e-01 -8.58178291e-02 -1.90708499e+02] [-1.28934073e-01 3.67725915e-04 9.91653099e-01 -4.14152530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters 0.031167939820666832 Centerline is valid? [True, True] Translation: X:297.83, Y:-190.75, Z:-41.42 [[ 7.42834490e-01 6.62438987e-01 9.68065517e-02 2.97825862e+02] [-6.56778862e-01 7.49115622e-01 -8.64136077e-02 -1.90747024e+02] [-1.29763043e-01 6.10511421e-04 9.91544845e-01 -4.14226120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters 0.031344458587755655 Centerline is valid? [True, True] Translation: X:297.87, Y:-190.79, Z:-41.43 [[ 7.43672237e-01 6.61006176e-01 1.00112139e-01 2.97872953e+02] [-6.54927001e-01 7.50379856e-01 -8.94466071e-02 -1.90786326e+02] [-1.34246892e-01 9.52815321e-04 9.90947458e-01 -4.14301294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters 0.031401940389839456 Centerline is valid? [True, True] Translation: X:297.92, Y:-190.83, Z:-41.44 [[ 7.43811174e-01 6.60986994e-01 9.92024784e-02 2.97921547e+02] [-6.55008155e-01 7.50396686e-01 -8.87081214e-02 -1.90825248e+02] [-1.33076126e-01 1.00365951e-03 9.91105311e-01 -4.14357267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters 0.0309402829994741 Centerline is valid? [True, True] Translation: X:297.97, Y:-190.87, Z:-41.44 [[ 7.42915507e-01 6.62226807e-01 9.76330143e-02 2.97968158e+02] [-6.56436970e-01 7.49302990e-01 -8.73815393e-02 -1.90866759e+02] [-1.31023107e-01 8.27180494e-04 9.91378969e-01 -4.14414996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters 0.031076079349541937 Centerline is valid? [True, True] Translation: X:298.01, Y:-190.91, Z:-41.45 [[ 7.41593210e-01 6.63437715e-01 9.94480211e-02 2.98013981e+02] [-6.57429493e-01 7.48231199e-01 -8.90872300e-02 -1.90908070e+02] [-1.33513940e-01 6.86422699e-04 9.91046697e-01 -4.14479096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters 0.031212992244524285 Centerline is valid? [True, True] Translation: X:298.06, Y:-190.95, Z:-41.46 [[ 7.42935131e-01 6.61926451e-01 9.95025835e-02 2.98059647e+02] [-6.55886982e-01 7.49568096e-01 -8.92184798e-02 -1.90950321e+02] [-1.33640034e-01 1.02109376e-03 9.91029414e-01 -4.14557197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters 0.03131137484952451 Centerline is valid? [True, True] Translation: X:298.10, Y:-190.99, Z:-41.46 [[ 7.43564437e-01 6.61211895e-01 9.95527906e-02 2.98104492e+02] [-6.55147617e-01 7.50198203e-01 -8.93546652e-02 -1.90993389e+02] [-1.33766692e-01 1.21917786e-03 9.91012102e-01 -4.14647349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters 0.031080905093588726 Centerline is valid? [True, True] Translation: X:298.15, Y:-191.04, Z:-41.47 [[ 7.43138770e-01 6.62132186e-01 9.65698555e-02 2.98148053e+02] [-6.56424248e-01 7.49386277e-01 -8.67606725e-02 -1.91038355e+02] [-1.29815158e-01 1.08442460e-03 9.91537618e-01 -4.14696684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters 0.031104020511826855 Centerline is valid? [True, True] Translation: X:298.19, Y:-191.08, Z:-41.48 [[ 7.41010262e-01 6.64448231e-01 9.70172134e-02 2.98192697e+02] [-6.58696334e-01 7.47333927e-01 -8.72418564e-02 -1.91083080e+02] [-1.30471952e-01 7.42228131e-04 9.91451723e-01 -4.14753813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters 0.03084138415911606 Centerline is valid? [True, True] Translation: X:298.24, Y:-191.13, Z:-41.48 [[ 7.35735756e-01 6.70325499e-01 9.67296341e-02 2.98238089e+02] [-6.64646630e-01 7.42067161e-01 -8.70700014e-02 -1.91125465e+02] [-1.30145127e-01 -2.30511964e-04 9.91494928e-01 -4.14807370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters 0.031094987983898807 Centerline is valid? [True, True] Translation: X:298.28, Y:-191.17, Z:-41.49 [[ 7.31733774e-01 6.74638942e-01 9.70977970e-02 2.98284329e+02] [-6.68943791e-01 7.38147284e-01 -8.74802376e-02 -1.91167150e+02] [-1.30690050e-01 -9.40724064e-04 9.91422829e-01 -4.14867428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters 0.030995955553276458 Centerline is valid? [True, True] Translation: X:298.33, Y:-191.21, Z:-41.49 [[ 7.31503374e-01 6.74963361e-01 9.65778210e-02 2.98334694e+02] [-6.69321564e-01 7.37850656e-01 -8.70922166e-02 -1.91205183e+02] [-1.30044064e-01 -9.33367929e-04 9.91507776e-01 -4.14936055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters 0.030970197926335524 Centerline is valid? [True, True] Translation: X:298.38, Y:-191.24, Z:-41.50 [[ 7.32024506e-01 6.74401619e-01 9.65535031e-02 2.98384991e+02] [-6.68745859e-01 7.38364321e-01 -8.71613731e-02 -1.91243552e+02] [-1.30073433e-01 -7.65494259e-04 9.91504068e-01 -4.14992946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters 0.031162642997824286 Centerline is valid? [True, True] Translation: X:298.44, Y:-191.28, Z:-41.51 [[ 7.32420667e-01 6.73654394e-01 9.87406886e-02 2.98437333e+02] [-6.67719082e-01 7.39046293e-01 -8.92289425e-02 -1.91277879e+02] [-1.33083409e-01 -5.77920415e-04 9.91104673e-01 -4.15075955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters 0.030969606435107096 Centerline is valid? [True, True] Translation: X:298.49, Y:-191.31, Z:-41.51 [[ 7.34157207e-01 6.72063872e-01 9.66609916e-02 2.98487461e+02] [-6.66352985e-01 7.40493147e-01 -8.74276728e-02 -1.91314210e+02] [-1.30333782e-01 -2.24684294e-04 9.91470148e-01 -4.15139504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters 0.03065163778897962 Centerline is valid? [True, True] Translation: X:298.54, Y:-191.35, Z:-41.52 [[ 7.35111628e-01 6.71023957e-01 9.66320053e-02 2.98537667e+02] [-6.65296834e-01 7.41435667e-01 -8.74829906e-02 -1.91352008e+02] [-1.30349598e-01 2.07964542e-05 9.91468094e-01 -4.15206268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters 0.03089547538180311 Centerline is valid? [True, True] Translation: X:298.58, Y:-191.39, Z:-41.53 [[ 7.36629061e-01 6.69235194e-01 9.74775944e-02 2.98584853e+02] [-6.63379266e-01 7.43050529e-01 -8.83394633e-02 -1.91391343e+02] [-1.31550656e-01 4.08800934e-04 9.91309365e-01 -4.15286628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters 0.031075847831109987 Centerline is valid? [True, True] Translation: X:298.63, Y:-191.43, Z:-41.54 [[ 7.38760921e-01 6.66719684e-01 9.85756771e-02 2.98633404e+02] [-6.60697253e-01 7.45307991e-01 -8.94155401e-02 -1.91430390e+02] [-1.33084341e-01 9.28027639e-04 9.91104282e-01 -4.15357996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters 0.03138661161220562 Centerline is valid? [True, True] Translation: X:298.68, Y:-191.47, Z:-41.54 [[ 7.42657478e-01 6.62431265e-01 9.82073784e-02 2.98679255e+02] [-6.56405871e-01 7.49120652e-01 -8.91604304e-02 -1.91472566e+02] [-1.32631832e-01 1.75176070e-03 9.91163825e-01 -4.15426440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters 0.03194763138855936 Centerline is valid? [True, True] Translation: X:298.72, Y:-191.52, Z:-41.55 [[ 7.46071997e-01 6.58496835e-01 9.87850894e-02 2.98723052e+02] [-6.52354803e-01 7.52579250e-01 -8.97645969e-02 -1.91515984e+02] [-1.33453311e-01 2.52792454e-03 9.91051877e-01 -4.15505670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters 0.0322019479643648 Centerline is valid? [True, True] Translation: X:298.77, Y:-191.56, Z:-41.56 [[ 7.47682944e-01 6.56751155e-01 9.82249247e-02 2.98767364e+02] [-6.50653511e-01 7.54101858e-01 -8.93330623e-02 -1.91559020e+02] [-1.32741190e-01 2.88241494e-03 9.91146542e-01 -4.15569959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters 0.031794629577760546 Centerline is valid? [True, True] Translation: X:298.81, Y:-191.60, Z:-41.56 [[ 7.45387161e-01 6.59349815e-01 9.82639394e-02 2.98810135e+02] [-6.53259365e-01 7.51832210e-01 -8.94456823e-02 -1.91603446e+02] [-1.32853989e-01 2.47982449e-03 9.91132518e-01 -4.15633886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters 0.03140387372785174 Centerline is valid? [True, True] Translation: X:298.85, Y:-191.65, Z:-41.57 [[ 7.42871308e-01 6.62276630e-01 9.76313727e-02 2.98851416e+02] [-6.56279582e-01 7.49256736e-01 -8.89463553e-02 -1.91649431e+02] [-1.32058056e-01 2.00221877e-03 9.91239961e-01 -4.15712643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters 0.03134372301413201 Centerline is valid? [True, True] Translation: X:298.90, Y:-191.69, Z:-41.58 [[ 7.41763580e-01 6.63543596e-01 9.74509497e-02 2.98896110e+02] [-6.57569318e-01 7.48135375e-01 -8.88597396e-02 -1.91692900e+02] [-1.31868814e-01 1.83216401e-03 9.91265484e-01 -4.15770400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters 0.031131572182126775 Centerline is valid? [True, True] Translation: X:298.94, Y:-191.74, Z:-41.58 [[ 7.39929904e-01 6.65415431e-01 9.86206919e-02 2.98941554e+02] [-6.59301661e-01 7.46471574e-01 -9.00083828e-02 -1.91736708e+02] [-1.33510510e-01 1.57910816e-03 9.91046139e-01 -4.15827336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters 0.031110328059732833 Centerline is valid? [True, True] Translation: X:298.99, Y:-191.78, Z:-41.59 [[ 7.38853892e-01 6.66643738e-01 9.83923479e-02 2.98986345e+02] [-6.60557397e-01 7.45375147e-01 -8.98877896e-02 -1.91778650e+02] [-1.33262343e-01 1.42014992e-03 9.91079780e-01 -4.15907655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters 0.030901215702655502 Centerline is valid? [True, True] Translation: X:299.03, Y:-191.82, Z:-41.60 [[ 7.36421130e-01 6.69235307e-01 9.90354622e-02 2.99033102e+02] [-6.63080767e-01 7.43049838e-01 -9.05584576e-02 -1.91820816e+02] [-1.34193201e-01 1.02065145e-03 9.90954662e-01 -4.15985987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters 0.03095181775414713 Centerline is valid? [True, True] Translation: X:299.08, Y:-191.86, Z:-41.60 [[ 7.36269033e-01 6.69129033e-01 1.00867483e-01 2.99077845e+02] [-6.62729776e-01 7.43145385e-01 -9.23264906e-02 -1.91863180e+02] [-1.36737540e-01 1.12925138e-03 9.90606668e-01 -4.16044442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters 0.03090023398178287 Centerline is valid? [True, True] Translation: X:299.12, Y:-191.91, Z:-41.61 [[ 7.38388718e-01 6.66954246e-01 9.97704130e-02 2.99121905e+02] [-6.60662984e-01 7.45097003e-01 -9.14050223e-02 -1.91907210e+02] [-1.35301603e-01 1.57781846e-03 9.90803203e-01 -4.16121045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters 0.030939661653500834 Centerline is valid? [True, True] Translation: X:299.17, Y:-191.95, Z:-41.62 [[ 7.38661775e-01 6.66685197e-01 9.95471242e-02 2.99168233e+02] [-6.60407203e-01 7.45337496e-01 -9.12926226e-02 -1.91949847e+02] [-1.35059644e-01 1.69273276e-03 9.90836024e-01 -4.16178803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters 0.030750859607708934 Centerline is valid? [True, True] Translation: X:299.21, Y:-192.00, Z:-41.62 [[ 7.35054430e-01 6.70508574e-01 1.00564590e-01 2.99211717e+02] [-6.64123525e-01 7.41901006e-01 -9.23192324e-02 -1.91995196e+02] [-1.36509807e-01 1.07235083e-03 9.90638139e-01 -4.16246227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters 0.030407894198166145 Centerline is valid? [True, True] Translation: X:299.26, Y:-192.04, Z:-41.63 [[ 7.32945223e-01 6.73115845e-01 9.85208540e-02 2.99256070e+02] [-6.67001398e-01 7.39536784e-01 -9.05233619e-02 -1.92039194e+02] [-1.33792505e-01 6.35118302e-04 9.91009164e-01 -4.16299223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters 0.03051232149947436 Centerline is valid? [True, True] Translation: X:299.30, Y:-192.09, Z:-41.64 [[ 7.31685255e-01 6.74466911e-01 9.86462075e-02 2.99299732e+02] [-6.68341760e-01 7.38304952e-01 -9.06922748e-02 -1.92085008e+02] [-1.33999922e-01 4.28820246e-04 9.90981250e-01 -4.16369095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters 0.030609212609360874 Centerline is valid? [True, True] Translation: X:299.34, Y:-192.13, Z:-41.64 [[ 7.33242236e-01 6.72910539e-01 9.77099264e-02 2.99343482e+02] [-6.66875801e-01 7.39723467e-01 -8.99214030e-02 -1.92129528e+02] [-1.32787385e-01 7.73785146e-04 9.91144244e-01 -4.16434964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters 0.030263235283593155 Centerline is valid? [True, True] Translation: X:299.38, Y:-192.18, Z:-41.65 [[ 7.32563775e-01 6.74002803e-01 9.52393690e-02 2.99384440e+02] [-6.68269609e-01 7.38728528e-01 -8.77262298e-02 -1.92176908e+02] [-1.29483764e-01 6.19482156e-04 9.91581349e-01 -4.16497710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters 0.03052564223308715 Centerline is valid? [True, True] Translation: X:299.43, Y:-192.22, Z:-41.66 [[ 7.30898954e-01 6.75726286e-01 9.58159974e-02 2.99426414e+02] [-6.69927086e-01 7.37152524e-01 -8.83394356e-02 -1.92224068e+02] [-1.30324283e-01 3.77469141e-04 9.91471350e-01 -4.16578042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters 0.030664896441819023 Centerline is valid? [True, True] Translation: X:299.46, Y:-192.27, Z:-41.66 [[ 7.28577897e-01 6.77925039e-01 9.79381901e-02 2.99463269e+02] [-6.71872289e-01 7.35131035e-01 -9.03879910e-02 -1.92274805e+02] [-1.33273685e-01 5.27364736e-05 9.91079271e-01 -4.16641205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters 0.030647402285921912 Centerline is valid? [True, True] Translation: X:299.50, Y:-192.32, Z:-41.67 [[ 7.26399731e-01 6.80463106e-01 9.65059202e-02 2.99503790e+02] [-6.74599048e-01 7.32782259e-01 -8.91419432e-02 -1.92322665e+02] [-1.31375630e-01 -3.50118304e-04 9.91332599e-01 -4.16701916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters 0.030886874976904555 Centerline is valid? [True, True] Translation: X:299.54, Y:-192.37, Z:-41.68 [[ 7.24426404e-01 6.82820005e-01 9.46743119e-02 2.99544397e+02] [-6.77187084e-01 7.30586302e-01 -8.75288988e-02 -1.92369766e+02] [-1.28934239e-01 -7.03975772e-04 9.91652896e-01 -4.16772315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters 0.030731963359642483 Centerline is valid? [True, True] Translation: X:299.59, Y:-192.41, Z:-41.68 [[ 7.23016431e-01 6.84442861e-01 9.37294549e-02 2.99588079e+02] [-6.78925386e-01 7.29065921e-01 -8.67364051e-02 -1.92414416e+02] [-1.27701065e-01 -9.23460272e-04 9.91812273e-01 -4.16831232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters 0.03100201386228581 Centerline is valid? [True, True] Translation: X:299.63, Y:-192.46, Z:-41.69 [[ 7.21961170e-01 6.85502464e-01 9.41192876e-02 2.99631345e+02] [-6.79935692e-01 7.28069554e-01 -8.71904778e-02 -1.92460099e+02] [-1.28294675e-01 -1.04692358e-03 9.91735539e-01 -4.16905049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters 0.030925515217050538 Centerline is valid? [True, True] Translation: X:299.68, Y:-192.51, Z:-41.70 [[ 7.20791789e-01 6.86696189e-01 9.43797729e-02 2.99675309e+02] [-6.81096392e-01 7.26943546e-01 -8.75259114e-02 -1.92505314e+02] [-1.28712477e-01 -1.19376461e-03 9.91681236e-01 -4.16972557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters 0.031027152306261165 Centerline is valid? [True, True] Translation: X:299.72, Y:-192.55, Z:-41.70 [[ 7.19480700e-01 6.87955134e-01 9.52116429e-02 2.99718725e+02] [-6.82254812e-01 7.25751935e-01 -8.83883487e-02 -1.92548971e+02] [-1.29907252e-01 -1.36489062e-03 9.91525210e-01 -4.17026732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters 0.031034955511483407 Centerline is valid? [True, True] Translation: X:299.76, Y:-192.59, Z:-41.71 [[ 7.17582315e-01 6.90137520e-01 9.37327368e-02 2.99763249e+02] [-6.84622194e-01 7.23676306e-01 -8.70922227e-02 -1.92593439e+02] [-1.27937771e-01 -1.67567314e-03 9.91780782e-01 -4.17086848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters 0.03111904977185545 Centerline is valid? [True, True] Translation: X:299.81, Y:-192.63, Z:-41.72 [[ 7.15801657e-01 6.91870339e-01 9.45696650e-02 2.99810363e+02] [-6.86258694e-01 7.22019173e-01 -8.79620325e-02 -1.92634281e+02] [-1.29139433e-01 -1.93588616e-03 9.91624556e-01 -4.17150314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters 0.031079725368266524 Centerline is valid? [True, True] Translation: X:299.86, Y:-192.68, Z:-41.72 [[ 7.14530007e-01 6.93214540e-01 9.43423075e-02 2.99857488e+02] [-6.87630789e-01 7.20728199e-01 -8.78337069e-02 -1.92675439e+02] [-1.28882764e-01 -2.11285621e-03 9.91657587e-01 -4.17204696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters 0.031249104708948972 Centerline is valid? [True, True] Translation: X:299.91, Y:-192.71, Z:-41.73 [[ 7.12451468e-01 6.95187074e-01 9.55397199e-02 2.99905324e+02] [-6.89465458e-01 7.18824742e-01 -8.90414132e-02 -1.92714250e+02] [-1.30576754e-01 -2.43365117e-03 9.91435217e-01 -4.17264880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters 0.03181954719720857 Centerline is valid? [True, True] Translation: X:299.95, Y:-192.75, Z:-41.73 [[ 7.08472137e-01 6.99448310e-01 9.40175147e-02 2.99953719e+02] [-6.93935596e-01 7.14676422e-01 -8.76983529e-02 -1.92752314e+02] [-1.28532566e-01 -3.11026056e-03 9.91700411e-01 -4.17336564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters 0.03187012402382333 Centerline is valid? [True, True] Translation: X:300.00, Y:-192.79, Z:-41.74 [[ 7.06165454e-01 7.01674327e-01 9.47812740e-02 3.00002808e+02] [-6.96081048e-01 7.12489279e-01 -8.84884289e-02 -1.92790408e+02] [-1.29620700e-01 -3.48797695e-03 9.91557516e-01 -4.17394543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters 0.03206125540856686 Centerline is valid? [True, True] Translation: X:300.05, Y:-192.83, Z:-41.75 [[ 7.06448194e-01 7.01732938e-01 9.22053848e-02 3.00052859e+02] [-6.96431278e-01 7.12432234e-01 -8.61614050e-02 -1.92827872e+02] [-1.26152384e-01 -3.34614497e-03 9.92005231e-01 -4.17469345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters 0.0317476612822958 Centerline is valid? [True, True] Translation: X:300.11, Y:-192.86, Z:-41.75 [[ 7.07327803e-01 7.00648768e-01 9.36946256e-02 3.00105749e+02] [-6.95153375e-01 7.13499419e-01 -8.76376861e-02 -1.92863565e+02] [-1.28254298e-01 -3.14356327e-03 9.91736332e-01 -4.17534884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters 0.03155983921596141 Centerline is valid? [True, True] Translation: X:300.15, Y:-192.90, Z:-41.76 [[ 7.08451033e-01 6.99476672e-01 9.39655243e-02 3.00154640e+02] [-6.93927099e-01 7.14649655e-01 -8.79832509e-02 -1.92902073e+02] [-1.28694661e-01 -2.87339867e-03 9.91680104e-01 -4.17607851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters 0.031277264947242193 Centerline is valid? [True, True] Translation: X:300.21, Y:-192.94, Z:-41.77 [[ 7.08836595e-01 6.99291690e-01 9.24219282e-02 3.00205831e+02] [-6.93911950e-01 7.14831204e-01 -8.66172912e-02 -1.92938119e+02] [-1.26636830e-01 -2.73517459e-03 9.91945378e-01 -4.17678953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters 0.031332671116444985 Centerline is valid? [True, True] Translation: X:300.26, Y:-192.97, Z:-41.78 [[ 7.09077156e-01 6.98677092e-01 9.51835502e-02 3.00256910e+02] [-6.92953073e-01 7.15432268e-01 -8.92900251e-02 -1.92973546e+02] [-1.30482278e-01 -2.64421665e-03 9.91447116e-01 -4.17758920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters 0.031242076501743453 Centerline is valid? [True, True] Translation: X:300.31, Y:-193.01, Z:-41.78 [[ 7.09883513e-01 6.97953415e-01 9.44797764e-02 3.00308266e+02] [-6.92297060e-01 7.16139029e-01 -8.87111749e-02 -1.93009143e+02] [-1.29576923e-01 -2.43347095e-03 9.91566387e-01 -4.17814433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters 0.03082315538358019 Centerline is valid? [True, True] Translation: X:300.36, Y:-193.05, Z:-41.79 [[ 7.11973470e-01 6.95696214e-01 9.53968309e-02 3.00357383e+02] [-6.89897947e-01 7.18333383e-01 -8.96547507e-02 -1.93047368e+02] [-1.30899199e-01 -1.98227381e-03 9.91393701e-01 -4.17883076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters 0.030492760295836644 Centerline is valid? [True, True] Translation: X:300.41, Y:-193.08, Z:-41.80 [[ 7.14806562e-01 6.92522590e-01 9.72833054e-02 3.00407686e+02] [-6.86450597e-01 7.21394899e-01 -9.15149068e-02 -1.93084825e+02] [-1.33555821e-01 -1.36472715e-03 9.91040353e-01 -4.17952586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters 0.03004907094847593 Centerline is valid? [True, True] Translation: X:300.46, Y:-193.12, Z:-41.80 [[ 7.19574396e-01 6.87565498e-01 9.72952941e-02 3.00460449e+02] [-6.81434019e-01 7.26122267e-01 -9.16194932e-02 -1.93118992e+02] [-1.33642682e-01 -3.73281693e-04 9.91029512e-01 -4.18034288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters 0.029918833441535928 Centerline is valid? [True, True] Translation: X:300.51, Y:-193.16, Z:-41.81 [[ 7.23306888e-01 6.83639133e-01 9.72865938e-02 3.00511580e+02] [-6.77461613e-01 7.29820089e-01 -9.16973342e-02 -1.93155848e+02] [-1.33689597e-01 4.17380743e-04 9.91023167e-01 -4.18097008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters 0.03045064013592353 Centerline is valid? [True, True] Translation: X:300.56, Y:-193.20, Z:-41.82 [[ 7.27923429e-01 6.78649603e-01 9.77864954e-02 3.00559339e+02] [-6.72350437e-01 7.34460838e-01 -9.22614121e-02 -1.93195704e+02] [-1.34433522e-01 1.41245058e-03 9.90921608e-01 -4.18175179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters 0.03057022500706094 Centerline is valid? [True, True] Translation: X:300.61, Y:-193.24, Z:-41.82 [[ 7.30432358e-01 6.76013944e-01 9.73330294e-02 3.00605674e+02] [-6.69738994e-01 7.36886250e-01 -9.19148191e-02 -1.93236119e+02] [-1.33859070e-01 1.94983283e-03 9.90998460e-01 -4.18244987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters 0.031075844974144798 Centerline is valid? [True, True] Translation: X:300.65, Y:-193.28, Z:-41.83 [[ 7.32467582e-01 6.73579510e-01 9.89034146e-02 3.00648127e+02] [-6.67065977e-01 7.39110555e-01 -9.34803137e-02 -1.93280756e+02] [-1.36066982e-01 2.49619636e-03 9.90696495e-01 -4.18326697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters 0.030844008733810394 Centerline is valid? [True, True] Translation: X:300.69, Y:-193.33, Z:-41.84 [[ 7.32182611e-01 6.74017201e-01 9.80277298e-02 3.00690360e+02] [-6.67612192e-01 7.38711581e-01 -9.27316653e-02 -1.93326537e+02] [-1.34916957e-01 2.45200535e-03 9.90853875e-01 -4.18385920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters 0.030533245121243783 Centerline is valid? [True, True] Translation: X:300.73, Y:-193.38, Z:-41.85 [[ 7.30936418e-01 6.75734607e-01 9.54709034e-02 3.00728542e+02] [-6.69665288e-01 7.37141900e-01 -9.03892725e-02 -1.93375745e+02] [-1.31454763e-01 2.13526103e-03 9.91319871e-01 -4.18460459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters 0.0299133569923377 Centerline is valid? [True, True] Translation: X:300.77, Y:-193.42, Z:-41.85 [[ 7.24615420e-01 6.82595329e-01 9.48478287e-02 3.00768740e+02] [-6.76653158e-01 7.30795950e-01 -8.98764876e-02 -1.93423379e+02] [-1.30663680e-01 9.46805953e-04 9.91426299e-01 -4.18509174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters 0.030017692648896265 Centerline is valid? [True, True] Translation: X:300.81, Y:-193.47, Z:-41.86 [[ 7.15299566e-01 6.92337081e-01 9.49520767e-02 3.00810975e+02] [-6.86455465e-01 7.21573824e-01 -9.00561495e-02 -1.93469945e+02] [-1.30864145e-01 -7.63247311e-04 9.91400017e-01 -4.18575527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters 0.030555530427350017 Centerline is valid? [True, True] Translation: X:300.86, Y:-193.51, Z:-41.86 [[ 7.09159964e-01 6.98602935e-01 9.51109011e-02 3.00857048e+02] [-6.92745219e-01 7.15507167e-01 -9.02970404e-02 -1.93512096e+02] [-1.31134309e-01 -1.85257601e-03 9.91362881e-01 -4.18631096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters 0.030966605965081925 Centerline is valid? [True, True] Translation: X:300.91, Y:-193.55, Z:-41.87 [[ 7.04098116e-01 7.03771594e-01 9.46117660e-02 3.00906354e+02] [-6.98010958e-01 7.10421031e-01 -8.99036266e-02 -1.93549767e+02] [-1.30485807e-01 -2.73907534e-03 9.91446394e-01 -4.18693779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters 0.03118785588608177 Centerline is valid? [True, True] Translation: X:300.95, Y:-193.59, Z:-41.87 [[ 7.02553852e-01 7.05341969e-01 9.43969916e-02 3.00954995e+02] [-6.99611040e-01 7.08860995e-01 -8.97801866e-02 -1.93588476e+02] [-1.30240079e-01 -2.96576159e-03 9.91478051e-01 -4.18744300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters 0.03135236330066394 Centerline is valid? [True, True] Translation: X:301.01, Y:-193.62, Z:-41.88 [[ 7.00896854e-01 7.06923965e-01 9.48794363e-02 3.01006939e+02] [-7.01137584e-01 7.07282231e-01 -9.03212800e-02 -1.93623883e+02] [-1.30956817e-01 -3.21763778e-03 9.91382852e-01 -4.18813984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters 0.03112320780320113 Centerline is valid? [True, True] Translation: X:301.06, Y:-193.66, Z:-41.89 [[ 6.99124593e-01 7.09007904e-01 9.23720513e-02 3.01055782e+02] [-7.03532287e-01 7.05192075e-01 -8.80139732e-02 -1.93663676e+02] [-1.27542641e-01 -3.45398734e-03 9.91827074e-01 -4.18867433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters 0.03140681690918635 Centerline is valid? [True, True] Translation: X:301.11, Y:-193.70, Z:-41.89 [[ 6.97895711e-01 7.10143725e-01 9.29379755e-02 3.01105722e+02] [-7.04598884e-01 7.04047430e-01 -8.86432668e-02 -1.93701130e+02] [-1.28382202e-01 -3.62023809e-03 9.91718158e-01 -4.18932719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters 0.03110312908422029 Centerline is valid? [True, True] Translation: X:301.15, Y:-193.74, Z:-41.90 [[ 6.98801115e-01 7.09293942e-01 9.26234636e-02 3.01152165e+02] [-7.03768967e-01 7.04904658e-01 -8.84232161e-02 -1.93742040e+02] [-1.28008762e-01 -3.39527724e-03 9.91767225e-01 -4.19001027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters 0.03058933449219255 Centerline is valid? [True, True] Translation: X:301.20, Y:-193.78, Z:-41.91 [[ 7.03159600e-01 7.05126840e-01 9.14478849e-02 3.01198123e+02] [-6.99697755e-01 7.09076604e-01 -8.73694492e-02 -1.93782178e+02] [-1.26450099e-01 -2.55121278e-03 9.91969689e-01 -4.19069462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters 0.029944282059178852 Centerline is valid? [True, True] Translation: X:301.25, Y:-193.82, Z:-41.91 [[ 7.07988473e-01 7.00248072e-01 9.16785673e-02 3.01245919e+02] [-6.94747669e-01 7.13897657e-01 -8.76117129e-02 -1.93822067e+02] [-1.26799047e-01 -1.66538805e-03 9.91927028e-01 -4.19140133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters 0.029209352088056285 Centerline is valid? [True, True] Translation: X:301.29, Y:-193.86, Z:-41.92 [[ 7.15470819e-01 6.92685087e-01 9.10432721e-02 3.01291961e+02] [-6.87189300e-01 7.21240115e-01 -8.70836568e-02 -1.93863582e+02] [-1.25985610e-01 -2.58147223e-04 9.92032035e-01 -4.19213422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters 0.029274679329234842 Centerline is valid? [True, True] Translation: X:301.34, Y:-193.90, Z:-41.93 [[ 7.20275856e-01 6.87719481e-01 9.07998164e-02 3.01339999e+02] [-6.82204330e-01 7.25976221e-01 -8.69239809e-02 -1.93903695e+02] [-1.25697823e-01 6.65216839e-04 9.92068352e-01 -4.19276348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters 0.02969366793075464 Centerline is valid? [True, True] Translation: X:301.39, Y:-193.95, Z:-41.93 [[ 7.22770686e-01 6.85116987e-01 9.06490477e-02 3.01385008e+02] [-6.79594736e-01 7.28432153e-01 -8.68193170e-02 -1.93946323e+02] [-1.25513070e-01 1.14584163e-03 9.92091304e-01 -4.19337734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters 0.029800214666150984 Centerline is valid? [True, True] Translation: X:301.43, Y:-193.99, Z:-41.94 [[ 7.22815423e-01 6.84911495e-01 9.18374000e-02 3.01429697e+02] [-6.79231190e-01 7.28625191e-01 -8.80359125e-02 -1.93989160e+02] [-1.27211852e-01 1.25488887e-03 9.91874775e-01 -4.19403007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters 0.030007262851693774 Centerline is valid? [True, True] Translation: X:301.47, Y:-194.03, Z:-41.95 [[ 7.22674916e-01 6.84893501e-01 9.30691057e-02 3.01471846e+02] [-6.79048679e-01 7.28641966e-01 -8.92960140e-02 -1.94034799e+02] [-1.28972316e-01 1.33353610e-03 9.91647298e-01 -4.19481978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters 0.02998641579495584 Centerline is valid? [True, True] Translation: X:301.51, Y:-194.08, Z:-41.96 [[ 7.22366965e-01 6.85036731e-01 9.43962070e-02 3.01514359e+02] [-6.79013838e-01 7.28507210e-01 -9.06501684e-02 -1.94079487e+02] [-1.30867012e-01 1.38635631e-03 9.91398963e-01 -4.19557267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters 0.030027687120290598 Centerline is valid? [True, True] Translation: X:301.56, Y:-194.13, Z:-41.96 [[ 7.22136768e-01 6.85380230e-01 9.36612422e-02 3.01555068e+02] [-6.79443734e-01 7.28184084e-01 -9.00230649e-02 -1.94126987e+02] [-1.29902655e-01 1.37142098e-03 9.91525804e-01 -4.19626761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters 0.02992127122048443 Centerline is valid? [True, True] Translation: X:301.60, Y:-194.17, Z:-41.97 [[ 7.19390279e-01 6.88168044e-01 9.43523636e-02 3.01596751e+02] [-6.82156183e-01 7.25550734e-01 -9.07693518e-02 -1.94174580e+02] [-1.30921994e-01 9.35541199e-04 9.91392231e-01 -4.19683017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters 0.029993647325115568 Centerline is valid? [True, True] Translation: X:301.64, Y:-194.22, Z:-41.98 [[ 7.17375072e-01 6.90055824e-01 9.58956002e-02 3.01637220e+02] [-6.83849148e-01 7.23755838e-01 -9.23462463e-02 -1.94221330e+02] [-1.33129065e-01 6.68770571e-04 9.91098484e-01 -4.19751601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters 0.029984112033954582 Centerline is valid? [True, True] Translation: X:301.68, Y:-194.27, Z:-41.98 [[ 7.16781671e-01 6.90859469e-01 9.45369255e-02 3.01678913e+02] [-6.84824585e-01 7.22988844e-01 -9.11176112e-02 -1.94267186e+02] [-1.31298607e-01 5.70222838e-04 9.91342701e-01 -4.19823252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters 0.02990910139955823 Centerline is valid? [True, True] Translation: X:301.72, Y:-194.31, Z:-41.99 [[ 7.17219722e-01 6.90597892e-01 9.31150976e-02 3.01720216e+02] [-6.84731486e-01 7.23238624e-01 -8.98258555e-02 -1.94313914e+02] [-1.29377982e-01 6.66035981e-04 9.91595126e-01 -4.19882822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters 0.030187258075814263 Centerline is valid? [True, True] Translation: X:301.76, Y:-194.36, Z:-41.99 [[ 7.18010635e-01 6.89608922e-01 9.43411996e-02 3.01763184e+02] [-6.83566979e-01 7.24181397e-01 -9.10905564e-02 -1.94359110e+02] [-1.31137002e-01 9.15459461e-04 9.91363833e-01 -4.19942552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters 0.030316946856590768 Centerline is valid? [True, True] Translation: X:301.81, Y:-194.40, Z:-42.00 [[ 7.19518856e-01 6.88006644e-01 9.45487907e-02 3.01806296e+02] [-6.81913262e-01 7.25703275e-01 -9.13731966e-02 -1.94404112e+02] [-1.31479733e-01 1.27066361e-03 9.91318044e-01 -4.20018861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters 0.030641122152471854 Centerline is valid? [True, True] Translation: X:301.85, Y:-194.45, Z:-42.01 [[ 7.20688239e-01 6.86689052e-01 9.52187415e-02 3.01846150e+02] [-6.80486047e-01 7.26949545e-01 -9.21037445e-02 -1.94452213e+02] [-1.32465854e-01 1.58306042e-03 9.91186305e-01 -4.20089416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters 0.03053531274193218 Centerline is valid? [True, True] Translation: X:301.89, Y:-194.50, Z:-42.01 [[ 7.19693771e-01 6.87745120e-01 9.51184790e-02 3.01888803e+02] [-6.81553267e-01 7.25950792e-01 -9.20901327e-02 -1.94498623e+02] [-1.32385875e-01 1.44838477e-03 9.91197197e-01 -4.20147714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters 0.030620851399748714 Centerline is valid? [True, True] Translation: X:301.93, Y:-194.55, Z:-42.02 [[ 7.18830579e-01 6.88823772e-01 9.38318178e-02 3.01927810e+02] [-6.82796512e-01 7.24927671e-01 -9.09329169e-02 -1.94547125e+02] [-1.30658036e-01 1.29732347e-03 9.91426646e-01 -4.20206090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters 0.030112030286014602 Centerline is valid? [True, True] Translation: X:301.97, Y:-194.60, Z:-42.03 [[ 7.17036210e-01 6.90831962e-01 9.27915562e-02 3.01968084e+02] [-6.84944621e-01 7.23014690e-01 -9.00034709e-02 -1.94595204e+02] [-1.29266933e-01 9.78670481e-04 9.91609350e-01 -4.20260579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters 0.029695285903333778 Centerline is valid? [True, True] Translation: X:302.01, Y:-194.64, Z:-42.03 [[ 7.14489428e-01 6.93661037e-01 9.13193432e-02 3.02007786e+02] [-6.87972753e-01 7.20301394e-01 -8.86532131e-02 -1.94643053e+02] [-1.27272730e-01 5.16563604e-04 9.91867625e-01 -4.20315092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters 0.02949373710540181 Centerline is valid? [True, True] Translation: X:302.05, Y:-194.69, Z:-42.04 [[ 7.13257723e-01 6.94933615e-01 9.12726204e-02 3.02048670e+02] [-6.89251092e-01 7.19073814e-01 -8.86892478e-02 -1.94690970e+02] [-1.27264891e-01 3.48537748e-04 9.91868704e-01 -4.20379009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters 0.02928731307390179 Centerline is valid? [True, True] Translation: X:302.09, Y:-194.74, Z:-42.04 [[ 7.14062255e-01 6.94236380e-01 9.02825807e-02 3.02087847e+02] [-6.88660100e-01 7.19746876e-01 -8.78162883e-02 -1.94739232e+02] [-1.25945867e-01 5.32285848e-04 9.92036973e-01 -4.20437071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters 0.029033586485427133 Centerline is valid? [True, True] Translation: X:302.13, Y:-194.79, Z:-42.05 [[ 7.12837205e-01 6.95544744e-01 8.98923107e-02 3.02128799e+02] [-6.90016850e-01 7.18482693e-01 -8.75178093e-02 -1.94787095e+02] [-1.25458622e-01 3.58741579e-04 9.92098788e-01 -4.20502898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters 0.02918640410882318 Centerline is valid? [True, True] Translation: X:302.17, Y:-194.84, Z:-42.06 [[ 7.10417486e-01 6.98128617e-01 8.90136493e-02 3.02166909e+02] [-6.92717737e-01 7.15972369e-01 -8.67508137e-02 -1.94836197e+02] [-1.24294539e-01 -3.20386732e-05 9.92245366e-01 -4.20558219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters 0.029411582092365218 Centerline is valid? [True, True] Translation: X:302.21, Y:-194.88, Z:-42.06 [[ 7.05440549e-01 7.03324086e-01 8.76861570e-02 3.02206983e+02] [-6.98103991e-01 7.10868811e-01 -8.55356735e-02 -1.94884812e+02] [-1.22492654e-01 -8.73723696e-04 9.92469036e-01 -4.20602912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters 0.029381219347579698 Centerline is valid? [True, True] Translation: X:302.25, Y:-194.93, Z:-42.07 [[ 7.04148103e-01 7.04545998e-01 8.82631605e-02 3.02247277e+02] [-6.99254909e-01 7.09657579e-01 -8.61898612e-02 -1.94933919e+02] [-1.23361343e-01 -1.02802107e-03 9.92361286e-01 -4.20672321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters 0.029315231468924487 Centerline is valid? [True, True] Translation: X:302.29, Y:-194.98, Z:-42.07 [[ 7.04573077e-01 7.04104144e-01 8.83975852e-02 3.02290830e+02] [-6.98781937e-01 7.10096168e-01 -8.64131733e-02 -1.94979559e+02] [-1.23614660e-01 -8.86240394e-04 9.92329900e-01 -4.20734424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters 0.029266194550414553 Centerline is valid? [True, True] Translation: X:302.33, Y:-195.03, Z:-42.08 [[ 7.03916253e-01 7.04831525e-01 8.78318319e-02 3.02331011e+02] [-6.99571786e-01 7.09374115e-01 -8.59516226e-02 -1.95027874e+02] [-1.22887041e-01 -9.41927404e-04 9.92420217e-01 -4.20790734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters 0.029322032174518925 Centerline is valid? [True, True] Translation: X:302.37, Y:-195.07, Z:-42.08 [[ 6.99480380e-01 7.09407304e-01 8.64203387e-02 3.02374129e+02] [-7.04339687e-01 7.04796812e-01 -8.46584851e-02 -1.95073032e+02] [-1.20966127e-01 -1.65232494e-03 9.92655260e-01 -4.20844809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters 0.029732638022828394 Centerline is valid? [True, True] Translation: X:302.41, Y:-195.12, Z:-42.09 [[ 6.92825383e-01 7.16353051e-01 8.26516421e-02 3.02414385e+02] [-7.11759483e-01 6.97732837e-01 -8.10390454e-02 -1.95121027e+02] [-1.15721332e-01 -2.68218233e-03 9.93278098e-01 -4.20899601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters 0.030271153892090924 Centerline is valid? [True, True] Translation: X:302.46, Y:-195.16, Z:-42.10 [[ 6.88269173e-01 7.20644462e-01 8.34092657e-02 3.02459752e+02] [-7.15988215e-01 6.93296573e-01 -8.18580413e-02 -1.95162369e+02] [-1.16817902e-01 -3.37968491e-03 9.93147600e-01 -4.20957680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters 0.03093990045981416 Centerline is valid? [True, True] Translation: X:302.50, Y:-195.20, Z:-42.10 [[ 6.83231697e-01 7.25279417e-01 8.46416887e-02 3.02504456e+02] [-7.20510996e-01 6.88441909e-01 -8.31362874e-02 -1.95203580e+02] [-1.18567924e-01 -4.18392070e-03 9.92937129e-01 -4.21007267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters 0.0308784673024311 Centerline is valid? [True, True] Translation: X:302.55, Y:-195.24, Z:-42.11 [[ 6.81892012e-01 7.26523809e-01 8.47728706e-02 3.02551424e+02] [-7.21746720e-01 6.87127285e-01 -8.32932614e-02 -1.95244244e+02] [-1.18764290e-01 -4.38753167e-03 9.92912782e-01 -4.21082735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters 0.03069453202193571 Centerline is valid? [True, True] Translation: X:302.60, Y:-195.28, Z:-42.11 [[ 6.82255984e-01 7.26119335e-01 8.53081665e-02 3.02600397e+02] [-7.21269344e-01 6.87555295e-01 -8.38942765e-02 -1.95283342e+02] [-1.19571338e-01 -4.29279314e-03 9.92816331e-01 -4.21149735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters 0.03021008887459382 Centerline is valid? [True, True] Translation: X:302.65, Y:-195.32, Z:-42.12 [[ 6.84145048e-01 7.24500517e-01 8.39318415e-02 3.02649167e+02] [-7.19788835e-01 6.89263151e-01 -8.25853607e-02 -1.95321780e+02] [-1.17684262e-01 -3.91283681e-03 9.93043355e-01 -4.21214005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters 0.029987782239803803 Centerline is valid? [True, True] Translation: X:302.70, Y:-195.36, Z:-42.13 [[ 6.84603323e-01 7.24003236e-01 8.44843467e-02 3.02698485e+02] [-7.19216010e-01 6.89786115e-01 -8.32072437e-02 -1.95360441e+02] [-1.18518443e-01 -3.79853930e-03 9.92944585e-01 -4.21281087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters 0.02974583805376435 Centerline is valid? [True, True] Translation: X:302.75, Y:-195.40, Z:-42.13 [[ 6.84221488e-01 7.24178615e-01 8.60598002e-02 3.02746780e+02] [-7.19201897e-01 6.89601738e-01 -8.48414675e-02 -1.95400826e+02] [-1.20787364e-01 -3.84401643e-03 9.92670961e-01 -4.21349253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters 0.02952904647297366 Centerline is valid? [True, True] Translation: X:302.80, Y:-195.44, Z:-42.14 [[ 6.84544830e-01 7.23895006e-01 8.58742998e-02 3.02795622e+02] [-7.18926625e-01 6.89900108e-01 -8.47487379e-02 -1.95439113e+02] [-1.20593877e-01 -3.72301014e-03 9.92694946e-01 -4.21415938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters 0.028860223457442474 Centerline is valid? [True, True] Translation: X:302.84, Y:-195.48, Z:-42.15 [[ 6.87870291e-01 7.20771222e-01 8.55763263e-02 3.02843029e+02] [-7.15803658e-01 6.93166061e-01 -8.45336388e-02 -1.95478700e+02] [-1.20248019e-01 -3.10766867e-03 9.92739017e-01 -4.21482081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters 0.028368419368622697 Centerline is valid? [True, True] Translation: X:302.89, Y:-195.52, Z:-42.16 [[ 6.91914255e-01 7.16731878e-01 8.68911911e-02 3.02890017e+02] [-7.11568524e-01 6.97344763e-01 -8.59099336e-02 -1.95519424e+02] [-1.22167505e-01 -2.38672889e-03 9.92506627e-01 -4.21566666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters 0.02848326895899736 Centerline is valid? [True, True] Translation: X:302.94, Y:-195.56, Z:-42.16 [[ 6.92671146e-01 7.15649834e-01 8.97329307e-02 3.02936034e+02] [-7.10126198e-01 6.98455678e-01 -8.87718966e-02 -1.95560654e+02] [-1.26204068e-01 -2.23197352e-03 9.92001790e-01 -4.21644156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters 0.028463016513535215 Centerline is valid? [True, True] Translation: X:302.98, Y:-195.60, Z:-42.17 [[ 6.92967491e-01 7.15377579e-01 8.96157107e-02 3.02981112e+02] [-7.09855492e-01 6.98734873e-01 -8.87398294e-02 -1.95603987e+02] [-1.26100107e-01 -2.12038756e-03 9.92015255e-01 -4.21708905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters 0.028358815968372253 Centerline is valid? [True, True] Translation: X:303.03, Y:-195.65, Z:-42.18 [[ 6.92376360e-01 7.15939490e-01 8.96973956e-02 3.03027716e+02] [-7.10399985e-01 6.98158999e-01 -8.89149764e-02 -1.95646417e+02] [-1.26280787e-01 -2.15840083e-03 9.91992190e-01 -4.21786965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters 0.028578284995964848 Centerline is valid? [True, True] Translation: X:303.07, Y:-195.69, Z:-42.18 [[ 6.91672227e-01 7.16425382e-01 9.12370733e-02 3.03072431e+02] [-7.10685265e-01 6.97660193e-01 -9.05356820e-02 -1.95688547e+02] [-1.28514535e-01 -2.21982677e-03 9.91705141e-01 -4.21849372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters 0.0290283056648648 Centerline is valid? [True, True] Translation: X:303.12, Y:-195.73, Z:-42.19 [[ 6.91690968e-01 7.16220076e-01 9.26952422e-02 3.03118502e+02] [-7.10281651e-01 6.97871147e-01 -9.20643140e-02 -1.95729414e+02] [-1.30627645e-01 -2.15967521e-03 9.91429147e-01 -4.21921537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters 0.029192264563621825 Centerline is valid? [True, True] Translation: X:303.16, Y:-195.77, Z:-42.20 [[ 6.91408111e-01 7.16452587e-01 9.30081465e-02 3.03164507e+02] [-7.10464294e-01 6.97632476e-01 -9.24630502e-02 -1.95772402e+02] [-1.31130895e-01 -2.14926426e-03 9.91362733e-01 -4.21993627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters 0.02932475543504175 Centerline is valid? [True, True] Translation: X:303.21, Y:-195.81, Z:-42.21 [[ 6.90711568e-01 7.16956285e-01 9.42932452e-02 3.03211332e+02] [-7.10792216e-01 6.97114633e-01 -9.38382362e-02 -1.95812374e+02] [-1.33011114e-01 -2.20774946e-03 9.91112087e-01 -4.22071333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters 0.029829378559371195 Centerline is valid? [True, True] Translation: X:303.26, Y:-195.85, Z:-42.21 [[ 6.88395781e-01 7.19042880e-01 9.53340702e-02 3.03261029e+02] [-7.12749232e-01 6.94960929e-01 -9.49623064e-02 -1.95850394e+02] [-1.34535424e-01 -2.57763419e-03 9.90905432e-01 -4.22129571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters 0.03017146000410718 Centerline is valid? [True, True] Translation: X:303.31, Y:-195.89, Z:-42.22 [[ 6.86156117e-01 7.21233924e-01 9.49284457e-02 3.03310423e+02] [-7.15003004e-01 6.92685372e-01 -9.46450158e-02 -1.95888430e+02] [-1.34016742e-01 -2.93286734e-03 9.90974728e-01 -4.22197456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters 0.03017331014685945 Centerline is valid? [True, True] Translation: X:303.36, Y:-195.93, Z:-42.23 [[ 6.85710239e-01 7.21668493e-01 9.48475331e-02 3.03360139e+02] [-7.15440277e-01 6.92232524e-01 -9.46538040e-02 -1.95927382e+02] [-1.33965215e-01 -2.95266282e-03 9.90981636e-01 -4.22278539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters 0.030408685201266175 Centerline is valid? [True, True] Translation: X:303.41, Y:-195.97, Z:-42.24 [[ 6.85455555e-01 7.21867937e-01 9.51701825e-02 3.03410127e+02] [-7.15585397e-01 6.92024628e-01 -9.50760411e-02 -1.95965628e+02] [-1.34492456e-01 -2.93199229e-03 9.90910280e-01 -4.22351847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters 0.030265754857897086 Centerline is valid? [True, True] Translation: X:303.46, Y:-196.00, Z:-42.24 [[ 6.85060306e-01 7.22408558e-01 9.39055533e-02 3.03462102e+02] [-7.16284984e-01 6.91460255e-01 -9.39070752e-02 -1.96001293e+02] [-1.32771233e-01 -2.93112812e-03 9.91142375e-01 -4.22407873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters 0.03055253879409158 Centerline is valid? [True, True] Translation: X:303.49, Y:-196.00, Z:-42.24 [[ 6.34546437e-01 7.68005653e-01 8.67071909e-02 3.03493971e+02] [-7.61532089e-01 6.40436666e-01 -9.95477493e-02 -1.95997431e+02] [-1.31983698e-01 -2.86263861e-03 9.91247753e-01 -4.22419632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters 0.030252706802063836 Centerline is valid? [True, True] Translation: X:303.53, Y:-196.00, Z:-42.24 [[ 5.83406721e-01 8.08253495e-01 7.97676956e-02 3.03525276e+02] [-8.01445157e-01 5.88827876e-01 -1.04725319e-01 -1.95996949e+02] [-1.31614048e-01 -2.83197824e-03 9.91296990e-01 -4.22428874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters 0.029516960718045996 Centerline is valid? [True, True] Translation: X:303.29, Y:-196.43, Z:-40.42 [[ 6.64900586e-01 -7.45143623e-01 -5.16545375e-02 3.03291349e+02] [-7.41847515e-01 -6.66848865e-01 7.05326595e-02 -1.96425857e+02] [-8.70027312e-02 -8.57741634e-03 -9.96171146e-01 -4.04182503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters 0.029363336511541483 Centerline is valid? [True, True] Translation: X:303.29, Y:-196.44, Z:-40.42 [[ 7.07387289e-01 -7.04769719e-01 -5.38782611e-02 3.03291892e+02] [-7.01896919e-01 -7.09396924e-01 6.40056212e-02 -1.96437742e+02] [-8.33302964e-02 -7.45977740e-03 -9.96494061e-01 -4.04175869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters 0.02983886840527853 Centerline is valid? [True, True] Translation: X:303.52, Y:-196.01, Z:-42.25 [[ 7.12602811e-01 6.95031416e-01 9.55435198e-02 3.03522351e+02] [-6.88619237e-01 7.18978127e-01 -9.42019057e-02 -1.96009838e+02] [-1.34166985e-01 1.33543706e-03 9.90957838e-01 -4.22503305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters 0.030385546622766293 Centerline is valid? [True, True] Translation: X:303.56, Y:-196.06, Z:-42.26 [[ 7.14883402e-01 6.92643261e-01 9.58490166e-02 3.03564700e+02] [-6.86156979e-01 7.21277953e-01 -9.45870757e-02 -1.96055222e+02] [-1.34648883e-01 1.85125887e-03 9.90891645e-01 -4.22574720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters 0.030286521043164785 Centerline is valid? [True, True] Translation: X:303.60, Y:-196.10, Z:-42.26 [[ 7.13847794e-01 6.93832652e-01 9.49609333e-02 3.03604267e+02] [-6.87466033e-01 7.20134334e-01 -9.37922945e-02 -1.96103609e+02] [-1.33460785e-01 1.67100639e-03 9.91052686e-01 -4.22641222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters 0.03025526579562699 Centerline is valid? [True, True] Translation: X:303.64, Y:-196.15, Z:-42.27 [[ 7.12604478e-01 6.95328252e-01 9.33460208e-02 3.03643735e+02] [-6.89179571e-01 7.18690888e-01 -9.22763541e-02 -1.96151901e+02] [-1.31249291e-01 1.42437251e-03 9.91348372e-01 -4.22715883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters 0.030259607979755965 Centerline is valid? [True, True] Translation: X:303.68, Y:-196.20, Z:-42.28 [[ 7.11514457e-01 6.96292544e-01 9.44662435e-02 3.03683218e+02] [-6.89992060e-01 7.17756885e-01 -9.34666336e-02 -1.96199921e+02] [-1.32883917e-01 1.32190304e-03 9.91130727e-01 -4.22790635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters 0.030343762315243654 Centerline is valid? [True, True] Translation: X:303.72, Y:-196.25, Z:-42.29 [[ 7.11504431e-01 6.96428426e-01 9.35355101e-02 3.03724582e+02] [-6.90242463e-01 7.17625004e-01 -9.26266486e-02 -1.96246131e+02] [-1.31631252e-01 1.34209002e-03 9.91297842e-01 -4.22856672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters 0.030284896299790563 Centerline is valid? [True, True] Translation: X:303.76, Y:-196.29, Z:-42.29 [[ 7.11804211e-01 6.96264383e-01 9.24698617e-02 3.03763341e+02] [-6.90207308e-01 7.17784027e-01 -9.16513142e-02 -1.96294582e+02] [-1.30186935e-01 1.41441711e-03 9.91488457e-01 -4.22918211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters 0.030395888351957258 Centerline is valid? [True, True] Translation: X:303.80, Y:-196.34, Z:-42.30 [[ 7.11600597e-01 6.96227419e-01 9.42972489e-02 3.03802056e+02] [-6.89915978e-01 7.17819685e-01 -9.35459418e-02 -1.96342952e+02] [-1.32817671e-01 1.51016934e-03 9.91139337e-01 -4.22989091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters 0.03004305404054238 Centerline is valid? [True, True] Translation: X:303.84, Y:-196.39, Z:-42.31 [[ 7.10631640e-01 6.96946672e-01 9.62704977e-02 3.03843019e+02] [-6.90361897e-01 7.17121457e-01 -9.55890577e-02 -1.96389373e+02] [-1.35658115e-01 1.46712541e-03 9.90754623e-01 -4.23056194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters 0.029730929123164614 Centerline is valid? [True, True] Translation: X:303.88, Y:-196.44, Z:-42.31 [[ 7.07867236e-01 6.99764034e-01 9.61991309e-02 3.03883099e+02] [-6.93203422e-01 7.14373376e-01 -9.56017520e-02 -1.96437494e+02] [-1.35620766e-01 9.87781223e-04 9.90760330e-01 -4.23114932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters 0.02952219170348018 Centerline is valid? [True, True] Translation: X:303.92, Y:-196.48, Z:-42.32 [[ 7.01932813e-01 7.05809027e-01 9.55193351e-02 3.03924635e+02] [-6.99385109e-01 7.08402149e-01 -9.50098184e-02 -1.96483352e+02] [-1.34724890e-01 -1.14291493e-04 9.90883036e-01 -4.23167380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters 0.02989721169132835 Centerline is valid? [True, True] Translation: X:303.97, Y:-196.53, Z:-42.32 [[ 6.96256036e-01 7.11307584e-01 9.62759240e-02 3.03967305e+02] [-7.04821205e-01 7.02879976e-01 -9.58478366e-02 -1.96527386e+02] [-1.35847712e-01 -1.12267799e-03 9.90729095e-01 -4.23241331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters 0.03072547839969708 Centerline is valid? [True, True] Translation: X:304.01, Y:-196.57, Z:-42.33 [[ 6.88867501e-01 7.18575554e-01 9.54501943e-02 3.04014497e+02] [-7.12258230e-01 6.95444515e-01 -9.51059379e-02 -1.96568204e+02] [-1.34721116e-01 -2.46979667e-03 9.90880478e-01 -4.23293776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters 0.031223780129196514 Centerline is valid? [True, True] Translation: X:304.07, Y:-196.60, Z:-42.34 [[ 6.85771927e-01 7.21378202e-01 9.65937580e-02 3.04065759e+02] [-7.14923391e-01 6.92534852e-01 -9.63328810e-02 -1.96604568e+02] [-1.36386984e-01 -2.99475168e-03 9.90651110e-01 -4.23352011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters 0.031402383087359285 Centerline is valid? [True, True] Translation: X:304.12, Y:-196.64, Z:-42.34 [[ 6.85882519e-01 7.21243020e-01 9.68177485e-02 3.04116721e+02] [-7.14744248e-01 6.92675991e-01 -9.66469369e-02 -1.96642003e+02] [-1.36769259e-01 -2.91148445e-03 9.90598654e-01 -4.23448134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters 0.03157379482498455 Centerline is valid? [True, True] Translation: X:304.17, Y:-196.68, Z:-42.35 [[ 6.86212789e-01 7.20825028e-01 9.75873261e-02 3.04171580e+02] [-7.14203631e-01 6.93111501e-01 -9.75172890e-02 -1.96675259e+02] [-1.37931801e-01 -2.77961168e-03 9.90437829e-01 -4.23523984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters 0.03134412682653364 Centerline is valid? [True, True] Translation: X:304.01, Y:-197.14, Z:-40.52 [[ 7.63592506e-01 -6.43423744e-01 -5.41513775e-02 3.04013600e+02] [-6.40945565e-01 -7.65458417e-01 5.71156287e-02 -1.97141063e+02] [-7.82001794e-02 -8.90498075e-03 -9.96897905e-01 -4.05217514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters 0.031260502433466446 Centerline is valid? [True, True] Translation: X:304.04, Y:-197.25, Z:-40.53 [[ 8.07306859e-01 -5.87411633e-01 -5.65969033e-02 3.04039648e+02] [-5.85155837e-01 -8.09237841e-01 5.22184171e-02 -1.97249927e+02] [-7.64740615e-02 -9.03827795e-03 -9.97030605e-01 -4.05275651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters 0.03108151531155146 Centerline is valid? [True, True] Translation: X:304.07, Y:-197.35, Z:-40.53 [[ 8.48345083e-01 -5.26015143e-01 -6.01555456e-02 3.04072886e+02] [-5.23948076e-01 -8.50430864e-01 4.73894448e-02 -1.97354101e+02] [-7.60856982e-02 -8.68422008e-03 -9.97063464e-01 -4.05334683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters 0.03139062907871498 Centerline is valid? [True, True] Translation: X:304.22, Y:-196.86, Z:-42.38 [[ 8.40760909e-01 5.28496494e-01 1.17526807e-01 3.04220906e+02] [-5.23392127e-01 8.48935479e-01 -7.32750605e-02 -1.96860542e+02] [-1.38498288e-01 9.42012222e-05 9.90362669e-01 -4.23812139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters 0.03214661262497954 Centerline is valid? [True, True] Translation: X:304.28, Y:-196.89, Z:-42.39 [[ 8.44955268e-01 5.21529586e-01 1.18564268e-01 3.04275532e+02] [-5.16254117e-01 8.53232177e-01 -7.40036447e-02 -1.96889903e+02] [-1.39757939e-01 1.32047778e-03 9.90184819e-01 -4.23896912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters 0.032648099404577614 Centerline is valid? [True, True] Translation: X:304.33, Y:-196.92, Z:-42.40 [[ 8.45953277e-01 5.19680023e-01 1.19564737e-01 3.04328665e+02] [-5.14285941e-01 8.54359277e-01 -7.47007177e-02 -1.96921943e+02] [-1.40971713e-01 1.70285392e-03 9.90012160e-01 -4.23979906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters 0.03468610375915514 Centerline is valid? [True, True] Translation: X:304.38, Y:-196.95, Z:-42.41 [[ 8.50240730e-01 5.11784909e-01 1.23154000e-01 3.04381264e+02] [-5.05969012e-01 8.59107816e-01 -7.70007772e-02 -1.96952472e+02] [-1.45210400e-01 3.15708917e-03 9.89395761e-01 -4.24076130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters 0.03802855515924217 Centerline is valid? [True, True] Translation: X:304.43, Y:-196.99, Z:-42.42 [[ 8.53375539e-01 5.04678363e-01 1.30575414e-01 3.04430206e+02] [-4.98051342e-01 8.63294954e-01 -8.16497609e-02 -1.96987335e+02] [-1.53931964e-01 4.64464846e-03 9.88070533e-01 -4.24178227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters 0.039092284264168074 Centerline is valid? [True, True] Translation: X:304.48, Y:-197.03, Z:-42.43 [[ 8.52192713e-01 5.05391040e-01 1.35452856e-01 3.04476968e+02] [-4.98264010e-01 8.62877661e-01 -8.47060739e-02 -1.97025808e+02] [-1.59688934e-01 4.69461594e-03 9.87156221e-01 -4.24261758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters 0.038966594562890804 Centerline is valid? [True, True] Translation: X:304.53, Y:-197.06, Z:-42.43 [[ 8.49421409e-01 5.09591871e-01 1.37110885e-01 3.04527907e+02] [-5.02335967e-01 8.60407007e-01 -8.57808725e-02 -1.97061972e+02] [-1.61684401e-01 3.98838064e-03 9.86834458e-01 -4.24334843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters 0.03934041522730505 Centerline is valid? [True, True] Translation: X:304.58, Y:-197.10, Z:-42.44 [[ 8.44609853e-01 5.15841491e-01 1.43323945e-01 3.04577179e+02] [-5.07986169e-01 8.56678865e-01 -8.97294545e-02 -1.97096416e+02] [-1.69068770e-01 2.97979984e-03 9.85599752e-01 -4.24416713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters 0.041474396813321296 Centerline is valid? [True, True] Translation: X:304.63, Y:-197.13, Z:-42.45 [[ 8.41263052e-01 5.19183155e-01 1.50749228e-01 3.04627593e+02] [-5.10537203e-01 8.54659519e-01 -9.43868204e-02 -1.97130351e+02] [-1.77843310e-01 2.44105541e-03 9.84055790e-01 -4.24504479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters 0.043587435639034895 Centerline is valid? [True, True] Translation: X:304.68, Y:-197.16, Z:-42.46 [[ 8.38161814e-01 5.22161516e-01 1.57582125e-01 3.04679486e+02] [-5.12756845e-01 8.52844491e-01 -9.86746756e-02 -1.97161049e+02] [-1.85917165e-01 1.90403184e-03 9.82563577e-01 -4.24593903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters 0.04567488744904674 Centerline is valid? [True, True] Translation: X:304.73, Y:-197.19, Z:-42.47 [[ 8.32654995e-01 5.29207459e-01 1.63172069e-01 3.04730783e+02] [-5.19248891e-01 8.48492391e-01 -1.02182442e-01 -1.97192508e+02] [-1.92525969e-01 3.55804519e-04 9.81291814e-01 -4.24690072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters 0.04898878321848206 Centerline is valid? [True, True] Translation: X:304.78, Y:-197.22, Z:-42.48 [[ 8.28764449e-01 5.33059612e-01 1.70284872e-01 3.04784573e+02] [-5.22282755e-01 8.46077506e-01 -1.06646978e-01 -1.97220470e+02] [-2.00923397e-01 -5.51628089e-04 9.79606801e-01 -4.24768202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters 0.05124209727523279 Centerline is valid? [True, True] Translation: X:304.84, Y:-197.25, Z:-42.48 [[ 8.27379620e-01 5.33635060e-01 1.75147327e-01 3.04838800e+02] [-5.22237516e-01 8.45714567e-01 -1.09703454e-01 -1.97248955e+02] [-2.06666256e-01 -7.02102737e-04 9.78411246e-01 -4.24837687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters 0.060682698917168064 Centerline is valid? [True, True] Translation: X:304.90, Y:-197.27, Z:-42.50 [[ 8.27018627e-01 5.28100932e-01 1.92742305e-01 3.04895775e+02] [-5.14113382e-01 8.49181265e-01 -1.20741913e-01 -1.97271602e+02] [-2.27437072e-01 7.64412477e-04 9.73792480e-01 -4.24996267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters 0.06310049198222466 Centerline is valid? [True, True] Translation: X:304.95, Y:-197.30, Z:-42.51 [[ 8.26060134e-01 5.27723227e-01 1.97820247e-01 3.04949407e+02] [-5.12953961e-01 8.49415863e-01 -1.23979537e-01 -1.97300279e+02] [-2.33458537e-01 9.41873267e-04 9.72366301e-01 -4.25075069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters 0.06646105284671826 Centerline is valid? [True, True] Translation: X:305.00, Y:-197.33, Z:-42.52 [[ 8.27096124e-01 5.23934017e-01 2.03482548e-01 3.05004939e+02] [-5.08168297e-01 8.51756225e-01 -1.27578661e-01 -1.97326683e+02] [-2.40160327e-01 2.11643644e-03 9.70730930e-01 -4.25151969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters 0.08588194498373632 Centerline is valid? [True, True] Translation: X:305.06, Y:-197.35, Z:-42.54 [[ 8.29688794e-01 5.06067787e-01 2.35609636e-01 3.05061168e+02] [-4.84094056e-01 8.62451526e-01 -1.47750838e-01 -1.97348535e+02] [-2.77973829e-01 8.52999033e-03 9.60550774e-01 -4.25362550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters 0.0797931188136563 Centerline is valid? [True, True] Translation: X:305.11, Y:-197.38, Z:-42.54 [[ 8.31505489e-01 5.04913399e-01 2.31648615e-01 3.05114508e+02] [-4.83621881e-01 8.63124890e-01 -1.45345454e-01 -1.97379473e+02] [-2.73328552e-01 8.82520442e-03 9.61880251e-01 -4.25431325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters 0.08864329894115287 Centerline is valid? [True, True] Translation: X:305.17, Y:-197.41, Z:-42.56 [[ 8.33567057e-01 4.93706926e-01 2.47829443e-01 3.05169570e+02] [-4.68750179e-01 8.69523426e-01 -1.55570824e-01 -1.97405755e+02] [-2.92299900e-01 1.35086181e-02 9.56231293e-01 -4.25560647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters 0.10041096507322224 Centerline is valid? [True, False] Translation: X:305.24, Y:-197.52, Z:-42.59 [[ 8.61566616e-01 4.48231140e-01 2.38310325e-01 3.05237426e+02] [-4.41810231e-01 8.93274463e-01 -8.28519943e-02 -1.97520293e+02] [-2.50013371e-01 -3.39054272e-02 9.67648560e-01 -4.25880042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters 0.102055354657509 Centerline is valid? [False, False] Translation: X:305.32, Y:-197.60, Z:-42.61 [[ 8.84194214e-01 4.12722358e-01 2.18771220e-01 3.05321061e+02] [-4.14792500e-01 9.09096400e-01 -3.86123985e-02 -1.97604974e+02] [-2.14820329e-01 -5.66038020e-02 9.75011916e-01 -4.26099247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters 0.11929424746480331 Centerline is valid? [False, False] Translation: X:305.43, Y:-197.68, Z:-42.63 [[ 9.08987138e-01 3.73318719e-01 1.85406356e-01 3.05427797e+02] [-3.77259078e-01 9.25987691e-01 -1.49125898e-02 -1.97679228e+02] [-1.77251153e-01 -5.63908786e-02 9.82548776e-01 -4.26287519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters 0.12161437160378119 Centerline is valid? [False, False] Translation: X:305.56, Y:-197.74, Z:-42.64 [[ 9.34702580e-01 3.27755104e-01 1.37505192e-01 3.05561117e+02] [-3.30307441e-01 9.43862747e-01 -4.48430776e-03 -1.97741291e+02] [-1.31255783e-01 -4.12274941e-02 9.90490895e-01 -4.26419551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters 0.1293042965293384 Centerline is valid? [False, False] Translation: X:305.69, Y:-197.79, Z:-42.65 [[ 9.55916408e-01 2.78450927e-01 9.32142833e-02 3.05686923e+02] [-2.79317911e-01 9.60190850e-01 -3.87772044e-03 -1.97785412e+02] [-9.05832567e-02 -2.23296423e-02 9.95638519e-01 -4.26475986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters 0.1368094699921937 Centerline is valid? [False, False] Translation: X:305.80, Y:-197.82, Z:-42.65 [[ 9.72746099e-01 2.24959099e-01 5.61999125e-02 3.05801694e+02] [-2.24804942e-01 9.74360989e-01 -9.13239334e-03 -1.97820126e+02] [-5.68134174e-02 -3.75051806e-03 9.98377769e-01 -4.26455866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters 0.1399001301557748 Centerline is valid? [False, False] Translation: X:305.90, Y:-197.85, Z:-42.64 [[ 9.83567045e-01 1.77607037e-01 3.24285070e-02 3.05896309e+02] [-1.77185582e-01 9.84056010e-01 -1.54608569e-02 -1.97846142e+02] [-3.46574242e-02 9.46092548e-03 9.99354469e-01 -4.26382981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters 0.2327695339139227 Centerline is valid? [False, False] Translation: X:305.94, Y:-197.87, Z:-42.64 [[ 9.91028335e-01 1.29799667e-01 3.18572833e-02 3.05944252e+02] [-1.29181265e-01 9.91403533e-01 -2.07661965e-02 -1.97870233e+02] [-3.42788686e-02 1.64645250e-02 9.99276678e-01 -4.26366905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters 0.6349472493474383 Centerline is valid? [False, False] Translation: X:305.99, Y:-197.89, Z:-42.64 [[ 9.95423738e-01 9.23295299e-02 2.46341140e-02 3.05985023e+02] [-9.18002595e-02 9.95538418e-01 -2.18167622e-02 -1.97891547e+02] [-2.65385383e-02 1.94555049e-02 9.99458448e-01 -4.26393274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04591999999997 meters SLAMing on 370.10591999999997 meters SLAMing on 370.16591999999997 meters SLAMing on 370.22592 meters SLAMing on 370.28592 meters SLAMing on 370.34592 meters 0.912800390695757 Centerline is valid? [False, False] Translation: X:306.01, Y:-197.93, Z:-42.65 [[ 9.95450854e-01 8.33482300e-02 4.61591808e-02 3.06011489e+02] [-8.22220809e-02 9.96280439e-01 -2.57840460e-02 -1.97930696e+02] [-4.81365435e-02 2.18714467e-02 9.98601278e-01 -4.26541379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters 0.8767385038107665 Centerline is valid? [False, False] Translation: X:306.13, Y:-197.94, Z:-42.66 [[ 9.98158675e-01 6.04039950e-02 5.53318205e-03 3.06128788e+02] [-6.02567407e-02 9.97900447e-01 -2.37449528e-02 -1.97944252e+02] [-6.95585485e-03 2.33678191e-02 9.99702736e-01 -4.26578480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters 0.8269981301439343 Centerline is valid? [False, False] Translation: X:306.17, Y:-197.96, Z:-42.67 [[ 9.99461583e-01 3.27982217e-02 9.06383889e-04 3.06170893e+02] [-3.27773185e-02 9.99308977e-01 -1.75275934e-02 -1.97959486e+02] [-1.48063145e-03 1.74884474e-02 9.99845969e-01 -4.26681431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters 0.34088142028332336 Centerline is valid? [False, False] Translation: X:306.19, Y:-197.97, Z:-42.67 [[ 9.99855673e-01 1.48834773e-02 -8.19236211e-03 3.06188368e+02] [-1.49923116e-02 9.99797979e-01 -1.33877496e-02 -1.97969310e+02] [ 7.99145081e-03 1.35086399e-02 9.99876819e-01 -4.26742902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters 0.81920199973147 Centerline is valid? [False, False] Translation: X:306.21, Y:-197.97, Z:-42.67 [[ 9.99953196e-01 5.30956033e-03 -8.08797154e-03 3.06209338e+02] [-5.40795484e-03 9.99911043e-01 -1.21926381e-02 -1.97974108e+02] [ 8.02251451e-03 1.22358068e-02 9.99892956e-01 -4.26722060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters 0.3328078835807142 Centerline is valid? [False, False] Translation: X:306.22, Y:-197.98, Z:-42.69 [[ 9.99911958e-01 5.26100472e-03 1.21818961e-02 3.06219992e+02] [-5.12315701e-03 9.99922808e-01 -1.13194739e-02 -1.97977749e+02] [-1.22405076e-02 1.12560675e-02 9.99861726e-01 -4.26930427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters 0.8759219939545531 Centerline is valid? [False, False] Translation: X:306.30, Y:-197.99, Z:-42.65 [[ 9.99918693e-01 -2.64218574e-03 -1.24749926e-02 3.06296653e+02] [ 2.54607727e-03 9.99967008e-01 -7.71369650e-03 -1.97990101e+02] [ 1.24949621e-02 7.68130703e-03 9.99892431e-01 -4.26504740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters 0.3299965133503897 Centerline is valid? [False, False] Translation: X:306.33, Y:-198.01, Z:-42.66 [[ 9.99883043e-01 -9.49949226e-03 -1.19858475e-02 3.06326659e+02] [ 9.47997726e-03 9.99953646e-01 -1.68393723e-03 -1.98005008e+02] [ 1.20012885e-02 1.57011472e-03 9.99926749e-01 -4.26598256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters 0.3352332229496256 Centerline is valid? [False, False] Translation: X:306.34, Y:-198.01, Z:-42.70 [[ 9.99990509e-01 -3.30810676e-03 2.83510696e-03 3.06335858e+02] [ 3.31898653e-03 9.99987114e-01 -3.84144456e-03 -1.98011026e+02] [-2.82236252e-03 3.85081779e-03 9.99988603e-01 -4.26991046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters 0.3322105550031349 Centerline is valid? [False, False] Translation: X:306.39, Y:-198.02, Z:-42.66 [[ 9.99978220e-01 -3.71667506e-03 -5.45391813e-03 3.06392103e+02] [ 3.71218904e-03 9.99992763e-01 -8.32423809e-04 -1.98020927e+02] [ 5.45697251e-03 8.12159704e-04 9.99984781e-01 -4.26622966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters 0.33883816554419804 Centerline is valid? [False, False] Translation: X:306.42, Y:-198.03, Z:-42.69 [[ 9.99944114e-01 -4.68948207e-03 -9.47508220e-03 3.06415619e+02] [ 4.68550137e-03 9.99988925e-01 -4.42278392e-04 -1.98026755e+02] [ 9.47705132e-03 3.97858164e-04 9.99955013e-01 -4.26863652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters 0.3390185570299524 Centerline is valid? [False, False] Translation: X:306.45, Y:-198.04, Z:-42.68 [[ 9.99968731e-01 -7.12677091e-03 -3.42731120e-03 3.06450167e+02] [ 7.12560737e-03 9.99974551e-01 -3.51583284e-04 -1.98035284e+02] [ 3.42972963e-03 3.27150617e-04 9.99994065e-01 -4.26796463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters 0.6966633248267107 Centerline is valid? [False, False] Translation: X:306.44, Y:-198.04, Z:-42.69 [[ 9.99871729e-01 -1.63681924e-03 1.59325426e-02 3.06437081e+02] [ 1.67804484e-03 9.99995278e-01 -2.57448447e-03 -1.98039010e+02] [-1.59282534e-02 2.60088976e-03 9.99869755e-01 -4.26946294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters 0.33885269659737816 Centerline is valid? [False, False] Translation: X:306.51, Y:-198.05, Z:-42.66 [[ 9.99919654e-01 -2.95568785e-03 -1.23267932e-02 3.06506723e+02] [ 2.94455256e-03 9.99995240e-01 -9.21392143e-04 -1.98048607e+02] [ 1.23294579e-02 8.85021222e-04 9.99923598e-01 -4.26649055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters 0.3397190449511542 Centerline is valid? [False, False] Translation: X:306.54, Y:-198.06, Z:-42.68 [[ 9.99913116e-01 2.30101409e-03 -1.29794181e-02 3.06542317e+02] [-2.34468338e-03 9.99991639e-01 -3.35029012e-03 -1.98055185e+02] [ 1.29716005e-02 3.38043166e-03 9.99910151e-01 -4.26789939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters 0.3273721705206749 Centerline is valid? [False, False] Translation: X:306.61, Y:-198.07, Z:-42.65 [[ 9.99712386e-01 -1.02888924e-05 -2.39821654e-02 3.06611508e+02] [-2.66947091e-05 9.99998811e-01 -1.54180871e-03 -1.98070819e+02] [ 2.39821527e-02 1.54200546e-03 9.99711198e-01 -4.26544008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters 0.33751100762450914 Centerline is valid? [False, False] Translation: X:306.63, Y:-198.08, Z:-42.68 [[ 9.99984492e-01 -2.40305546e-03 -5.02397588e-03 3.06627052e+02] [ 2.39014618e-03 9.99993831e-01 -2.57396183e-03 -1.98082177e+02] [ 5.03013026e-03 2.56191387e-03 9.99984067e-01 -4.26788664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters 0.33743435786169257 Centerline is valid? [False, False] Translation: X:306.66, Y:-198.10, Z:-42.67 [[ 9.99986141e-01 -5.20921360e-03 7.63064254e-04 3.06662117e+02] [ 5.21099274e-03 9.99983665e-01 -2.34844203e-03 -1.98096657e+02] [-7.50818253e-04 2.35238580e-03 9.99996951e-01 -4.26731262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters 0.33765691656700253 Centerline is valid? [False, False] Translation: X:306.68, Y:-198.10, Z:-42.67 [[ 9.99994521e-01 3.05342996e-03 1.27846359e-03 3.06682282e+02] [-3.05085125e-03 9.99993318e-01 -2.01415178e-03 -1.98102182e+02] [-1.28460512e-03 2.01024034e-03 9.99997154e-01 -4.26702680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters 0.3376181865814016 Centerline is valid? [False, False] Translation: X:306.72, Y:-198.12, Z:-42.67 [[ 9.99975786e-01 6.61515988e-04 6.92745204e-03 3.06718306e+02] [-6.49796905e-04 9.99998354e-01 -1.69380156e-03 -1.98116407e+02] [-6.92856111e-03 1.68925911e-03 9.99974570e-01 -4.26656379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters 0.3375450588219355 Centerline is valid? [False, False] Translation: X:306.77, Y:-198.13, Z:-42.66 [[ 9.99999833e-01 -4.79567155e-05 5.75416656e-04 3.06767989e+02] [ 4.77281063e-05 9.99999920e-01 3.97300409e-04 -1.98130438e+02] [-5.75435663e-04 -3.97272879e-04 9.99999756e-01 -4.26618193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters 0.32502710361828013 Centerline is valid? [False, False] Translation: X:306.81, Y:-198.13, Z:-42.64 [[ 9.99934964e-01 6.52324807e-03 9.35490709e-03 3.06813886e+02] [-6.50790647e-03 9.99977430e-01 -1.66945754e-03 -1.98131961e+02] [-9.36558623e-03 1.60846810e-03 9.99954848e-01 -4.26449889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters 0.32337999877764656 Centerline is valid? [False, False] Translation: X:306.85, Y:-198.14, Z:-42.64 [[ 9.99872630e-01 5.46485005e-03 1.49953255e-02 3.06849666e+02] [-5.43945187e-03 9.99983703e-01 -1.73400323e-03 -1.98137286e+02] [-1.50045572e-02 1.65221602e-03 9.99886060e-01 -4.26403864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters 0.32486175878177875 Centerline is valid? [False, False] Translation: X:306.88, Y:-198.14, Z:-42.65 [[ 9.99875973e-01 -2.38288441e-03 1.55679267e-02 3.06877133e+02] [ 2.36851289e-03 9.99996752e-01 9.41521376e-04 -1.98141774e+02] [-1.55701196e-02 -9.04531767e-04 9.99878369e-01 -4.26478878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters 0.32490807789338105 Centerline is valid? [False, False] Translation: X:306.94, Y:-198.14, Z:-42.63 [[ 9.99955963e-01 4.19987791e-04 -9.37527741e-03 3.06941088e+02] [-4.28324355e-04 9.99999515e-01 -8.87217022e-04 -1.98137140e+02] [ 9.37490024e-03 8.91193611e-04 9.99955658e-01 -4.26329901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3341.93 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%| | 0/12366 [00:00